Steel bar corrosion detection method and robot

Abstract

The invention provides a steel bar corrosion detection method and system.The method comprises the steps that data of stand columns in a building are obtained, the data of the stand columns comprise three-dimensional data of column bodies and three-dimensional data of steel bars in the column bodies, and the data of the stand columns are imported into a robot; according to the three-dimensional data of the steel bars in the column body, controlling the magnetic flux leakage detection equipment to call the matched measurement parameters; the target orientation of the stand column is determined, under the matched measurement parameter condition, the robot is controlled to surround the bottom of the stand column with the target orientation as the starting point, all steel bars in the stand column are positioned, and all the steel bars in the stand column are numbered; planning a detection route of the robot according to the numbers of the steel bars, and controlling the robot to detect according to the detection route; when the magnetic flux leakage detection device collects the change of the preset magnetic induction line, the corresponding point position is marked, specifically, the robot which has the wall climbing function and is provided with the magnetic flux leakage detection device automatically scans the reinforcing steel bar in the stand column, the problem that time and labor are wasted manually is effectively solved, and meanwhile automatic marking is carried out when the rusted part is detected so that tracing can be carried out conveniently.

Description

Technical Field

[0001] The invention belongs to the technical field of steel bar corrosion detection, and particularly relates to a steel bar corrosion detection method and a robot. Background Art

[0002] Steel bar corrosion detection is an important quality inspection task in construction projects, which aims to evaluate the degree of steel bar corrosion and ensure the safety and durability of the structure. Steel bar corrosion can reduce the bearing capacity of concrete structures and even cause structural damage. Therefore, timely and accurate detection of steel bar corrosion is of great significance for preventing structural failure and ensuring project safety.

[0003] At present, there is a method of detecting corrosion of steel bars in concrete by magnetic leakage detection technology. Specifically, magnetic leakage detection technology can intuitively display the shape, position and size of defects. Its principle is to magnetize the product to saturation under the action of the magnetizing device. If the product is defect-free, the magnetic induction lines in the product are constrained to the object, and the magnetic flux is parallel to the surface of the object being tested, and almost no magnetic induction lines overflow from the surface; if there are defects such as damage and corrosion, the material or shape of the defective part will cause the magnetic permeability to change, and a leakage magnetic field proportional to the size of the defect will be formed. By detecting the leaked magnetic lines of force through the magnetic sensitive probe, the defect shape on the object being tested can be inferred.

[0004] It can be found that magnetic flux leakage detection is an ideal technology for non-destructive detection of steel corrosion. However, in an actual scenario, there will be an acceptance phase during the construction process or when the building is completed, which specifically includes the detection of steel corrosion in the columns of the building. At this time, manual handheld magnetic flux leakage detection equipment is required to scan the entire column. Especially when the column is high, manual operation is more complicated, time-consuming and labor-intensive. At the same time, if the location of steel corrosion is detected, it is inconvenient to record. Summary of the invention

[0005] Based on this, an embodiment of the present invention provides a steel bar corrosion detection method and system, which aims to solve the problem in the prior art that it is time-consuming and labor-intensive to scan the entire column with a manual handheld magnetic flux leakage detection device, and it is inconvenient to record.

[0006] A first aspect of an embodiment of the present invention provides a steel bar corrosion detection method, which is applied to a robot scene equipped with a magnetic flux leakage detection device, wherein the magnetic flux leakage detection device is installed at the bottom of the robot and includes an AC magnetization device and a magnetic sensitive probe for receiving changes in magnetic induction lines. The robot has a wall climbing function, and the method includes:

[0007] Acquire data of columns in the building, the data of the columns including three-dimensional data of the columns and three-dimensional data of steel bars in the columns, and import the data of the columns into the robot;

[0008] According to the three-dimensional data of the steel bars in the column, the magnetic flux leakage detection device is controlled to call matching measurement parameters;

[0009] Determine the target orientation of the column, and under matching measurement parameter conditions, control the robot to take the target orientation as a starting point, circle around the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column;

[0010] Planning a detection route for the robot according to the number of the steel bars, and controlling the robot to perform detection along the detection route;

[0011] When the magnetic flux leakage detection device collects changes in the preset magnetic induction lines, the corresponding points are marked.

