Intelligent concrete crack detecting and repairing device and using method thereof

Abstract

The invention discloses an intelligent concrete crack detecting and repairing device and a using method thereof. The problem that special equipment for repairing concrete cracks is lacked is solved. The device mainly comprises a carrying platform, a moving module, a crack detection module, a crack widening module, a sealing module and a glue injection module. Wherein the loading platform is a main body part of the device, and a battery and a central control module are loaded in the loading platform; the moving module comprises mechanical legs and a sucking pump, and the crack detection module is located in front of the carrying platform; the crack widening module is located behind the object carrying platform. The sealing module and the glue injection module share the same sliding shaft and are both buckled on the sliding shaft, and the sliding shaft is located below the carrying platform. The intelligent device is used for replacing manual work to detect and repair the concrete crack, and the problem of repairing the concrete crack is solved.

Description

Technical Field

[0001] The invention relates to a device capable of intelligently detecting and repairing cracks in concrete and a use method thereof, belonging to the field of intelligent detection and repair in bridge engineering. Background Art

[0002] As time goes by, cracks appear in concrete. To ensure the stability of the concrete structure, it is necessary to detect and repair the concrete cracks in time. Today, repairing concrete cracks is a difficult problem. The common method of repairing concrete cracks is the glue injection method, which requires manual detection of concrete cracks and then glue injection. The glue injection process is complicated and the safety of workers cannot be guaranteed during construction. Therefore, it is necessary to develop a device that can intelligently detect and repair cracks in concrete and its use method. Summary of the invention

[0003] Purpose of the invention: The purpose of the present invention is to solve the problem of lack of professional equipment for repairing concrete cracks. The existing glue injection method requires 5 to 6 steps to achieve glue injection to repair concrete cracks. Not only is the work process complicated, but the safety of workers cannot be guaranteed when working in relatively high or unsafe positions. The device of the present invention can integrate the detection and repair of concrete cracks. After setting the driving path of the trolley, the trolley will automatically detect and repair the cracks, thereby replacing manual work to solve the problem of concrete crack repair.

[0004] Technical methods: A device for intelligent detection and repair of concrete cracks, characterized in that the device comprises a loading platform, a moving module, a crack detection module, a crack widening module, a sealing module, and a glue injection module, wherein the loading platform carries a battery and a central control module; the moving module comprises mechanical legs and an air pump, the mechanical legs are installed on the loading platform, and are respectively located in the left front, left rear, right front, and right rear directions of the loading platform, the ends of the mechanical legs are equipped with suction cups, and the suction cups are connected to the air pump through pipelines, the crack detection module is located in front of the loading platform; the crack widening module is located at the rear of the loading platform; the sealing module and the glue injection module are both installed on a sliding shaft, and the sliding shaft is located below the loading platform, forming an electrically driven cross slide structure.

[0005] Furthermore, the mechanical leg is a two-joint mechanical leg, which has two states when started. The first state is a standby state, in which the angle between the mechanical leg and the concrete is 60 degrees; the second state is a moving state, in which the left front mechanical leg and the right rear mechanical leg are a group, and the right front mechanical leg and the left rear mechanical leg are a group and move together, and the angle between the mechanical leg and the concrete is 30 degrees. Furthermore, the crack detection module and the loading platform have two connection points. The first connection point is connected by a rotating shaft in the groove directly in front of the loading platform, and the second connection point is above the loading platform and the lower end of the mechanical arm that controls the movement of the Z-axis is connected to the loading platform by welding. When the device is started, the motor drives the gear to control the mechanical arm to regulate the movement of the Z-axis, and the servo motor drives the detection head to move along the X-axis and Y-axis, and the detection head is connected to the transmission shaft through a slide rail.

[0006] Furthermore, the crack widening module is composed of a transmission shaft, an electric spindle, a milling cutter and a blower. The electric spindle is installed on the transmission shaft, the electric spindle is connected to the milling cutter, and the blower is located in a groove behind the loading platform.

