Fully automatic intelligent inspection robot for precast beams in beam yard and its detection method

Abstract

The present invention belongs to the technical field of beam yard maintenance and detection, aiming to solve the problems of single function and complex operation of existing inspection robots. A fully automatic intelligent inspection robot for precast beams in a beam yard and its detection method are provided. The free end of the manipulator can move in multiple directions and at multiple angles relative to the robot body, and a quick-change main disk is arranged at the free end of the manipulator; the radar tooling, the rebound instrument measuring area stamping tooling, and the rebound instrument tooling are all movably inserted into the robot body, and quick-change sub-disks are arranged on the above-mentioned toolings; the manipulator is used to control the radar tooling to detect and record the position, depth, and shape of internal damage of the beam structure, control the rebound instrument measuring area stamping tooling to stamp the measuring area pattern at the target position on the concrete surface of the beam structure, and control the rebound instrument tooling to perform concrete rebound tests at each position where the measuring area pattern is stamped. The inspection robot can meet the requirements of different parts and different inspection items in the beam yard; it is easy to operate and has high operation efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of beam yard maintenance and detection, and particularly relates to a full-automatic intelligent inspection robot for precast beams in a beam yard and a detection method thereof. Background Art

[0002] In the past, in the field of beam yard maintenance, manual inspection was seriously relied on. This detection method has problems such as low detection efficiency, harsh working environment, high labor intensity, and potential safety hazards. With the continuous progress of bridge engineering technology and the increasing complexity of bridge structures, the traditional inspection method has been difficult to meet the needs of modern bridge maintenance and detection.

[0003] At the present stage, inspection robots have replaced manual inspection. Inspection robots have the characteristics of strong anti-interference and high stability, and are often used to inspect dangerous and harsh environments.

[0004] However, the operation of inspection robots is complex, the operation efficiency is low, and it is difficult to meet the needs of large-scale beam yard inspection; the operation range of some inspection robots is limited and cannot cover the areas that need to be detected; moreover, most of the existing inspection robots can only complete single detection operations and cannot complete multiple inspection tasks. Summary of the Invention

[0005] In order to solve at least one of the above technical problems in the prior art, the invention provides a full-automatic intelligent inspection robot for precast beams in a beam yard and a detection method thereof.

[0006] The invention is realized by adopting the following technical scheme: A full-automatic intelligent inspection robot for precast beams in a beam yard includes a robot body and a manipulator, a radar tooling, a rebound instrument measuring area stamping tooling, and a rebound instrument tooling arranged above it; wherein, the free end of the manipulator can move in multiple directions and at multiple angles relative to the robot body, and a quick-change main disk is arranged at the free end of the manipulator; the radar tooling, the rebound instrument measuring area stamping tooling, and the rebound instrument tooling are all movably inserted into the robot body, and quick-change sub-disks are arranged on the above-mentioned toolings. The quick-change sub-disk is used to cooperate with the quick-change main disk to fixedly connect the corresponding tooling to the free end of the manipulator; the manipulator is used to control the radar tooling to detect and record the position, depth and shape of internal damage of the beam structure, control the rebound instrument measuring area stamping tooling to stamp the measuring area pattern at the target position on the concrete surface of the beam structure, and control the rebound instrument tooling to perform concrete rebound tests at each position where the measuring area pattern is stamped.

[0007] Preferably, the measuring area stamping tooling for the rebound hammer includes a measuring area stamp, a stamp mounting plate, a stamp connecting plate, a stamp distance measuring sensor, and a stamp positioning plate; the measuring area stamp is arranged at the bottom end of the stamp mounting plate, a horizontal wing plate is extended outward along the plate surface of the stamp mounting plate as the stamp positioning plate, the end of the stamp positioning plate has a jack matching the plug-in column of the stamping tooling on the robot body, the stamp connecting plate is arranged at the upper end of the stamp mounting plate, and a bent wing plate is extended outward along the plate surface of the stamp connecting plate for mounting the stamp distance measuring sensor. The quick-change sub-disk on the measuring area stamping tooling for the rebound hammer is arranged at the upper end of the stamp connecting plate.

[0008] Preferably, the stamp distance measuring sensor is arranged perpendicular to the measuring area stamp, the detection end of the stamp distance measuring sensor is located at one end close to the measuring area stamp, and the stamp distance measuring sensor is connected to the control module of the manipulator; a stamp buffer mechanism is arranged between the stamp connecting plate and the stamp mounting plate.

[0009] Preferably, the tooling for the rebound hammer includes a fixed seat, a movable seat, a rebound hammer, a shock damping spring, a rebound hammer distance measuring sensor, and a monitoring camera; the movable seat is movably connected to the fixed seat through the shock damping spring and the guide post. The rebound hammer, the rebound hammer distance measuring sensor, and the monitoring camera are all arranged on the movable seat. The rebound hammer distance measuring sensor is arranged parallel to the rebound hammer and its detection end is located at one end close to the detection head of the rebound hammer. The monitoring camera is connected to the movable seat through a camera bracket and is located above the key panel of the rebound hammer. Both the rebound hammer distance measuring sensor and the monitoring camera are connected to the control module of the manipulator. The bottom end of the fixed seat is provided with a quick-change mounting bracket for the rebound hammer that is movably inserted into the robot body, and a quick-change sub-disk matching the quick-change main disk on the manipulator of the robot body is installed at the rear end of the fixed seat.

[0010] Preferably, the fixed seat includes a front guide sleeve mounting plate, a rear guide sleeve mounting plate, and a quick-change sub-disk mounting plate arranged in sequence. Guide sleeves are inlaid at the front guide sleeve mounting plate and the rear guide sleeve mounting plate. The front guide sleeve mounting plate, the rear guide sleeve mounting plate, and the quick-change sub-disk mounting plate are connected into a whole through a bottom plate; the movable seat includes a front guide post fixing plate, an intermediate guide post fixing plate, a rear guide post fixing plate, and two guide posts fixedly connecting the above three plates. The front end and the middle of the guide post are respectively fixed with a damping front sleeve and a damping rear sleeve. Shock damping springs are arranged between the damping front sleeve and the front guide sleeve mounting plate, and between the intermediate guide post fixing plate and the rear guide sleeve mounting plate. The intermediate guide post fixing plate and the damping rear sleeve are located between the front guide sleeve mounting plate and the rear guide sleeve mounting plate; the lower end of the quick-change mounting bracket for the rebound hammer extends to both sides to form lower wing plates connected to the robot body, and jacks matching the plug-in columns of the tooling for the rebound hammer on the robot body are arranged on the lower wing plates.

[0011] Preferably, the radar tooling includes a detection radar, a radar housing, radar moving wheels, a radar connection plate, a radar tooling ranging sensor, and a radar signal receiver; the detection radar is built into the internal space of the radar housing with radar moving wheels at the bottom, the radar tooling ranging sensor is arranged on the corner wing plate extending outward from the radar housing, a radar signal receiver is arranged at the front end of the detection radar and there is a window opening at the corresponding position on the radar housing, the radar connection plate is arranged at the upper end of the radar housing, the bottom of the radar housing extends to both sides with lower wing plates and the lower wing plates are provided with sockets matching the radar tooling plug-in posts on the robot body; the quick-change sub-disk on the radar tooling is arranged at the upper end of the radar connection plate, and a radar display electrically connected to the radar signal receiver is arranged at the upper end of the robot body.

[0012] Preferably, a ranging wheel for measuring the detected distance is connected to the front end of the radar housing through a ranging bracket; a radar buffer mechanism is arranged between the radar connection plate and the radar housing; the detection end of the radar tooling ranging sensor is located at one end close to the detection radar.

[0013] Preferably, it further includes a touch pen tooling, which includes a pen holder mounting plate, a buffer pen holder fixing seat, a touch pen, a touch pen guide rod, a buffer pen holder slider, a touch pen buffer spring, and a pen holder positioning plate; the buffer pen holder fixing seat is arranged on one end face of the pen holder mounting plate, the buffer pen holder fixing seat is provided with a guide groove and a sliding groove, wherein the touch pen guide rod is arranged in the guide groove, the buffer pen holder slider is slidably arranged in the sliding groove and is slidably connected to the touch pen guide rod, a touch pen buffer spring is sleeved on the touch pen guide rod between the end of the buffer pen holder slider and the buffer pen holder fixing seat, the touch pen is fixed on the buffer pen holder slider and is arranged parallel to the touch pen guide rod; the pen holder positioning plate is arranged on the other end face of the pen holder mounting plate and extends outward with a side wing plate and the side wing plate is provided with a socket matching the touch pen tooling plug-in post on the robot body; the quick-change sub-disk on the touch pen tooling is arranged on the end face of the pen holder positioning plate far from the pen holder mounting plate; the manipulator is also used to control the touch pen tooling to perform key operations on the rebound instrument in the rebound instrument tooling.

[0014] Preferably, there are two sets of the touch pen on the buffer pen holder fixing seat and its guiding and sliding structures, the touch head directions of the two sets of touch pens are arranged in opposite directions, and the touch pens are arranged parallel to the plate surface of the pen holder positioning plate.

[0015] Preferably, it further includes a beam end face size ranging tooling, which includes a laser rangefinder and a rangefinder supporting camera; the laser rangefinder is arranged at the front and rear ends of the robot body, the outside of the rangefinder supporting camera is provided with a rangefinder camera bracket and the lower end of the rangefinder camera bracket is provided with a socket matching the beam end face size ranging tooling plug-in post on the robot body; the quick-change sub-disk of the beam end face size ranging tooling is arranged at the upper end of the rangefinder camera bracket, and the manipulator is also used to measure the beam end face size with the beam end face size ranging tooling.

[0016] Preferably, it further includes a crack detection camera, which includes a detection camera and a camera rod. The detection camera is arranged at one end of the camera rod. A camera lens and auxiliary light sources on both sides are arranged on the detection camera. The camera rod is mounted on a crack detection camera support on the robot body. A quick-change sub-disk on the crack detection camera is arranged at one end of the camera rod away from the detection camera. The manipulator is also used for the crack detection camera to detect cracks in the beam structure.

