External wall brick hollow detection system, method and computer device

Abstract

The present invention relates to the field of exterior wall brick hollowing detection, and specifically to an exterior wall brick hollowing detection system, method and computer device, which greatly improve the accuracy of exterior wall brick hollowing detection. The exterior wall brick hollowing detection system includes a main device and a slave device, the main device includes a control processing module, the slave device includes a radar module, a positioning module, a video module, and a communication module, the main device and the slave device are split structures, the main device and the slave device are wirelessly connected through the communication module, the main device is responsible for data processing and control of the slave device, the main device and the slave device transmit data through the wireless network transmission technology of the communication module, the main device controls the slave device to detect the exterior wall, the slave device sends the detection data to the main device in real time, the main device processes the data in real time, and when hollowing is identified, the main device can control the slave device marking module to mark the location of the exterior wall disease. The present invention is suitable for exterior wall brick hollowing detection.

Description

Technical Field

[0001] The present invention relates to the field of exterior wall brick hollowing detection, and in particular to an exterior wall brick hollowing detection system, method and computer device. Background Art

[0002] Traditional methods such as thermal imaging detection and manual knocking detection are often used for hollowing detection of external wall bricks. For example, CN106501316A discloses a device for detecting the quality of external wall of a building and a detection method thereof, which includes a drone body and a drone remote controller for controlling the flight of the drone body. A detection box is arranged at the bottom of the drone body, and a microprocessor and a wireless receiving module and a memory electrically connected to the microprocessor are arranged inside the detection box. A camera and a laser locator are also arranged on one side of the inside of the detection box. A cross lens is arranged at the front end of the laser locator, and an infrared thermometer is arranged at the middle position of the cross lens. A thermometer remote controller wirelessly connected to the detection box is also included. When in use, the drone is controlled to take off, and the infrared thermometer is started to detect the temperature of the wall. In this process, the laser locator can record the position of infrared detection, and accurately find the exact position of the external wall bricks that may fall off and the external wall water seepage according to the relationship between temperature deviation and hollowing, gaps, cracks, etc. It is more convenient to use and has higher detection efficiency.

[0003] Infrared thermal imaging is affected by factors such as season, sunshine, and orientation, and the temperature changes greatly. As the number of floors increases, the infrared attenuation increases and the detection accuracy decreases. Manual tapping detection is greatly affected by experience and is prone to missing hollow defects. The work efficiency is relatively low and safety accidents are prone to occur. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a system, method and computer device for detecting hollowing of exterior wall tiles, which greatly improve the detection accuracy of hollowing of exterior wall tiles.

[0005] The present invention adopts the following technical solutions to achieve the above-mentioned purpose. In a first aspect, the present invention provides an exterior wall brick hollowing detection system, comprising:

[0006] The main device includes a control processing module, and the slave device includes a radar module, a positioning module, a video module, and a communication module. The main device and the slave device are split structures, and the main device and the slave device are wirelessly connected through the communication module.

[0007] The slave device is mounted on the mobile carrier and moved to the detection starting point. The positioning module of the slave device is started. The position information of the slave device is obtained through the positioning module, and the position information is transmitted to the main device through the communication module. After the main device receives the position information of the slave device, it combines the preset size of the slave device to generate the enclosing volume model of the slave device and projects it onto the BIM model of the exterior wall building to be detected in the main device.

[0008] Start the video module of the slave device, obtain image information of the slave device in all directions through the video module, and transmit the image information back to the main device through the communication module. The main device calculates the distance of the slave device from the external wall in all directions, and adjusts the distance of the slave device from the wall according to the calculated distance;

[0009] Start the radar module of the slave device, control the vehicle to move at a constant speed along the detection direction according to the calculated distance, and when the positioning module detects the change in the position coordinates of the slave device, drive the radar module to detect the exterior wall. The detection data is transmitted back to the main device through the communication module. The control processing module receives the detection data, calculates the detection data, constructs an attribute model with the calculation results in real time, and assembles the attribute model to the BIM model of the detected exterior wall building. The detection results and progress are reflected in real time through the BIM model.

