A concrete strength measurement system and method for civil construction engineering

Abstract

The present application belongs to the technical field of engineering supervision, and discloses a concrete strength measurement system and method for civil construction engineering, including: a test point planning module determines the number and location of test points; a route planning module plans the running route of the test mechanism; the test mechanism moves to each test point position in turn according to the planned route; a positioning module analyzes the distance from the ultrasonic probe to the laser; the ultrasonic probe A and the ultrasonic probe B are aligned; the ultrasonic probe A and the ultrasonic probe B scan the concrete building; the rebound tester performs strength detection on the concrete building; the humidity collection module collects the humidity data of the concrete; the temperature collection module collects the ambient temperature data; the ultrasonic analysis module combines the rebound value, the concrete humidity, the ambient temperature, and the ultrasonic detection sound velocity to comprehensively calculate the concrete strength. The present invention can perform on-site detection of concrete strength on high-rise buildings; by integrating multiple data, the strength of concrete can be more accurately evaluated.

Description

Technical Field

[0001] The present application relates to the technical field of engineering supervision, and more specifically, to a concrete strength measurement system and method for civil construction projects. Background Art

[0002] During the construction process, concrete strength testing is required. In the prior art, a concrete sample is placed on a test bench and then pressurized by a pressure plate to test the load at failure.

[0003] The document with the prior art publication number CN116593278A provides a concrete strength measuring device for civil construction engineering, including a machine platform, the upper end of which is fixedly connected with a fixed clamp rod and three columns, one of which is arranged in a rectangular shape with the three columns, the upper ends of the three columns are fixedly connected with the same top plate, the upper end of the top plate is fixedly installed with a hydraulic cylinder, the telescopic end of the hydraulic cylinder passes through the top plate downward and is fixedly connected with a mounting rod, the lower end of the mounting rod is provided with a pressing mechanism, the inner side of the machine platform is provided with a placing table located directly below the pressing mechanism, the upper end of the placing table is symmetrically provided with two supporting blocks, and the interior of the placing table is provided with a device cavity. The invention can complete the rapid detection of concrete test blocks, the detection is fast and efficient, and multiple strength detection results of concrete test blocks can be obtained, the detection is more comprehensive, and the accuracy is high and the safety is good.

[0004] Although the above-mentioned prior art solutions can achieve relevant beneficial effects through the structure of the prior art, they still have the following defects: 1. Due to environmental factors, there is a difference in strength between the poured concrete sample and the on-site concrete building, and the strength of the concrete building cannot be accurately tested. 2. If the on-site sampling strength test of the concrete building is carried out, the workload is too large, and the on-site drilling sampling will damage the stability of the concrete building. 3. It is impossible to perform on-site strength testing on high-rise concrete buildings.

[0005] In view of this, we propose a concrete strength measurement system and method for civil construction projects. Summary of the invention

[0006] The purpose of this application is to provide a concrete strength measurement system and method for civil construction projects, which solves the technical problems raised in the above-mentioned background technology, and realizes the use of a laser level to provide accurate horizontal and vertical positioning through a positioning module. The ultrasonic probe carried by the drone and the ground ultrasonic probe can be accurately aligned to ensure the accuracy of ultrasonic detection; the detection accuracy is improved by integrating multiple data, and ultrasonic detection, humidity collection and ambient temperature collection are combined. By integrating multiple data, the technical effect of more accurately evaluating the strength of concrete can be achieved.

[0007] The present invention application provides a concrete strength measurement system for civil construction engineering, including: a data collection module, a test point planning module, a detection mechanism, a route planning module, a positioning module, a humidity collection module, a temperature collection module, an ultrasonic analysis module and a PLC control center;

[0008] Data collection module: collects a large amount of concrete building data that needs to be tested for strength;

[0009] Test point planning module: Determine the number and specific locations of test points based on building structure characteristics and test requirements;

[0010] It includes a base and a drone, the base is provided with two support rods, both support rods are connected with a lifting mechanism, a lifting seat is fixedly connected to the top of the lifting mechanism, a sliding seat that can move laterally is connected to the lifting seat through a transverse driving mechanism, a sliding block that can move longitudinally is connected to the sliding seat through a longitudinal driving mechanism, and an ultrasonic probe A and a rebound tester are fixedly provided on the slider; an electric push rod is provided on the drone, and an ultrasonic probe B is provided on the movable end of the electric push rod; a liquid crystal display screen and an ultrasonic tester are fixedly provided on the base; the liquid crystal display screen is electrically connected to the rebound tester; and the ultrasonic tester is electrically connected to the ultrasonic probes A and B;

[0011] Route planning module: reasonably plan the operation route of the testing organization according to the location of the testing point, including planning the operation route of the base and the drone;

[0012] Positioning module: including a laser level and two high-definition wide-angle cameras respectively arranged on the sliding seat and the drone; Humidity collection module: collects humidity data of concrete;

[0013] Temperature acquisition module: collects ambient temperature data;

[0014] Ultrasonic analysis module: conducts in-depth analysis of ultrasonic data to identify cracks and voids inside the concrete; combines rebound value, concrete humidity, ambient temperature, and the speed of sound detected by ultrasonic testing to comprehensively calculate the strength of the concrete;

[0015] PLC control center: connected with the test point planning module, route planning module, detection mechanism, positioning module, humidity acquisition module and temperature acquisition module through a wireless network.

[0016] As an optional solution of the present invention, the lifting mechanism includes a motor B fixedly connected to a base inside the support rod, a screw is fixedly connected to the output end of the motor B, a threaded sleeve is threadedly connected to the outer surface of the screw, the threaded sleeve is slidably connected to the inner wall of the support rod, and the top of the threaded sleeve is fixedly connected to the bottom of the lifting seat; four push rods are symmetrically arranged on the lifting seat, pneumatic suction cups are fixedly arranged at the ends of the push rods, a vacuum pump is fixedly arranged on the base, and the vacuum pump is connected to each pneumatic suction cup through a hose.

[0017] As an optional scheme of the present invention, the transverse driving mechanism includes a screw rod rotatably connected to the lifting seat, a sliding rod fixedly connected to the lifting seat and a motor A fixedly connected to the lifting seat, the screw rod and the sliding rod are arranged parallel to each other, the output end of the motor A is coaxially fixedly connected to the screw rod, the screw rod is threadedly connected to the sliding seat, and the sliding rod is slidably connected to the sliding seat; a hollow cavity is arranged inside the sliding seat, a sliding groove is opened on the outer surface of the sliding seat along its length direction, the slider is slidably connected to the sliding groove through the longitudinal driving mechanism, the rebound tester and the ultrasonic probe A are fixedly connected to the side of the slider away from the cavity; the longitudinal driving mechanism includes a tooth plate arranged on one side of the inner wall of the cavity along the length direction of the sliding seat, the side of the slider close to the cavity is fixedly connected to the motor C, the output end of the motor C is coaxially fixedly connected to a gear, and the gear is meshed and drivenly connected with the tooth plate.

[0018] The present invention also provides a method for measuring the strength of concrete for civil construction engineering, comprising the following steps:

[0019] S1. The test point planning module determines the number and location of the test points according to the building structure characteristics and test requirements;

[0020] S2, the route planning module plans the operation route of the detection mechanism according to the location of the detection point, including planning the operation route of the base and the drone;

[0021] S3. The base of the detection mechanism moves to each detection point position in sequence according to the planned route; the sliding seat is adjusted to a suitable height and position;

[0022] S4, the positioning module places the laser level on one side of the building wall, emits a horizontal laser to the other side, collects images of the laser emitted by the laser level through two high-definition wide-angle cameras, and analyzes the horizontal and vertical distances from ultrasonic probe A and ultrasonic probe B to the laser;

[0023] S5. The drone carrying the ultrasonic probe B moves to a suitable height and position so that the ultrasonic probe A and the ultrasonic probe B are aligned;

[0024] S6, start the ultrasonic tester, scan the concrete building with ultrasonic probe A and ultrasonic probe B, and collect ultrasonic data;

[0025] S7. Use a rebound tester to test the strength of concrete buildings; the humidity collection module collects humidity data of concrete; the temperature collection module collects ambient temperature data;

[0026] S8. At each detection point corresponding to the sliding seat, adjust the positions of the rebound hammer and the ultrasonic probe A through the transverse driving mechanism and the longitudinal driving mechanism; perform rebound hammer detection and ultrasonic detection at different positions in a small range for multiple times;

[0027] S9, the ultrasonic analysis module conducts in-depth analysis on the detected ultrasonic data, identifies the defects inside the concrete through the reflection and propagation characteristics of ultrasonic waves, and comprehensively calculates the strength of the concrete by combining the rebound value, concrete humidity, ambient temperature, and the sound velocity of ultrasonic testing.

[0028] As an optional solution of the present invention, step S1 includes the following steps:

[0029] S11. Preliminary analysis and assessment: Understand the overall structural layout of the building, the types and sizes of the main components, and the connection methods; identify the key areas of the building;

[0030] S12. Preliminary planning of the distribution of inspection points: On the two-dimensional drawings of the building, preliminarily plan the number and location of inspection points according to the structural characteristics and inspection requirements; especially key areas and potential risk points; at each inspection point, arrange multiple detailed measurement points at different locations;

[0031] S13. Optimize the distribution of inspection points: Use Abaqus structural analysis software to simulate and analyze the distribution of inspection points in the preliminary plan; adjust the number and location of inspection points according to the simulation results;

[0032] S14. Determine the number and specific locations of detection points: Determine the number of detection points according to the scale, structural complexity and detection requirements of the building; mark the specific location of each detection point in the three-dimensional model of the building;

[0033] S15. Record and update: record the number and specific locations of the test points in the test plan; during the test process, update and adjust the test plan according to actual conditions.