[0017] Preferably, it further includes a steel bar cover detection tooling, which includes a traveling device, a steel bar scanner, a scanner mounting frame, a scanner connecting frame, and an ultrasonic sensor.

[0018] The traveling device is arranged at the lower end of the scanner mounting frame. The steel bar scanner is mounted on the scanner mounting frame and points downward. The scanner connecting frame is arranged at the upper end of the scanner mounting frame. The upper end of the scanner connecting frame bends and extends outward to form a bent wing plate. An ultrasonic sensor is arranged at the lower end of the wing plate, and the ultrasonic sensor points to one side of the bottom plate of the traveling device. The quick-change sub-disk of the steel bar cover detection tooling is arranged at the upper end of the scanner connecting frame. The two sides of the traveling device extend outward to form wing plates, and the wing plates are provided with sockets matching the plug-in columns of the steel bar cover detection tooling on the robot body.

[0019] Preferably, a buffer device is arranged between the scanner mounting frame and the scanner connecting frame. The buffer device includes a spring seat, an outer sleeve, and an inner sleeve. The inner sleeve is fixed to the upper end of the scanner mounting frame. The outer sleeve is fixed on the spring seat, and a spring connected to the spring seat is arranged inside the outer sleeve. A slide bar matching the chute on the side wall of the outer sleeve is arranged inside and on the inner sleeve; the inner sleeve is connected.

[0020] Preferably, the quick-change main disk includes a main connection disk and a solenoid valve. A cylinder is arranged inside the main connection disk. A locking head is arranged at the connection end of the main connection disk. A plurality of locking steel balls are arranged on the locking head. The push rod of the cylinder can extend into the locking head and push out the locking steel balls in the locking head. A sub-disk in-place detection sensor, a main disk cylinder extension in-place detection sensor, and a main disk cylinder retraction in-place detection sensor are arranged on the main connection disk.

[0021] The signal output ends of the sub-disk in-place detection sensor, the main-disk cylinder extension in-place detection sensor, and the main-disk cylinder retraction in-place sensor are connected to the control module of the manipulator. The solenoid valve is located on the air path where the cylinder is located and is electrically connected to the sub-disk in-place detection sensor. The sub-disk in-place detection sensor is used to detect whether the quick-change sub-disk and the quick-change main-disk are aligned. The main-disk cylinder extension in-place detection sensor and the main-disk cylinder retraction in-place sensor are respectively used to detect whether the cylinder in the quick-change main-disk extends and retracts in place; The quick-change sub-disk includes a sub-connecting disk, and a first card slot for accommodating the locking head is arranged in the center of the sub-connecting disk. A second card slot for accommodating the locking steel balls is arranged on the surface of the first card slot; The locking head can be clamped in the first card slot of the quick-change sub-disk, and the locking steel balls are used to be jacked up from the locking head under the push of the cylinder and clamped in the second card slot of the quick-change sub-disk.

[0022] Preferably, a lifting platform for placing the manipulator is arranged at the center of the upper end of the robot body. Cameras in multiple directions are arranged on the side wall of the lifting platform. A placement platform for placing the above-mentioned multiple toolings is arranged around the outer periphery of the lifting platform; Among them, the radar tooling, the beam end face dimension ranging tooling, the rebound instrument tooling, and the crack detection camera are respectively located at the four corners of the placement platform and arranged in sequence. The touch pen tooling is arranged between the radar tooling and the beam end face dimension ranging tooling. The radar display is arranged between the beam end face dimension ranging tooling and the rebound instrument tooling. The rebound instrument measuring area stamping tooling is arranged between the rebound instrument tooling and the crack detection camera; Walking wheels are arranged at the bottom of the robot body, and lighting lamps are arranged at the front and rear ends in the traveling direction.

[0023] In the second aspect of the present invention, a detection method for a fully automatic intelligent inspection robot for precast beams in a beam yard is provided, including: Concrete rebound measurement method: Based on the cooperation among the manipulator, the rebound instrument measuring area stamping tooling, the rebound instrument tooling, and the touch pen tooling, the concrete rebound test of the measuring area position of the beam structure is realized; Beam structure internal damage detection method: Based on the detection radar and the radar tooling ranging sensor, the position, depth, and shape of the internal damage of the beam structure are detected and recorded; Beam end face dimension ranging measurement method: Based on the laser rangefinder and the camera supporting the rangefinder, the end face dimension of the beam structure is detected; Beam crack detection method: Based on the crack detection camera taking pictures of the beam structure and the crack model to synchronously identify whether there are cracks in the pictures; Reinforcement cover detection method: Based on the reinforcement scanner and the ultrasonic sensor of the reinforcement cover detection tooling, the detection of the reinforcement cover thickness is realized.

[0024] Preferably, the steps of the concrete rebound measurement method are as follows:

[0025] S11: The manipulator moves to the placement position of the rebound instrument measuring area stamping tooling, and controls the connection between the quick-change main-disk and the quick-change sub-disk of the rebound instrument measuring area stamping tooling;

[0026] S12: The manipulator controls the rebound instrument measuring area stamping tooling to move to the concrete rebound measurement area and stamp the measuring area pattern at the target position;

[0027] S13: After the stamping of the measuring area pattern is completed, the manipulator moves to the placement position of the rebound instrument measuring area stamping tooling, and disconnects the connection between the quick-change main disk and the quick-change sub-disk to realize the return of the rebound instrument measuring area stamping tooling;

[0028] S14: The manipulator moves to the placement position of the rebound instrument tooling and controls the quick-change main disk to connect to the rebound instrument tooling;

[0029] S15: The manipulator controls the rebound instrument tooling to move to the concrete rebound measurement area with the stamped measuring area pattern, and sequentially measures the rebound of the concrete in each grid of the above area;

[0030] S16: After the rebound measurement of the above area is completed, the manipulator moves to the placement position of the rebound instrument tooling to perform the return of the rebound instrument tooling; Subsequently, repeat steps S11 - S16 to repeat stamping the measuring area pattern and rebound measurement.

[0031] Preferably, the internal damage detection method of the beam structure includes the following steps:

[0032] S21: The manipulator replaces the tooling connected to the quick-change main disk with a radar tooling;

[0033] S22: The manipulator controls the detection radar to be closely attached to the beam structure to be measured in parallel and travels along the beam structure to be measured for detection;

[0034] S23: When the robot body drives out of the area of the beam structure to be measured, it means that the internal damage measurement of one beam structure is completed.

[0035] Preferably, the beam end face size ranging method includes the following steps:

[0036] S31: The tooling connected to the quick-change main disk at the manipulator is replaced with a beam end face size ranging tooling;

[0037] S32: The manipulator controls the camera supporting the rangefinder to take a picture of the beam end face and calculates the pixel value from the upper edge to the lower edge in the height direction of the beam in the photo;

[0038] S33: The laser rangefinder measures the distance between the current position and the beam end face;

[0039] S34: Through the preset shooting distance and shooting target pixel relationship table, combined with steps S32 and S33, calculate the height of the beam;

[0040] S35: After the manipulator moves horizontally to the left by a preset distance to photograph the end face of the beam, the manipulator returns to the origin, and then the manipulator moves horizontally to the right by a preset distance to photograph the end face of the beam, and the pixel values of the beams appearing in the width direction of the beam in the two photos are calculated respectively;

[0041] S36: Based on the widths of the two sections of the beam calculated in step S35, plus the distances that the manipulator moves to the left and to the right, the total width of the beam is finally obtained.

[0042] Preferably, the beam crack detection method includes the following steps:

[0043] S41: Replace the tooling connected to the quick-change main disk at the manipulator with a crack detection camera;

[0044] S42: The robot body walks along the edge of one end beam frame towards the other end beam frame, and at every set distance interval, the manipulator controls the crack detection camera to photograph the beam structure photos at the left, front, and right positions of the robot body;

[0045] S43: After the robot body walks to the other end beam frame, it returns and repeats the above photographing until all the bottom parts of the beams are photographed;

[0046] S44: Synchronously identify whether there are cracks in the photos through a pre-trained crack model.

[0047] Preferably, the steel bar cover detection method includes the following steps:

[0048] S51: Replace the tooling connected to the quick-change main disk at the manipulator with a steel bar cover detection tooling;

[0049] S52: The manipulator controls the steel bar cover detection tooling to be tightly attached to the beam structure to be measured in parallel and travels along the beam structure to be measured for detection;

[0050] S53: When the robot body drives out of the area of the beam structure to be measured, it means that the steel bar cover detection of one beam structure is completed.

[0051] Preferably, before replacing the tooling connected to the quick-change main disk at the manipulator, the following steps are also required:

[0052] S61: The sub-disk in-place detection sensor at the quick-change main disk detects whether there is a grabbed quick-change sub-disk on the current manipulator;

[0053] S62: If there is a grabbed quick-change sub-disk, the manipulator controls the tooling corresponding to the quick-change sub-disk to reset and separates the quick-change sub-disk from the quick-change main disk;

[0054] S63: The manipulator controls the quick-change main disk to be connected to the quick-change sub-disk of the tooling required for detection, that is, replace it with the tooling required for detection.

[0055] Preferably, in the steel bar protective layer detection method and the internal damage detection method of the beam structure, the distances detected from the beam structure are transmitted to the manipulator control module through an ultrasonic sensor and a radar tool ranging sensor respectively, and the manipulator controls the steel bar protective layer detection tool and the radar tool to be parallel and attached to the detected beam structure.

[0056] Preferably, the connection method of the quick-change main disk and the quick-change sub-disk is as follows:

[0057] Judge whether the signal from the retraction in-place detection sensor is received. If received, control the manipulator to move to the installation position of the tool for the next detection;

[0058] Judge whether the signal from the sub-disk in-place detection sensor is received. If received, control the cylinder on the quick-change main disk to extend, so that the locking steel ball moves towards the second card slot of the quick-change sub-disk on the tool;

[0059] Judge whether the signal from the extension in-place sensor is received. If received, it is determined that the connection between the quick-change main disk and the quick-change sub-disk is completed.

