Cooperative control system and method of building concrete strength detection robot

Abstract

The invention relates to a cooperative control system and method for a building concrete strength detection robot. The system comprises a control module, a chassis, a lifting mechanism and an operation execution module, the chassis, the lifting mechanism and the operation execution module are electrically connected with the control module, and the control module comprises an upper computer and an embedded controller which are connected through the Ethernet. The operation execution module comprises a concrete strength detection unit, a carbonization depth detection unit, a four-degree-of-freedom execution mechanism and a visual sensing module communicating with the upper computer, and the control module is used for controlling the concrete strength detection unit to perform rebound detection on concrete and controlling the carbonization depth detection unit to perform carbonization depth detection on the concrete. The visual sensing module is used for identifying the to-be-rebounded detection area and the to-be-carbonized depth detection area and reading the carbonization depth value. Compared with the prior art, the method has the advantages that dependence on manual operation is effectively avoided, risks caused by manual operation are reduced, and whole-process automation of concrete strength and carbonization depth integrated detection is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of building material detection and quality control, and in particular to a collaborative control system and method for a building concrete strength detection robot. Background Art

[0002] In modern construction projects, concrete is one of the most widely used building materials, and its quality directly affects the safety, durability and service life of the building structure. Therefore, the detection of concrete strength and carbonization depth is particularly important in project quality control.

[0003] Concrete strength testing: Traditional concrete strength testing methods mainly include specimen destructive testing and non-destructive testing. Specimen destructive testing usually determines the compressive strength of standard specimens by performing compression tests on them in the laboratory. Although this method has high accuracy, it requires sampling and preparation of standard specimens at the construction site, which is a cumbersome and time-consuming process. Non-destructive testing methods such as rebound method and ultrasonic method can detect structural parts on site, but they require manual operation, which is time-consuming and difficult to meet the needs of large-scale testing.

[0004] Concrete carbonation depth detection: Carbonation refers to the chemical reaction between alkaline substances in concrete and carbon dioxide in the atmosphere to generate carbonate substances, which leads to a decrease in the alkalinity of concrete. The carbonation depth is generally detected using the phenolphthalein indicator method, which sprays phenolphthalein solution on the surface of the split concrete and determines the carbonation depth based on the color change. This method also requires manual drilling and spraying of phenolphthalein before carbonization depth detection.

[0005] With the rapid development of industrial automation technology, especially the widespread application of automatic control technology, new ideas and means are provided for the comprehensive detection of concrete quality. As a highly reliable and flexible industrial control computer, the embedded controller has powerful data processing capabilities and good scalability, and can realize complex detection and control functions. In the prior art, some PLC-based automatic detection systems have been applied to the field of concrete quality detection. For example, Chinese patent CN117470633A discloses an integrated measurement system and method for building concrete strength and carbonation depth, wherein the system includes a mobile module, a mechanical arm, a measurement module, an identification module and a control module; the mobile module is used to drive the measurement system to move, the mechanical arm is used to adjust the spatial position of the measurement module, the measurement module is used to measure the strength and carbonation depth of concrete, the identification module is used to determine the relative position of the measurement system and the measurement device, and the control module is used to control the measurement system action. However, the integrated measurement system provided by the scheme is still highly dependent on manual operation when performing carbonation depth detection, and the system flexibility is not high. Therefore, how to further improve the degree of automation of detection while realizing the integrated detection of concrete strength and carbonation depth, and provide reliable data support for engineering quality control, has become a problem that needs to be solved in this field. Summary of the invention

[0006] The purpose of the present invention is to provide a collaborative control system and method for a building concrete strength detection robot in order to overcome the defects of low automation and flexibility in the above-mentioned prior art.

[0007] The purpose of the present invention can be achieved by the following technical solutions:

[0008] According to a first aspect of the present invention, there is provided a collaborative control system for a building concrete strength detection robot, comprising a control module and a chassis, a lifting mechanism and an operation execution module electrically connected to the control module, wherein the control module comprises an upper computer and an embedded controller connected via Ethernet, the operation execution module comprises a concrete strength detection unit, a carbonization depth detection unit, a four-degree-of-freedom actuator and a visual sensing module communicating with the upper computer, the control module is used to control the concrete strength detection unit to perform rebound detection on concrete, and to control the carbonization depth detection unit to perform carbonization depth detection on concrete, and the visual sensing module is used to identify an area to be rebound detected and an area to be carbonized depth detected, and to read a carbonization depth value.