[0012] Preferably, the step of determining the target orientation of the column, and under matching measurement parameter conditions, controlling the robot to take the target orientation as a starting point, surround the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column comprises:

[0013] Generate a visualized first physical model according to the three-dimensional data of the column and the three-dimensional data of the steel bars in the column;

[0014] Generate a visualized second physical model according to the three-dimensional data of the robot;

[0015] A visual spatial model is established, and the first physical model and the first physical model are edited in the spatial model, and the editing at least includes a spatial combination between the first physical model and the first physical model.

[0016] Preferably, in the step of determining the target orientation of the column and, under matching measurement parameter conditions, controlling the robot to take the target orientation as the starting point, surround the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column, the movement of the robot, the positioning and numbering of the steel bars are all reflected in the spatial model through the first physical model and the first physical model.

[0017] Preferably, the step of determining the target orientation of the column, and under matching measurement parameter conditions, controlling the robot to take the target orientation as a starting point, surround the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column comprises:

[0018] Determine a target orientation of the column and a target position of the target orientation of the column on the first physical model, and move the second physical model to the target position;

[0019] The magnetic flux leakage detection device is started under the matching measurement parameter condition, and the robot is controlled to take the target direction as a starting point and circle around the bottom of the column, so as to obtain the movement parameters and the actual movement distance of the robot, and the positional relationship between the first physical model and the second physical model in the space model is updated in real time according to the movement parameters and the actual movement distance;

[0020] Controlling the magnetic flux leakage detection device to send out a detection signal, and judging whether there is a magnetizable steel bar according to the detection signal;

[0021] If it is determined that magnetizable steel bars exist, all the steel bars in the column are located and numbered.

[0022] Preferably, in the step of planning a detection route of the robot according to the numbering of the steel bars, and controlling the robot to perform detection along the detection route, the detection route is an "S"-shaped route.

[0023] Preferably, when the magnetic flux leakage detection device collects a preset magnetic induction line change, the step of marking the corresponding point position includes:

[0024] Reflecting the marked point on the first physical model in the space model, and obtaining the coordinate position of the marked point;

[0025] According to the coordinate position, determining whether the marked point position is greater than a threshold;

[0026] If the marked point is judged to be greater than the threshold, an early warning is issued.

[0027] Preferably, the method further comprises:

[0028] When there are multiple columns of the same type to be inspected, determine the target orientation of any column, and under matching measurement parameter conditions, control the robot to take the target orientation as the starting point, circle the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column;

[0029] According to the number of the steel bars, the detection route of the robot is planned, and finally control information is generated, and the control information is used to record the working parameters of the robot;

[0030] Determine the target orientations of the remaining columns, and synchronize them to all robots based on the control information, so as to control all robots to perform inspections along the inspection route at the same time;

[0031] When the magnetic flux leakage detection device collects changes in the preset magnetic induction lines, the corresponding points are marked.

[0032] Preferably, the step of judging whether the marked point position is greater than a threshold according to the coordinate position comprises:

[0033] If the marked point is judged to be greater than the threshold, an early warning is issued, and the distribution of the coordinate positions of the marked points on each column is analyzed to determine the corrosion correlation between the columns;

[0034] Based on the corrosion correlation between the columns, an analysis report on the causes of steel bar corrosion is generated.

[0035] A second aspect of the embodiments of the present invention provides a steel bar corrosion detection robot, which is used to implement the steel bar corrosion detection method as described in the first aspect, and the steel bar corrosion detection robot includes:

[0036] An acquisition module is used to acquire data of columns in a building, the data of the columns including three-dimensional data of the columns and three-dimensional data of steel bars in the columns, and import the data of the columns into the robot;

[0037] A first control module, used for controlling the magnetic flux leakage detection device to call matching measurement parameters according to the three-dimensional data of the steel bars in the column;

[0038] The second control module is used to determine the target orientation of the column, and under the condition of matching measurement parameters, control the robot to take the target orientation as the starting point, surround the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column;

[0039] A third control module is used to plan a detection route of the robot according to the number of the steel bars, and control the robot to perform detection along the detection route;

[0040] The marking module is used to mark the corresponding point when the magnetic flux leakage detection device collects the preset magnetic induction line changes.

