Concrete defect nondestructive testing robot and using method

Abstract

The invention discloses a robot for nondestructive testing of concrete defects. The robot comprises a sensing system, a control system, a power system, a communication system, a data acquisition system and a data analysis system, the sensing system comprises a first depth camera, a laser radar and an inertial sensor which are installed on the robot dog and a second depth camera installed on the mechanical arm, and the first depth camera, the laser radar and the inertial sensor which are installed on the robot dog can sense the surrounding environment and the motion posture of the robot dog; a second depth camera mounted on the mechanical arm detects the position and distance of the concrete; the control system comprises a controller and a control device, and can control the robot dog to move and the mechanical arm and the air cylinder on the end effector to act according to the sensing information; the power system achieves electric drive movement of the robot dog and the mechanical arm and pneumatic movement of an end effector of the mechanical arm. The communication system is responsible for communication among the systems and communication to the outside; the data acquisition system acquires a vibration sound wave signal generated when the quality detection hammer knocks the concrete through a sound wave acquisition device; and the data analysis system analyzes a group of collected data to obtain the quality of the internal structure of the concrete. According to the invention, nondestructive autonomous detection of concrete defects in multiple scenes is realized, and the efficiency of concrete detection is improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots and construction engineering, and in particular to a robot for nondestructive detection of concrete defects and a use method thereof. Background Art

[0002] As a widely used material in modern construction, the quality of concrete directly affects the safety and durability of buildings. However, during the concrete construction process, due to various reasons (such as improper construction, material quality problems, environmental factors, etc.), various defects such as cracks, voids, slag inclusions, etc. may occur inside the concrete. These defects will not only reduce the strength of the concrete, but may also cause structural safety problems. Therefore, it is of great significance to conduct non-destructive testing on concrete to detect and deal with these defects in a timely manner.

[0003] Although traditional non-destructive testing methods for concrete can meet testing needs to a certain extent, they have problems such as low testing efficiency, insufficient accuracy, and strong dependence on personnel experience. Especially in complex structures or inaccessible areas, traditional methods are difficult to implement effectively. Traditional testing methods are not only time-consuming and labor-intensive, but also pose high safety risks. Summary of the invention

[0004] 1. Technical issues to be resolved In view of the deficiencies in the prior art, the present invention provides a concrete defect nondestructive detection robot and a use method to solve the problems raised in the above background technology.

[0005] (II) Technical solution To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a robot for nondestructive detection of concrete defects, comprising a perception system, a control system, a power system, a communication system, a data acquisition system and a data analysis system, wherein the perception system provides the control system with surrounding environment information, the control system controls the power system, the power system drives a robot dog, a mechanical arm and an end effector to move, and the data acquisition system on the end effector performs data acquisition and analysis, the perception system comprises an inertial sensor, a first depth camera, a laser radar and a second depth camera, the power system comprises a robot dog, a mechanical arm, a first cylinder and a second cylinder, and the data acquisition system comprises a first cylinder, an acoustic wave collector, a second cylinder and a quality inspection hammer.

[0006] As a preferred technical solution of the present invention, the sound wave collector is installed in the middle inner part of the rectangular push rod of the first cylinder, the quality inspection hammer is installed on the head of the push rod of the second cylinder, and the first cylinder and the second cylinder are installed at the end of the robotic arm through a bracket.

[0007] As a preferred technical solution of the present invention, the control system, data analysis system and communication system are located inside the robot dog, and the communication system communicates wirelessly with the outside world.

[0008] As a preferred technical solution of the present invention, the sound wave collector is installed in the middle inner part of the rectangular push rod of the first cylinder, the quality inspection hammer is installed on the head of the push rod of the second cylinder, the first cylinder and the second cylinder are installed at the end of the robotic arm through a bracket, and the stroke and speed of the first cylinder and the second cylinder are adjustable.

[0009] As a preferred technical solution of the present invention, the second depth camera is installed on the end of the robotic arm, and the inertial sensor is installed on the robot control board.