[0007] Furthermore, the sealing module is composed of an electric pump, a No. 1 concrete mixing box, a No. 1 glue injection hose and a sealing brush head, wherein the No. 1 concrete mixing box is a two-layer structure, the upper layer is divided into two parts by a middle partition, respectively containing water and double-fast cement powder; the lower layer is a mixing fan blade driven by a motor, and the baffle at the connection between the upper and lower layers has two small holes on both sides, which can be opened or closed, and the upper plate descends to keep a certain pressure in the two storage spaces, one end of the electric pump is connected to the lower layer of the concrete mixing box, and the other end is connected to the sealing brush head through the No. 1 glue injection hose. When started, the double-fast cement under the concrete mixing box is pumped to the sealing brush head, the sealing brush head is connected to the transmission shaft, and can move along the X-axis and Y-axis under control, and the double-fast cement is transported to the end of the brush head through a pipeline inside the sealing brush head.

[0008] Furthermore, the glue injection module is composed of an electric pump, a No. 2 glue injection stirring box, a glue injector and a glue injection head, and the two storage spaces of the No. 2 glue injection stirring box respectively store the modified epoxy resin and the curing agent.

[0009] Furthermore, all surfaces contacting with the modified epoxy resin glue or double-fast cement have polytetrafluoroethylene plate molded plates.

[0010] The method for using the intelligent detection and repair device for concrete cracks is characterized by comprising the following steps: S1: First, set the driving speed and driving route in the central control module; S2: The device is placed on the concrete surface to be tested and enters the standby state. At this time, the vacuum pump starts to work to exhaust the air in the suction cup so that the device is adsorbed on the concrete surface; S3: The device enters the motion state, the mechanical legs move forward in groups of two according to the predetermined route, the suction cups under the mechanical legs exhaust and inhale in groups of two, the crack detection module is started, and the crack detection module detects the concrete every time the device moves forward, and the other modules remain in standby state; S4: The crack detection module and the mobile module continue to work: If the crack width is greater than 1.5 mm, the crack detection module will transmit the detected data to the central control module and take photos for storage. After all the set routes have been detected, they will be repaired manually. If the crack width is detected to be less than 0.2mm, the crack detection module will capture the image, identify and track the crack, the central control module will re-plan the route and move forward in the direction of the crack extension, after detecting the end point of the crack from the initial point of the crack, the sealing module will start, the No. 1 concrete mixing box will mix the cement slurry and transmit it to the sealing brush through the electric pump, then it will return to the starting point of the crack from the end point of the crack according to the re-planned route, in this process, the sealing module and the moving module will work together, the moving module will move once and then stop, the sealing module will seal the cracks between the moving distances under the control of the central control module, after the cracks between the moving distances are sealed, the sealing module will return to the initial position, the moving module will control the next movement, and the operation will be repeated until it returns to the starting point of the crack; If the detected crack width is 0.2mm to 1.5mm, the crack detection module will capture the image, identify and track the crack, the central control module will re-plan the route and move along the direction of the crack extension, after detecting the end point of the crack from the initial point of the crack, the crack widening module will start, at this time, it will return to the starting point of the crack from the end point of the crack according to the re-planned route, in this process, the crack widening module and the mobile module will work together, the mobile module will move once and then stop, the crack widening module will move once under the control of the central control module to widen the crack, after the crack expansion between the movement is completed, the crack widening module will return to the initial position, the mobile module will control the next movement, repeat the operation until the device returns to the starting point of the crack, then the sealing module will start, the No. 1 concrete mixing box will mix the cement slurry and transmit it to the sealing brush through the electric pump, the device will move from the starting point of the crack along the crack widening route Move to the end position of the crack. During this process, the sealing module and the moving module work together. The moving module moves once and then stops. Under the control of the central control module, the sealing module seals the cracks between the moving distances. After the cracks between the moving distances are sealed, the sealing module returns to the initial position, and the moving module controls the next movement. The operation is repeated until the end position of the crack is reached, leaving a 10mm long injection port at the end point. After the sealing is completed, it is allowed to stand for 5 minutes to allow the cement slurry to solidify. The No. 2 injection mixing box configures the modified epoxy resin and curing agent according to the amount of repair glue required for the crack calculated by the central control module. The electric pump pumps the glue liquid to the glue injector through a hose, so that the glue is injected into the crack through the reserved injection port, and then the injection head moves to the right to align the position of the crack port with the solid part of the injection head column. After standing for 5 minutes, the glue is removed after solidification. This step is repeated until all the reserved crack ports are injected with glue. S5: After a crack is repaired, the device returns to the starting point of the crack, and continues to detect according to the initially set moving path. The device continues to move forward until the preset detection route of the device is detected. The device enters a standby state and waits for professionals to remove it from the concrete.