[0041] Preferably, the steel bar corrosion detection robot further comprises:

[0042] A first physical model generating module, used to generate a visualized first physical model according to the three-dimensional data of the column and the three-dimensional data of the steel bars in the column;

[0043] A second physical model generating module, used to generate a visualized second physical model according to the three-dimensional data of the robot;

[0044] The space model building module is used to build a visual space model. The first physical model and the first physical model are edited in the space model, and the editing at least includes the spatial combination between the first physical model and the first physical model.

[0045] A steel bar corrosion detection method and system provided in an embodiment of the present invention obtains data of columns in a building, wherein the data of the columns include three-dimensional data of the columns and three-dimensional data of the steel bars in the columns, and imports the data of the columns into a robot; according to the three-dimensional data of the steel bars in the columns, controls the magnetic flux leakage detection equipment to call matching measurement parameters; determines the target orientation of the column, and under the condition of matching measurement parameters, controls the robot to take the target orientation as the starting point, surround the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column; plans the detection route of the robot according to the number of the steel bars, and controls the robot to perform detection according to the detection route; when the magnetic flux leakage detection equipment collects changes in preset magnetic induction lines, it marks the corresponding points. Specifically, the steel bars in the column are automatically scanned by a robot equipped with a magnetic flux leakage detection equipment and having a wall climbing function, effectively solving the problem of time-consuming and labor-intensive manual work. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a flow chart of a steel bar corrosion detection method provided in Embodiment 1 of the present invention;

[0047] Figure 2 This is a schematic diagram of the structure of a steel bar corrosion detection robot provided in the second embodiment of the present invention;

[0048] Figure 3 It is a schematic diagram of the structure of an electronic device in Embodiment 3 of the present invention.

[0049] The following specific implementation manner will be further described in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0050] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0051] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0053] Embodiment 1

[0054] According to an embodiment of the present invention, a method for detecting steel bar corrosion is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0055] In the first embodiment, a steel bar corrosion detection method is provided, which can be used in electronic devices, such as computers. It should be noted that the steel bar corrosion detection method of the present invention is applied to a robot scene equipped with a magnetic flux leakage detection device. The magnetic flux leakage detection device is installed at the bottom of the robot, including an AC magnetization device and a magnetic sensitive probe for receiving changes in magnetic induction lines. The robot has a wall climbing function. For example, the robot can be the RISE robot developed by Boston Dynamics, or other negative pressure adsorption wall climbing robots. Please refer to Figure 1 , Figure 1 A flowchart of a steel bar corrosion detection method provided in the first embodiment of the present invention is shown. The method specifically includes steps S01 to S05.

[0056] Step S01, obtaining data of columns in a building, the data of the columns including three-dimensional data of the columns and three-dimensional data of steel bars in the columns, and importing the data of the columns into the robot.

[0057] Specifically, the data of the columns in the building can be obtained according to the building design drawings. The columns can be understood as support columns with regular shapes, such as rectangular support columns. The data of the columns includes the three-dimensional data of the columns and the three-dimensional data of the steel bars in the columns. The data can be obtained through existing three-dimensional mapping software, and the data of the columns can be imported into the robot.

[0058] Step S02, controlling the magnetic flux leakage detection device to call matching measurement parameters according to the three-dimensional data of the steel bars in the column.

[0059] It should be noted that, according to the three-dimensional data of the steel bars in the column, the distance between each steel bar and the surface of the column can be understood. Usually, there are four to eight steel bars in a column, and the distance between each steel bar and the surface of the column is the same. The magnetization range of the magnetization device of the magnetic flux leakage detection equipment should match the distance. It is understandable that when the magnetization range is greater than the distance, more than one steel bar may be magnetized, affecting the detection result; when the magnetization range is less than the distance, the steel bar cannot be magnetized and the detection result cannot be obtained. Therefore, it is necessary to determine the distance between each steel bar and the surface of the column and the distance between the magnetic flux leakage detection equipment and the surface of the column, and select appropriate measurement parameters. In some other embodiments of the present invention, the detection purpose can also be achieved by replacing magnetic flux leakage detection equipment with different performances.

[0060] Step S03, determining the target orientation of the column, and under matching measurement parameter conditions, controlling the robot to take the target orientation as the starting point, surround the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column.