[0010] As a preferred technical solution of the present invention, the mechanical arm is installed on the back of the robot dog, the laser radar is installed on the top of the back of the robot dog, and the first depth camera is installed in front of the body of the robot dog. The laser radar and the first depth camera provide information for the movement of the robot dog.

[0011] As a preferred technical solution of the present invention, the control system controls the robot dog to move to the vicinity of the concrete to be tested through the information of the first depth camera and the laser radar, the control system controls the end of the robot arm to align with the concrete to be tested through the second depth camera, the control system controls the first cylinder to push out the push rod so that the acoustic wave detector is close to the concrete to be tested, the control system controls the second cylinder to push out the push rod so that the quality inspection hammer strikes the concrete to generate sound waves, and the data acquisition system receives the sound wave signal generated by the knocking through the acoustic wave detector to collect data.

[0012] A method for using a concrete defect nondestructive detection robot comprises the following steps: S1. When testing concrete, place the robot around the tested environment; S2, relying on the first depth camera and laser radar to perceive the surrounding environment, the control system drives the robot to move autonomously to the vicinity of the concrete to be inspected; S3, relying on the second depth camera to perceive the concrete surface information, the control system controls the robotic arm to move to the concrete surface to collect single data; S4, the robot repeats the above data collection operation, collects multiple data at fixed intervals in the horizontal direction of the concrete, and then collects multiple data at fixed intervals in the vertical direction of the concrete surface; S5. Based on a set of collected data, the robot's data analysis system records and analyzes the internal conditions of the concrete.

[0013] (III) Beneficial effects Compared with the prior art, the present invention provides a concrete defect nondestructive detection robot and a method of use, which have the following beneficial effects: 1. The concrete defect nondestructive detection robot and its use method improve the detection efficiency and accuracy. The robot can realize automatic and continuous detection, improve the detection efficiency, and can realize the precise positioning and quantitative analysis of the internal defects of concrete by carrying high-precision sensors and algorithms.

[0014] 2. The concrete defect nondestructive detection robot and its use method have the ability to adapt to complex environments through the robot dog bionic movement, and can adapt to the complex and changeable environment of the engineering site. The robot has the ability to autonomously navigate, avoid obstacles, and adapt to different terrains and working environments.

[0015] 3. The concrete defect nondestructive detection robot and its use method have the function of real-time data processing and feedback. The robot can collect and process the detection data in real time and feed back the results to the management personnel through wireless transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of a concrete defect non-destructive detection robot proposed by the present invention; Figure 2 This is a left view of a concrete defect nondestructive detection robot proposed by the present invention; Figure 3 for Figure 2 Enlarged view of part A; Figure 4 A workflow diagram of a robot for nondestructive detection of concrete defects proposed by the present invention; In the figure: 1. Robot dog; 2. Robotic arm; 3. Robotic arm end effector; 4. First depth camera; 5. LiDAR; 6. Second depth camera; 7. First cylinder; 8. Second cylinder; 9. Sound wave receiver; 10. Quality inspection hammer. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1-4A robot for nondestructive detection of concrete defects, including a perception system, a control system, a power system, a communication system, a data acquisition system and a data analysis system, characterized in that: the perception system provides the control system with surrounding environment information, the control system controls the power system, the power system drives the robot dog, the mechanical arm and the end effector to move, and the data acquisition system on the end effector performs data acquisition and analysis, the perception system includes an inertial sensor, a first depth camera 4, a laser radar 5 and a second depth camera 6, the power system includes a robot dog 1, a mechanical arm 2, a first cylinder 7 and a second cylinder 8, and the data acquisition system includes a first cylinder 7, an acoustic wave collector 9, a second cylinder 8 and a quality inspection hammer 10.

[0019] As a specific technical solution of this embodiment, the control system, data analysis system and communication system are located inside the robot dog 1, and the communication system communicates with the outside world wirelessly.

[0020] In this embodiment, the robot dog shell protects the robot's system, and an inertial sensor is mounted on the control board of the control system.