[0060] Preferably, the separation method of the quick-change main disk and the quick-change sub-disk is as follows:

[0061] Judge whether the tool to be disconnected is aligned with the installation position. If so, control the cylinder on the quick-change main disk to retract;

[0062] Judge whether the signal from the retraction in-place detection sensor is received. If so, control the manipulator to drive the quick-change main disk to reset and leave the quick-change sub-disk.

[0063] Preferably, the following steps are further included: The manipulator moves to the placement position of the touch pen tool, and controls the quick-change main disk to connect to the quick-change sub-disk of the touch pen tool to achieve the connection between the two;

[0064] The manipulator controls the touch pen to move above the key panel of the rebound instrument tool or the radar tool, and based on the cooperation of the built-in movement path of the manipulator and the camera device, realizes the startup and setting of the rebound instrument or the detection radar;

[0065] The manipulator moves to the placement position of the touch pen tool, and controls the quick-change main disk to disconnect the quick-change sub-disk to return the touch pen tool to its original position.

[0066] Compared with the prior art, the beneficial effects of the present invention are:

[0067] The robot body of the present invention can integrate multiple inspection functions, meet the requirements of different parts and different inspection items in the beam yard; it is easy to operate and has high operation efficiency, and can significantly shorten the inspection cycle.

[0068] The setting of the lifting platform can expand the coverage range of the manipulator; the placing platform is arranged around the lifting platform, facilitating the manipulator to replace the connecting device more conveniently; the quick-change mechanism enables the quick assembly and disassembly between the manipulator and other tooling; the radar tooling ranging sensor can effectively detect and record the position, depth and shape of the target in the beam yard, the radar buffer mechanism can cope with the unevenness on the side, enabling the device to always fit the side during driving, and the ranging wheel is used to measure the moving distance; the rebound instrument measuring area stamp calculates the distance between the stamp and the concrete test surface through the stamp ranging sensor, which can facilitate finding the target position on the concrete surface for stamping. During the stamping process, the stamp buffer mechanism can play an effective buffering role and at the same time make the measuring area stamp fully contact with the concrete surface; the shock-absorbing damping spring on the rebound instrument can reduce the impact on the manipulator when the rebound instrument works, and the rebound instrument ranging sensor is used to control the distance between the rebound instrument and the wall during testing; the touch pen tooling effectively reduces the impact force generated when the touch pen clicks on the screen or button, thereby protecting the screen and the pen tip from damage, and at the same time providing stable support for the touch pen, making the touch pen more stable during use and reducing errors; the crack detection camera takes a close-up photo of the concrete surface and analyzes the crack width through an algorithm, thereby realizing the detection operation of the crack width; the beam end face size ranging tooling can detect the size data of the beam structure; the steel bar protection layer detection tooling can realize the detection of the steel bar protection layer thickness. Description of the Drawings

[0069] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the following-described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0070] Figure 1 Structural schematic diagram of the present invention;

[0071] Figure 2 Structural schematic diagram of the present invention from another angle;

[0072] Figure 3 Top view of the present invention;

[0073] Figure 4 Left view of the present invention;

[0074] Figure 5 Right view of the present invention;

[0075] Figure 6 Structural schematic diagram of the radar tooling of the present invention;

[0076] Figure 7 Structural schematic diagram of the rebound instrument measuring area stamp of the present invention;

[0077] Figure 8 Schematic diagram of the rebound instrument tooling structure of the present invention;

[0078] Figure 9 Front view of the rebound instrument tooling structure of the present invention;

[0079] Figure 10 Side view of the rebound instrument tooling structure of the present invention;

[0080] Figure 11 Top view of the rebound instrument tooling structure of the present invention;

[0081] Figure 12 Schematic diagram of the stylus tooling structure of the present invention;

[0082] Figure 13 Schematic diagram of the detection camera structure of the present invention;

[0083] Figure 14 Schematic diagram of the steel bar cover detection tooling structure of the present invention;

[0084] Figure 15 Front view of the steel bar cover detection tooling structure of the present invention;

[0085] Figure 16 Side view of the steel bar cover detection tooling structure of the present invention;

[0086] Figure 17 Top view of the steel bar cover detection tooling structure of the present invention;

[0087] Figure 18 Schematic diagram of the structure at the quick-change main disk of the present invention, first perspective;

[0088] Figure 19 Schematic diagram of the structure at the quick-change main disk of the present invention, second perspective;

[0089] Figure 20 Schematic diagram of the angle between the inspection vehicle and the beam end face of the present invention;

[0090] Figure 21 Schematic diagram of the total width structure of the beam;

[0091] Figure 22 Principle diagram of the camera shooting supporting the rangefinder.

[0092] In the figure: 1-robot body, 2-lifting platform, 3-bearing platform, 4-walking wheel, 5-manipulator, 61-camera, 62-lighting lamp, 7-radar tooling, 71-detection radar, 72-radar protection shell, 73-radar protection roller, 74-distance measuring wheel, 75-distance measuring bracket, 76-radar connecting plate, 77-radar buffer mechanism, 78-radar tooling distance measuring sensor, 79-radar signal receiver, 8-rebound instrument measuring area seal tooling, 81-measuring area seal, 82-seal mounting plate, 83-seal connecting plate, 84-seal buffer mechanism, 85-seal distance measuring sensor, 86-seal positioning plate, 9-rebound instrument tooling, 91-fixed seat, 911-front guide sleeve mounting plate, 912-rear guide sleeve mounting plate, 913-quick change sub-disk mounting plate, 914-bottom plate, 92-movable seat, 921-front guide post fixing plate, 922-middle guide post fixing plate, 923-rear guide post fixing plate, 924-damping front sleeve, 925-damping rear sleeve, 926-guide post, 93-rebound instrument, 94-shock damping spring, 95-rebound instrument distance measuring sensor, 96-monitoring camera, 97-camera bracket, 98-rebound instrument quick change mounting bracket, 99-rebound instrument pressing block, 10-laser distance measuring tooling, 101-laser distance measuring instrument, 102-distance measuring instrument supporting camera, 11-radar display, 12-touch pen tooling, 121-pen rack mounting plate, 122-buffer pen rack fixing seat, 123-touch pen, 124-touch pen guide rod, 125-buffer pen rack slider, 126-touch pen buffer spring, 127-pen rack positioning plate, 13-crack detection camera, 131-detection camera, 132-camera rod, 133-camera lens, 134-auxiliary light source, 14-quick change main disk, 141-main connection disk, 142-cylinder, 143-lock head, 144-lock steel ball, 145-sub-disk in place detection sensor, 146-main disk cylinder extend in place detection sensor, 147-main disk cylinder retract in place sensor, 148-electric signal module, 15-quick change sub-disk, 16-steel bar cover detection tooling, 161-walking device, 162-steel bar scanner, 163-scanner mounting rack, 164-scanner connecting rack, 165-ultrasonic sensor, 166-spring seat, 167-outer sleeve, 168-inner sleeve, 169-spring. Detailed implementation mode

[0093] Combined with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation manners obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by the present invention.

[0094] It should be noted that the structures, proportions, sizes, etc. shown in the attached drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the conditions under which the present invention can be implemented. Therefore, they do not have any substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the efficacy that the present invention can produce and the purpose that can be achieved, should fall within the scope covered by the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0095] Embodiment 1:

[0096] As Figures 1 to 11 shown, a fully automatic intelligent inspection robot for precast beams in a beam yard includes a robot body 1 and a manipulator 5, a radar tooling 7, a rebound instrument measuring area stamping tooling 8, and a rebound instrument tooling 9 arranged above it; among them, the free end of the manipulator 5 can move in multiple directions and at multiple angles relative to the robot body 1, and a quick-change main disk 14 is arranged at the free end of the manipulator 5; the radar tooling 7, the rebound instrument measuring area stamping tooling 8, and the rebound instrument tooling 9 are all movably inserted into the robot body 1, and quick-change sub-disks 15 are arranged on the above-mentioned toolings. The quick-change sub-disk 15 is used to cooperate with the quick-change main disk 14 to fixedly connect the corresponding tooling to the free end of the manipulator 5; the manipulator 5 is used to control the radar tooling 7 to detect and record the position, depth, and shape of internal damage in the beam structure, control the rebound instrument measuring area stamping tooling 8 to stamp the measuring area pattern at the target position on the concrete surface of the beam structure, and control the rebound instrument tooling 9 to perform concrete rebound tests at each position where the measuring area pattern is stamped.

[0097] Specifically, the rebound instrument measuring area stamping tooling 8 includes a measuring area stamp 81, a stamp mounting plate 82, a stamp connecting plate 83, a stamp ranging sensor 85, and a stamp positioning plate 86; the measuring area stamp 81 is arranged at the bottom end of the stamp mounting plate 82. The stamp mounting plate 82 extends out a horizontal wing plate along its plate surface as the stamp positioning plate 86. The end of the stamp positioning plate 86 has a jack matching the stamp tooling insertion post on the robot body 1. The stamp connecting plate 83 is arranged at the upper end of the stamp mounting plate 82. The stamp connecting plate 83 extends out a bent wing plate along its plate surface for installing the stamp ranging sensor 85. The quick-change sub-disk 15 on the rebound instrument measuring area stamping tooling 8 is arranged at the upper end of the stamp connecting plate 83.

[0098] There are multiple seal distance measuring sensors 85, which are symmetrically arranged outside the measuring area seal 81 for detecting the distance between the measuring area seal 81 and the surface to be measured. The signal output end of the seal distance measuring sensor 85 is connected to the control module of the manipulator 5. The control module is used to control the manipulator to make the measuring area seal 81 approach the surface to be measured in parallel according to the output signals of each seal distance measuring sensor 85. The control module is also used to control the stamping pressure applied by the manipulator to the measuring area seal 81 during stamping according to the output signals of each seal distance measuring sensor 85; A seal buffer mechanism 84 is arranged between the seal connecting plate 83 and the seal mounting plate 82.