[0010] Furthermore, the positioning module is specifically used for:

[0011] Set the relative coordinate origin of the building, select the building feature point as the relative coordinate origin, and use it as one of the attachment points for assembling the attribute model and the BIM model;

[0012] The first transmitting base station and the second transmitting base station are set at the first transmitting base station position and the second transmitting base station position of the first detection surface, and the positioning tag is placed at the coordinate origin. The first transmitting base station and the second transmitting base station transmit data, and the positioning tag receives the data. Then, the distance between the first transmitting base station position and the second transmitting base station position is measured, and the coordinates of the first transmitting base station position and the second transmitting base station position are calculated. After the calculation is completed, the positioning tag is fixed on the slave device, and the mobile carrier starts to detect the first detection surface;

[0013] After the first detection surface is detected, the second detection surface adjacent to the first detection surface is detected, the position of the second transmitting base station is kept unchanged, and the first transmitting base station is moved to the third transmitting base station position of the second detection surface. The first transmitting base station transmits data to the second transmitting base station, the positioning tag receives the data, and then measures the distance between the third transmitting base station position and the second transmitting base station position, calculates the position coordinates of the third transmitting base station, and after the calculation is completed, the mobile carrier starts to detect the second detection surface;

[0014] After the second detection surface is detected, the third detection surface adjacent to the second detection surface is detected, the position of the third transmitting base station is kept unchanged, and the second transmitting base station is moved to the fourth transmitting base station position of the third detection surface. The first transmitting base station transmits data to the second transmitting base station, the positioning tag receives the data, and then measures the distance between the fourth transmitting base station position and the third transmitting base station position, calculates the fourth transmitting base station position coordinates, and after the calculation is completed, the mobile carrier starts to detect the third detection surface;

[0015] After the third detection surface is detected, the fourth detection surface adjacent to the third detection surface is detected, the position of the fourth transmitting base station is kept unchanged, the first transmitting base station is moved to the position of the first transmitting base station of the fourth detection surface, the first transmitting base station and the second transmitting base station transmit data, the positioning tag receives the data, and then the distance between the first transmitting base station position and the fourth transmitting base station position of the fourth detection surface is measured, and the position coordinates of the first transmitting base station of the fourth detection surface are calculated. After the calculation is completed, the mobile carrier starts to detect the fourth detection surface;

[0016] Compare the calculated coordinates of the first transmitting base station position of the fourth detection surface with the first transmitting base station position of the first detection surface, calculate the closure difference, and evenly distribute the closure difference to each transmitting base station position according to the distance, and then recalculate the position of each positioning tag to obtain the corrected coordinate values.

[0017] Furthermore, the control processing module is specifically used to select three inflection points with obvious building characteristics as the first conversion point, the second conversion point and the third conversion point respectively;

[0018] Respectively read the first coordinate values ​​corresponding to the first conversion point, the second conversion point, and the third conversion point in the BIM model;

[0019] Then, the positioning tags are placed on the first conversion point, the second conversion point and the third conversion point respectively, and the second coordinate values ​​corresponding to the first conversion point, the second conversion point and the third conversion point in the positioning module coordinate system are calculated;

[0020] According to the Bursa seven-parameter formula, a seven-variable linear overdetermined equation group is constructed using the first coordinate values ​​corresponding to the first conversion point, the second conversion point and the third conversion point in the BIM model coordinate system and the second coordinate values ​​corresponding to the first conversion point, the second conversion point and the third conversion point in the positioning module coordinate system. The equation group is solved to obtain three translation parameters, three rotation parameters and one scale parameter in the two coordinate systems.

[0021] Through the obtained parameters, the coordinate values ​​in the positioning module coordinate system are converted into the coordinate values ​​in the BIM model coordinate system, thereby realizing the assembly of the attribute model and the BIM model.

[0022] Furthermore, the slave device also includes a marking module. When the main device detects and identifies that the exterior wall is hollow or damaged, the marking module of the slave device is controlled to mark the exterior wall, and different exterior wall damage types are marked with different identifiers.

[0023] Furthermore, the slave device also includes a mechanical module. When the detection of a measurement line is completed and the measurement line needs to be switched, the video module is adjusted to the detection direction through the mechanical module.

[0024] In a second aspect, the present invention provides a method for detecting hollow drums of exterior wall bricks, which is applied to the above-mentioned exterior wall brick hollow drum detection system. The method for detecting hollow drums of exterior wall bricks comprises:

[0025] The slave device is mounted on the mobile carrier and moved to the detection starting point. The positioning module of the slave device is started. The position information of the slave device is obtained through the positioning module, and the position information is transmitted to the main device through the communication module. After the main device receives the position information of the slave device, it combines the preset size of the slave device to generate the enclosing volume model of the slave device and projects it onto the BIM model of the exterior wall building to be detected in the main device.