[0034] As an optional solution of the present invention, in step S14, the number of detection points is calculated according to the following formula: ; N represents the total number of detection points that need to be planned; K represents the set of key areas, k represents a single key area in the set; D represents the set of detection targets, d represents a single detection target in the set; τ represents the recommended detection point density per unit area or length; A k represents the area or length of the key region k; C k represents the complexity index of the key area k; S dIndicates the detection sensitivity or required accuracy of the detection target d; Represents the ceiling function.

[0035] As an optional solution of the present invention, step S2 includes the following steps:

[0036] S21. Collecting information about inspection points: Obtaining accurate location information of all inspection points from data sources; Collating additional information about inspection requirements and time limits of inspection points; Understanding the moving speed and endurance performance parameters of the inspection agency; Collecting the number and location data of drone stops;

[0037] S22. Preliminary route planning: Mark the locations of all detection points on the map and connect them into a network diagram; use the Dijkstra shortest path algorithm to calculate the shortest path from the starting point of the detection agency to each detection point;

[0038] S23. Optimize routes: minimize repeated paths and invalid movements when planning routes;

[0039] S24, detailed adjustment: adjust the initially planned route according to the actual road conditions and weather conditions;

[0040] S25, UAV flight route planning: confirm the location information of all detection points; obtain the moving route of the base and the location of the UAV's parking point; analyze the coverage of ultrasonic probes A and B; preliminarily plan the UAV's flight route based on the location of the detection points and the location of the UAV's parking point;

[0041] S26, optimize the flight route: consider the flight speed, endurance and detection efficiency of the UAV, optimize the flight route; set the flight altitude, speed and flight attitude parameters of the UAV according to the performance parameters of the ultrasonic probe B;

[0042] S27. Coordinate the work of ultrasonic probes: determine the detection order of ultrasonic probes A and B according to the location of the detection point and the location of the drone parking point; set the detection parameters of ultrasonic probes A and B according to the characteristics of the concrete wall and the detection requirements; ensure that the two probes can work together;

[0043] S28, real-time monitoring and adjustment: obtain the position and speed information of the base and the drone in real time through sensors and monitoring systems; make fine adjustments to the route according to actual conditions;

[0044] S29. Verification feedback: Before the official operation, use simulation software to simulate the planned route; through simulation operation, the feasibility, safety and efficiency of the route can be checked.

[0045] As an optional solution of the present invention, step S4 includes the following steps:

[0046] S41. Install the equipment: Place the laser level stably on one side of the building wall, ensuring that it can emit a horizontal laser to the other side;

[0047] S42, laser emission: Turn on the power of the laser level and wait for it to stabilize before emitting a horizontal laser;

[0048] S43, image acquisition: adjust the focal length and exposure time parameters of the camera as needed to ensure that the laser line can be captured clearly; use two high-definition wide-angle cameras to simultaneously acquire images of the laser level;

[0049] S44, image preprocessing: preprocessing the images collected by the two cameras;

[0050] S45, Laser line detection: Use image processing technology to detect laser lines in images;

[0051] S46, distance measurement: according to the position of the laser line and the parameters of the camera, respectively calculate the distances from the ultrasonic probe A and the ultrasonic probe B to the laser in the horizontal and vertical directions;

[0052] S47, result verification and correction: cross-verify the results measured by the two cameras;

[0053] S48, the UAV and the sliding seat cooperate to operate: control the sliding seat to move to an appropriate position so that the ultrasonic probe A can accurately align with the detection point; control the UAV to fly to an appropriate position so that the ultrasonic probe A and the ultrasonic probe B are aligned;

[0054] S49. Record data: Record the measurement results for subsequent analysis and use.

[0055] As an optional solution of the present invention, step S45 includes the following steps:

[0056] S451, image preprocessing: preprocessing the image obtained from the high-definition wide-angle camera;

[0057] S452, edge detection: applying the Canny edge detection algorithm to detect the edges in the image;

[0058] S453, Hough transform: Use Hough transform to detect laser lines;

[0059] S454, laser line identification: In the result of Hough transform, identify the point in the parameter space corresponding to the laser line, and transform it back to the image space to obtain the precise position of the laser line; determine the position of the laser line according to the following formula: L identified={(x,y)∣(x,y)=[rcos(θ)-ysin(θ),rsin(θ)+xcos(θ)],(r,θ)∈L verified}; where L identified is the position set of the laser line finally identified in the image space, (x, y) is the coordinate point in the image space; (r, θ) is the coordinate point in the parameter space, r is the distance from the origin to the line, θ is the angle between the normal of the line and the x-axis; L verified is the set of points in the verified parameter space, containing all (r,θ) point pairs considered to be laser lines;

[0060] S455, laser line extraction: extracting the pixel information of the laser line from the image according to the identified laser line position.

[0061] As an optional solution of the present invention, step S46 includes the following steps:

[0062] S461, camera parameter acquisition: obtaining the parameters of the high-definition wide-angle camera;

[0063] S462, laser line position analysis: analyzing the laser line position extracted from the image, and determining the horizontal and vertical coordinates of the laser line in the image;

[0064] S463, geometric transformation: applying geometric transformation to convert the laser line position in the image into a position in three-dimensional space according to the camera parameters and the laser line position;

[0065] S464, scale calculation: Use scale calculation to convert the position of the laser line in the image into the distance in the actual space; perform scale calculation according to the following formula: Where D real Indicates the horizontal and vertical distance of the laser line in the actual physical space; x l is the horizontal pixel coordinate of the laser line in the image; y l is the vertical pixel coordinate of the laser line in the image; p is the pixel size of the camera; Z is the depth coordinate of the laser line in three-dimensional space; f is the focal length of the camera; X pix is the width of the image; Y pix is the height of the image;

[0066] S465. Distance calculation: According to the position of the laser line in three-dimensional space and the positions of ultrasonic probe A and ultrasonic probe B, the distance from the ultrasonic probe to the laser line in the horizontal and vertical directions is calculated.

[0067] As an optional solution of the present invention, in step S463, a geometric transformation is performed according to the following formula:

[0068] P 3D =[cx *x l *(Z*f x ),c y *y l *(Z*f y ),Z]; where P 3D Represents the coordinates of the laser line in three-dimensional space, a vector containing X, Y, and Z coordinates; c x is the horizontal coordinate of the principal point of the image; c y is the vertical coordinate of the principal point of the image; x l is the horizontal pixel coordinate of the laser line in the image; y l is the vertical pixel coordinate of the laser line in the image; Z is the depth coordinate of the laser line in three-dimensional space; f x is the focal length of the camera in the horizontal direction; f y is the vertical focal length of the camera.

[0069] As an optional solution of the present invention, step S9 includes the following steps:

[0070] S91, processing ultrasonic signals: collecting and processing the received ultrasonic signals at high speed as digital signals;

[0071] S92. Calculate the sound velocity: Calculate the propagation velocity of the ultrasonic wave according to the propagation distance and propagation time of the ultrasonic wave in the concrete;

[0072] S93, analyzing amplitude and waveform: analyzing amplitude and waveform;

[0073] S94. Calculate concrete strength value: Construct a concrete strength value calculation model, and comprehensively calculate the strength of concrete by combining rebound value, concrete humidity, ambient temperature, and sound velocity of ultrasonic detection; use historical data sets to train the model and determine parameters; perform model training and verification; input real-time data into the model to calculate the adjusted concrete strength; calculate the concrete strength value according to the following formula: f 综合 =(k0+k1r+k2H+k3T+k4v)*e -αT+βH Where, f 综合 is the adjusted concrete strength prediction value; k0 is the constant term in the basic model; k1 is the coefficient of the rebound value r on the concrete strength; r is the rebound value of the concrete surface; k2 is the coefficient of the concrete humidity H on the concrete strength; H is the humidity of the concrete; k3 is the coefficient of the ambient temperature T on the concrete strength; T is the ambient temperature; k4 is the coefficient of the sound velocity of ultrasonic detection on the concrete strength; v is the propagation speed of ultrasonic waves in concrete; α is the influence coefficient of ambient temperature T; β is the influence coefficient of concrete humidity H; e is the base of the natural logarithm;

[0074] S95. Identify defects inside concrete: By analyzing the changes in reflection and propagation characteristics, determine whether there are defects inside the concrete; use the PSD criterion method to further analyze and determine the defects inside the concrete; combine the sound velocity, amplitude, waveform and the results of the criterion method to conduct a comprehensive analysis and judgment of the defects inside the concrete; obtain information on the type, location, size and possible distribution range of the defects;

[0075] S96. Result output: The processed data is displayed on the screen in real time for users to view and analyze.