[0099] The rebound hammer tooling 9 includes a fixed seat 91, a movable seat 92, a rebound hammer 93, a shock damping spring 94, a rebound hammer distance measuring sensor 95 and a monitoring camera 96; The movable seat 92 is movably connected to the fixed seat 91 through the shock damping spring 94 and the guide post 926. The rebound hammer 93, the rebound hammer distance measuring sensor 95 and the monitoring camera 96 are all arranged on the movable seat 92. The rebound hammer distance measuring sensor 95 is arranged parallel to the rebound hammer 93 and its detection end is located at one end close to the detection head of the rebound hammer 93. The monitoring camera 96 is connected to the movable seat 92 through the camera bracket 97 and is located above the key panel of the rebound hammer 93. The signal output ends of the rebound hammer distance measuring sensor 95 and the monitoring camera 96 are both connected to the control module of the manipulator 2. The rebound hammer distance measuring sensor 95 is used to measure the distance between the rebound hammer 93 and the surface to be measured. The control module is used to control the pressure value applied by the manipulator to the rebound hammer 93 during rebound detection according to the measured value of the rebound hammer distance measuring sensor 95; A rebound hammer quick-change mounting bracket 98 that is movably inserted into the robot body is arranged at the bottom end of the fixed seat 91, and a quick-change sub-disk 15 that matches the quick-change main disk 14 on the manipulator 2 of the robot body is installed at the rear end of the fixed seat 91.

[0100] The fixed seat 91 includes a front guide sleeve mounting plate 911, a rear guide sleeve mounting plate 912, and a quick-change sub-disk mounting plate 913 arranged in sequence. Guide sleeves are inlaid at the front guide sleeve mounting plate 911 and the rear guide sleeve mounting plate 912. The front guide sleeve mounting plate 911, the rear guide sleeve mounting plate 912, and the quick-change sub-disk mounting plate 913 are connected into a whole through a bottom plate 914; the movable seat 92 includes a front guide post fixing plate 921, an intermediate guide post fixing plate 922, a rear guide post fixing plate 923 arranged in sequence, and two guide posts 926 fixedly connecting the above three plates. A damping front sleeve 924 and a damping rear sleeve 925 are respectively fixed at the front end and the middle of the guide post 926. Shock damping springs 94 are arranged between the damping front sleeve 924 and the front guide sleeve mounting plate 911, and between the intermediate guide post fixing plate 922 and the rear guide sleeve mounting plate 912. The intermediate guide post fixing plate 922 and the damping rear sleeve 925 are located between the front guide sleeve mounting plate 911 and the rear guide sleeve mounting plate 912; the lower end of the quick-change mounting rack 98 of the rebound instrument extends to both sides to form lower wing plates connected to the robot body, and jacks matching the rebound instrument tooling plug-in posts on the robot body are arranged on the lower wing plates.

[0101] The radar tooling 7 includes a detection radar 71, a radar housing 72, radar moving wheels 73, a radar connecting plate 76, a radar tooling ranging sensor 78, and a radar signal receiver 79; the detection radar 71 is built in the internal space of the radar housing 72 with radar moving wheels 73 at the bottom. The radar tooling ranging sensor 78 is arranged on the corner wing plate extending outward from the radar housing 72. A radar signal receiver 79 is arranged at the front end of the detection radar 71, and a window is arranged on the radar housing 72 at the corresponding position. The radar connecting plate 76 is arranged at the upper end of the radar housing 72. A radar buffer mechanism 77 is arranged between the radar connecting plate 76 and the radar housing 72. The bottom of the radar housing 72 extends to both sides to form lower wing plates, and jacks matching the radar tooling plug-in posts on the robot body 1 are arranged on the lower wing plates; the quick-change sub-disk 15 on the radar tooling 7 is arranged at the upper end of the radar connecting plate 76. A radar display 11 electrically connected to the radar signal receiver 79 is arranged at the upper end of the robot body 1; the detection end of the radar tooling ranging sensor 78 is located at one end close to the detection radar 71. The signal output end of the radar tooling ranging sensor 78 is connected to the control module of the manipulator 5. The control module of the manipulator 5 is used to control the angle of the manipulator 5 according to the ranging values output by each radar tooling ranging sensor 78, so that the radar tooling 7 walks parallel to the surface to be measured during operation. A ranging wheel 74 for measuring the detected distance is connected to the front end of the radar housing 72 through a ranging bracket 75.

[0102] Embodiment 2:

[0103] As Figure 12As shown in the figure, Embodiment 2 of the present invention provides a fully automatic intelligent inspection robot for precast beams in a beam yard. Similar to Embodiment 1, it includes a robot body 1 and a manipulator 5, a radar tooling 7, a rebound hammer measuring area stamping tooling 8, and a rebound hammer tooling 9 arranged above it.

[0104] Different from Embodiment 1, a patrol inspection robot for rebound detection in a beam yard in this embodiment further includes a touch pen tooling 12, which includes a pen holder mounting plate 121, a buffer pen holder fixing seat 122, a touch pen 123, a touch pen guide rod 124, a buffer pen holder slider 125, a touch pen buffer spring 126, and a pen holder positioning plate 127.

[0105] The buffer pen holder fixing seat 122 is arranged on one end face of the pen holder mounting plate 121. The buffer pen holder fixing seat 122 is provided with a guide groove and a sliding groove. Among them, the touch pen guide rod 124 is arranged in the guide groove, and the buffer pen holder slider 125 is slidably arranged in the sliding groove and is slidably connected with the touch pen guide rod 124. A touch pen buffer spring 126 is sleeved on the touch pen guide rod 124 between the end of the buffer pen holder slider 125 and the buffer pen holder fixing seat 122. The touch pen 123 is fixed on the buffer pen holder slider 125 and is arranged parallel to the touch pen guide rod 124. The pen holder positioning plate 127 is arranged on the other end face of the pen holder mounting plate 121 and extends outwards with a wing plate, and the wing plate has a jack matching the touch pen tooling plug-in column on the robot body 1. The quick-change sub-disk 15 on the touch pen tooling 12 is arranged on the end face of the pen holder positioning plate 127 far from the pen holder mounting plate 121. The manipulator 5 is also used to control the touch pen tooling 12 to perform key operations on the rebound hammer in the rebound hammer tooling 9. The touch pen 123 on the buffer pen holder fixing seat 122 and its guiding and sliding structures are two groups, and the touch head directions of the two groups of touch pens 123 are arranged in opposite directions, and the touch pen 123 is arranged parallel to the plate surface of the pen holder positioning plate 127.

[0106] Embodiment 3:

[0107] As Figure 12 As shown in the figure, Embodiment 3 of the present invention provides a fully automatic intelligent inspection robot for precast beams in a beam yard. Similar to Embodiment 2, it includes a robot body 1 and a manipulator 5, a radar tooling 7, a rebound hammer measuring area stamping tooling 8, a rebound hammer tooling 9, and a touch pen tooling 12 arranged above it.

[0108] Different from the second embodiment, an inspection robot for rebound detection in a beam yard in this embodiment further includes a beam end face size ranging tooling 10, which includes a laser rangefinder 101 and a rangefinder supporting camera 102; the laser rangefinder 101 is arranged at the front and rear ends of the robot body 1, and a rangefinder camera support is arranged outside the rangefinder supporting camera 102, and the lower end of the rangefinder camera support has a jack matching the beam end face size ranging tooling plug-in column on the robot body 1; the quick-change sub-disk 15 of the beam end face size ranging tooling 10 is arranged at the upper end of the rangefinder camera support, and the manipulator 2 is also used for the beam end face size ranging tooling 10 to measure the beam end face size.

[0109] Embodiment 4:

[0110] As Figure 13 shown, Embodiment 4 of the present invention provides a fully automatic intelligent inspection robot for precast beams in a beam yard. The same as Embodiment 3, it includes a robot body 1 and a manipulator 5, a radar tooling 7, a rebound instrument measuring area stamping tooling 8, a rebound instrument tooling 9, a touch pen tooling 12, and a beam end face size ranging tooling 10 arranged above it.

[0111] Different from Embodiment 3, an inspection robot for rebound detection in a beam yard in this embodiment further includes a crack detection camera 13, which includes a detection camera 131 and a camera rod 132. The detection camera 131 is arranged at one end of the camera rod 132. A camera lens 133 and auxiliary light sources 134 on both sides are arranged on the detection camera 131. The camera rod 132 is erected on the crack detection camera support on the robot body 1; the quick-change sub-disk 15 on the crack detection camera 13 is arranged at the end of the camera rod 132 far from the detection camera 131, and the manipulator 2 is also used for the crack detection camera 13 to detect the beam structure cracks.

[0112] Embodiment 5:

[0113] As Figures 14 to 17 shown, Embodiment 5 of the present invention provides a fully automatic intelligent inspection robot for precast beams in a beam yard. The same as Embodiment 4, it includes a robot body 1 and a manipulator 5, a radar tooling 7, a rebound instrument measuring area stamping tooling 8, a rebound instrument tooling 9, a touch pen tooling 12, a beam end face size ranging tooling 10, and a crack detection camera 13 arranged above it.

[0114] Different from Embodiment 4, an inspection robot for rebound detection in a beam yard in this embodiment further includes a steel bar cover detection tooling 16, which includes a traveling device 161, a steel bar scanner 162, a scanner mounting frame 163, a scanner connecting frame 164, and an ultrasonic sensor 165;

[0115] The traveling device 161 is arranged at the lower end of the scanner mounting frame 163. The steel bar scanner 162 is mounted on the scanner mounting frame 163 and points downward. The scanner connecting frame 164 is arranged at the upper end of the scanner mounting frame 163. The upper end of the scanner connecting frame 164 bends and extends outward to form a bent wing plate, and an ultrasonic sensor 165 is arranged at the lower end of the side wing plate. The ultrasonic sensor 165 points to one side of the bottom plate of the traveling device 161. The quick-change sub-disk 15 of the steel bar cover layer detection tooling 16 is arranged at the upper end of the scanner connecting frame 164. The two sides of the traveling device 161 extend outward to form side wing plates, and the side wing plates are provided with insertion holes matching the steel bar cover layer detection tooling insertion columns on the robot body 1.