[0021] As a specific technical solution of this embodiment, the sound wave collector 9 is installed in the middle inner part of the rectangular push rod of the first cylinder 7, the quality inspection hammer 10 is installed on the head of the push rod of the second cylinder 8, the first cylinder 7 and the second cylinder 8 are installed at the end of the robotic arm through a bracket, and the stroke and speed of the first cylinder 7 and the second cylinder 8 are adjustable.

[0022] In this embodiment, the first cylinder 7 is used to push the sound wave collector 9 to ensure that the sound wave collector is in close contact with the concrete being tested, thereby improving the strength of receiving the sound wave signal and being less prone to mechanical collision, thereby protecting the service life of the robotic arm 2. The second cylinder 8 is used to push the quality inspection hammer 10 to strike the concrete being tested, and by adjusting the striking stroke and strength, it can adapt to the detection of concrete of different thicknesses.

[0023] As a specific technical solution of this embodiment, the second depth camera 6 is installed on the end of the robot arm 2, and the inertial sensor is installed on the robot control board.

[0024] In this embodiment, the second depth camera 6 is used to identify the concrete to be tested and provide decision information for the robot arm path planning to ensure the accuracy of the data collected by the robot arm 2. The inertial sensor provides the robot dog's position and posture information.

[0025] As a specific technical solution of this embodiment, the robotic arm 2 is installed on the back of the robot dog 1, the laser radar 5 is installed on the back of the robot dog 1, and the first depth camera 4 is installed in front of the body of the robot dog 1. The laser radar 5 and the first depth camera 4 provide information for the movement of the robot dog.

[0026] In this embodiment, the laser radar 5 and the first depth camera 4 are used to perceive the robot's surrounding environment information, which can ensure the robot's autonomous movement and navigation. The robot dog has the ability to pass through complex environments on the construction site, ensuring the robot's ability to adapt to complex and diverse environments.

[0027] As a specific technical solution of this embodiment, the control system controls the robot dog 1 to move to the vicinity of the concrete to be tested through the information of the first depth camera 4 and the laser radar 5, the control system controls the end of the robot arm 2 to align with the concrete to be tested through the second depth camera 6, the control system controls the first cylinder 7 to push out the push rod, so that the sound wave detector 9 is close to the concrete to be tested, the control system controls the second cylinder 8 to push out the push rod, so that the quality inspection hammer 10 hits the concrete to generate sound waves, and the data acquisition system receives the sound wave signal generated by the knocking through the sound wave detector 9 to collect data.

[0028] In this embodiment, in order to receive clear concrete rebound sound waves, the first cylinder 7 with the sound wave detector 9 is first bounced close to the concrete to be tested to ensure the signal strength, and then the second cylinder 8 with the quality detection hammer 10 is bounced.

[0029] As a specific technical solution of this embodiment, a method for using a concrete defect nondestructive detection robot includes the following steps: S1. When testing concrete, place the robot around the tested environment; S2, relying on the first depth camera 4 and the laser radar 5 to perceive the surrounding environment, the control system drives the robot to move autonomously to the vicinity of the concrete to be inspected; S3, relying on the second depth camera 6 to perceive the concrete surface information, the control system controls the robotic arm 2 to move to the concrete surface to collect single data; S4, the robot repeats the above data collection operation, collects multiple data at fixed intervals in the horizontal direction of the concrete, and then collects multiple data at fixed intervals in the vertical direction of the concrete surface; S5. Based on a set of collected data, the robot's data analysis system records and analyzes the internal conditions of the concrete.

[0030] The working principle and use process of the present invention are as follows: when in use, the detection robot is placed near the concrete to be tested, and the robot autonomously moves and navigates to avoid obstacles to the concrete to be tested by relying on the first depth camera 4 and the laser radar 5. The second depth camera 6 detects the distance and position of the concrete from the mechanical arm. The control system controls the end of the mechanical arm 2 to approach the concrete to be tested, first push the first cylinder 7 to make the sound wave detector close to the concrete surface, and then push the second cylinder 8 to make the hammer hit the concrete to generate sound waves. The data detection system completes the collection and recording of a single data, and sequentially retracts the first cylinder 7 and the second cylinder 8. The end of the mechanical arm collects multiple data at a fixed distance in the horizontal direction of the concrete, and then collects multiple data at a fixed distance in the vertical direction of the concrete surface until a set of data collection and recording is completed. The data analysis system analyzes a set of collected data to obtain the internal structure of the concrete, and sends the analysis results to relevant engineering personnel. After the robot completes the detection of the entire concrete to be detected according to the detection plan, it will automatically return to the starting point of the delivery, and the user needs to turn off and retract the robot.