[0076] As an optional solution of the present invention, in step S92, the speed of sound is calculated according to the following formula: ; In the formula, v final is the final calculated propagation speed of the ultrasonic wave in the concrete; d is the propagation distance of the ultrasonic wave in the concrete; t actual is the actual propagation time of the ultrasonic wave; t emit is the ultrasonic emission delay time; t receive is the ultrasonic receiving delay time; k(ρ,H,T) is a correction coefficient that depends on the density ρ, humidity H and temperature T of the concrete; I0 is the initial intensity of the transmitted signal; I is the intensity of the received signal.

[0077] As an optional solution of the present invention, step S95 includes the following steps:

[0078] S951. Analyze reflection and propagation characteristics: Analyze the propagation path, reflection intensity and propagation time parameters of the ultrasonic wave according to the received reflected wave data to determine whether there are defects inside the concrete;

[0079] S952, select the PSD criterion method, use the slope and the product of the difference between two adjacent measuring points as the criterion, and locate and analyze the defects inside the concrete;

[0080] S953. Comprehensive judgment and analysis: Comprehensively consider the propagation speed of ultrasonic waves in concrete, the amplitude and waveform parameters of the received waves, and conduct a comprehensive analysis and judgment of the defects inside the concrete; determine the specific location of the defects in the concrete based on the changing trends of the sound speed, amplitude and waveform; and evaluate the size and distribution of the defects;

[0081] S954. Prepare test report: Prepare a detailed test report based on the test results and analysis.

[0082] Beneficial Effects

[0083] One or more technical solutions provided in the technical solution of this application have at least the following technical effects or advantages.

[0084] 1. The present invention can reasonably distribute the test points and plan the optimal test route through the test point planning module and the route planning module, thereby reducing the moving time and energy consumption of the test mechanism and improving the test efficiency.

[0085] 2. The positioning module uses a laser level to provide precise horizontal and vertical positioning, and the ultrasonic probe carried by the drone can be accurately aligned with the ground ultrasonic probe to ensure the accuracy of ultrasonic testing. On-site strength testing of high-rise concrete buildings can be performed.

[0086] 3. Integrate multiple data to improve detection accuracy. This method not only uses a rebound hammer for strength testing, but also combines ultrasonic testing, humidity collection and ambient temperature collection. By integrating multiple data, it can more accurately evaluate the strength of concrete.

[0087] 4. The ultrasonic analysis module can deeply analyze ultrasonic data and identify defects such as cracks and voids inside the concrete, providing an important basis for the evaluation of construction quality.

[0088] 5. Through on-site non-destructive strength testing of concrete buildings, not only the efficiency and accuracy of testing are improved, but also damage and costs are reduced, construction quality control is enhanced, safety and sustainability are improved, and technological innovation and development are promoted. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] Figure 1 This is an overall schematic diagram of a concrete strength detection device for civil construction projects disclosed in a preferred embodiment of the present application.

[0090] Figure 2 This is a schematic diagram of the base of a concrete strength detection device for civil construction engineering disclosed in a preferred embodiment of the present application.

[0091] Figure 3 for Figure 1 Enlarged view of part A in the middle.

[0092] Figure numerals: 1. base; 2. support rod; 3. lifting seat; 4. sliding seat; 5. transverse driving mechanism; 6. rebound tester; 7. slider; 8. drone; 9. ultrasonic probe A; 10. laser level; 11. LCD screen; 12. ultrasonic tester; 13. screw; 14. vacuum pump; 31. threaded sleeve; 32. push rod; 33. pneumatic suction cup; 41. gear plate; 42. high-definition wide-angle camera; 51. screw; 52. motor A; 53. slide rod; 71. gear; 81. electric push rod; 82. ultrasonic probe B. DETAILED DESCRIPTION

[0093] The present application is further described in detail below in conjunction with the accompanying drawings. Example 1

[0094] Embodiment 1 of the present application provides a concrete strength measurement system for civil construction projects, including a data collection module, a test point planning module, a detection mechanism, a route planning module, a positioning module, a humidity collection module, a temperature collection module, an ultrasonic analysis module and a PLC control center.

[0095] Data collection module: collects a large amount of concrete building data (including drawings, dimensions, locations, materials, etc.) that require strength testing; provides basic data for test point planning and route planning.

[0096] Test point planning module: According to the characteristics of the building structure, the test points are reasonably distributed to ensure the representativeness of the test results. The number and specific locations of the test points are determined according to the test requirements and the scale of the building.

[0097] Detection mechanism: including a base 1 and a drone 8, two support rods 2 are arranged on the base 1, both support rods 2 are connected to a lifting mechanism, a lifting seat 3 is fixedly connected to the top of the lifting mechanism, a sliding seat 4 that can move laterally is connected to the lifting seat 3 through a lateral driving mechanism 5, a sliding block 7 that can move longitudinally is connected to the sliding seat 4 through a longitudinal driving mechanism, and an ultrasonic probe A9 and a rebound tester 6 are fixedly arranged on the sliding block 7. An electric push rod 81 is arranged on the drone 8, and an ultrasonic probe B82 is arranged on the movable end of the electric push rod 81.

[0098] A liquid crystal display screen 11 and an ultrasonic tester 12 are fixedly arranged on the base 1. The liquid crystal display screen 11 is connected to the rebound tester; the ultrasonic tester 12 is connected to the ultrasonic probe A9; and the ultrasonic tester 12 is connected to the ultrasonic probe B82 via a wireless network. The rebound tester 6 is a fully automatic rebound tester, preferably a GTJ-HT225S fully automatic concrete integrated rebound tester.

[0099] In this technical solution, the testing agency performs strength testing on the concrete building along the planned route, using a rebound tester 6 for strength testing to preliminarily test the surface hardness of the concrete as a reference for strength evaluation; using an ultrasonic tester 12 for ultrasonic testing, which analyzes the internal structure and strength of the concrete through the propagation speed and attenuation of ultrasonic waves in concrete. The drone 8 carries the testing equipment to achieve testing at high altitudes or in areas that are difficult to reach.

[0100] Reference Figure 2 The lifting mechanism includes two motors B respectively fixedly connected to the base 1 in the two support rods 2, a screw 13 is fixedly connected to the output end of the motor B, the outer thread of the screw 13 is connected to the threaded sleeve 31, the threaded sleeve 31 is slidably connected to the inner wall of the support rod 2, and the top of the threaded sleeve 31 is fixedly connected to the bottom of the lifting seat 3.

[0101] By starting the motor B, the two screw rods 13 are driven to rotate synchronously in the same direction, and the screw rods 13 drive the threaded sleeve 31 to move up and down, thereby driving the lifting seat 3 to move up and down to a suitable position.

[0102] Reference Figure 1 and Figure 3 Four push rods 32 are symmetrically arranged on the lifting seat 3, and pneumatic suction cups 33 are fixedly arranged at the ends of the push rods 32. A vacuum pump 14 is fixedly arranged on the base 1, and the vacuum pump 14 is connected to each pneumatic suction cup 33 through a hose.

[0103] The pneumatic suction cup 33 is brought into contact with the concrete building wall surface by moving the base 1, and the vacuum pump 14 is started to drive the pneumatic suction cup 33 to be adsorbed onto the concrete building wall surface, thereby improving the stability of concrete strength measurement.

[0104] Furthermore, the transverse driving mechanism 5 includes a screw rod 51 rotatably connected to the lifting seat 3, a sliding rod 53 fixedly connected to the lifting seat 3, and a motor A52 fixedly connected to the lifting seat 3. The screw rod 51 and the sliding rod 53 are arranged parallel to each other, the output end of the motor A52 is coaxially fixedly connected to the screw rod 51, the screw rod 51 is threadedly connected to the sliding seat 4, and the sliding rod 53 is slidably connected to the sliding seat 4.

[0105] The motor A52 is started to drive the screw rod 51 to rotate, and the screw rod 51 drives the sliding seat 4 to move horizontally and adjust to a suitable position. During the movement, the sliding stability of the sliding seat is ensured by the sliding rod.

[0106] A hollow cavity is provided inside the sliding seat 4, a slide groove is provided on the outer surface of the sliding seat 4 along its length direction, the slider 7 is slidably connected with the slide groove through a longitudinal driving mechanism, and the rebound tester 6 and the ultrasonic probe A are fixedly connected to the side of the slider 7 away from the cavity. Specifically, the slider 7 is a T-shaped structure, and the two sides of the slider 7 are respectively connected with the two sides of the slide groove.

[0107] Furthermore, the longitudinal driving mechanism includes a tooth plate 41 arranged on one side of the inner wall of the cavity along the length direction of the sliding seat 4, and a motor C is fixedly connected to the side of the slider 7 close to the cavity. The output end of the motor C is coaxially fixedly connected with a gear 71, and the gear 71 is meshed and transmission-connected with the tooth plate 41.

[0108] The gear 71 is driven to rotate by starting the motor C. Since the gear 71 is meshed and connected with the toothed plate 41, the gear 71 drives the slider 7 to move longitudinally along the toothed plate to be adjusted to a suitable position.

[0109] Preferably, a counterweight is fixedly provided on the base, and the counterweight can improve the stability of the detection device. In a preferred embodiment, four universal wheels with brakes are fixedly provided under the base 1 to facilitate the movement of the position. In other embodiments, the base 1 can also adopt an existing intelligent control mobile trolley.

[0110] Positioning module: includes a laser level 10 and two high-definition wide-angle cameras 42 respectively arranged on the sliding seat 4 and the drone 8. The laser level 10 is horizontally placed on one side of the window or horizontal through hole of the concrete building, and emits a horizontal laser to the other side of the building.