[0116] A buffer device is arranged between the scanner mounting frame 163 and the scanner connecting frame 164. The buffer device includes a spring seat 166, an outer sleeve 167, and an inner sleeve 168. The spring seat 166 is fixed at the upper end of the scanner mounting frame 163. The outer sleeve 167 is fixed on the spring seat 166, and a spring 169 connected to the spring seat 166 is arranged inside the outer sleeve 167. The inner sleeve 168 is slidably sleeved inside the outer sleeve 167, and a slide bar matching the chute on the side wall of the outer sleeve 167 is arranged on the inner sleeve 168. The upper end of the inner sleeve 168 is connected to the scanner connecting frame 164.

[0117] Embodiment Six:

[0118] As Figure 18 、 19 shown, Embodiment Six of the present invention provides a fully automatic intelligent inspection robot for precast beams in a beam yard. Similar to Embodiment Five, it includes a robot body 1 and a manipulator 5, a radar tooling 7, a rebound instrument measuring area stamping tooling 8, a rebound instrument tooling 9, a touch pen tooling 12, a beam end face dimension ranging tooling 10, a crack detection camera 13, and a steel bar cover layer detection tooling 16 arranged above it.

[0119] Different from Embodiment Five, for the inspection robot for rebound detection in a beam yard in this embodiment, the quick-change main disk 14 includes a main connection disk 141 and an electromagnetic valve. A cylinder 142 is arranged inside the main connection disk 141. A locking head 143 is arranged at the connection end of the main connection disk 141. A plurality of locking steel balls 144 are arranged on the locking head 143. The push rod of the cylinder 142 can extend into the locking head 143 and push out the locking steel balls 144 in the locking head 143. A sub-disk in-place detection sensor 145, a main disk cylinder extension in-place detection sensor 146, and a main disk cylinder retraction in-place sensor 147 are arranged on the main connection disk 141.

[0120] The signal output ends of the auxiliary disk in-place detection sensor 145, the main disk cylinder extended in-place detection sensor 146, and the main disk cylinder retracted in-place sensor 147 are connected to the control module of the manipulator 5. The solenoid valve is located on the air path where the cylinder is located and is electrically connected to the auxiliary disk in-place detection sensor 145. The auxiliary disk in-place detection sensor 145 is used to detect whether the quick-change auxiliary disk and the quick-change main disk are aligned. The main disk cylinder extended in-place detection sensor 146 and the main disk cylinder retracted in-place sensor 147 are respectively used to detect whether the cylinder 142 in the quick-change main disk 14 extends and retracts in place; the quick-change auxiliary disk 15 includes an auxiliary connection disk, and a first card slot for accommodating the locking head 143 is provided at the center of the auxiliary connection disk. A second card slot for accommodating the locking steel ball 144 is provided on the surface of the first card slot; the locking head 143 can be clamped in the first card slot of the quick-change auxiliary disk 15, and the locking steel ball is used to be jacked up from the locking head 143 under the push of the cylinder 142 and clamped in the second card slot of the quick-change auxiliary disk 15.

[0121] Embodiment Seven:

[0122] Embodiment Seven of the present invention provides a fully automatic intelligent inspection robot for precast beams in a beam yard. The same as Embodiment Six, it includes a robot body 1 and the specific structures of a manipulator 5, a radar tooling 7, a rebound instrument measuring area stamping tooling 8, a rebound instrument tooling 9, a touch pen tooling 12, a beam end face dimension ranging tooling 10, a crack detection camera 13, a steel bar protective layer detection tooling 16, and a quick-change mechanism arranged above it.

[0123] Different from Embodiment Six, for an inspection robot for rebound detection in a beam yard in this embodiment, a lifting platform 2 for placing the manipulator 5 is provided at the center of the upper end of the robot body 1. A plurality of cameras 61 in multiple directions are provided on the side wall of the lifting platform 2. A placement platform 3 for placing the above-mentioned multiple toolings is provided around the outer periphery of the lifting platform 2; among them, the radar tooling 7, the beam end face dimension ranging tooling 10, the rebound instrument tooling 9, and the crack detection camera 13 are respectively located at the four corners of the placement platform 3 and arranged in sequence. The touch pen tooling 12 is arranged between the radar tooling 7 and the beam end face dimension ranging tooling 10. The radar display 11 is arranged between the beam end face dimension ranging tooling 10 and the rebound instrument tooling 9. The rebound instrument measuring area stamping tooling 8 is arranged between the rebound instrument tooling 9 and the crack detection camera 13; walking wheels 4 are provided at the bottom of the robot body 1, and lighting lamps 62 are provided at the front and rear ends in the traveling direction.

[0124] Embodiment Eight:

[0125] Embodiment Eight of the present invention provides a detection method for a fully automatic intelligent inspection robot for precast beams in a beam yard. Different from Embodiment Seven, the detection method provided in this embodiment is based on the detection methods of Embodiments One to Seven.

[0126] Including a concrete rebound measurement method: Based on the cooperation among the manipulator 5, the rebound instrument measuring area stamping tooling 8, the rebound instrument tooling 9, and the touch pen tooling 12, the concrete rebound test of the measuring area position of the beam structure is realized; The internal damage detection method of the beam structure: Based on the detection radar 71 and the radar tooling ranging sensor 78, the position, depth, and shape of the internal damage of the beam structure are detected and recorded; The beam end face size ranging measurement method: Based on the laser rangefinder 101 and the rangefinder supporting camera 102, the end face size of the beam structure is detected; The beam crack detection method: Based on the crack detection camera 13, a photo of the beam structure is taken, and the crack model synchronously identifies whether there is a crack in the photo; The steel bar protection layer detection method: Based on the steel bar scanner 162 and the ultrasonic sensor 165 of the steel bar protection layer detection tooling 16, the detection of the steel bar protection layer thickness is realized.

[0127] The connection method of the quick-change main disk 14 and the quick-change auxiliary disk 15 is as follows:

[0128] Judge whether the signal of the retraction-in-place detection sensor 147 is received. If it is received, control the manipulator 5 to move to the installation position of the tooling for the next detection; Judge whether the signal of the auxiliary disk in-place detection sensor 145 is received. If it is received, control the cylinder 142 on the quick-change main disk 14 to extend, so that the locking steel ball 144 moves towards the second card slot of the quick-change auxiliary disk 15 on the tooling; Judge whether the signal of the extension-in-place sensor 146 is received. If it is received, it is determined that the connection between the quick-change main disk 14 and the quick-change auxiliary disk 15 is completed.

[0129] The specific steps are as follows: The system issues an instruction. At the same time, the auxiliary disk in-place detection sensor on the quick-change main disk has no induction, indicating that there is no tooling on the manipulator. Then the manipulator runs above the touch pen tooling, the quick-change main disk solenoid valve acts, the quick-change main disk cylinder retracts, the locking steel ball retracts, and the manipulator continues to run above the quick-change auxiliary disk of the touch panel tooling. The manipulator slows down and approaches slowly until the auxiliary disk in-place sensor on the quick-change main disk acts, indicating that the quick-change main and auxiliary disks have been combined in place. Then the quick-change main disk solenoid valve resets, the quick-change main disk cylinder rises forward, and the locking steel ball extends to firmly lock the quick-change main and auxiliary disks.

[0130] The separation method of the quick-change main disk 14 and the quick-change auxiliary disk 15 is as follows:

[0131] Judge whether the tooling to be disconnected is aligned with the installation position. If so, control the cylinder on the quick-change main disk to retract; Judge whether the signal of the retraction-in-place detection sensor 147 is received. If so, control the manipulator to drive the quick-change main disk 14 to reset and leave the quick-change auxiliary disk 15.

[0132] Before the concrete rebound measurement or the detection of internal damage in the beam structure: The manipulator 5 moves to the placement position of the touch pen tooling 12, and controls the quick-change main disk 14 to connect with the quick-change sub-disk 15 of the touch pen tooling 12 to achieve the connection between the two; The manipulator 5 controls the point-touch pen 123 to move above the key panel of the rebound instrument tooling 9 or the radar tooling 7, and based on the cooperation of the moving path built in the manipulator 5 and the camera device, realizes the power-on and setting of the rebound instrument 93 or the detection radar 71; The manipulator 5 moves to the placement position of the touch pen tooling 12, and controls the quick-change main disk 14 to disconnect from the quick-change sub-disk 15 to return the touch pen tooling 12 to its original position.

[0133] Among them, the steps of the concrete rebound measurement method are as follows:

[0134] S11: The manipulator 5 moves to the placement position of the rebound instrument measuring area seal tooling 8, and controls the quick-change main disk 14 to connect with the quick-change sub-disk 15 of the rebound instrument measuring area seal tooling 8; The manipulator 5 controls the measuring area seal 81 to dip in the ink box.