[0011] Beneficial effects: Compared with the existing technology, the present invention has the following advantages: (1) The present invention can solve the problem of lack of professional equipment in existing concrete crack repair.

[0012] (2) The present invention has a high level of intelligence. After the moving route is set using a computer, the central control module will automatically control the remaining modules, so that after the equipment is started, it can automatically detect and repair concrete without human intervention.

[0013] (3) The present invention can solve the problem of waste of manpower, reduce construction time and avoid potential safety hazards to personnel during construction.

[0014] (4) The operation of the present invention will not cause harm to the environment, and the repair process is green, low-carbon and less noisy. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 This is the southwest isometric view of the device Figure 2 This is a bottom view of the device Figure 3 This is a side view of the device Figure 4 This is a detailed diagram of the mechanical leg in the present invention. Figure 5 This is a detailed diagram of the crack detection module in the present invention. Figure 6 This is a detailed diagram of the crack widening module in the present invention. Figure 7 This is an assembly diagram of the glue brush head and the glue injection head that share a common axis in the present invention. Figure 8 This is a detailed view of the glue injection head in the present invention Fig. 9 This is the assembly diagram of the electric pump and concrete mixing box in the present invention Fig.10 This is a detailed view of the upper half of the concrete mixing box in the present invention. Fig.11 This is a detailed view of the lower half of the concrete mixing box in the present invention. DETAILED DESCRIPTION

[0016] To facilitate understanding of the structure of the present invention, the following is a description in conjunction with the accompanying drawings and embodiments. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which this application belongs. Example

[0017] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0018] like Figures 1 to 11 As shown, the above device includes a loading platform 100, a moving module 200, a crack detection module 300, a crack widening module 400, a sealing module 600, and a glue injection module 700. The loading platform 100 is the main part of the device, which carries a battery and a central control module; the moving module 200 includes mechanical legs and an air pump, and the four mechanical legs are located on the side of the loading platform 100, respectively located in the left front, left rear, right front, and right rear directions of the loading platform 100, forming a quadruped robot. The mechanical leg is a pneumatic suction cup structure. Specifically, the end of the mechanical leg is equipped with a suction cup 204, and the suction cup 204 is connected to the air pump through a pipe 203. A total of four air pumps are located above the loading platform 100, forming a pneumatic suction cup quadruped robot. The crack detection module 300 is located in front of the loading platform 100, and is used to detect the existence, size and direction of cracks; the crack widening module 400 is located behind the loading platform 100, and is used to widen the cracks to facilitate the glue injection process; the sealing module 600 and the glue injection module 700 share a sliding shaft 605, and both modules are buckled on the sliding shaft 605, and the sliding shaft 605 is located below the loading platform 100.

[0019] In this example, a battery and a central control module are encapsulated inside the loading platform 100. The battery is connected to the central control module via a data line, and the central control module is connected to each module inside the loading platform 100 via a data line, wherein the central control module can control the operation of each module. The data collected during the operation of the device is aggregated to the central control module and then processed uniformly.

[0020] In this example, refer to Figure 4 , the mechanical leg in the mobile module 200 is a two-joint mechanical leg, one joint is a rotary joint 202, and the other joint is a ball joint 201. The mechanical leg has two states when it is started. The first is the standby state, the mechanical leg is slightly bent, the angle between the two connecting rods is 90 degrees and the angle with the concrete is 60 degrees. The second is the moving state, the left front mechanical leg and the right rear mechanical leg are a group, and the right front mechanical leg and the left rear mechanical leg are a group and move together. At this time, the angle between the mechanical leg and the concrete is 30 degrees. The vacuum pump is controlled by the central control module, and the vacuum pump of the moving group of mechanical legs is exhausted. After moving forward one step, the vacuum pump immediately exhausts air, so that a vacuum space is formed between the suction cup 204 and the concrete, so that it has adsorption force, that is, a suction cup-type quadruped robot chassis.