[0026] Start the video module of the slave device, obtain image information of the slave device in all directions through the video module, and transmit the image information back to the main device through the communication module. The main device calculates the distance of the slave device from the external wall in all directions, and adjusts the distance of the slave device from the wall according to the calculated distance;

[0027] Start the radar module of the slave device, control the vehicle to move at a constant speed along the detection direction according to the calculated distance, and when the positioning module detects the change in the position coordinates of the slave device, drive the radar module to detect the exterior wall. The detection data is transmitted back to the main device through the communication module. The control processing module receives the detection data, calculates the detection data, constructs an attribute model with the calculation results in real time, and assembles the attribute model to the BIM model of the detected exterior wall building. The detection results and progress are reflected in real time through the BIM model.

[0028] Furthermore, the specific method of obtaining the position information of the slave device through the positioning module includes:

[0029] Set the relative coordinate origin of the building, select the building feature point as the relative coordinate origin, and use it as one of the attachment points for assembling the attribute model and the BIM model;

[0030] The first transmitting base station and the second transmitting base station are set at the first transmitting base station position and the second transmitting base station position of the first detection surface, and the positioning tag is placed at the coordinate origin. The first transmitting base station and the second transmitting base station transmit data, and the positioning tag receives the data. Then, the distance between the first transmitting base station position and the second transmitting base station position is measured, and the coordinates of the first transmitting base station position and the second transmitting base station position are calculated. After the calculation is completed, the positioning tag is fixed on the slave device, and the mobile carrier starts to detect the first detection surface;

[0031] After the first detection surface is detected, the second detection surface adjacent to the first detection surface is detected, the position of the second transmitting base station is kept unchanged, and the first transmitting base station is moved to the third transmitting base station position of the second detection surface. The first transmitting base station transmits data to the second transmitting base station, the positioning tag receives the data, and then measures the distance between the third transmitting base station position and the second transmitting base station position, calculates the position coordinates of the third transmitting base station, and after the calculation is completed, the mobile carrier starts to detect the second detection surface;

[0032] After the second detection surface is detected, the third detection surface adjacent to the second detection surface is detected, the position of the third transmitting base station is kept unchanged, and the second transmitting base station is moved to the fourth transmitting base station position of the third detection surface. The first transmitting base station transmits data to the second transmitting base station, the positioning tag receives the data, and then measures the distance between the fourth transmitting base station position and the third transmitting base station position, calculates the fourth transmitting base station position coordinates, and after the calculation is completed, the mobile carrier starts to detect the third detection surface;

[0033] After the third detection surface is detected, the fourth detection surface adjacent to the third detection surface is detected, the position of the fourth transmitting base station is kept unchanged, the first transmitting base station is moved to the position of the first transmitting base station of the fourth detection surface, the first transmitting base station and the second transmitting base station transmit data, the positioning tag receives the data, and then the distance between the first transmitting base station position and the fourth transmitting base station position of the fourth detection surface is measured, and the position coordinates of the first transmitting base station of the fourth detection surface are calculated. After the calculation is completed, the mobile carrier starts to detect the fourth detection surface;

[0034] Compare the calculated coordinates of the first transmitting base station position of the fourth detection surface with the first transmitting base station position of the first detection surface, calculate the closure difference, and evenly distribute the closure difference to each transmitting base station position according to the distance, and then recalculate the position of each positioning tag to obtain the corrected coordinate values.

[0035] Furthermore, the specific method of assembling the attribute model onto the BIM model of the inspected exterior wall building includes:

[0036] Select three inflection points with obvious building characteristics as the first conversion point, the second conversion point, and the third conversion point;

[0037] Respectively read the first coordinate values ​​corresponding to the first conversion point, the second conversion point, and the third conversion point in the BIM model;

[0038] Then, the positioning tags are placed on the first conversion point, the second conversion point and the third conversion point respectively, and the second coordinate values ​​corresponding to the first conversion point, the second conversion point and the third conversion point in the positioning module coordinate system are calculated;

[0039] According to the Bursa seven-parameter formula, a seven-variable linear overdetermined equation group is constructed using the first coordinate values ​​corresponding to the first conversion point, the second conversion point and the third conversion point in the BIM model coordinate system and the second coordinate values ​​corresponding to the first conversion point, the second conversion point and the third conversion point in the positioning module coordinate system. The equation group is solved to obtain three translation parameters, three rotation parameters and one scale parameter in the two coordinate systems.