[0135] S12: The manipulator 5 controls the rebound instrument measuring area seal tooling 8 to move to the concrete rebound measurement area and stamp the measuring area pattern at the target position; During the stamping process, the control module of the manipulator controls the stamping angle of the measuring area seal through the ranging values of each seal ranging sensor to make it parallel to the surface to be measured. At the same time, through the ranging value of the seal ranging sensor, the pressure exerted by the manipulator on the measuring area seal can also be controlled. When the manipulator controls the measuring area seal to approach the surface to be stamped, the ranging value gradually decreases. When it moves to the measuring area seal approaching the surface to be stamped and contacts, the seal buffer mechanism starts to be compressed, and the ranging value continues to decrease. When the ranging value is less than the threshold, it means that the measuring area seal has tightly contacted the surface to be stamped and reached the required pressure value, then the manipulator stops moving forward and maintains for 1 - 2 s;

[0136] S13: After the stamping of the measuring area pattern is completed, the manipulator 5 moves to the placement position of the rebound instrument measuring area seal tooling 8, and disconnects the connection between the quick-change main disk 14 and the quick-change sub-disk 15 to return the rebound instrument measuring area seal tooling 8 to its original position;

[0137] S14: The manipulator 5 moves to the placement position of the rebound instrument tooling 9, and controls the quick-change main disk 14 to connect with the rebound instrument tooling 9;

[0138] S15: The manipulator 5 controls the rebound instrument tooling 9 to move to the concrete rebound measurement area where the measuring area pattern is stamped, and sequentially measures the rebound of the concrete in each grid of the above area; The control module of the manipulator controls the pressure value exerted by the rebound instrument on the surface to be measured through the ranging value of the rebound instrument ranging sensor. Specifically, when the ranging value is less than the set threshold, the manipulator stops moving forward;

[0139] S16: The rebound measurement of the above area is completed, and the robot arm 5 moves to the placement position of the rebound instrument tooling 9 to return the rebound instrument tooling 9; subsequently, steps S11 - S16 are repeated, and the process of stamping the measurement area pattern and rebound measurement is repeated. The measurement data of the rebound instrument is saved in the rebound instrument itself and can be viewed later. It can also be viewed in real - time through the monitoring camera of the rebound instrument in the background.

[0140] The method for detecting internal damage of beam structures includes the following steps:

[0141] S21: The robot arm 5 replaces the tooling connected to the quick - change main disk 14 with the radar tooling 7;

[0142] S22: The robot arm 5 controls the detection radar 71 to be parallel and closely attached to the beam structure to be measured and travels along the beam structure to be measured for detection; during the process of traveling along the wall surface, according to the laser rangefinders before and after the robot body, the distances from the front and rear of the vehicle to the wall surface are obtained. Combining the length of the vehicle body and the position of the robot arm on the vehicle body, the angle and distance between the robot body and the wall surface are calculated in real - time using trigonometric functions, and the radar tooling is adjusted in real - time to ensure that the radar tooling is closely attached to the wall surface. This process is executed in a loop;

[0143] S23: When the robot body 1 drives out of the area of the beam structure to be measured, the internal damage measurement of one beam structure is completed.

[0144] The method for measuring the distance of the beam end face size includes the following steps:

[0145] S31: Replace the tooling connected to the quick - change main disk 14 at the robot arm 5 with the beam end face size measuring tooling;

[0146] S32: As Figure 20 shown, the angle between the inspection robot and the beam end face is calculated in real - time through the laser rangefinders before and after the inspection robot and the length of the inspection robot α ;

[0147] α = arcsin[(AC - BD) / CD]

[0148] where AC and BD are the real - time distances measured by the front and rear laser rangefinders respectively; CD is the length of the inspection robot;

[0149] As Figure 22 shown, the robot arm 5 adjusts the corresponding angle in real - time to control the camera 102 supporting the rangefinder to take pictures of the beam end face, and calculates the pixel value from the upper edge to the lower edge in the height direction of the beam in the photo; specifically, the beam end face model is pre - marked, the beam end face in the taken photo is identified through the beam end face model, and the program extracts the ordinate of the upper edge and the ordinate of the lower edge in the height direction of the beam respectively according to the identified beam end face. The difference between the two ordinates is the pixel value of the beam height; the beam end face model is a prior art and will not be elaborated here.

[0150] S33: The laser rangefinder 101 measures the distance between the current position and the end face of the beam.

[0151] S34: Based on a pre-set relationship table between the shooting distance and the pixels of the shooting target, the relationship table between the shooting distance and the pixels of the shooting target is as follows:

[0152] Shooting distance (mm) Pixel value corresponding to the actual size of the target (mm / px) 500 1 / 9.07

[0153] Combining steps S32 and S33, calculate the height of the beam; in the relationship table between the shooting distance and the pixels of the shooting target, the calculation formula for the height of the beam is: H = P / 9.07, where P is the pixel value of the calculated height of the beam.

[0154] S35: After the manipulator moves horizontally to the left by a preset distance to shoot the end face of the beam and then returns to the origin, the manipulator then moves horizontally to the right by a preset distance to shoot the end face of the beam, and calculates the pixel values of the beam appearing in the width direction of the beam in the two photos respectively; specifically, using the pre-annotated end face model of the beam, identify the left end face photo and the right end face photo of the beam respectively, and the program calculates the pixel size of the left end face of the beam according to the edge position corresponding to the left edge of the identified target in the picture, and similarly, the pixel size of the right end face of the beam can also be obtained, and the sum of the two pixel sizes is the image pixel value at both ends of the beam;

[0155] S36: After obtaining the pixel sizes of the left end face of the beam and the right end face of the beam based on step S35, apply the S3 relationship table between the shooting distance and the pixels of the shooting target to obtain the actual size Z1 of the left end face of the beam and the actual size Z2 of the right end face of the beam respectively, and then add the distances X and Y that the manipulator moves to the left and to the right, and finally obtain the total width of the beam = X + Y + Z1 + Z2, as Figure 21 shown.

[0156] The beam crack detection method includes the following steps:

[0157] S41: Replace the tooling connected to the quick-change main disk 14 at the manipulator 5 with the crack detection camera 13.

[0158] S42: The robot body 1 walks along one end beam frame edge to the other end beam frame, and at every set distance interval, the manipulator 5 controls the crack detection camera 13 to take photos of the beam structure at the left, front, and right three positions of the robot body 1.

[0159] S43: After the robot body 1 walks to the other end beam frame, it returns and repeats the above shooting until all the beam bottoms are photographed.

[0160] S44: Synchronously identify whether there are cracks in the photos through a pre-trained crack model.

[0161] The method for detecting the steel bar protective layer includes the following steps:

[0162] S51: Replace the tooling connected to the quick-change main disk 14 at the manipulator 5 with the tooling for detecting the steel bar protective layer; Take a photo and identify the steel bar protective layer detector through the camera equipped on the robotic arm, and identify that the steel bar protective layer detector is powered on;

[0163] S52: The manipulator 5 controls the steel bar protective layer detection tooling 16 to be parallel and closely attached to the beam structure to be measured and travel along the beam structure to be measured for detection; Perform wall parallel correction according to the ultrasonic ranging sensor on the steel bar protective layer detection tooling, and then closely attach the steel bar protective layer detection tooling to the wall according to the measured distance;

[0164] S53: Wait for the robot body 1 to drive out of the area of the beam structure to be measured, which means the detection of the steel bar protective layer of one beam structure is completed.

[0165] Before replacing the tooling connected to the quick-change main disk at the manipulator 5, the following steps are also required:

[0166] S61: The sub-disk in-place detection sensor 145 at the quick-change main disk detects whether there is a grabbed quick-change sub-disk 15 on the current manipulator 5;

[0167] S62: If there is a grabbed quick-change sub-disk 15, the manipulator 5 controls the tooling corresponding to the quick-change sub-disk to reset, and separates the quick-change sub-disk 15 from the quick-change main disk 14;

[0168] S63: The manipulator 5 controls the quick-change main disk 14 to be connected to the quick-change sub-disk 15 of the tooling required for detection, that is, replace it with the tooling required for detection.

[0169] In the method for detecting the steel bar protective layer and the method for detecting internal damage of the beam structure, the distances detected from the beam structure are respectively transmitted to the manipulator 5 control module through the ultrasonic sensor 165 and the radar tooling ranging sensor 78, and the manipulator 5 controls the steel bar protective layer detection tooling and the radar tooling to be parallel and closely attached to the detected beam structure.

[0170] As mentioned above, it is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claimed rights.

Claims

1. A fully automatic intelligent inspection robot for precast beams in a beam yard, characterized by: The robot comprises a robot body (1) and a lifting platform (2) arranged on the robot body (1), a loading platform (3), a walking wheel (4), a manipulator (5), a camera (61), a lighting lamp (62), a radar tool (7), a rebound test area stamp tool (8), a rebound test tool (9), a beam end face dimension distance measuring tool (10), a radar display (11), a stylus tool (12) and a crack detection camera (13); A lifting platform (2) for placing a manipulator (5) is arranged at the center of the upper end of the robot body (1), and cameras (61) in multiple directions are arranged on the side walls of the lifting platform (2). A receiving platform (3) for placing the above-mentioned multiple tools is arranged around the outer periphery of the lifting platform (2); wherein the radar tool (7), the beam end face dimension ranging tool (10), the rebounding tool (9) and the crack detection camera (13) are respectively located at the four corners of the receiving platform (3) and arranged in sequence, the stylus tool (12) is arranged between the radar tool (7) and the beam end face dimension ranging tool (10), the radar display (11) is arranged between the beam end face dimension ranging tool (10) and the rebounding tool (9), and the rebounding tool measuring area stamp tool (8) is arranged between the rebounding tool (9) and the crack detection camera (13); the bottom of the robot body (1) is provided with walking wheels (4), and lighting lamps (62) are arranged at the front and rear ends of the traveling direction; The free end of the manipulator (5) can move in multiple directions and angles relative to the robot body (1), and the free end of the manipulator (5) is provided with a quick-change main plate (14); the radar tooling (7), the rebound test area seal tooling (8) and the rebound test tooling (9) are all movably connected to the robot body (1), and the above-mentioned tooling is provided with a quick-change sub-plate (15), and the quick-change sub-plate (15) is used to cooperate with the quick-change main plate (14) to fix the corresponding tooling to the free end of the manipulator (5); The manipulator (5) is used to control the radar tooling (7) to detect and record the position, depth and shape of the internal damage of the beam structure, control the rebound hammer test area stamp tooling (8) to stamp the test area pattern at the target position of the concrete surface of the beam structure, and control the rebound hammer tooling (9) to perform concrete rebound test at each position where the test area pattern is stamped.

2. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 1 is characterized in that: The rebound tester measuring area seal tooling (8) comprises a measuring area seal (81), a seal mounting plate (82), a seal connecting plate (83), a seal distance measuring sensor (85) and a seal positioning plate (86); The measuring area seal (81) is arranged at the bottom end of the seal mounting plate (82); a horizontal wing plate is extended outwardly along the plate surface of the seal mounting plate (82) as a seal positioning plate (86); the end of the seal positioning plate (86) has a socket matched with a seal tooling plug-in column on the robot body (1); a seal connecting plate (83) is arranged at the upper end of the seal mounting plate (82); a bent wing plate is extended outwardly along the plate surface of the seal connecting plate (83) for mounting a seal distance measuring sensor (85); and a quick-change sub-disc (15) on the rebound tester measuring area seal tooling (8) is arranged at the upper end of the seal connecting plate (83).

3. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 1 is characterized in that: There are a plurality of seal distance measuring sensors (85) symmetrically arranged outside the measuring area seal (81) for detecting the distance between the measuring area seal (81) and the surface to be measured. The signal output end of the seal distance measuring sensor (85) is connected to a control module of the manipulator (5). The control module is used to control the manipulator to make the measuring area seal (81) parallel to the surface to be measured according to the output signals of each seal distance measuring sensor (85). The control module is also used to control the stamping pressure applied by the manipulator to the measuring area seal (81) when stamping according to the output signals of each seal distance measuring sensor (85). A seal buffer mechanism (84) is provided between the seal connecting plate (83) and the seal mounting plate (82).

4. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 2 is characterized in that: The rebound hammer tooling (9) comprises a fixed seat (91), a movable seat (92), a rebound hammer (93), a shock absorbing damping spring (94), a rebound hammer distance sensor (95) and a monitoring camera (96); the movable seat (92) is movably connected to the fixed seat (91) via the shock absorbing damping spring (94) and a guide column (926); the rebound hammer (93), the rebound hammer distance sensor (95) and the monitoring camera (96) are all arranged on the movable seat (92); the rebound hammer distance sensor (95) is arranged parallel to the rebound hammer (93) and its detection end is located at one end thereof close to the detection head of the rebound hammer (93); the monitoring camera (96) is connected to the movable seat (92) via a camera bracket (97) and is located Above the key panel of the rebound tester (93), the signal output ends of the rebound tester distance sensor (95) and the monitoring camera (96) are connected to the control module of the manipulator (2); the rebound tester distance sensor (95) is used to measure the distance between the rebound tester (93) and the surface to be tested; the control module is used to control the pressure value applied by the manipulator to the rebound tester (93) during rebound detection according to the measurement value of the rebound tester distance sensor (95); the bottom end of the fixed seat (91) is provided with a rebound tester quick-change mounting frame (98) movably plugged with the robot body; the rear end of the fixed seat (91) is provided with a quick-change auxiliary disk (15) matching the quick-change main disk (14) on the robot body manipulator (2).

5. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 4 is characterized in that: The fixing seat (91) comprises a guide sleeve front mounting plate (911), a guide sleeve rear mounting plate (912) and a quick-change sub-disc mounting plate (913) which are arranged in sequence, the guide sleeve front mounting plate (911) and the guide sleeve rear mounting plate (912) being inlaid with guide sleeves, and the guide sleeve front mounting plate (911), the guide sleeve rear mounting plate (912) and the quick-change sub-disc mounting plate (913) being connected to form a whole through a bottom plate (914); The movable seat (92) comprises a front guide column fixing plate (921), an intermediate guide column fixing plate (922) and a rear guide column fixing plate (923) which are arranged in sequence and two guide columns (926) fixedly connected to the above three plates; a damping front sleeve (924) and a damping rear sleeve (925) are respectively fixed to the front end and the middle of the guide column (926); a shock-absorbing damping spring (94) is arranged between the damping front sleeve (924) and the guide sleeve front mounting plate (911) and between the intermediate guide column fixing plate (922) and the guide sleeve rear mounting plate (912); and the intermediate guide column fixing plate (922) and the damping rear sleeve (925) are located between the guide sleeve front mounting plate (911) and the guide sleeve rear mounting plate (912); The lower end of the rebound tester quick-change mounting frame (98) extends to both sides to form a lower wing plate connected to the robot body, and the lower wing plate is provided with a socket matching the rebound tester tooling plug-in column on the robot body.

6. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 4, characterized in that: The radar tooling (7) comprises a detection radar (71), a radar housing (72), a radar moving wheel (73), a radar connecting plate (76), a radar tooling ranging sensor (78) and a radar signal receiver (79); The detection radar (71) is built into the internal space of a radar housing (72) having a radar moving wheel (73) at the bottom, the radar tooling ranging sensor (78) is arranged on a corner wing plate extending outward from the radar housing (72), a radar signal receiver (79) is arranged at the front end of the detection radar (71), and a window is arranged at a corresponding position on the radar housing (72), a radar connecting plate (76) is arranged at the upper end of the radar housing (72), and a lower wing plate extends to both sides of the bottom of the radar housing (72), and the lower wing plate has a radar tooling on the robot body (1) The quick-change sub-disc (15) on the radar tooling (7) is arranged at the upper end of the radar connection plate (76); the upper end of the robot body (1) is provided with a radar display (11) electrically connected to the radar signal receiver (79); the signal output end of the radar tooling distance sensor (78) is connected to the control module of the manipulator (5); the control module of the manipulator (5) is used to control the angle of the manipulator (5) according to the distance measurement value output by each radar tooling distance sensor (78), so that the radar tooling (7) moves parallel to the surface to be measured when working.

7. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 1 is characterized by: The front end of the radar housing (72) is connected to a distance measuring wheel (74) for measuring the detected distance via a distance measuring bracket (75); a radar buffer mechanism (77) is provided between the radar connecting plate (76) and the radar housing (72); and the detection end of the radar tooling distance measuring sensor (78) is located at one end thereof close to the detection radar (71).

8. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 6, characterized in that: Also included is a stylus tooling (12), comprising a pen holder mounting plate (121), a buffer pen holder fixing seat (122), a stylus (123), a stylus pen guide rod (124), a buffer pen holder slider (125), a stylus pen buffer spring (126) and a pen holder positioning plate (127); The buffer pen holder fixing seat (122) is arranged on one end surface of the pen holder mounting plate (121), and the buffer pen holder fixing seat (122) is provided with a guide groove and a slide groove, wherein a stylus pen guide rod (124) is arranged in the guide groove, a buffer pen holder slider (125) is slidably arranged in the slide groove and is slidably connected to the stylus pen guide rod (124), a stylus pen buffer spring (126) is sleeved on the stylus pen guide rod (124) between the end of the buffer pen holder slider (125) and the buffer pen holder fixing seat (122), and the stylus pen (123) is fixed on the buffer pen holder slider (125) and arranged parallel to the stylus pen guide rod (124); a pen holder positioning plate (127) is arranged on the other end surface of the pen holder mounting plate (121) and has a side wing plate extending outwardly and having a socket matching the stylus pen tooling plug-in column on the robot body (1); a quick-change sub-disc (15) on the stylus pen tooling (12) is arranged on the end surface of the pen holder positioning plate (127) away from the pen holder mounting plate (121); and the manipulator (5) is also used to control the stylus pen tooling (12) to perform key operations on the rebound tester in the rebound tester tooling (9).

9. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 8, characterized in that: The touch pens (123) on the buffer pen holder fixing seat (122) and their guide and sliding structures are divided into two groups, the touch heads of the two groups of touch pens (123) are arranged in opposite directions, and the touch pens (123) are arranged parallel to the plate surface of the pen holder positioning plate (127).

10. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 8, characterized in that: The invention also comprises a beam end face dimension distance measuring tool (10), comprising a laser distance meter (101) and a camera (102) supporting the distance meter; the laser distance meter (101) is arranged at the front and rear ends of the robot body (1); a distance meter camera bracket is arranged outside the distance meter camera (102); and the lower end of the distance meter camera bracket has a socket matching the beam end face dimension distance measuring tool plug-in column on the robot body (1); a quick-change sub-disk (15) of the beam end face dimension distance measuring tool (10) is arranged at the upper end of the distance meter camera bracket; and the manipulator (2) is also used for the beam end face dimension distance measuring tool (10) to measure the beam end face dimension.

11. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 8, characterized in that: It also comprises a crack detection camera (13), comprising a detection camera (131) and a camera rod (132); the detection camera (131) is arranged at one end of the camera rod (132); the detection camera (131) is provided with a camera lens (133) and auxiliary light sources (134) on both sides; the camera rod (132) is mounted on a crack detection camera support on the robot body (1); the quick-change sub-disk (15) on the crack detection camera (13) is arranged on one end of the camera rod (132) away from the detection camera (131); and the manipulator (2) is also used for the crack detection camera (13) to detect cracks in the beam structure.

12. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 8, characterized in that: Also included is a steel bar protective layer detection tool (16), including a walking device (161), a steel bar scanner (162), a scanner mounting frame (163), a scanner connecting frame (164), and an ultrasonic sensor (165); The walking device (161) is arranged at the lower end of the scanner mounting frame (163), the steel bar scanner (162) is mounted on the scanner mounting frame (163) and points to the lower end, the scanner connecting frame (164) is arranged at the upper end of the scanner mounting frame (163), the upper end of the scanner connecting frame (164) is bent outwardly and extended to form a bent wing plate, and an ultrasonic sensor (165) is arranged at the lower end of the side wing plate, and the ultrasonic sensor (165) points to one side of the bottom plate of the walking device (161), the quick-change sub-plate (15) of the steel bar protective layer detection tooling (16) is arranged at the upper end of the scanner connecting frame (164), both sides of the walking device (161) extend outwardly to form a side wing plate, and the side wing plate has a socket matching the steel bar protective layer detection tooling plug-in column on the robot body (1).

13. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 12, characterized in that: A buffer device is provided between the scanner mounting frame (163) and the scanner connecting frame (164), the buffer device comprising a spring seat (166), an outer sleeve (167), and an inner sleeve (168), wherein the spring seat (166) is fixed to the upper end of the scanner mounting frame (163), the outer sleeve (167) is fixed to the spring seat (166), and a spring (169) connected to the spring seat (166) is provided in the outer sleeve (167), the inner sleeve (168) is slidably sleeved in the outer sleeve (167), and a slide rod matching the slide groove on the side wall of the outer sleeve (167) is provided on the inner sleeve (168); the upper end of the inner sleeve (168) is connected to the scanner connecting frame (164).