[0061] Firstly, a first visualized physical model is generated according to the three-dimensional data of the column and the three-dimensional data of the steel bars in the column;

[0062] Generate a visual second physical model based on the three-dimensional data of the robot;

[0063] A visual spatial model is established, and the first physical model and the first physical model are edited in the spatial model, and the editing at least includes a spatial combination between the first physical model and the first physical model.

[0064] In this embodiment, the movement of the robot, the positioning and numbering of the steel bars are all reflected in the space model through the first physical model and the first physical model.

[0065] Specifically, taking a rectangular column as an example, there are four faces that the robot can scan. In this embodiment, any one face can be determined according to the geographical orientation, i.e., east, south, west, and north, that is, the target orientation of the column can be determined; or, according to the three-dimensional map of the column and the entire building, the reference object of the column in the entire building can be determined, thereby determining a face of the column.

[0066] Furthermore, since the target orientation of the column, i.e., a face, is determined, the face corresponding to the first physical model in the space model can be determined synchronously. In specific operations, the robot is placed at a specified position of the determined face of the column, for example, the robot is placed close to the edge of the face. At the same time, the second physical model representing the robot is dragged to the corresponding position of the first physical model to complete the initialization.

[0067] It should be noted that the target orientation of the column and the target position of the column on the first physical model are determined, and the second physical model is moved to the target position;

[0068] Start the magnetic flux leakage detection equipment under the matching measurement parameter conditions, and control the robot to take the target direction as the starting point, and circle the bottom of the column clockwise or counterclockwise, obtain the movement parameters and actual movement distance of the robot, and update the position relationship between the first physical model and the second physical model in the space model in real time according to the movement parameters and the actual movement distance;

[0069] Control the magnetic flux leakage detection equipment to send out a detection signal, and determine whether there is a magnetizable steel bar based on the detection signal;

[0070] If it is determined that magnetizable steel bars exist, all the steel bars in the column are located and numbered.

[0071] Step S04, planning the detection route of the robot according to the number of the steel bars, and controlling the robot to perform detection along the detection route.

[0072] If there are eight steel bars, they are numbered from 1 to 8. It is understandable that the steel bar near the initial position of the robot is numbered 1. Specifically, the detection route is an "S"-shaped route, and the head of the steel bar is specified to be near the bottom of the column, that is, the robot is controlled to scan from the head to the tail of the No. 1 steel bar, and then move to the tail of the No. 2 steel bar, and scan from the tail to the head of the No. 2 steel bar, and so on. Since the three-dimensional data of the steel bar is known and imported into the robot, when the robot recognizes the steel bar, it can move along the direction of the steel bar through the corresponding three-dimensional data of the steel bar.

[0073] Step S05: When the magnetic flux leakage detection device detects a change in a preset magnetic induction line, the corresponding point is marked.

[0074] Among them, when there is rust on the surface of the steel bar, the rust cuts the magnetic lines of force. Since the magnetic permeability of the rust is small and the magnetic resistance is large, the magnetic lines of force change their paths in the steel bar being tested, which can be detected by the magnetic sensitive probe of the magnetic flux leakage detection equipment, and the corresponding points are marked and displayed in the model. Specifically, the marked points are reflected on the first physical model in the space model, and the coordinate positions of the marked points are obtained;

[0075] According to the coordinate position, determine whether the marked point is greater than the threshold;

[0076] If the marked point is judged to be greater than the threshold, an early warning is issued, indicating that there is a certain risk.

[0077] In some other embodiments of the present invention, when there are multiple columns of the same type to be detected, the target orientation of any column is determined, and under matching measurement parameter conditions, the robot is controlled to take the target orientation as the starting point, circle the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column;

[0078] According to the number of the steel bars, the robot's detection route is planned, and finally control information is generated. The control information is used to record the robot's working parameters;

[0079] Determine the target orientation of the remaining columns, and synchronize them to all robots based on the control information, control all robots to perform inspections along the inspection route at the same time, and efficiently complete the inspection of all columns;

[0080] When the magnetic flux leakage detection equipment detects changes in the preset magnetic induction lines, the corresponding points are marked.