[0111] The two high-definition wide-angle cameras 42 collect images of the laser emitted by the laser level 10, and analyze the horizontal and vertical distances from the ultrasonic probe A9 and the ultrasonic probe B82 to the laser; the laser level emits a horizontal laser to provide a reference for positioning. The high-definition wide-angle camera collects images of the laser level, and uses image processing technology to accurately measure the distance from the ultrasonic probe to the laser level.

[0112] Route planning module: reasonably planning the operation route of the detection mechanism according to the location of the detection point, including planning the operation route of the base 1 and the drone 8.

[0113] Humidity collection module: includes concrete moisture meter, which collects concrete moisture data and provides important parameters for strength assessment.

[0114] Temperature acquisition module: includes a thermometer to collect ambient temperature data.

[0115] Ultrasonic analysis module: conducts in-depth analysis of the detected ultrasonic data, calculates the strength value of concrete, and identifies defects such as cracks and cavities inside the concrete through the reflection and propagation characteristics of ultrasonic waves. Combines the rebound value (i.e. the hardness of the concrete surface), concrete humidity, ambient temperature, and the sound velocity of ultrasonic testing to comprehensively calculate the strength of concrete.

[0116] PLC control center: connected with the test point planning module, route planning module, detection mechanism, positioning module, humidity collection module, temperature collection module and ultrasonic analysis module through a wireless network.

[0117] In this embodiment, the height and position of the slider 7 are adjusted by moving the base 1 to one side of the concrete building; the laser level 10 is horizontally placed on one side of the window or horizontal through hole of the concrete building, and emits a horizontal laser to the other side of the building. The drone 8 is equipped with an electric push rod 81 and an ultrasonic probe B82, which can realize the strength detection of concrete in difficult-to-reach or high-altitude areas. At the same time, the high-definition wide-angle camera on the drone can be used to collect the laser image emitted by the laser level 10 to assist in positioning. The high-definition wide-angle camera on the drone 8 collects images of the laser and then analyzes the position of the laser; the high-definition wide-angle camera 42 collects images of the laser level 10 and calculates the horizontal and vertical distances from the laser level 10 to the ultrasonic probe A9; then the horizontal and vertical distances from the ultrasonic probe B82 to the laser are adjusted to align the ultrasonic probe A9 and the ultrasonic probe B82, and the strength of the concrete building is detected; then the strength of the concrete building is detected by the rebound tester 6.

[0118] Example 2

[0119] The present application also provides a method for measuring the strength of concrete for civil construction engineering, based on the system for measuring the strength of concrete for civil construction engineering of embodiment 1, comprising the following steps:

[0120] S1. The test point planning module distributes the test points reasonably according to the characteristics of the building structure to ensure the representativeness of the test results. The number and specific locations of the test points are determined according to the test requirements and the scale of the building.

[0121] S2. The route planning module reasonably plans the operation route of the detection mechanism according to the location of the detection point, including planning the operation route of the base 1 and the drone 8.

[0122] S3. The base 1 of the detection mechanism moves to each detection point in sequence according to the planned route; and the sliding seat 4 is adjusted to a suitable height and position.

[0123] S4. The positioning module places the laser level 10 on one side of the building wall, emits a horizontal laser to the other side, and analyzes the horizontal and vertical distances from the ultrasonic probe A9 and the ultrasonic probe B82 to the laser.

[0124] S5. The drone 8 carries the ultrasonic probe B82 and moves to a suitable height and position so that the ultrasonic probe A9 and the ultrasonic probe B82 are aligned.

[0125] S6. Start the ultrasonic tester 12, and perform ultrasonic testing on the concrete building through the ultrasonic probe A9 and the ultrasonic probe B82; scan the concrete through the ultrasonic probe to collect ultrasonic data.

[0126] S7. Use the rebound tester 6 to test the strength of the concrete building; the humidity collection module collects the humidity data of the concrete; and the temperature collection module collects the ambient temperature data.

[0127] S8. At each detection point corresponding to the sliding seat 4, adjust the positions of the rebound hammer 6 and the ultrasonic probe A9 through the transverse driving mechanism 5 and the longitudinal driving mechanism; perform rebound hammer detection and ultrasonic detection at different positions in a small range for multiple times.

[0128] S9, the ultrasonic analysis module conducts in-depth analysis on the ultrasonic data detected, and identifies defects such as cracks and cavities inside the concrete through the reflection and propagation characteristics of ultrasonic waves. The strength of the concrete is comprehensively calculated by combining the rebound value, concrete humidity, ambient temperature, and the sound velocity of ultrasonic testing.

[0129] Furthermore, the data collection module comprehensively collects the design drawings of the building, including but not limited to structural design drawings, construction drawings, reinforcement drawings, etc. The drawings provide key information such as the structural layout, component size, and reinforcement configuration of the building. Collect building material information, and record in detail the type of concrete (such as ordinary concrete, high-strength concrete, self-compacting concrete, etc.), strength grade, mix ratio, additive usage, and the source and performance parameters of the main raw materials (cement, aggregate, admixture, etc.). Collect building size and location data, accurately measure and record the overall size of the building, the height of each floor, the thickness of the wall, the cross-sectional dimensions of the beams and columns, etc., and record the geographical location information of the building (such as longitude and latitude, surrounding environment, etc.) to facilitate the subsequent analysis to consider the impact of geographical factors on structural performance. Collect quality control records, concrete pouring records, maintenance records, inspection and test reports during the construction process. These documents are crucial for evaluating the actual construction quality and concrete performance.

[0130] Furthermore, the test point planning module determines the number and specific locations of the test points according to the building structure characteristics and the test requirements. Step S1 includes the following steps:

[0131] S11. Preliminary analysis and evaluation: Obtain the building's design drawings, construction drawings, structural analysis reports, etc. from the data collection module to understand the building's overall structural layout, main component types, sizes, and connection methods, etc. Identify key areas of the building, such as load-bearing walls, beam-column joints, floor slabs, etc., which are usually the focus of strength testing.

[0132] Determine inspection goals and requirements, and clarify the purpose of the inspection, whether it is a comprehensive assessment or inspection for specific issues. Determine areas or components that require special attention based on the building's history, maintenance, and current condition. Consider factors such as time limits, budget, and staffing for the inspection.

[0133] S12. Preliminary planning of the distribution of inspection points: On the two-dimensional drawings of the building, preliminarily plan the number and location of inspection points according to the structural characteristics and inspection requirements. Ensure that the inspection points are evenly distributed in various areas of the building, especially key areas and potential risk points. Consider the accessibility and safety of the inspection points, and avoid setting the inspection points in locations that are difficult to reach or have safety hazards. At each inspection point, set up multiple fine measurement points in different positions, and each time slightly adjust the position of the rebound tester 6 and ultrasonic probe A9 to cover different areas of the point.

[0134] S13. Optimize the distribution of inspection points: Use professional structural analysis software or tools (such as Abaqus, OptiStruct or Ansys Mechanical) to simulate and analyze the distribution of inspection points in the preliminary plan. According to the simulation results, adjust the number and location of inspection points to optimize the representativeness and accuracy of the inspection results. Pay special attention to adding inspection points in areas with large structural changes, complex connections or historical damage.

[0135] S14. Determine the number and specific locations of inspection points: The number of inspection points is determined based on the size of the building, the complexity of the structure, and the inspection requirements. Ensure that the number of inspection points is sufficient to fully reflect the strength of the building, while avoiding too many inspection points that lead to increased costs and reduced efficiency. Calculate the number of inspection points according to the following formula: ; In the formula, N represents the total number of detection points that need to be planned. K represents the set of key areas, and k represents a single key area in the set. D represents the set of detection targets, and d represents a single detection target in the set. τ represents the recommended detection point density per unit area or length, which is a constant used to determine the number of detection points required for each area. k Represents the area or length of the critical region k, which is a factor in determining how many inspection points are needed in this region. k S represents the complexity index of the key area k, reflecting the structural complexity or detection difficulty of the area. d The detection sensitivity or required accuracy of the detection target d is another factor that determines the number of detection points. Represents the rounding function, which is used to ensure that the number of detection points is an integer.

[0136] Determine the specific location of the inspection points and mark the specific location of each inspection point in the 3D model of the building. Use precise measurement tools (such as laser rangefinders, total stations, etc.) to determine the exact location of the inspection points. Consider the actual situation on site, such as obstacles, construction equipment, etc., and make appropriate adjustments to the location of the inspection points to ensure the smooth progress of the inspection process.

[0137] S15. Record and update: Record the number and specific locations of test points in the test plan and share it with the project team. During the test process, update and adjust the test plan according to actual conditions to ensure the accuracy and completeness of the test results.

[0138] In this technical solution, the test point planning module can ensure that the distribution of test points is reasonable, the number is moderate and the location is accurate, so as to meet the test requirements and ensure the representativeness of the test results.

[0139] Furthermore, the route planning module reasonably plans the operation route of the base 1 and the detection mechanism according to the location of the detection point, reasonably plans the moving route of the base 1, and reasonably plans the flight route of the UAV 8; step S2 includes the following steps.