[0040] Through the obtained parameters, the coordinate values ​​in the positioning module coordinate system are converted into the coordinate values ​​in the BIM model coordinate system, thereby realizing the assembly of the attribute model and the BIM model.

[0041] Furthermore, the method for detecting hollowing of exterior wall bricks also includes: when the video module of the slave device detects that the distance in any direction is less than the set safety distance, it reminds the detection personnel to pause the movement of the vehicle; after the vehicle pauses, the positioning module detects that the position coordinates of the slave device have not changed, and the radar module pauses the exterior wall detection; after the vehicle moves again, the positioning module detects that the position coordinates of the slave device have changed again, and the radar module continues to be driven to detect the exterior wall.

[0042] In a third aspect, the present invention provides a computer device, including a memory, wherein the memory stores program instructions, and when the program instructions are executed, the exterior wall brick hollowing detection method as described above is executed.

[0043] The beneficial effects of the present invention are:

[0044] The present invention utilizes radar to non-destructively detect hollowing of exterior wall tiles at a long distance, and realizes precise positioning of hollowing of exterior wall tiles through UWB positioning technology and error correction algorithm, and then utilizes seven-parameter coordinate transformation method to realize assembly of attribute model and BIM model. Through this technical invention, the detection accuracy and efficiency of hollowing of exterior wall tiles can be improved, and the detection cost can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a structural block diagram of an exterior wall brick hollowing detection system provided by an embodiment of the present invention;

[0046] Figure 2 It is a schematic diagram of the measurement flow of the positioning module provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0047] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0048] like Figure 1 As shown, the present invention provides an exterior wall brick hollowing detection system, the system includes a main device and a slave device, the slave device includes a radar module, a positioning module, a video module, a mechanical module, a communication module, and a marking module, the main device includes a control processing module, the main device and the slave device are split structures, the slave device is responsible for data acquisition, the main device is responsible for data processing and control of the slave device, the main device and the slave device transmit data through the wireless network transmission technology of the communication module, the main device controls the slave device to detect the exterior wall, the slave device sends the detection data to the main device in real time, the main device records the data, processes the data in real time, and identifies the disease. When the disease is identified, the main device can control the marking module of the slave device to mark the location of the exterior wall disease.

[0049] The radar module emits electromagnetic waves and receives reflected electromagnetic waves from different dielectric layers; the positioning module obtains the location data of the current slave device through ranging technology; the video module calculates the distance between the slave device and the outer wall in four directions: above, below, in front, and at the bottom, through a group of binocular cameras along the detection direction, and assists the operator in judging the safe distance between the device and the outer wall in different directions while collecting images; the mechanical module rotates the video module to the detection direction when switching the detection direction; the communication module transmits the data collected by the radar module, the positioning module, and the video module to the main device control processing module; the marking module receives the marking command from the main device control processing module and drives the spray head to mark the wall; the control processing module receives the data transmitted by the slave device communication module, stores the data, processes the data, identifies and stores the diseases, and issues a command to mark the diseases through the slave device communication module.

[0050] Specifically, when conducting exterior wall inspection, the main steps include:

[0051] (1) The slave device is mounted on a mobile vehicle (such as a drone) and moved to the vicinity of the starting point to wait.

[0052] (2) Start the positioning module of the slave device, obtain the position information of the slave device through UWB technology, and transmit the position information to the main device through the communication module. After the main device receives the position information of the slave device, it combines the preset size of the slave device to generate an enclosing volume model of the slave device and projects it onto the BIM model of the detected exterior wall building in the main device, so that the three-dimensional spatial position relationship between the slave device and the wall can be intuitively obtained.

[0053] The positioning module implements the measurement and error correction algorithm: setting the relative coordinate origin of the building, selecting the building feature point as the relative coordinate origin, and using it as one of the attachment points for assembling the attribute model and the BIM model;

[0054] The first transmitting base station and the second transmitting base station are set at the first transmitting base station position and the second transmitting base station position of the first detection surface, and the positioning tag is placed at the coordinate origin. The first transmitting base station and the second transmitting base station transmit data, and the positioning tag receives the data. Then, the distance between the first transmitting base station position and the second transmitting base station position is measured, and the coordinates of the first transmitting base station position and the second transmitting base station position are calculated. After the calculation is completed, the positioning tag is fixed on the slave device, and the mobile carrier starts to detect the first detection surface;