[0081] Furthermore, if it is determined that the marked point is greater than the threshold, an early warning is issued, and the distribution of the coordinate positions of the marked points on each column is analyzed to determine the corrosion correlation between the columns. Specifically, the coordinate positions of the marked points can be subjected to k-means clustering analysis to obtain the clustering results of the coordinate positions of the marked points of each column, and a data statistical method is used to analyze whether there are commonalities in the rusted areas between the columns.

[0082] According to the corrosion correlation between the columns, an analysis report on the causes of steel bar corrosion is generated. Specifically, if there is a high correlation between the corrosion areas of the columns, analysis suggestions can be given in combination with the steel bar batch, climate, and concrete material.

[0083] In summary, the present invention proposes a method for detecting steel bar corrosion, which obtains data of columns in a building, wherein the data of the columns include three-dimensional data of the columns and three-dimensional data of the steel bars in the columns, and imports the data of the columns into a robot; according to the three-dimensional data of the steel bars in the columns, controls the magnetic flux leakage detection equipment to call matching measurement parameters; determines the target orientation of the column, and under the condition of matching measurement parameters, controls the robot to take the target orientation as the starting point, surround the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column; plans the detection route of the robot according to the numbering of the steel bars, and controls the robot to perform detection according to the detection route; when the magnetic flux leakage detection equipment collects changes in preset magnetic induction lines, it marks the corresponding points, specifically, the steel bars in the column are automatically scanned by a robot with a wall climbing function and equipped with a magnetic flux leakage detection equipment, effectively solving the problem of time-consuming and labor-intensive manual work.

[0084] Embodiment 2

[0085] Another embodiment of the present invention provides a steel bar corrosion detection robot 200, see Figure 2 , is a schematic diagram of the structure of a steel bar corrosion detection robot provided in Embodiment 2 of the present invention, wherein the steel bar corrosion detection robot 200 comprises:

[0086] An acquisition module 21 is used to acquire data of columns in a building, the data of the columns including three-dimensional data of the columns and three-dimensional data of steel bars in the columns, and import the data of the columns into the robot;

[0087] A first control module 22, used to control the magnetic flux leakage detection device to call matching measurement parameters according to the three-dimensional data of the steel bars in the column;

[0088] The second control module 23 is used to determine the target orientation of the column, and under the condition of matching measurement parameters, control the robot to take the target orientation as the starting point, circle the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column, wherein the movement of the robot, the positioning and numbering of the steel bars are all reflected through the first physical model and the first physical model in the spatial model;

[0089] The third control module 24 is used to plan the detection route of the robot according to the number of the steel bars, and control the robot to perform detection along the detection route, wherein the detection route is an "S"-shaped route;

[0090] The marking module 25 is used to mark the corresponding point when the magnetic flux leakage detection device collects the preset magnetic induction line changes.

[0091] Furthermore, in other embodiments of the present invention, the steel bar corrosion detection robot 200 further includes:

[0092] A first physical model generating module, used to generate a visualized first physical model according to the three-dimensional data of the column and the three-dimensional data of the steel bars in the column;

[0093] A second physical model generating module, used to generate a visualized second physical model according to the three-dimensional data of the robot;

[0094] The space model building module is used to build a visual space model. The first physical model and the first physical model are edited in the space model, and the editing at least includes the spatial combination between the first physical model and the first physical model.

[0095] Furthermore, in other embodiments of the present invention, the second control module 23 includes:

[0096] a determination unit, configured to determine a target orientation of the column and a target position of the target orientation of the column on the first physical model, and to move the second physical model to the target position;

[0097] A control unit, configured to start the magnetic flux leakage detection device under the matching measurement parameter condition, and control the robot to take the target orientation as a starting point, circle around the bottom of the column, obtain the movement parameters and the actual movement distance of the robot, and update the positional relationship between the first physical model and the second physical model in the space model in real time according to the movement parameters and the actual movement distance;

[0098] A judgment unit, used for controlling the magnetic flux leakage detection device to send a detection signal, and judging whether there is a magnetizable steel bar according to the detection signal;

[0099] The positioning unit is used to locate all the steel bars in the column if it is determined that magnetizable steel bars exist, and to number all the steel bars in the column.