[0009] As a preferred technical solution, the chassis is equipped with a driving wheel, a universal wheel, a sensor module, a battery and an electric control cabinet, and the driving wheel and the universal wheel are installed at the bottom of the chassis.

[0010] As a preferred technical solution, the driving wheel is controlled by a driving motor and a steering motor.

[0011] As a preferred technical solution, the sensor module includes a laser radar, an infrared sensor and an inertial measurement unit for detecting environmental information.

[0012] As a preferred technical solution, the lifting mechanism includes a lifting column and a hydraulic power unit and a hydraulic cylinder connected to the lifting column.

[0013] As a preferred technical solution, the four-degree-of-freedom actuator includes an X-axis screw module, a Y-axis screw module, a Z-axis screw module and an R-axis servo motor. The Y-axis screw module is fixedly connected to the lifting mechanism, the X-axis screw module and the Z-axis screw module are respectively fixedly connected to the Y-axis screw module, and the X-axis screw module, the Y-axis screw module and the Z-axis screw module are respectively driven and connected to the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor.

[0014] As a preferred technical solution, the carbonization depth detection unit includes an electric drill, a pneumatic spray gun and an air pump, and the pneumatic spray gun is connected to the air pump.

[0015] As a preferred technical solution, the concrete strength detection unit includes a rebound tester.

[0016] According to a second aspect of the present invention, a collaborative control method for a building concrete strength detection robot is provided. The method is implemented based on the system and comprises the following steps: a visual sensing module identifies a detection area to be rebounded and a detection area to be carbonized, and feeds back the identification result to a host computer; based on the identification result, the host computer sends a first control instruction to an embedded controller; based on the first control instruction, the embedded controller controls the robot to move to the detection area to be rebounded, and then feeds back the current state information of the robot to the host computer; based on the state information, the host computer sends a second control instruction to the embedded controller; based on the second control instruction, the embedded controller controls the concrete strength detection unit to perform rebound detection, and after completing the rebound detection, controls the carbonization depth detection unit to perform carbonization depth detection on concrete.

[0017] As a preferred technical solution, the concrete strength detection unit performs a rebound detection on the concrete, and the specific process includes: the chassis drives the concrete strength detection unit to move to the area to be rebound detected, and the area to be rebound detected includes multiple sub-detection areas; the concrete strength detection unit detects the rebound value of each sub-detection area in turn, and uploads it to the host computer in real time; after completing the rebound detection, the carbonization depth detection unit performs a carbonization depth detection on the concrete, and the specific process includes: based on the rebound value of each sub-detection area, the host computer sends a third control instruction to the embedded controller; based on the third control instruction, the embedded controller controls the carbonization depth detection unit to move to the area to be carbonized depth detection, and controls the carbonization depth detection unit to drill, blow soot, and spray phenolphthalein to the drilled hole in the area to be carbonized depth detection in turn; based on the interface of phenolphthalein discoloration, the visual sensing module calculates the carbonization depth value and uploads it to the host computer.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The system control system provided by the present invention can realize the integration of multi-modal data acquisition, processing and testing. The embedded controller controls the movement of the robot, the integrated detection of concrete strength and carbonation depth. The embedded controller and the host computer perform real-time two-way communication, which can effectively improve work efficiency and reduce equipment failure rate, and provide richer detection data. Through the collaborative analysis of multiple parameters, the accuracy and reliability of concrete strength evaluation can be improved, thereby more comprehensively and accurately evaluating the comprehensive performance of concrete.

[0020] 2. The present invention is provided with a four-degree-of-freedom actuator, which includes an X-axis screw module, a Y-axis screw module, a Z-axis screw module and an R-axis servo motor. The R-axis servo motor is used to realize the action execution on the R-axis. The drive and execution of the four degrees of freedom can realize the detection of concrete strength at different angles, comprehensively evaluate the concrete strength, and provide more comprehensive detection data. Compared with the existing six-degree-of-freedom mechanical arm structure, the design of the four-degree-of-freedom actuator makes the system structure more stable and efficient.