[0021] In this example, refer to Figure 5, the crack detection module 300 is composed of a Z-axis transmission shaft Ⅰ 303, a Y-axis transmission shaft Ⅰ 304, an X-axis transmission shaft Ⅰ 305 and a detection head 306, and is located in front of the device. It has two connection points with the loading platform 100. The first connection point 307 is connected by a rotating shaft in the groove in front of the loading platform 100, and the second connection point 308 is above the loading platform. The lower end of the mechanical arm that controls the movement of the Z axis is connected to the loading platform by welding. When the device is started, the motor 301 drives the gear 302 to control the mechanical arm to adjust the movement of the Z axis. The detection head 306 is controlled by the servo motor to move along the X-axis transmission shaft Ⅰ 305 and the Y-axis transmission shaft Ⅰ 304. The detection head 306 is connected to the X-axis transmission shaft Ⅰ through a slide rail. The image acquisition unit in the detection head 306 will send pulses to the internal camera. After receiving the pulses, the camera will take pictures and capture images. After the images are captured, they will be transmitted to the image processing system. The image processing system will detect the cracks and transmit the processed information to the central control module. When a crack appears, the detection head 306 can identify the shape, size, and direction of the crack through machine learning. The detection head 306 will then take multiple photos continuously around the crack and track the direction of the crack through comparative analysis.

[0022] In this example, refer to Figure 6 , the operation mode of the crack widening module 400 is basically the same as that of the crack detection module 300, except that the functional modules on the crack widening module 400 are the milling cutter 406 and the blower 500. Specifically, the crack widening module 400 is composed of a Z-axis transmission shaft Ⅱ 403, a Y-axis transmission shaft Ⅱ 404, an X-axis transmission shaft Ⅱ 405 and a milling cutter 406, which is located at the rear of the device. The operation mode of its transmission shaft is the same as that of the transmission shaft in the crack detection module. The Y-axis transmission shaft Ⅱ is equipped with an electric spindle, and the milling cutter 406 is installed on the electric spindle. The crack is widened by the high-speed rotation of the milling cutter. The blower 500 is located in the rear groove of the loading platform 100. The air outlet of the blower (not shown in the figure) faces the milling cutter position, and the angle between it and the concrete is 45°. During operation, the milling cutter rotates at a high speed and the forward speed is about 500mm / min; the blower voltage is 220V and the wind force is 6.7m³ / min, that is, the side wind is used for slag removal.

[0023] In this example, the sealing module 600 is composed of a No. 1 electric pump 910, a No. 1 concrete mixing box 810, a No. 1 transmission shaft 604, a sliding shaft 605, an electric turntable 603, a No. 1 injection hose 602 and a sealing brush head 601. Figure 7, wherein the No. 1 concrete mixing box 810 is a two-layer structure, the upper layer is divided into two parts by the middle partition 812, one part is water, and the other part is double-fast cement (powder); the lower layer is a mixing fan 813 driven by a motor. There are two small holes on both sides of the baffle at the connection between the upper and lower layers, which can be opened or closed, and the upper plate 811 can be lowered to keep a certain pressure in the two storage spaces. The inlet end of the No. 1 electric pump 910 is connected to the lower layer of the No. 1 concrete mixing box 810, and the outlet end is connected to the sealing brush head 601 through the No. 1 injection hose. When started, the double-fast cement under the No. 1 concrete mixing box 810 is pumped to the sealing brush head 601. The sealing brush head 601 is connected to the No. 1 transmission shaft 604, which can move along the X-axis and Y-axis under control to form a dual-axis drive structure. In this embodiment, the No. 1 transmission shaft 604 and the sliding shaft 605 are electric cross slides driven by X-axis and Y-axis motors. The double-fast cement is transported to the end of the sealing brush head 601 through a pipeline inside the sealing brush head 601. In order to adapt to cracks of different angles, an electric turntable 603 is provided at the connection between the sealing brush head 601 and the No. 1 transmission shaft 604, thereby controlling the painting direction of the sealing brush head 601 within a range of 180 degrees.

[0024] In this example, the glue injection module 700 is composed of a No. 2 electric pump 920, a No. 2 glue injection stirring box 820, a No. 2 transmission shaft 703, a glue injector 701 and a glue injection head 702, wherein the glue injection module 700 and the sealing module 600 share a pair of sliding shafts 605 in the Y-axis direction, and the No. 2 electric pump 920 and the No. 2 glue injection stirring box 820 are used in the same principle as the sealing module 700. It is worth noting that the two storage spaces of the No. 2 glue injection stirring box 820 are used to store modified epoxy resin and curing agent respectively, and the glue outlet of the glue injector is installed with the glue injection head 702. The end of the glue injection head 702 is a columnar object with a larger diameter. In order to prevent the glue from overflowing due to excessive pressure during the glue injection process, a baffle 704 that can be extended up and down is set on the left side of the columnar object of the glue injection head 702, refer to Figure 8 .