[0055] After the first detection surface is detected, the second detection surface adjacent to the first detection surface is detected, the position of the second transmitting base station is kept unchanged, and the first transmitting base station is moved to the third transmitting base station position of the second detection surface. The first transmitting base station transmits data to the second transmitting base station, the positioning tag receives the data, and then measures the distance between the third transmitting base station position and the second transmitting base station position, calculates the position coordinates of the third transmitting base station, and after the calculation is completed, the mobile carrier starts to detect the second detection surface;

[0056] After the second detection surface is detected, the third detection surface adjacent to the second detection surface is detected, the position of the third transmitting base station is kept unchanged, and the second transmitting base station is moved to the fourth transmitting base station position of the third detection surface. The first transmitting base station transmits data to the second transmitting base station, the positioning tag receives the data, and then measures the distance between the fourth transmitting base station position and the third transmitting base station position, calculates the fourth transmitting base station position coordinates, and after the calculation is completed, the mobile carrier starts to detect the third detection surface;

[0057] After the third detection surface is detected, the fourth detection surface adjacent to the third detection surface is detected, the position of the fourth transmitting base station is kept unchanged, the first transmitting base station is moved to the position of the first transmitting base station of the fourth detection surface, the first transmitting base station and the second transmitting base station transmit data, the positioning tag receives the data, and then the distance between the first transmitting base station position and the fourth transmitting base station position of the fourth detection surface is measured, and the position coordinates of the first transmitting base station of the fourth detection surface are calculated. After the calculation is completed, the mobile carrier starts to detect the fourth detection surface;

[0058] Compare the calculated coordinates of the first transmitting base station position of the fourth detection surface with the first transmitting base station position of the first detection surface, calculate the closure difference, and evenly distribute the closure difference to each transmitting base station position according to the distance, and then recalculate the position of each positioning tag to obtain the corrected coordinate values.

[0059] Specifically, Figure 2As shown, the positioning module implements the measurement and error correction algorithm: a) Set the relative coordinate origin of the building, select the building feature point as the relative coordinate origin O1, and use it as one of the attachment points for assembling the attribute model and the BIM model. b) Start detecting the first detection surface A, deploy two transmitting base stations T1 and T2, and a positioning tag R, T1 and T2 transmit, and R receives. The layout distance of the two transmitting base stations is generally better than the projection edge of the building detection surface, and the line of sight is good, which can meet the requirements of laser ranging or ruler measurement. Measure the distance between the transmitting base stations T1 and T2, place the positioning tag R at the coordinate origin O1, calculate the coordinates of T1 and T2, and fix the positioning tag R on the slave device after the calculation is completed. The mobile carrier starts to detect the detection surface A. c) After detecting the first detection surface A, switch to the adjacent second detection surface B, keep the position of T2 unchanged, move T1 to T3, T2 and T3 transmit, R receives, and calculate the coordinates of T3. d) Detect the two detection surfaces C and D in turn, and calculate the coordinates of T4 and T1. e) Compare the T1 coordinates calculated for the second time with the T1 coordinates calculated for the first time, calculate the closure error, and evenly distribute the closure error to each transmitting base station according to the distance. f) Recalculate the position of each positioning tag R to obtain the corrected coordinate value.

[0060] (3) Start the video module of the slave device, obtain image information in four directions of the location of the slave device, and transmit the image information back to the main device through the communication module. The main device calculates the precise distance of the slave device from the outer wall in four directions, adjusts the optimal distance of the slave device from the wall according to the distance in the four directions, and prepares for detection.

[0061] (4) Start the radar module of the slave device. The inspector controls the vehicle to move at a constant speed along the inspection direction according to the distances in the four directions obtained by the video module. At this time, the positioning module detects the change in the position coordinates of the slave device and drives the radar module to inspect the exterior wall. The inspection data is transmitted back to the main device through the communication module. The main device controls the processing module to receive and store the inspection data, and after filtering and inversion calculation, constructs an attribute model of the inspection results in real time, and assembles the attribute model onto the BIM model of the inspected exterior wall building, so as to assist the inspector in viewing the inspection results and inspection progress in real time in a three-dimensional visual manner.

[0062] The main steps of assembling the property model and the exterior building BIM model are:

[0063] a) If Figure 2 As shown, inflection points with obvious building characteristics are selected as conversion points O1, O2, and O3, and inflection points with large distances between them are selected as much as possible.

[0064] b) Read the coordinate values ​​of the three transformation points O1, O2, and O3 in the BIM model respectively (X1, Y1, Z1), (X2, Y2, Z2), and (X3, Y3, Z3).