[0100] Furthermore, in other embodiments of the present invention, the steel bar corrosion detection robot 200 further includes:

[0101] A first marking module, used for reflecting the marked point on the first physical model in the space model and obtaining the coordinate position of the marked point;

[0102] A judgment module, used to judge whether the marked point position is greater than a threshold according to the coordinate position;

[0103] The early warning module is used to issue an early warning if the marked point is judged to be greater than a threshold.

[0104] Furthermore, in other embodiments of the present invention, the steel bar corrosion detection robot 200 further includes:

[0105] The fourth control module is used to determine the target orientation of any one of the columns when there are multiple columns of the same type to be detected, and under the condition of matching measurement parameters, control the robot to take the target orientation as the starting point, circle the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column;

[0106] A control information generation module, used to plan the detection route of the robot according to the number of the steel bars, and finally generate control information, wherein the control information is used to record the working parameters of the robot;

[0107] A synchronization module is used to determine the target orientation of the remaining columns and synchronize them to all robots according to the control information, so as to control all robots to perform detection according to the detection route at the same time;

[0108] The second marking module is used to mark the corresponding point when the magnetic flux leakage detection device collects the preset magnetic induction line changes.

[0109] Furthermore, in other embodiments of the present invention, the steel bar corrosion detection robot 200 further includes:

[0110] The analysis module is used to issue an early warning if the marked point is judged to be greater than a threshold value, and analyze the distribution of the coordinate positions of the marked points on each column to determine the corrosion correlation between the columns;

[0111] The analysis report generation module is used to generate an analysis report on the causes of steel bar corrosion based on the corrosion correlation between the columns.

[0112] Embodiment 3

[0113] Another aspect of the present invention provides an electronic device, see Figure 3 , shown is a schematic diagram of the structure of an electronic device in Embodiment 3 of the present invention, including a memory 20, a processor 10, and a computer program 30 stored in the memory and executable on the processor, wherein the processor 10 implements the above-mentioned steel bar corrosion detection method when executing the computer program 30.

[0114] In some embodiments, the processor 10 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 20, such as executing access restriction programs.

[0115] Among them, the memory 20 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. The memory 20 may be an internal storage unit of an electronic device in some embodiments, such as a hard disk of the electronic device. The memory 20 may also be an external storage device of an electronic device in other embodiments, such as a plug-in hard disk equipped on the electronic device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. Further, the memory 20 may also include both an internal storage unit and an external storage device of the electronic device. The memory 20 may be used not only to store application software and various types of data of the electronic device, but also to temporarily store data that has been output or is to be output.

[0116] It should be pointed out that Figure 3The structure shown does not constitute a limitation on the electronic device. In other embodiments, the electronic device may include fewer or more components than those shown in the figure, or combine certain components, or arrange the components differently.

[0117] The embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned steel bar corrosion detection method is implemented.

[0118] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0119] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0120] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0121] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0122] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A method for detecting steel bar corrosion, characterized in that: Applied to a robot scene equipped with a magnetic flux leakage detection device, the magnetic flux leakage detection device is installed at the bottom of the robot, including an AC magnetization device and a magnetic sensitive probe for receiving changes in magnetic induction lines, and the robot has a wall climbing function. The method includes: Acquire data of columns in the building, the data of the columns including three-dimensional data of the columns and three-dimensional data of steel bars in the columns, and import the data of the columns into the robot; According to the three-dimensional data of the steel bars in the column, the magnetic flux leakage detection device is controlled to call matching measurement parameters; Determine the target orientation of the column, and under matching measurement parameter conditions, control the robot to take the target orientation as a starting point, circle around the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column; Planning a detection route for the robot according to the number of the steel bars, and controlling the robot to perform detection along the detection route; When the magnetic flux leakage detection device collects changes in the preset magnetic induction lines, the corresponding points are marked.

2. The steel bar corrosion detection method according to claim 1, characterized in that: The step of determining the target orientation of the column, and under the condition of matching measurement parameters, controlling the robot to take the target orientation as a starting point, surround the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column includes: Generate a visualized first physical model according to the three-dimensional data of the column and the three-dimensional data of the steel bars in the column; Generate a visualized second physical model according to the three-dimensional data of the robot; A visual spatial model is established, and the first physical model and the first physical model are edited in the spatial model, and the editing at least includes a spatial combination between the first physical model and the first physical model.