[0140] S21. Collecting information of testing points: Obtaining accurate location information of all testing points from the data source, including coordinate data such as longitude and latitude. Organizing additional information such as testing requirements and time limits of the testing points.

[0141] Determine the performance of the detection mechanism and base: Understand the performance parameters of the detection mechanism (including base 1), such as movement speed, endurance, and load capacity. Determine the maximum detection range or capability of the detection mechanism in a single run. Collect the number and location data of the drone’s stop points.

[0142] S22. Preliminary route planning: Mark the locations of all detection points on the map and connect them into a network diagram. Use the shortest path algorithm in graph theory (such as Dijkstra algorithm) to calculate the shortest path from the starting point of the detection mechanism (usually the initial position of base 1) to each detection point.

[0143] S23. Optimize the route: For detection mechanisms that need to move frequently, repeated paths and invalid movements should be minimized when planning the route. In route planning, reasonable stop points are set for the base 1 for the detection mechanism to replace batteries, perform maintenance, or wait for the next instruction.

[0144] S24. Detailed Adjustment: Adjust the initially planned route based on actual road conditions, traffic flow, weather conditions, etc. For complex or special terrain, more professional navigation equipment or technology may be needed to assist in route planning.

[0145] S25. UAV flight route planning: Confirm the location information of all inspection points, including the specific location, size and shape of the concrete wall. Obtain the moving route of the inspection mechanism (including base 1) and the location of the UAV's docking point. Understand the performance parameters of ultrasonic probes A9 and B82, such as detection range, accuracy and frequency. Determine the detection strategy using ultrasonic probes based on the characteristics of the concrete wall and the inspection requirements. Analyze the coverage of ultrasonic probes A9 and B82 to ensure that they can complement each other to cover the entire inspection area. Preliminary plan the UAV's flight route based on the location of the inspection points and the location of the UAV's docking point. Ensure that the flight route can cover all inspection points and minimize repeated flights and invalid movements.

[0146] S26. Optimize the flight route: Consider the flight speed, endurance and detection efficiency of the drone and optimize the flight route. Ensure that the drone can maintain a stable flight altitude and speed during flight to improve detection accuracy. Set the drone's flight altitude, speed and flight attitude parameters according to the performance parameters of the ultrasonic probe B82. Ensure that the drone can accurately reach each detection point during flight and maintain an appropriate distance from the concrete wall.

[0147] S27, coordinate the work of ultrasonic probes: determine the detection order of ultrasonic probes A9 and B82 according to the location of the detection point and the location of the drone stop. Ensure that base 1 has moved to the appropriate position and ultrasonic probe A9 is ready for detection before the drone arrives at a certain detection point. Set the detection parameters of ultrasonic probes A9 and B82 according to the characteristics of the concrete wall and the detection requirements. Ensure that the two probes can work together to obtain accurate detection data.

[0148] S28. Real-time monitoring and adjustment: During the operation of the detection mechanism, the position, speed and other information of the base 1 and the drone are obtained in real time through sensors and monitoring systems. The route is fine-tuned according to the actual situation to deal with possible deviations or emergencies. The route is further optimized using intelligent optimization algorithms (such as genetic algorithms, ant colony algorithms, etc.). These algorithms can automatically calculate the optimal route based on factors such as the location of the detection point, the performance of the detection mechanism and base 1, the drone, and the actual road conditions.

[0149] S29. Verification and feedback: Before the official operation, use simulation software to simulate the planned route. Check the feasibility, safety and efficiency of the route through simulation. Collect data and feedback about route planning during the actual operation of the inspection agency and the drone. This data can include key indicators such as operation time, energy consumption, and detection accuracy. Optimize and improve route planning based on the collected data and feedback. Continuously optimize algorithms and parameter settings to improve the quality and efficiency of route planning.

[0150] In this technical solution, the route planning module can reasonably plan the operation route of the base 1 and the detection mechanism according to the location information of the detection point, ensuring that the total distance is the shortest while meeting the detection requirements.

[0151] Furthermore, the positioning module analyzes the horizontal and vertical distances from the ultrasonic probe A9 and the ultrasonic probe B82 to the laser; and accurately measures the distance from the ultrasonic probe to the laser level through image processing technology. Step S4 includes the following steps.

[0152] S41. Install equipment: Place the laser level 10 stably on one side of the building wall to ensure that it can emit horizontal laser light to the other side. Ensure that the laser level 10, two high-definition wide-angle cameras 42, the drone, and ultrasonic probes A9 and B82 are working properly and have sufficient battery power. Check whether the laser level 10 can emit clear and stable horizontal laser light. Check whether the lens of the high-definition wide-angle camera 42 is clean and free of obstructions. Clearly capture the laser line emitted by the laser level 10 through the high-definition wide-angle camera 42.

[0153] S42, laser emission: Turn on the power of the laser level 10, wait for it to be stable and then emit a horizontal laser. To adjust the laser direction, the knob or bracket of the laser level 10 can be adjusted to make the laser line it emits more horizontal.

[0154] S43, image acquisition: adjust the focal length, exposure time and other parameters of the camera as needed to ensure that the laser line can be clearly captured. Use two high-definition wide-angle cameras 42 to simultaneously acquire images of the laser level 10 to ensure that the laser line is clearly visible in the image.

[0155] S44, image preprocessing: preprocess the images collected by the two cameras, such as denoising, contrast enhancement, etc., to improve image quality.

[0156] S45, Laser Line Detection: Use image processing techniques (such as edge detection, Hough transform, etc.) to detect laser lines in images. Including.

[0157] S451, image preprocessing: preprocess the images acquired from the high-definition wide-angle camera 42 (installed on the drone and the sliding seat 4 respectively), including denoising, contrast enhancement, etc., to improve image quality.

[0158] S452, Edge Detection: Apply edge detection algorithms (such as the Canny edge detector) to detect edges in the image, especially the edges of laser lines.

[0159] S453, Hough Transform: Use Hough Transform to detect straight lines, especially laser lines. Hough Transform is a method for detecting straight lines in an image that converts straight lines in image space into points in parameter space, making it easier to detect straight lines.

[0160] S454, laser line identification: In the result of Hough transform, identify the point in the parameter space corresponding to the laser line, and transform it back to the image space to obtain the precise position of the laser line. Determine the position of the laser line according to the following formula. L identified ={(x,y)∣(x,y)=[rcos(θ)-ysin(θ),rsin(θ)+xcos(θ)],(r,θ)∈L verified}; where L identified It is the position set of the laser line in the image space that is finally identified, and contains a series of points (x, y). (x, y) is the coordinate point in the image space, representing the exact position of the laser line in the image. (r, θ) is the coordinate point in the parameter space, where r is the distance from the origin to the line, and θ is the angle between the normal of the line and the x-axis. verified This is the set of points in the verified parameter space that contains all (r,θ) point pairs that are considered to be laser lines.

[0161] S455, laser line extraction: according to the identified laser line position, the pixel information of the laser line is extracted from the image to prepare for the subsequent distance measurement.

[0162] S46, distance measurement: according to the position of the laser line and the parameters of the camera (such as focal length, pixel size, relative position of the camera and the wall, etc.), mathematical methods such as geometric transformation and scale calculation are used to calculate the distances from the ultrasonic probes A9 and B82 to the laser level 10 in the horizontal and vertical directions. The following steps are included.

[0163] S461, camera parameter acquisition: obtain the parameters of the high-definition wide-angle camera 42, including focal length, pixel size, and the relative position of the camera and the wall (which can be obtained through a pre-calibration process).

[0164] S462, laser line position analysis: analyzing the laser line position extracted from the image, and determining the horizontal and vertical coordinates of the laser line in the image.

[0165] S463, geometric transformation: according to the camera parameters and the laser line position, apply geometric transformation (such as perspective transformation, affine transformation, etc.) to convert the laser line position in the image into a position in three-dimensional space.

[0166] P 3D =[c x *x l *(Z*f x ),cy *y l *(Z*f y ),Z]; where P 3D Represents the coordinates of the laser line in three-dimensional space, which is a vector containing X, Y, and Z coordinates. x is the horizontal coordinate of the principal point (center of the image). y is the vertical coordinate of the principal point of the image (center of the image). l y is the horizontal pixel coordinate of the laser line in the image. l is the vertical pixel coordinate of the laser line in the image. Z is the depth coordinate of the laser line in three-dimensional space, that is, the distance from the camera to the plane where the laser line is located. x is the focal length of the camera in the horizontal direction. y is the vertical focal length of the camera.

[0167] S464, Scale calculation: Use scale calculation to convert the position of the laser line in the image to the distance in real space. This usually involves converting the pixel size to the actual size and taking into account the focal length and viewing angle of the camera. Scale calculation is performed according to the following formula: ;D real Indicates the horizontal and vertical distance of the laser line in the actual physical space. l y is the horizontal pixel coordinate of the laser line in the image. l is the vertical pixel coordinate of the laser line in the image. p is the pixel size of the camera, that is, the actual physical length corresponding to each pixel. Z is the depth coordinate of the laser line in three-dimensional space, that is, the distance from the camera to the plane where the laser line is located. f is the focal length of the camera, that is, the distance from the camera lens to the image sensor. X pix is the width of the image in pixels. pix is the height of the image in pixels.