[0025] In this example, all surfaces in contact with modified epoxy resin glue or double-fast cement are wrapped with a layer of polytetrafluoroethylene molded plate to prevent adhesion between the equipment and the glue.

[0026] It is further necessary to explain that a method for using a device capable of intelligently detecting and repairing cracks in concrete comprises the following steps: S1: First, set the driving speed and driving route of the device in the central control module.

[0027] S2: The device is placed on the concrete surface and enters a standby state. At this time, the vacuum pump starts to work to exhaust the air in the four suction cups 204 so that the device is adsorbed on the concrete surface.

[0028] S3: The device enters the motion state, the mechanical legs move forward in groups of two along the specified route, and the suction cups 204 under the mechanical legs also exhaust and inhale in groups of two. At this time, the crack detection module 300 is started. After each forward movement of the device, the crack detection module 300 detects the path of this step (the concrete between the two mechanical legs) driven by the transmission shaft, and the other devices remain in standby state.

[0029] S4: The crack detection module 300 and the mobile module 200 continue to work. If the crack width is detected to be greater than 1.5 mm, the crack detection module 300 transmits the detected data to the central control module for feedback and takes photos for storage. After all designated routes are detected, the construction personnel repair the concrete cracks.

[0030] If the crack width is detected to be less than 0.2 mm, the crack detection module 300 will capture the image, identify and track the crack, and the central control module will re-plan the route and move forward in the direction of the crack extension, after the end of the crack is detected from the initial point of the crack. The sealing module 600 is started, and the No. 1 concrete mixing box 810 starts to stir the double-fast cement and transmits it to the sealing brush head 601 through the No. 1 electric pump 910. During the process of brushing the cement slurry, the device's action route is from the end of the crack back to the starting point of the crack. In this process, the sealing module 600 and the moving module 200 work together. The moving module 200 moves once and then stops moving. Under the control of the central control module, the sealing module 600 will seal the cracks between the moving distances. The specific operation method of the sealing process is that the sealing brush head 601 receives the information sent by the control module, and the sealing brush head 601 is perpendicular to the direction of the crack extension, and the sliding shaft 605 drives the sliding shaft 605 to brush the glue in a translational manner. After the crack sealing is completed during one movement, the sealing module 600 returns to the initial position, and the moving module 200 controls the next movement. The above operation is repeated until the crack returns to the starting point.

[0031] If the crack width detected is 0.2mm to 1.5mm, the crack detection module 300 will capture images, identify and track the cracks, and the central control module will re-plan the route and move forward in the direction of the crack extension until the end point of the crack is detected from the initial point of the crack. The crack widening module 400 starts, and at this time, it returns to the starting point of the crack from the end point of the crack according to the re-planned route. In this process, the crack widening module 400 and the moving module 200 work together. The moving module 200 moves once and then stops moving. Under the control of the central control module, the crack widening module 400 will move once and then move the crack between the distances to perform crack widening processing. The crack widening processing is specifically that the milling cutter 406 starts to rotate, and the standard diameter of the milling cutter 406 is 10mm. Driven by the transmission shaft, it starts to widen the crack by moving horizontally from the end point of the crack. After the crack expansion between the movements is completed, the crack widening module 400 returns to the initial position, and the moving module 200 controls the next movement. Repeat the above operation until the device returns to the starting point of the crack. It is worth noting that when the crack widening module 400 is started, the blower 500 below it is also started at the same time, and it continues until the expansion of the groove is completed; then the sealing module 600 is started, and the No. 1 concrete mixing box begins to produce cement slurry, and is transmitted to the sealing brush head 601 through the No. 1 electric pump 910. During the process of brushing cement slurry, the device action route is from the end of the crack back to the starting point of the crack. In this process, the sealing module 600 and the moving module 200 work together. The moving module 200 moves once and then stops moving. Under the control of the central control module, the sealing module 600 seals the cracks between the moving distances. The specific operation mode of the sealing treatment is that the sealing brush head 601 receives the information sent by the control module, makes the brush head direction perpendicular to the extension direction of the crack, and brushes the cement slurry in a translational manner under the drive of the transmission shaft. After the cracks between the movements are sealed, the sealing module 600 returns to the initial position, and the moving module 200 controls the next movement. Repeat the above operation until the end position of the crack is reached, leaving a 10mm long crack at the end without brushing cement slurry. If the total length of the crack is greater than 2m, a 10mm long crack is left at every 1m without grouting; after the sealing is completed, let it stand for 5 minutes to allow the double-fast cement to solidify. Then the glue injection module 700 starts working, and the No. 2 glue injection mixing box 820 configures the modified epoxy resin and curing agent according to the amount of repair glue required for the crack calculated by the central control module, and then the No. 2 electric pump 920 pumps the glue to the glue injector 701 through the hose, so that the glue is injected into the crack through the reserved crack opening. After the glue is fully injected, the glue injector 701 moves 6mm to the right to make the position of the crack opening align with the solid part of the columnar object of the glue injection head 702, and stands for 5 minutes to allow the glue to solidify before moving away.If the total length of the crack is greater than 2m, the baffle 704 on the left side of the glue injection head 702 is moved down while the glue is being injected. After a section of glue injection is completed, the glue injector 701 is moved 6mm to the right so that the position of the crack opening is aligned with the solid part of the columnar object of the glue injection head 702. It is left for 5 minutes until the repair glue solidifies and then removed. Repeat this step until all the reserved crack openings are injected with glue. When injecting glue at the last crack opening (at the end point), it is not necessary to move the baffle 704 on the left side of the glue injection head 702 down.