[0021] 3. In the control system provided by the present invention, the carbonization depth detection unit includes an electric drill, a pneumatic spray gun and an air pump, and the carbonization depth value hole processing functions of drilling, soot blowing and phenolphthalein spraying are integrated in the automated detection process, and there is no need to manually preset the carbonization depth detection hole position, which can effectively avoid dependence on manual operation, reduce the risks brought by manual operation, realize the full process automation of integrated detection of concrete strength and carbonization depth, and improve the efficiency and safety of the entire detection process;

[0022] 4. The control system provided by the present invention adopts a modular design, which is convenient for subsequent expansion of more detection functions or replacement of different detection sensors, so that the system can quickly adapt to different detection requirements and environmental changes, effectively improving the flexibility, versatility and maintainability of the system;

[0023] 5. The control system provided by the present invention utilizes a visual sensing module to realize visual guidance, and adopts a multi-parameter fusion detection method combining visual guidance, rebound detection and carbonation depth detection. Through visual guidance, the system can automatically collect multiple parameters in the detection area, such as surface features, texture information and phenolphthalein discoloration edge position, and combine this information with the rebound detection and carbonation depth detection results to provide a comprehensive evaluation, which can realize comprehensive data collection and analysis in integrated detection, improve the accuracy and comprehensiveness of the detection results, and visual guidance can not only improve the effect of a single detection method, but also enhance the overall performance of the system, and provide a more valuable reference for concrete strength and durability evaluation;

[0024] 6. In the control method provided by the present invention, the embedded controller controls the movement of the robot, concrete strength detection and carbonation depth detection according to the received first control instruction, second control instruction and third control instruction, thereby realizing a high degree of integration of the concrete strength detection and carbonation depth detection processes, and can effectively improve the real-time and accuracy of the detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A control system architecture diagram provided by the present invention;

[0026] Figure 2 A schematic diagram of a control system structure provided by an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of a partial structure of a control system provided in an embodiment of the present invention;

[0028] Figure 4 is a flow chart of a control method in an embodiment of the present invention;

[0029] Figure 5 This is a flow chart of an embedded controller controlling the movement of a chassis in an embodiment of the present invention;

[0030] Figure 6 It is a flow chart of an embedded controller controlling the movement of a job execution module in an embodiment of the present invention;

[0031] Figure 7 This is an overall working flow diagram of a control system in an embodiment of the present invention;

[0032] Among them: 1. Control module; 2. Chassis; 3. Lifting mechanism; 4. Operation execution module; 11. Host computer; 12. Embedded controller; 21. Driving wheel; 22. Universal wheel; 23. Sensor module; 231. Lifting column; 232. Infrared sensor; 233. Inertial measurement unit; 31. Lifting column; 32. Hydraulic power unit; 33. Hydraulic cylinder; 41. Concrete strength detection unit; 411. Rebound tester; 42. Carbonization depth detection unit; 421. Electric drill; 422. Pneumatic spray gun; 423. Air pump; 43. Four-degree-of-freedom actuator; 431. R-axis servo motor; 44. Visual sensor module. DETAILED DESCRIPTION

[0033] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0034] Example

[0035] like Figure 1 As shown, this embodiment provides a collaborative control system for a building concrete strength detection robot, which can automatically complete the comprehensive detection of concrete strength and carbonization depth at the construction site, process and transmit the detection data in real time, improve the detection efficiency, reduce the impact of manual operation and environmental factors, and provide a more scientific and effective guarantee for the quality of construction projects.

[0036] The system includes a control module 1 and a chassis 2, a lifting mechanism 3 and an operation execution module 4 electrically connected to the control module 1. The control module 1 includes a host computer 11 and an embedded controller 12 connected via Ethernet. The operation execution module 4 includes a concrete strength detection unit 41, a carbonization depth detection unit 42, a four-degree-of-freedom actuator 43 and a visual sensor module 44 that communicates with the host computer 11. The control module 1 is used to control the concrete strength detection unit 41 to perform rebound detection on the concrete, and control the carbonization depth detection unit 42 to perform carbonization depth detection on the concrete. The visual sensor module 44 is used to identify the area to be rebound detected and the area to be carbonized depth detected, and read the carbonization depth value.