[0168] S465, distance calculation: according to the position of the laser line in the three-dimensional space and the position of the ultrasonic probes A9 and B82 (which can be obtained by pre-calibration or measurement), calculate the distance from the ultrasonic probe to the laser level 10 in the horizontal and vertical directions.

[0169] S47, Result Verification and Correction: Cross-verify the measurement results obtained by the two cameras to ensure their accuracy and reliability. If necessary, the measurement results can be corrected to eliminate errors.

[0170] S48, UAV and slide seat coordinated operation: According to the measurement results and detection requirements, the UAV is controlled to fly to an appropriate position to ensure that the ultrasonic probe B82 can accurately align with the detection point. According to the measurement results and detection requirements, the slide seat 4 is controlled to move to an appropriate position to ensure that the ultrasonic probe A9 can accurately align with the detection point.

[0171] S49. Record data: Record the measurement results for subsequent analysis and use.

[0172] In this technical solution, the positioning module (including the laser level 10 and two high-definition wide-angle cameras 42) can be used to accurately measure the distance between the ultrasonic probes A9 and B82 and the laser level 10 in the horizontal and vertical directions. These steps provide accurate positioning information for subsequent ultrasonic testing, which helps to ensure the accuracy and reliability of the test results. At the same time, the coordinated operation of the drone and the sliding seat also improves the efficiency and flexibility of the test.

[0173] Furthermore, in steps S3 and S8, the position adjustment of the sliding seat 4 can be adjusted by the lifting mechanism, the lateral drive mechanism and the longitudinal drive mechanism. When the height of the sliding seat needs to be adjusted significantly, the two screws 13 are driven to rotate synchronously in the same direction by starting the motor B, and the screws 13 drive the threaded sleeve 31 to move up and down, thereby driving the lifting seat 3 to move up and down to a suitable position; when the height of the sliding seat needs to be adjusted slightly, the gear 71 is driven to rotate by starting the motor C, and the gear 71 is meshed and connected with the tooth plate 41, and the gear 71 drives the slider 7 to move longitudinally along the tooth plate to adjust to a suitable position; when the horizontal position of the sliding seat needs to be adjusted, the motor A52 is started to drive the screw 51 to rotate, and the screw 51 drives the sliding seat 4 to move horizontally to a suitable position.

[0174] Furthermore, the ultrasonic analysis module performs an in-depth analysis on the detected ultrasonic data, calculates the strength value of the concrete, and identifies defects such as cracks and cavities inside the concrete through the reflection and propagation characteristics of the ultrasonic wave. Step S9 includes the following steps.

[0175] S91. Processing ultrasonic signals: The received ultrasonic signals are collected and processed at high speed as digital signals. The system automatically determines the first wave sound time (i.e. the propagation time of the ultrasonic signal) and the amplitude (i.e. the strength of the ultrasonic signal).

[0176] S92. Calculate the sound velocity: Calculate the propagation velocity v of the ultrasonic wave according to the propagation distance and propagation time of the ultrasonic wave in the concrete. The sound velocity v is a main parameter in ultrasonic testing of concrete, which can reflect the performance of concrete and its internal conditions. Calculate the sound velocity according to the following formula. ; In the formula, v finalis the final calculated propagation speed of ultrasound in concrete (unit: meter / second, m / s). d is the propagation distance of ultrasound in concrete (unit: meter, m). actual It is the actual propagation time of the ultrasonic wave, that is, the total time from the transmitter to the receiver (unit: second, s). emit is the ultrasonic emission delay time, that is, the time from the transmitter emitting the ultrasonic wave to its start of propagation in the concrete (unit: second, s). receive is the ultrasonic receiving delay time, that is, the time from when the ultrasonic wave reaches the receiver to when it is detected (unit: seconds, s). k(ρ,H,T) is a correction coefficient that depends on the density ρ, humidity H and temperature T of the concrete. This coefficient is used to adjust the propagation speed changes caused by the physical properties of concrete. I0 is the initial strength of the transmitted signal. I is the strength of the received signal.

[0177] S93. Analyze the amplitude and waveform: The amplitude reflects the strength of the received sound wave, which can reflect the attenuation of the ultrasonic wave in the concrete, and further reflect the visco-plastic properties of the concrete. The waveform is displayed on the display screen. When the ultrasonic wave encounters internal defects, cracks or foreign objects in the concrete during propagation, the waveform will be distorted.

[0178] S94. Calculate concrete strength value: Construct a concrete strength value calculation model for real-time evaluation of concrete strength, taking into account rebound value, humidity, temperature and ultrasonic velocity. Combine the rebound value r (i.e., concrete surface hardness), concrete humidity H, ambient temperature T, and ultrasonic detection speed v to comprehensively calculate the strength f of concrete. Collect data on rebound value, concrete humidity, ambient temperature, and ultrasonic propagation speed in concrete; pre-process the data and normalize the collected data to ensure that the data is in the same dimension. Perform correlation analysis to analyze the correlation between each factor and concrete strength, determine important features, and perform feature selection. Use historical data sets to train the model and determine parameters; perform model training and verification; in actual applications, collect the rebound value, humidity, temperature, and ultrasonic velocity of concrete in real time. Input real-time data into the model to calculate the adjusted concrete strength; use the cross-validation method to evaluate the generalization ability of the model.

[0179] Calculate the concrete strength value according to the following formula: f 综合 =(k0+k1r+k2H+k3T+k4v)*e -αT+βH Where, f 综合is the adjusted predicted value of concrete strength. k0 is the constant term in the basic model, which represents the basic value of concrete strength when all other factors are zero. k1 is the coefficient of the influence of rebound value r on concrete strength. r is the rebound value of the concrete surface and is an indicator of the hardness of the concrete surface. k2 is the coefficient of the influence of concrete humidity H on concrete strength. H is the humidity of concrete, usually expressed in percentage. k3 is the coefficient of the influence of ambient temperature T on concrete strength. T is the ambient temperature. k4 is the coefficient of the influence of sound velocity v of ultrasonic detection on concrete strength. v is the propagation speed of ultrasonic waves in concrete, usually expressed in meters per second (m / s). α is the influence coefficient of ambient temperature T, which represents the sensitivity of temperature changes to concrete strength. β is the influence coefficient of concrete humidity H, which represents the sensitivity of humidity changes to concrete strength. e is the base of natural logarithms, which is used to construct exponential functions.

[0180] S95. Identify internal defects of concrete.

[0181] Analyze reflection and propagation characteristics: When ultrasonic waves encounter different media inside concrete (such as cracks, cavities, etc.), they will be reflected, refracted or attenuated. By analyzing the changes in these reflection and propagation characteristics, it can be determined whether there are defects inside the concrete.

[0182] The PSD criterion, CBV criterion, NFP method and probability judgment method are used to further analyze and determine the defects inside the concrete.

[0183] Comprehensive judgment: Combine the results of sound velocity, amplitude, waveform and judgment method to conduct a comprehensive analysis and judgment of the defects inside the concrete.

[0184] Obtain information such as the type, location, size and possible distribution range of the defects.

[0185] S96, Result output: The processed data (including sound time, amplitude, waveform, etc.) is displayed on the screen in real time for users to view and analyze. Users can save the test results to a USB flash drive, or use PC-specific analysis software for further data processing and analysis.

[0186] In this technical solution, the ultrasonic analysis module can conduct in-depth analysis of the detected ultrasonic data to calculate the strength value of the concrete and identify defects such as cracks and cavities inside the concrete. This is of great significance for evaluating the quality and safety of concrete.

[0187] Further, the step S95 of identifying internal defects of concrete includes the following steps.

[0188] S951. Analyze reflection and propagation characteristics: Based on the received reflected wave data, analyze the ultrasonic wave propagation path, reflection intensity, propagation time and other parameters to determine whether there are defects inside the concrete.

[0189] S952. Use professional criteria for further analysis: Select the PSD criteria, and use the product of the slope and difference of the acoustic time between two adjacent measuring points (PSD) as the criteria to locate and analyze the defects inside the concrete. The PSD criteria is very sensitive to defects and can exclude acoustic time changes caused by non-defect factors (such as non-parallel acoustic test pipes, uneven concrete, etc.). Calculate and evaluate according to the following formula: ; In the formula, Δt is the acoustic time difference, which represents the difference in acoustic time between two adjacent measuring points, and the unit is usually microseconds (µs). i is the acoustic time value of the ith measuring point, that is, the propagation time of ultrasonic waves from emission to reception in concrete. i−1 is the acoustic time value of the (i−1)th measuring point. Similarly, is the propagation time of the ultrasonic wave at this measuring point. i is the depth value of the i-th measuring point, indicating the depth of the measuring point in the concrete. i-1 is the depth value of the (i−1)th measuring point. Z is the calculation result of the PSD criterion, which is used to judge the possibility of defects. The sudden change of Z value usually indicates the existence of defects in concrete.

[0190] S953. Comprehensive judgment and analysis: Comprehensively consider the propagation speed of ultrasonic waves in concrete, the amplitude and waveform of the received wave, and make a comprehensive analysis and judgment on the defects inside the concrete. According to the changes in the speed of sound, amplitude, and waveform, analyze the type of defects (such as cracks, cavities, etc.), location, size, and possible distribution range. The following steps are included.

[0191] S953.1. Analyze the change of sound speed.