[0065] c) Then place the positioning tags at positions O1, O2, and O3 respectively, and calculate the coordinate values ​​of O1, O2, and O3 (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3). Since the BIM model coordinate system and the coordinate system calculated by the positioning module are two different coordinate systems, according to the Bursa seven-parameter formula, the coordinate values ​​of the three conversion points O1, O2, and O3 in two different coordinate systems are used to construct a seven-variable linear overdetermined equation system. Solving this equation system can obtain the three translation parameters (X0, Y0, Z0) and three rotation parameters (ε x, ε y, ε z ) and a scale parameter m. The system of equations is as follows.

[0066]

[0067] By calculating the seven parameters, the coordinate values ​​calculated by the positioning module can be converted into the coordinate values ​​of the coordinate system where the BIM model is located, thereby realizing the assembly of the attribute model and the BIM model.

[0068] (5) When the video module of the slave device detects that the distance in any of the four directions is less than the set safety distance, it will remind the inspection personnel to suspend the movement of the vehicle. After the vehicle suspends movement, the positioning module detects that the position coordinates of the slave device have not changed, and will suspend the radar module's external wall detection. After the vehicle moves again, the positioning module detects that the position coordinates of the slave device have changed again, and will continue to drive the radar module to detect the external wall.

[0069] (6) After the main device identifies the exterior wall defects through AI (or manual identification), the operator can pause the movement of the vehicle and control the marking module of the slave device to spray mark the exterior wall defects. Different exterior wall defect types are marked with different colors or different shapes of wipeable marks to facilitate subsequent defect treatment.

[0070] (7) When the detection of one measurement line is completed and the measurement line needs to be switched, the radar module is suspended. After the measurement line is switched, the video module is adjusted to the detection direction through the mechanical module. After confirming that the four directions of the slave device are safe, the radar module is turned on and the vehicle is moved. When the positioning module detects the change in the position coordinates of the slave device, the radar module is driven to detect the outer wall, and the detection work of another measurement line begins.

[0071] (8) After the slave device moves to the end position, the radar module is turned off to complete the detection work.

[0072] The above is only a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art shall not deviate from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

Claims

1. An exterior wall brick hollowing detection system, characterized in that: The main device includes a control processing module, and the slave device includes a radar module, a positioning module, a video module, and a communication module. The main device and the slave device are split structures, and the main device and the slave device are wirelessly connected through the communication module. The slave device is mounted on the mobile carrier and moved to the detection starting point. The positioning module of the slave device is started. The position information of the slave device is obtained through the positioning module, and the position information is transmitted to the main device through the communication module. After the main device receives the position information of the slave device, it combines the preset size of the slave device to generate the enclosing volume model of the slave device and projects it onto the BIM model of the exterior wall building to be detected in the main device. Start the video module of the slave device, obtain image information of the slave device in all directions through the video module, and transmit the image information back to the main device through the communication module. The main device calculates the distance of the slave device from the external wall in all directions, and adjusts the distance of the slave device from the wall according to the calculated distance; Start the radar module of the slave device, control the vehicle to move at a constant speed along the detection direction according to the calculated distance, and when the positioning module detects the change in the position coordinates of the slave device, drive the radar module to detect the exterior wall. The detection data is transmitted back to the main device through the communication module. The control processing module receives the detection data, calculates the detection data, constructs an attribute model with the calculation results in real time, and assembles the attribute model to the BIM model of the detected exterior wall building, so that the detection results and detection progress can be reflected in real time through the BIM model; The control processing module is specifically used to select three inflection points with obvious building characteristics as the first conversion point, the second conversion point and the third conversion point respectively; Respectively read the first coordinate values ​​corresponding to the first conversion point, the second conversion point, and the third conversion point in the BIM model; Then, the positioning tags are placed on the first conversion point, the second conversion point and the third conversion point respectively, and the second coordinate values ​​corresponding to the first conversion point, the second conversion point and the third conversion point in the positioning module coordinate system are calculated; According to the Bursa seven-parameter formula, a seven-variable linear overdetermined equation group is constructed using the first coordinate values ​​corresponding to the first conversion point, the second conversion point and the third conversion point in the BIM model coordinate system and the second coordinate values ​​corresponding to the first conversion point, the second conversion point and the third conversion point in the positioning module coordinate system. The equation group is solved to obtain three translation parameters, three rotation parameters and one scale parameter in the two coordinate systems. Through the obtained parameters, the coordinate values ​​in the positioning module coordinate system are converted into the coordinate values ​​in the BIM model coordinate system, thereby realizing the assembly of the attribute model and the BIM model.