[0031] To sum up, the concrete defect nondestructive detection robot and its use method can adapt to concrete quality detection in a variety of environments without causing damage to the concrete structure, thereby improving the detection accuracy and efficiency, improving the safety of related operators, and providing convenience for construction project quality acceptance and subsequent repair work.

[0032] It should be noted that, in this article, terms such as "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot for nondestructive detection of concrete defects, comprising a perception system, a control system, a power system, a communication system, a data acquisition system and a data analysis system, characterized in that: The perception system provides the control system with information about the surrounding environment. The control system controls the power system, which drives the robot dog, the robotic arm, and the end effector to move. The data acquisition system on the end effector performs data acquisition and analysis. The perception system comprises an inertial sensor, a first depth camera (4), a laser radar (5) and a second depth camera (6); The power system comprises a robot dog (1), a robot arm (2), a first cylinder (7) and a second cylinder (8); The data acquisition system comprises a first cylinder (7), a sonic wave collector (9), a second cylinder (8) and a quality detection hammer (10).

2. A robot for nondestructive testing of concrete defects according to claim 1, characterized in that: The control system, data analysis system and communication system are located inside the robot dog (1), and the communication system communicates wirelessly with the outside world.

3. The robot for nondestructive testing of concrete defects according to claim 1, characterized in that: The sound wave collector (9) is installed in the middle of the rectangular push rod of the first cylinder (7), the quality inspection hammer (10) is installed on the head of the push rod of the second cylinder (8), the first cylinder (7) and the second cylinder (8) are installed at the end of the mechanical arm through a bracket, and the stroke and speed of the first cylinder (7) and the second cylinder (8) are adjustable.

4. The robot for nondestructive testing of concrete defects according to claim 1, characterized in that: The second depth camera (6) is installed on the upper end of the robotic arm (2), and the inertial sensor is installed on the robot control panel.

5. The robot for nondestructive testing of concrete defects according to claim 1, characterized in that: The mechanical arm (2) is installed on the back of the robot dog (1), the laser radar (5) is installed on the top of the back of the robot dog (1), and the first depth camera (4) is installed in front of the body of the robot dog (1). The laser radar (5) and the first depth camera (4) provide information for the movement of the robot dog.

6. The robot for nondestructive testing of concrete defects according to claim 1, characterized in that: The control system controls the robot dog (1) to move to the vicinity of the concrete to be tested through information from the first depth camera (4) and the laser radar (5); the control system controls the end of the robot arm (2) to aim at the concrete to be tested through the second depth camera (6); the control system controls the first cylinder (7) to push out the push rod so that the sound wave detector (9) is in close contact with the concrete to be tested; the control system controls the second cylinder (8) to push out the push rod so that the quality inspection hammer (10) strikes the concrete to generate sound waves; and the data acquisition system receives the sound wave signal generated by the striking through the sound wave detector (9) to collect data.

7. The method for using a robot for nondestructive testing of concrete defects according to claim 1, characterized in that: The steps include: S1. When testing concrete, place the robot around the tested environment; S2, relying on the first depth camera (4) and the laser radar (5) to perceive the surrounding environment, the control system drives the robot to move autonomously to the vicinity of the concrete to be inspected; S3, relying on the second depth camera (6) to perceive the concrete surface information, the control system controls the robotic arm (2) to move to the concrete surface to collect a single data; S4, the robot repeats the above data collection operation, collects multiple data at fixed intervals in the horizontal direction of the concrete, and then collects multiple data at fixed intervals in the vertical direction of the concrete surface; S5. Based on a set of collected data, the robot's data analysis system records and analyzes the internal conditions of the concrete.

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