[0192] Calculate the average sound speed: Calculate the average sound speed of all measuring points as the reference sound speed. Calculate the average sound speed according to the following formula: m =(1 / n)∑ n i=1 v i ;v m is the average speed of sound (in km / s). i is the sound velocity value of the ith measuring point (unit: km / s). n is the total number of measuring points.

[0193] Compare the difference in sound velocity: Compare the difference between the sound velocity of each measuring point and the reference sound velocity one by one. A significant decrease in sound velocity may indicate defects such as cracks and voids.

[0194] Analyze the trend of sound velocity changes: observe the trend of sound velocity changes with the measurement point position, and determine the possible location and range of defects.

[0195] S953.2. Analyze the changes in amplitude.

[0196] Calculate the amplitude attenuation: Compare the amplitude of the received wave at each measuring point with the amplitude of the transmitted wave, and calculate the amplitude attenuation rate.

[0197] Determine abnormal amplitude: A significant attenuation of the amplitude may indicate the presence of highly absorbing defects (such as voids, wet areas) or obstacles in the sound wave propagation path (such as cracks).

[0198] Analyze the amplitude distribution: observe the distribution of the amplitude at different measuring points and determine the distribution range of the defects.

[0199] S953.3. Analyze waveform changes: Carefully observe the waveform characteristics of each measuring point, including the integrity, periodicity, frequency, etc. of the waveform. Waveform distortion (such as waveform discontinuity, frequency change, etc.) may indicate the presence of defects. Observe the trend of waveform changes with the position of the measuring point to determine the type and location of the defect.

[0200] S953.4. Comprehensive analysis and judgment: Combined with the sound velocity, amplitude, and waveform: Consider the changes in parameters such as sound velocity, amplitude, and waveform comprehensively, and conduct a comprehensive analysis and judgment of the defects inside the concrete. Analyze the defect type: Determine the type of defect (such as cracks, voids, inclusions, etc.) based on the characteristics of reduced sound velocity, amplitude attenuation, and waveform distortion. Determine the location of the defect: Determine the specific location of the defect in the concrete based on the changing trends of the sound velocity, amplitude, and waveform. Evaluate the size and distribution of the defect: Evaluate the size and possible distribution range of the defect based on the degree of reduction in the sound velocity, the amplitude attenuation, and the degree of waveform distortion.

[0201] S954. Prepare test report: Based on the test results and analysis, prepare a detailed test report, including the test purpose, method, process, results and conclusions, etc. According to the test conclusions, put forward corresponding treatment suggestions, such as repairing cracks, filling voids, etc., to ensure the safety and durability of concrete components.

[0202] In this technical solution, defects inside the concrete can be identified comprehensively and accurately, providing a reliable basis for subsequent repairs and treatments.

[0203] The present invention applies to improve the accuracy of detection by integrating multiple data. The method not only uses the rebound tester 6 for strength detection, but also combines ultrasonic detection, humidity collection and ambient temperature collection. By integrating multiple data, the strength of concrete can be more accurately evaluated. The ultrasonic analysis module can deeply analyze ultrasonic data and identify defects such as cracks and cavities inside the concrete, providing an important basis for the evaluation of construction quality. By conducting non-destructive strength testing of concrete buildings on site, not only the detection efficiency and accuracy are improved, but also damage and cost are reduced, construction quality control is enhanced, safety and sustainability are improved, and technological innovation and development are promoted.

[0204] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for measuring the strength of concrete for civil construction engineering, based on a concrete strength measurement system for civil construction engineering, characterized in that: The system includes a data collection module, a test point planning module, a detection mechanism, a route planning module, a positioning module, a humidity collection module, a temperature collection module, an ultrasonic analysis module, and a PLC control center; the detection mechanism includes a base and a drone, the base is provided with two support rods, the two support rods are connected to a lifting mechanism, a lifting seat is fixedly connected to the top of the lifting mechanism, a sliding seat that can move laterally is connected to the lifting seat through a transverse driving mechanism, a sliding block that can move longitudinally is connected to the sliding seat through a longitudinal driving mechanism, and an ultrasonic probe A and a rebound instrument are fixedly arranged on the slider; an electric push rod is provided on the drone, and an ultrasonic probe B is provided on the movable end of the electric push rod; a liquid crystal display screen and an ultrasonic tester are fixedly arranged on the base; the liquid crystal display screen is electrically connected to the rebound instrument; the ultrasonic tester is electrically connected to the ultrasonic probes A and B; the positioning module includes a laser level and two high-definition wide-angle cameras respectively arranged on the sliding seat and the drone; The following steps are involved: S1. The test point planning module determines the number and location of the test points according to the structural characteristics of the building and the detection requirements; Step S1 includes the following steps: S11. Preliminary analysis and evaluation: understand the overall structural layout of the building, the types of main components, sizes and connection methods; identify the key areas of the building; S12. Preliminary planning of the distribution of test points: on the two-dimensional drawings of the building, preliminarily plan the number and location of the test points according to the structural characteristics and detection requirements; especially the key areas and potential risk points; at each test point, arrange multiple fine test points in different positions; S13. Optimize the distribution of test points: use Abaqus structural analysis software to simulate and analyze the preliminary planned distribution of test points; according to the simulation results, adjust the number and location of the test points; S14. Determine the number and specific location of the test points: determine the number of test points according to the scale, structural complexity and detection requirements of the building; mark the specific location of each test point in the three-dimensional model of the building; S15. Record and update: record the number and specific location of the test points in the detection plan; during the detection process, update and adjust the detection plan according to the actual situation; S2, the route planning module plans the operation route of the detection mechanism according to the location of the detection point, including planning the operation route of the base and the drone; S3. The base of the detection mechanism moves to each detection point position in turn according to the planned route; the sliding seat is adjusted to a suitable height and position; S4, the positioning module places the laser level on one side of the building wall, emits a horizontal laser to the other side, collects images of the laser emitted by the laser level through two high-definition wide-angle cameras, and analyzes the horizontal and vertical distances from the ultrasonic probe A and the ultrasonic probe B to the laser; Step S4 includes the following steps: S41, installation of equipment: stably placing the laser level on one side of the building wall to ensure that it can emit a horizontal laser to the other side; S42, laser emission: turn on the power of the laser level, wait for it to stabilize and then emit a horizontal laser; S43, image acquisition: adjust the focal length and exposure time parameters of the camera as needed to ensure that the laser line can be clearly captured; use two high-definition wide-angle cameras to simultaneously acquire images of the laser level; S 44. Image preprocessing: preprocess the images collected by the two cameras; S45. Laser line detection: use image processing technology to detect the laser line in the image; S46. Distance measurement: calculate the distance from ultrasonic probe A and ultrasonic probe B to the laser in the horizontal and vertical directions according to the position of the laser line and the parameters of the camera; S47. Result verification and correction: cross-verify the results measured by the two cameras; S48. Cooperative operation of the drone and the sliding seat: control the sliding seat to move to the appropriate position so that the ultrasonic probe A can accurately align with the detection point; control the drone to fly to the appropriate position so that the ultrasonic probe A and the ultrasonic probe B are aligned; S49. Record data: record the measurement results for subsequent analysis and use; S5. The drone carrying the ultrasonic probe B moves to a suitable height and position so that the ultrasonic probe A and the ultrasonic probe B are aligned; S6, start the ultrasonic tester, scan the concrete building with ultrasonic probe A and ultrasonic probe B, and collect ultrasonic data; S7. Use a rebound tester to test the strength of concrete buildings; the humidity collection module collects humidity data of concrete; the temperature collection module collects ambient temperature data; S8. At each detection point corresponding to the sliding seat, adjust the positions of the rebound hammer and the ultrasonic probe A through the transverse driving mechanism and the longitudinal driving mechanism; perform rebound hammer detection and ultrasonic detection at different positions in a small range for multiple times; S9, the ultrasonic analysis module conducts in-depth analysis on the detected ultrasonic data, identifies the defects inside the concrete through the reflection and propagation characteristics of ultrasonic waves; calculates the propagation speed of ultrasonic waves; and comprehensively calculates the strength of concrete by combining the rebound value, concrete humidity, ambient temperature, and the sound speed of ultrasonic detection.

2. The method for measuring concrete strength for civil engineering construction according to claim 1, characterized in that: In step S14, the number of detection points is calculated according to the following formula: ; In the formula, N represents the total number of detection points that need to be planned; K represents the set of key areas, k represents a single key area in the set; D represents the set of detection targets, d represents a single detection target in the set; τ represents the recommended detection point density per unit area or length; A k represents the area or length of the key region k; C k represents the complexity index of the key area k; S d Indicates the detection sensitivity or required accuracy of the detection target d; Represents the ceiling function.