2. The exterior wall brick hollowing detection system according to claim 1 is characterized in that: The positioning module is specifically used for: Set the relative coordinate origin of the building, select the building feature point as the relative coordinate origin, and use it as one of the attachment points for assembling the attribute model and the BIM model; The first transmitting base station and the second transmitting base station are set at the first transmitting base station position and the second transmitting base station position of the first detection surface, and the positioning tag is placed at the coordinate origin. The first transmitting base station and the second transmitting base station transmit data, and the positioning tag receives the data. Then, the distance between the first transmitting base station position and the second transmitting base station position is measured, and the coordinates of the first transmitting base station position and the second transmitting base station position are calculated. After the calculation is completed, the positioning tag is fixed on the slave device, and the mobile carrier starts to detect the first detection surface; After the first detection surface is detected, the second detection surface adjacent to the first detection surface is detected, the position of the second transmitting base station is kept unchanged, and the first transmitting base station is moved to the third transmitting base station position of the second detection surface. The first transmitting base station transmits data to the second transmitting base station, the positioning tag receives the data, and then measures the distance between the third transmitting base station position and the second transmitting base station position, calculates the position coordinates of the third transmitting base station, and after the calculation is completed, the mobile carrier starts to detect the second detection surface; After the second detection surface is detected, the third detection surface adjacent to the second detection surface is detected, the position of the third transmitting base station is kept unchanged, and the second transmitting base station is moved to the fourth transmitting base station position of the third detection surface. The first transmitting base station transmits data to the second transmitting base station, the positioning tag receives the data, and then measures the distance between the fourth transmitting base station position and the third transmitting base station position, calculates the fourth transmitting base station position coordinates, and after the calculation is completed, the mobile carrier starts to detect the third detection surface; After the third detection surface is detected, the fourth detection surface adjacent to the third detection surface is detected, the position of the fourth transmitting base station is kept unchanged, the first transmitting base station is moved to the position of the first transmitting base station of the fourth detection surface, the first transmitting base station and the second transmitting base station transmit data, the positioning tag receives the data, and then the distance between the first transmitting base station position and the fourth transmitting base station position of the fourth detection surface is measured, and the position coordinates of the first transmitting base station of the fourth detection surface are calculated. After the calculation is completed, the mobile carrier starts to detect the fourth detection surface; Compare the calculated coordinates of the first transmitting base station position of the fourth detection surface with the first transmitting base station position of the first detection surface, calculate the closure difference, and evenly distribute the closure difference to each transmitting base station position according to the distance, and then recalculate the position of each positioning tag to obtain the corrected coordinate values.

3. The exterior wall brick hollowing detection system according to claim 1 is characterized in that: The slave device also includes a marking module. When the main device detects and identifies that the exterior wall is hollow or damaged, the marking module of the slave device is controlled to mark the exterior wall, and different exterior wall damage types are marked with different identifiers.

4. The exterior wall brick hollowing detection system according to claim 1, characterized in that: The slave device also includes a mechanical module. When a measuring line is detected and needs to be switched, the video module is adjusted to the detection direction through the mechanical module.

5. A method for detecting hollowing of exterior wall tiles, applied to the exterior wall tile hollowing detection system as claimed in any one of claims 1 to 4, characterized in that: The exterior wall brick hollowing detection method comprises: The slave device is mounted on the mobile carrier and moved to the detection starting point. The positioning module of the slave device is started. The position information of the slave device is obtained through the positioning module, and the position information is transmitted to the main device through the communication module. After the main device receives the position information of the slave device, it combines the preset size of the slave device to generate the enclosing volume model of the slave device and projects it onto the BIM model of the exterior wall building to be detected in the main device. Start the video module of the slave device, obtain image information of the slave device in all directions through the video module, and transmit the image information back to the main device through the communication module. The main device calculates the distance of the slave device from the external wall in all directions, and adjusts the distance of the slave device from the wall according to the calculated distance; Start the radar module of the slave device, control the vehicle to move at a constant speed along the detection direction according to the calculated distance, and when the positioning module detects the change in the position coordinates of the slave device, drive the radar module to detect the exterior wall. The detection data is transmitted back to the main device through the communication module. The control processing module receives the detection data, calculates the detection data, constructs an attribute model with the calculation results in real time, and assembles the attribute model to the BIM model of the detected exterior wall building, so that the detection results and detection progress can be reflected in real time through the BIM model; The specific method of assembling the attribute model onto the BIM model of the inspected exterior wall building includes: Select three inflection points with obvious building characteristics as the first conversion point, the second conversion point, and the third conversion point; Respectively read the first coordinate values ​​corresponding to the first conversion point, the second conversion point, and the third conversion point in the BIM model; Then, the positioning tags are placed on the first conversion point, the second conversion point and the third conversion point respectively, and the second coordinate values ​​corresponding to the first conversion point, the second conversion point and the third conversion point in the positioning module coordinate system are calculated; According to the Bursa seven-parameter formula, a seven-variable linear overdetermined equation group is constructed using the first coordinate values ​​corresponding to the first conversion point, the second conversion point and the third conversion point in the BIM model coordinate system and the second coordinate values ​​corresponding to the first conversion point, the second conversion point and the third conversion point in the positioning module coordinate system. The equation group is solved to obtain three translation parameters, three rotation parameters and one scale parameter in the two coordinate systems. Through the obtained parameters, the coordinate values ​​in the positioning module coordinate system are converted into the coordinate values ​​in the BIM model coordinate system, thereby realizing the assembly of the attribute model and the BIM model.