14. The fully automatic intelligent inspection robot for precast beams in a beam yard according to claim 12, characterized in that: The quick-change main disk (14) comprises a main connection disk (141) and a solenoid valve. A cylinder (142) is arranged in the main connection disk (141). A locking head (143) is arranged at the connection end of the main connection disk (141). A plurality of locking steel balls (144) are arranged on the locking head (143). A push rod of the cylinder (142) can extend into the locking head (143) and push out the locking steel balls (144) in the locking head (143). The main connection disk (141) is provided with a secondary disk in-position detection sensor (145), a main disk cylinder extension in-position detection sensor (146) and a main disk cylinder retraction in-position sensor (147). The signal output ends of the auxiliary disk in-place detection sensor (145), the main disk cylinder extended in-place detection sensor (146) and the main disk cylinder retracted in-place sensor (147) are connected to the control module of the manipulator (5); the solenoid valve is located on the air path where the cylinder is located and is electrically connected to the auxiliary disk in-place detection sensor (145); the auxiliary disk in-place detection sensor (145) is used to detect whether the quick-change auxiliary disk and the quick-change main disk are aligned; the main disk cylinder extended in-place detection sensor (146) and the main disk cylinder retracted in-place sensor (147) are used to detect whether the cylinder (142) in the quick-change main disk (14) is extended and retracted, respectively; The quick-change auxiliary disk (15) comprises an auxiliary connection disk, a first slot for accommodating a locking head (143) is provided at the center of the auxiliary connection disk, and a second slot for accommodating the locking steel ball (144) is provided on the surface of the first slot; The locking head (143) can be clamped in a first clamping groove of the quick-change sub-disk (15), and the locking steel ball is used to be pushed up from the locking head (143) by the cylinder (142) and clamped in a second clamping groove of the quick-change sub-disk (15).

15. A method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot, based on the fully automatic intelligent inspection robot for precast beams in a beam yard as claimed in any one of claims 1 to 14, characterized in that: include: A concrete rebound measurement method: based on the cooperation between a manipulator (5), a rebound test area stamp tooling (8), a rebound test tooling (9) and a stylus tooling (12), a concrete rebound test at a beam structure measurement area position is achieved; a beam structure internal damage detection method: based on a detection radar (71) and a radar tooling distance sensor (78), the position, depth and shape of internal damage of the beam structure are detected and recorded; a beam end face dimension distance measurement method: based on a laser distance meter (101) and a distance meter matching camera (102), the end face dimension of the beam structure is detected; a beam crack detection method: based on a crack detection camera (13), a beam structure photo and a crack model are taken to simultaneously identify whether there is a crack in the photo; a steel bar protective layer detection method: based on a steel bar scanner (162) and an ultrasonic sensor (165) of a steel bar protective layer detection tooling (16), the thickness of the steel bar protective layer is detected.

16. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 15, characterized in that: The steps of the concrete rebound measurement method are as follows: S11: the manipulator (5) moves to the placement position of the stamp tooling (8) in the rebound test area, and controls the quick-change main disk (14) to connect with the quick-change auxiliary disk (15) of the stamp tooling (8) in the rebound test area; S12: the manipulator (5) controls the rebound tester measuring area stamp tooling (8) to move to the concrete rebound measuring area, and stamps the measuring area pattern at the target position; S13: After the stamping of the test area pattern is completed, the manipulator (5) moves to the placement position of the rebound hammer test area stamp tooling (8), and disconnects the quick-change main disk (14) and the quick-change auxiliary disk (15), so as to realize the return of the rebound hammer test area stamp tooling (8); S14: the manipulator (5) moves to the placement position of the rebound test tool (9), and controls the quick-change main plate (14) to connect to the rebound test tool (9); S15: the manipulator (5) controls the rebound test tool (9) to move to the concrete rebound measurement area covered with the measurement area pattern, and sequentially performs rebound measurement on the concrete in each grid of the above area; S16: After the rebound measurement of the above-mentioned area is completed, the manipulator (5) moves to the placement position of the rebound test tool (9) to return the rebound test tool (9); and then repeats steps S11-S16 to repeat the covering of the measurement area pattern and the rebound measurement.

17. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 15, characterized in that: The internal damage detection method of the beam structure includes the following steps: S21: The manipulator (5) replaces the tooling connected to the quick-change main plate (14) with the radar tooling (7); S22: the manipulator (5) controls the detection radar (71) to be parallel to and closely attached to the beam structure to be detected and to move along the beam structure to be detected; S23: When the robot body (1) moves out of the area of ​​the beam structure to be measured, the internal damage measurement of the beam structure is completed.

18. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 15, characterized in that: The beam end face dimension measurement method includes the following steps: S31: the tooling connected to the quick-change main plate (14) at the manipulator (5) is replaced with a beam end face dimension distance measuring tooling; S32: the robot (5) controls the camera (102) supporting the rangefinder to photograph the end face of the beam, and calculates the pixel value from the upper edge to the lower edge in the height direction of the beam in the photograph; S33: The laser distance meter (101) measures the distance between the current position and the beam end surface; S34: Calculate the height of the beam by combining the preset shooting distance and shooting target pixel relationship table with steps S32 and S33; S35: After the manipulator moves to the left along the horizontal direction by a preset distance to photograph the end face of the beam, the manipulator returns to the origin, and then moves to the right along the horizontal direction by a preset distance to photograph the end face of the beam, and respectively calculates the pixel values ​​of the beam appearing in the width direction of the beam in the two photos; S36: Based on step S35, the widths of the two beam sections photographed are calculated, and then the distances moved to the left and right by the manipulator are added to obtain the total width of the beam.

19. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 18, characterized in that: In the shooting distance and shooting target pixel relationship table, the calculation formula for the beam height is: H=P / 9.07, where P is the calculated pixel value of the beam height.

20. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 15, characterized in that: The beam crack detection method comprises the following steps: S41: the tooling connected to the quick-change main plate (14) at the manipulator (5) is replaced with a crack detection camera (13); S42: the robot body (1) moves along the edge of one end beam frame toward the other end beam frame, and at each set distance, the manipulator (5) controls the crack detection camera (13) to take photos of the beam structure at the left, front, and right positions of the robot body (1); S43: After the robot body (1) moves to the other end of the beam frame, it returns and repeats the above-mentioned shooting until the bottoms of all beams are photographed; S44: Synchronously identify whether there are cracks in the photo through a pre-trained crack model.

21. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 15, characterized in that: The steel bar cover detection method includes the following steps: S51: the tooling connected to the quick-change main plate (14) at the manipulator (5) is replaced with a steel bar protective layer detection tooling; S52: the manipulator (5) controls the steel bar protective layer detection tooling (16) to be parallel to and closely attached to the beam structure to be detected and to move along the beam structure to be detected for detection; S53: When the robot body (1) moves out of the area of ​​the beam structure to be tested, the steel bar protective layer test of the beam structure is completed.

22. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 15, characterized in that: Before replacing the tooling connected to the quick-change main plate at the robot (5), the following steps are required: S61: The secondary tray arrival detection sensor (145) at the quick-change main tray detects whether there is a quick-change secondary tray (15) that has been grabbed by the current robot (5); S62: If there is a quick-change auxiliary tray (15) that has been grabbed, the manipulator (5) controls the tooling corresponding to the quick-change auxiliary tray to reset, and separates the quick-change auxiliary tray (15) from the quick-change main tray (14); S63: The manipulator (5) controls the quick-change main plate (14) to connect with the quick-change sub-plate (15) of the tooling required for detection, that is, to replace the tooling required for detection.

23. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 15, characterized in that: In the steel bar protective layer detection method and the beam structure internal damage detection method, the detected distance to the beam structure is transmitted to the manipulator (5) control module via the ultrasonic sensor (165) and the radar tooling distance sensor (78), respectively, and the manipulator (5) controls the steel bar protective layer detection tooling and the radar tooling to be parallel to the detected beam structure.

24. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 15, characterized in that: The method of connecting the quick-change main disk (14) and the quick-change auxiliary disk (15) is as follows: Determine whether a signal from the retracted position detection sensor (147) is received, and if received, control the manipulator (5) to move to the installation position of the tooling for the next step of detection; Determining whether a signal from a secondary disk in-position detection sensor (145) is received, and if received, controlling the cylinder (142) on the quick-change main disk (14) to extend so that the locking steel ball (144) moves toward the second locking groove of the quick-change secondary disk (15) on the tooling; It is determined whether a signal from the extended-in-place sensor (146) is received. If received, it is determined that the connection between the quick-change main disk (14) and the quick-change auxiliary disk (15) is completed.

25. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 15, characterized in that: The method of separating the quick-change main disk (14) and the quick-change auxiliary disk (15) is as follows: Determine whether the tooling to be disconnected is aligned with the installation position, and if so, control the cylinder on the quick-change main plate to retract; It is determined whether a signal from the retracted position detection sensor (147) is received. If so, the robot is controlled to drive the quick-change main disk (14) to reset and leave the quick-change auxiliary disk (15).

26. The method for detecting precast beams in a beam yard by a fully automatic intelligent inspection robot according to claim 15, characterized in that: The following steps are also included: The manipulator (5) moves to the placement position of the stylus tooling (12), and controls the quick-change main disk (14) to connect with the quick-change auxiliary disk (15) of the stylus tooling (12), thereby achieving the connection between the two; The manipulator (5) controls the stylus (123) to move to the top of the key panel of the rebound tester tooling (9) or the radar tooling (7), and based on the cooperation of the built-in moving path of the manipulator (5) and the camera device, the rebound tester (93) or the detection radar (71) is turned on and set; The manipulator (5) moves to the placement position of the stylus tooling (12), and controls the quick-change main disk (14) to disconnect the quick-change auxiliary disk (15), thereby returning the stylus tooling (12) to its original position.

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