[0032] S5: After a crack is repaired, the device returns to the starting point of the crack. The device continues to detect according to the initially set moving path. The device continues to move forward until the preset device detection route is detected. The device enters the standby state and waits for professionals to remove it from the concrete.

Claims

1. A concrete crack intelligent detection and repair device, characterized in that: The device includes a loading platform, a moving module, a crack detection module, a crack widening module, a sealing module, and a glue injection module, wherein the loading platform carries a battery and a central control module; the moving module includes mechanical legs and an air pump, the mechanical legs are installed on the loading platform, and are respectively located in the left front, left rear, right front, and right rear directions of the loading platform, the ends of the mechanical legs are equipped with suction cups, and the suction cups are connected to the air pump through pipes, the crack detection module is located in front of the loading platform; the crack widening module is located at the rear of the loading platform; the sealing module and the glue injection module are both installed on a sliding shaft, and the sliding shaft is located below the loading platform, forming an electrically driven cross slide structure.

2. The intelligent detection and repair device for concrete cracks according to claim 1 is characterized in that: The mechanical leg is a two-joint mechanical leg. When the mechanical leg is started, there are two states. The first is the standby state, and the angle between the mechanical leg and the concrete is 60 degrees; the second is the moving state, the left front mechanical leg and the right rear mechanical leg are a group, and the right front mechanical leg and the left rear mechanical leg are a group and move together, and the angle between the mechanical leg and the concrete is 30 degrees.

3. The intelligent detection and repair device for concrete cracks according to claim 1 is characterized in that: The crack detection module and the loading platform have two connection points. The first connection point is connected by a rotating shaft in the groove directly in front of the loading platform. The second connection point is above the loading platform and the lower end of the mechanical arm that controls the movement of the Z-axis is connected to the loading platform by welding. When the device is started, the motor drives the gear to control the mechanical arm to adjust the movement of the Z-axis, and the servo motor drives the detection head to move along the X-axis and Y-axis. The detection head is connected to the transmission shaft through a slide rail.

4. The intelligent detection and repair device for concrete cracks according to claim 1 is characterized in that: The crack widening module is composed of a transmission shaft, an electric spindle, a milling cutter and a blower. The electric spindle is installed on the transmission shaft, the electric spindle is connected to the milling cutter, and the blower is located in a groove behind the loading platform.

5. The intelligent detection and repair device for concrete cracks according to claim 1 is characterized in that: The sealing module is composed of an electric pump, a No. 1 concrete mixing box, a No. 1 glue injection tube and a sealing brush head, wherein the No. 1 concrete mixing box is a two-layer structure, the upper layer is divided into two parts by a middle partition, respectively containing water and double-fast cement powder; the lower layer is a mixing fan blade driven by a motor, and the baffle at the connection between the upper and lower layers has two small holes on both sides, which can be opened or closed, and the upper plate descends to keep a certain pressure in the two storage spaces, one end of the electric pump is connected to the lower layer of the concrete mixing box, and the other end is connected to the sealing brush head through the No. 1 glue injection tube, when started, the double-fast cement under the concrete mixing box is pumped to the sealing brush head, the sealing brush head is connected to the transmission shaft, and can move along the X-axis and the Y-axis under control, and the double-fast cement is transported to the end of the brush head through a pipeline inside the sealing brush head.