3. The steel bar corrosion detection method according to claim 2, characterized in that: In the step of determining the target orientation of the column and, under matching measurement parameter conditions, controlling the robot to take the target orientation as the starting point, surround the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column, the movement of the robot, the positioning and numbering of the steel bars are all reflected in the spatial model through the first physical model and the first physical model.

4. The steel bar corrosion detection method according to claim 3, characterized in that: The steps of determining the target orientation of the column, and under matching measurement parameter conditions, controlling the robot to take the target orientation as a starting point, surround the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column include: Determine a target orientation of the column and a target position of the target orientation of the column on the first physical model, and move the second physical model to the target position; The magnetic flux leakage detection device is started under the matching measurement parameter condition, and the robot is controlled to take the target direction as a starting point and circle around the bottom of the column, so as to obtain the movement parameters and the actual movement distance of the robot, and the positional relationship between the first physical model and the second physical model in the space model is updated in real time according to the movement parameters and the actual movement distance; Controlling the magnetic flux leakage detection device to send out a detection signal, and judging whether there is a magnetizable steel bar according to the detection signal; If it is determined that magnetizable steel bars exist, all the steel bars in the column are located and numbered.

5. The steel bar corrosion detection method according to claim 4, characterized in that: In the steps of planning the detection route of the robot according to the numbering of the steel bars, and controlling the robot to perform detection along the detection route, the detection route is an "S" shaped route.

6. The steel bar corrosion detection method according to claim 5, characterized in that: When the magnetic flux leakage detection device collects a preset magnetic induction line change, the step of marking the corresponding point position includes: Reflecting the marked point on the first physical model in the space model, and obtaining the coordinate position of the marked point; According to the coordinate position, determining whether the marked point position is greater than a threshold; If the marked point is judged to be greater than the threshold, an early warning is issued.

7. The steel bar corrosion detection method according to claim 6, characterized in that: The method further comprises: When there are multiple columns of the same type to be inspected, determine the target orientation of any column, and under matching measurement parameter conditions, control the robot to take the target orientation as the starting point, circle the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column; According to the number of the steel bars, the detection route of the robot is planned, and finally control information is generated, and the control information is used to record the working parameters of the robot; Determine the target orientations of the remaining columns, and synchronize them to all robots based on the control information, so as to control all robots to perform inspections along the inspection route at the same time; When the magnetic flux leakage detection device collects changes in the preset magnetic induction lines, the corresponding points are marked.

8. The steel bar corrosion detection method according to claim 7, characterized in that: The step of judging whether the marked point position is greater than a threshold according to the coordinate position includes: If the marked point is judged to be greater than the threshold, an early warning is issued, and the distribution of the coordinate positions of the marked points on each column is analyzed to determine the corrosion correlation between the columns; Based on the corrosion correlation between the columns, an analysis report on the causes of steel bar corrosion is generated.

9. A steel bar corrosion detection robot, characterized in that: Used to implement the steel bar corrosion detection method as described in any one of claims 1 to 8, the steel bar corrosion detection robot comprises: An acquisition module is used to acquire data of columns in a building, the data of the columns including three-dimensional data of the columns and three-dimensional data of steel bars in the columns, and import the data of the columns into the robot; A first control module, used for controlling the magnetic flux leakage detection device to call matching measurement parameters according to the three-dimensional data of the steel bars in the column; The second control module is used to determine the target orientation of the column, and under the condition of matching measurement parameters, control the robot to take the target orientation as the starting point, circle the bottom of the column, locate all the steel bars in the column, and number all the steel bars in the column; A third control module is used to plan a detection route of the robot according to the number of the steel bars, and control the robot to perform detection along the detection route; The marking module is used to mark the corresponding point when the magnetic flux leakage detection device collects the preset magnetic induction line changes.

10. The steel bar corrosion detection robot according to claim 9, characterized in that: The steel bar corrosion detection robot also includes: A first physical model generating module, used to generate a visualized first physical model according to the three-dimensional data of the column and the three-dimensional data of the steel bars in the column; A second physical model generating module, used to generate a visualized second physical model according to the three-dimensional data of the robot; The space model building module is used to build a visual space model. The first physical model and the first physical model are edited in the space model, and the editing at least includes the spatial combination between the first physical model and the first physical model.

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