3. The method for measuring concrete strength for civil engineering construction according to claim 1, characterized in that: Step S2 includes the following steps: S21. Collecting information about inspection points: Obtaining accurate location information of all inspection points from data sources; Collating additional information about inspection requirements and time limits of inspection points; Understanding the moving speed and endurance performance parameters of the inspection agency; Collecting the number and location data of drone stops; S22. Preliminary route planning: Mark the locations of all detection points on the map and connect them into a network diagram; use the Dijkstra shortest path algorithm to calculate the shortest path from the starting point of the detection agency to each detection point; S23. Optimize routes: minimize repeated paths and invalid movements when planning routes; S24, detailed adjustment: adjust the initially planned route according to the actual road conditions and weather conditions; S25, UAV flight route planning: confirm the location information of all detection points; obtain the moving route of the base and the location of the UAV's docking point; analyze the coverage of ultrasonic probes A and B; preliminarily plan the UAV's flight route based on the location of the detection points and the location of the UAV's docking point; S26, optimize the flight route: consider the flight speed, endurance and detection efficiency of the UAV, optimize the flight route; set the flight altitude, speed and flight attitude parameters of the UAV according to the performance parameters of the ultrasonic probe B; S27. Coordinate the work of ultrasonic probes: determine the detection order of ultrasonic probes A and B according to the location of the detection point and the location of the drone parking point; set the detection parameters of ultrasonic probes A and B according to the characteristics of the concrete wall and the detection requirements; ensure that the two probes can work together; S28, real-time monitoring and adjustment: obtain the position and speed information of the base and the drone in real time through sensors and monitoring systems; make fine adjustments to the route according to actual conditions; S29. Verification feedback: Before the official operation, use simulation software to simulate the planned route; through simulation operation, the feasibility, safety and efficiency of the route can be checked.

4. The method for measuring concrete strength for civil engineering construction according to claim 1, characterized in that: Step S45 includes the following steps: S451, image preprocessing: preprocessing the image obtained from the high-definition wide-angle camera; S452, edge detection: applying the Canny edge detection algorithm to detect the edges in the image; S453, Hough transform: Use Hough transform to detect laser lines; S454, laser line identification: in the result of Hough transform, identify the point in the parameter space corresponding to the laser line, and inversely transform it back to the image space to obtain the precise position of the laser line; determine the position of the laser line according to the following formula: L identified ={(x,y)∣(x,y)=[rcos(θ)-ysin(θ),rsin(θ)+xcos(θ)],(r,θ)∈L verified }; where L identified is the position set of the laser line finally identified in the image space, (x, y) is the coordinate point in the image space; (r, θ) is the coordinate point in the parameter space, r is the distance from the origin to the line, θ is the angle between the normal of the line and the x-axis; L verified is the set of points in the verified parameter space, containing all (r,θ) point pairs considered to be laser lines; S455, laser line extraction: extracting the pixel information of the laser line from the image according to the identified laser line position.

5. The method for measuring concrete strength for civil engineering construction according to claim 1, characterized in that: Step S46 includes the following steps: S461, camera parameter acquisition: obtaining the parameters of the high-definition wide-angle camera; S462, laser line position analysis: analyzing the laser line position extracted from the image, and determining the horizontal and vertical coordinates of the laser line in the image; S463, geometric transformation: applying geometric transformation to convert the laser line position in the image into a position in three-dimensional space according to the camera parameters and the laser line position; S464, scale calculation: Use scale calculation to convert the position of the laser line in the image into the distance in the actual space; perform scale calculation according to the following formula: Where D real Indicates the horizontal and vertical distance of the laser line in the actual physical space; x l is the horizontal pixel coordinate of the laser line in the image; y l is the vertical pixel coordinate of the laser line in the image; p is the pixel size of the camera; Z is the depth coordinate of the laser line in three-dimensional space; f is the focal length of the camera; X pix is the width of the image; Y pix is the height of the image; S465. Distance calculation: According to the position of the laser line in three-dimensional space and the positions of ultrasonic probe A and ultrasonic probe B, the distance from the ultrasonic probe to the laser line in the horizontal and vertical directions is calculated.

6. The method for measuring concrete strength for civil engineering construction according to claim 5, characterized in that: In step S463, a geometric transformation is performed according to the following formula: P 3D =[c x *x l *(Z*f x ),c y *y l *(Z*f y ),Z]; where P 3D Represents the coordinates of the laser line in three-dimensional space, a vector containing X, Y, and Z coordinates; c x is the horizontal coordinate of the principal point of the image; c y is the vertical coordinate of the principal point of the image; x l is the horizontal pixel coordinate of the laser line in the image; y l is the vertical pixel coordinate of the laser line in the image; Z is the depth coordinate of the laser line in three-dimensional space; f x is the focal length of the camera in the horizontal direction; f y is the vertical focal length of the camera.

7. The method for measuring concrete strength for civil engineering construction according to claim 1, characterized in that: Step S9 includes the following steps: S91, processing ultrasonic signals: collecting and processing the received ultrasonic signals at high speed as digital signals; S92. Calculate the sound velocity: Calculate the propagation velocity of the ultrasonic wave according to the propagation distance and propagation time of the ultrasonic wave in the concrete; S93, analyzing amplitude and waveform: analyzing amplitude and waveform; S94. Calculate concrete strength value: Construct a concrete strength value calculation model, and comprehensively calculate the strength of concrete by combining rebound value, concrete humidity, ambient temperature, and sound velocity of ultrasonic detection; use historical data sets to train the model and determine parameters; perform model training and verification; input real-time data into the model to calculate the adjusted concrete strength; calculate the concrete strength value according to the following formula: f 综合 =(k0+k1r+k2H+k3T+k4v)*e -αT+βH Where, f 综合 is the adjusted concrete strength prediction value; k0 is the constant term in the basic model; k1 is the coefficient of the rebound value r on the concrete strength; r is the rebound value of the concrete surface; k2 is the coefficient of the concrete humidity H on the concrete strength; H is the humidity of the concrete; k3 is the coefficient of the ambient temperature T on the concrete strength; T is the ambient temperature; k4 is the coefficient of the sound velocity of ultrasonic detection on the concrete strength; v is the propagation speed of ultrasonic waves in concrete; α is the influence coefficient of ambient temperature T; β is the influence coefficient of concrete humidity H; e is the base of the natural logarithm; S95. Identify defects inside concrete: By analyzing the changes in reflection and propagation characteristics, determine whether there are defects inside the concrete; use the PSD criterion method to further analyze and determine the defects inside the concrete; combine the sound velocity, amplitude, waveform and the results of the criterion method to conduct a comprehensive analysis and judgment of the defects inside the concrete; obtain information on the type, location, size and possible distribution range of the defects; S96. Result output: The processed data is displayed on the screen in real time for users to view and analyze.

8. The method for measuring concrete strength for civil engineering construction according to claim 7, characterized in that: In step S92, the speed of sound is calculated according to the following formula: ; In the formula, v final is the final calculated propagation speed of the ultrasonic wave in the concrete; d is the propagation distance of the ultrasonic wave in the concrete; t actual is the actual propagation time of the ultrasonic wave; t emit is the ultrasonic emission delay time; t receive is the ultrasonic receiving delay time; k(ρ,H,T) is a correction coefficient that depends on the density ρ, humidity H and temperature T of the concrete; I0 is the initial intensity of the transmitted signal; I is the intensity of the received signal.

9. The method for measuring concrete strength for civil engineering construction according to claim 7, characterized in that: Step S95 includes the following steps: S951. Analyze reflection and propagation characteristics: Analyze the propagation path, reflection intensity and propagation time parameters of the ultrasonic wave according to the received reflected wave data to determine whether there are defects inside the concrete; S952, select the PSD criterion method, use the slope and the product of the difference between two adjacent measuring points as the criterion, and locate and analyze the defects inside the concrete; S953. Comprehensive judgment and analysis: Comprehensively consider the propagation speed of ultrasonic waves in concrete, the amplitude and waveform parameters of the received waves, and conduct a comprehensive analysis and judgment of the defects inside the concrete; determine the specific location of the defects in the concrete based on the changing trends of the sound speed, amplitude and waveform; and evaluate the size and distribution of the defects; S954. Prepare test report: Prepare a detailed test report based on the test results and analysis.

10. The method for measuring concrete strength for civil engineering construction according to claim 1, characterized in that: The lifting mechanism includes a motor B fixedly connected to a base inside the support rod, a screw is fixedly connected to the output end of the motor B, a threaded sleeve is threadedly connected to the outer thread of the screw, the threaded sleeve is slidably connected to the inner wall of the support rod, and the top of the threaded sleeve is fixedly connected to the bottom of the lifting seat; four push rods are symmetrically arranged on the lifting seat, pneumatic suction cups are fixedly arranged at the ends of the push rods, a vacuum pump is fixedly arranged on the base, and the vacuum pump is connected to each pneumatic suction cup through a hose.

11. The method for measuring concrete strength for civil engineering construction according to claim 1, characterized in that: The transverse driving mechanism includes a screw rod rotatably connected to the lifting seat, a sliding rod fixedly connected to the lifting seat and a motor A fixedly connected to the lifting seat. The screw rod and the sliding rod are arranged parallel to each other, and the output end of the motor A is coaxially fixedly connected to the screw rod, the screw rod is threadedly connected to the sliding seat, and the sliding rod is slidably connected to the sliding seat; a hollow cavity is arranged inside the sliding seat, and a sliding groove is opened on the outer surface of the sliding seat along its length direction. The slider is slidably connected to the sliding groove through the longitudinal driving mechanism, and the rebound tester and the ultrasonic probe A are fixedly connected to the side of the slider away from the cavity; the longitudinal driving mechanism includes a tooth plate arranged on one side of the inner wall of the cavity along the length direction of the sliding seat, and a motor C is fixedly connected to the side of the slider close to the cavity, and a gear is coaxially fixedly connected to the output end of the motor C, and the gear is meshed and driven with the tooth plate.

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