6. The intelligent detection and repair device for concrete cracks according to claim 1 is characterized in that: The glue injection module is composed of an electric pump, a No. 2 glue injection stirring box, a glue injector and a glue injection head. The two storage spaces of the No. 2 glue injection stirring box respectively store the modified epoxy resin and the curing agent.

7. The intelligent detection and repair device for concrete cracks according to claim 1 is characterized in that: All surfaces in contact with modified epoxy resin glue or double-fast cement have polytetrafluoroethylene plate molded plates.

8. A method for using a smart concrete crack detection and repair device, wherein the smart concrete crack detection and repair device is the smart concrete crack detection and repair device as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: S1: First, set the driving speed and driving route in the central control module; S2: The device is placed on the concrete surface to be tested and enters the standby state. At this time, the vacuum pump starts to work to exhaust the air in the suction cup so that the device is adsorbed on the concrete surface; S3: The device enters the motion state, the mechanical legs move forward in groups of two according to the predetermined route, the suction cups under the mechanical legs exhaust and inhale in groups of two, the crack detection module is started, and the crack detection module detects the concrete every time the device moves forward, and the other modules remain in standby state; S4: The crack detection module and the mobile module continue to work: If the crack width is greater than 1.5 mm, the crack detection module will transmit the detected data to the central control module and take photos for storage. After all the set routes have been detected, they will be repaired manually. If the crack width is detected to be less than 0.2mm, the crack detection module will capture the image, identify and track the crack, the central control module will re-plan the route and move forward in the direction of the crack extension, after detecting the end point of the crack from the initial point of the crack, the sealing module will start, the No. 1 concrete mixing box will mix the cement slurry and transmit it to the sealing brush through the electric pump, then it will return to the starting point of the crack from the end point of the crack according to the re-planned route, in this process, the sealing module and the moving module will work together, the moving module will move once and then stop, the sealing module will seal the cracks between the moving distances under the control of the central control module, after the cracks between the moving distances are sealed, the sealing module will return to the initial position, the moving module will control the next movement, and the operation will be repeated until it returns to the starting point of the crack; If the detected crack width is 0.2mm to 1.5mm, the crack detection module will capture the image, identify and track the crack, the central control module will re-plan the route and move along the direction of the crack extension, after detecting the end point of the crack from the initial point of the crack, the crack widening module will start, at this time, it will return to the starting point of the crack from the end point of the crack according to the re-planned route, in this process, the crack widening module and the mobile module will work together, the mobile module will move once and then stop, the crack widening module will move once under the control of the central control module to widen the crack, after the crack expansion between the movement is completed, the crack widening module will return to the initial position, the mobile module will control the next movement, repeat the operation until the device returns to the starting point of the crack, then the sealing module will start, the No. 1 concrete mixing box will mix the cement slurry and transmit it to the sealing brush through the electric pump, the device will move from the starting point of the crack along the crack widening route Move to the end position of the crack. During this process, the sealing module and the moving module work together. The moving module moves once and then stops. Under the control of the central control module, the sealing module seals the cracks between the moving distances. After the cracks between the moving distances are sealed, the sealing module returns to the initial position, and the moving module controls the next movement. The operation is repeated until the end position of the crack is reached, leaving a 10mm long injection port at the end point. After the sealing is completed, it is allowed to stand for 5 minutes to allow the cement slurry to solidify. The No. 2 injection mixing box configures the modified epoxy resin and curing agent according to the amount of repair glue required for the crack calculated by the central control module. The electric pump pumps the glue liquid to the glue injector through a hose, so that the glue liquid is injected into the crack through the reserved injection port, and then the injection head moves to the right to align the position of the crack port with the solid part of the injection head column. After standing for 5 minutes, the glue is removed after solidification. This step is repeated until all the reserved crack ports are injected with glue. S5: After a crack is repaired, the device returns to the starting point of the crack, and continues to detect according to the initially set moving path. The device continues to move forward until the preset detection route of the device is detected. The device enters a standby state and waits for professionals to remove it from the concrete.

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