6. The method for detecting hollowing of exterior wall tiles according to claim 5, characterized in that: The specific method of obtaining the position information of the slave device through the positioning module includes: Set the relative coordinate origin of the building, select the building feature point as the relative coordinate origin, and use it as one of the attachment points for assembling the attribute model and the BIM model; The first transmitting base station and the second transmitting base station are set at the first transmitting base station position and the second transmitting base station position of the first detection surface, and the positioning tag is placed at the coordinate origin. The first transmitting base station and the second transmitting base station transmit data, and the positioning tag receives the data. Then, the distance between the first transmitting base station position and the second transmitting base station position is measured, and the coordinates of the first transmitting base station position and the second transmitting base station position are calculated. After the calculation is completed, the positioning tag is fixed on the slave device, and the mobile carrier starts to detect the first detection surface; After the first detection surface is detected, the second detection surface adjacent to the first detection surface is detected, the position of the second transmitting base station is kept unchanged, and the first transmitting base station is moved to the third transmitting base station position of the second detection surface. The first transmitting base station transmits data to the second transmitting base station, the positioning tag receives the data, and then measures the distance between the third transmitting base station position and the second transmitting base station position, calculates the position coordinates of the third transmitting base station, and after the calculation is completed, the mobile carrier starts to detect the second detection surface; After the second detection surface is detected, the third detection surface adjacent to the second detection surface is detected, the position of the third transmitting base station is kept unchanged, and the second transmitting base station is moved to the fourth transmitting base station position of the third detection surface. The first transmitting base station transmits data to the second transmitting base station, the positioning tag receives the data, and then measures the distance between the fourth transmitting base station position and the third transmitting base station position, calculates the fourth transmitting base station position coordinates, and after the calculation is completed, the mobile carrier starts to detect the third detection surface; After the third detection surface is detected, the fourth detection surface adjacent to the third detection surface is detected, the position of the fourth transmitting base station is kept unchanged, the first transmitting base station is moved to the position of the first transmitting base station of the fourth detection surface, the first transmitting base station and the second transmitting base station transmit data, the positioning tag receives the data, and then the distance between the first transmitting base station position and the fourth transmitting base station position of the fourth detection surface is measured, and the position coordinates of the first transmitting base station of the fourth detection surface are calculated. After the calculation is completed, the mobile carrier starts to detect the fourth detection surface; Compare the calculated coordinates of the first transmitting base station position of the fourth detection surface with the first transmitting base station position of the first detection surface, calculate the closure difference, and evenly distribute the closure difference to each transmitting base station position according to the distance, and then recalculate the position of each positioning tag to obtain the corrected coordinate values.

7. The method for detecting hollowing of exterior wall tiles according to claim 5, characterized in that: The method for detecting hollowing of exterior wall bricks also includes: when the video module of the slave device detects that the distance in any direction is less than the set safety distance, it reminds the detection personnel to suspend the movement of the vehicle. After the vehicle suspends movement, the positioning module detects that the position coordinates of the slave device have not changed, and the radar module external wall detection is suspended. After the vehicle moves again, the positioning module detects that the position coordinates of the slave device have changed again, and the radar module continues to be driven to detect the exterior wall.

8. A computer device, comprising a memory, wherein the memory stores program instructions, characterized in that: When the program instructions are executed, the exterior wall brick hollowing detection method as described in any one of claims 5 to 7 is executed.

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