[0037] The lifting mechanism 3 includes a lifting column 31 and a hydraulic power unit 32 and a hydraulic cylinder 33 connected to the lifting column 31. The chassis 2 is equipped with a driving wheel 21, a universal wheel 22, a sensor module 23, a battery and an electric control cabinet. The driving wheel 21 and the universal wheel 22 are installed at the bottom of the chassis 2. The embedded controller 12 is installed in the electric control cabinet.

[0038] The chassis 2 has two sets of driving wheels 21, two sets of universal wheels 22, and four motors. The driving wheels 21 usually include two motors: a steering motor and a driving motor. Among them, the steering motor is used to control the steering angle of the driving wheel 21 so that the robot can change the direction of travel. The motor controls the rotation direction of the driving wheel 21, so that the robot can flexibly turn or other complex movements; the driving motor is used to provide driving force for the driving wheel 21 to make the robot move forward or backward. The driving motor directly acts on the rotation of the wheel. By controlling the speed and direction of the driving motor, the movement and speed of the robot vehicle can be adjusted. The two motors work together to make the steering wheel have flexible maneuverability and realize different movement modes.

[0039] Figure 2 and Figure 3 One of the system structures is shown as follows:

[0040] The sensor module 23 includes a laser radar 231 for detecting environmental information, an infrared sensor 232 and an inertial measurement unit 233 (IMU, Inertial Measurement Unit).

[0041] The lifting column 31 is driven by the hydraulic power unit 32 and the hydraulic cylinder 33 to achieve vertical movement. The lifting column 31 can rise up to 5 meters.

[0042] The four-degree-of-freedom actuator 43 includes an X-axis screw module, a Y-axis screw module, a Z-axis screw module and an R-axis servo motor 431. The end of each screw module is connected to the R-axis servo motor 431, and the X-axis screw module, the Y-axis screw module and the Z-axis screw module are respectively connected to the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor, so that movement can be achieved in the four directions of X, Y, Z and R. Among them, the Y-axis screw module is fixedly connected to the lifting column 31, and the Y-axis servo motor can be controlled by the embedded controller 12 to achieve up and down movement on the screw; the X-axis screw module is fixed on the Y-axis screw module, so that movement in the left and right directions can be achieved; the Z-axis screw module is fixed on the Y-axis screw module, so that movement in the front and back directions can be achieved. The R-axis servo motor 431 is connected to the end of each screw module, so that full-angle rotation can be achieved.

[0043] The concrete strength detection unit 41 and the carbonization depth detection unit 42 are installed on the four-degree-of-freedom actuator 43, and the full-angle rotating R-axis servo motor 431 can realize the detection of concrete strength and carbonization value of walls at different angles.

[0044] The concrete strength detection unit 41 includes a rebound tester 411 and a rebound tester fixture fixed at the end of the R-axis servo motor 431. The embedded controller 12 controls the Z-axis servo motor to drive the Z-axis lead screw module to realize the process of the rebound tester 411 placed on the R-axis servo motor 431 hitting the wall to read the rebound value.

[0045] The carbonization depth detection unit 42 includes an electric drill 421, a pneumatic spray gun 422 for blowing soot and spraying phenolphthalein, and an air pump 423, and the pneumatic spray gun 422 is connected to the air pump 423. The electric drill 421 adopts an impact drill. The impact drill and the pneumatic spray gun 422 for blowing soot and spraying phenolphthalein are fixed below the rebound tester 411 on the R-axis servo motor 431. When the carbonization depth is detected, in order to avoid affecting the normal operation of the impact drill and the pneumatic spray gun 422, the rebound tester 411 rotates to the top. After completing the concrete rebound test, the robot will move to the fixed area to be carbonized depth detection, and first perform the drilling operation. After the drilling is completed, the pneumatic spray gun 422 will blow the drilled hole to keep the drilled hole clean, and then perform the phenolphthalein spraying operation.

[0046] The visual sensing module 44 is mainly used to obtain graphic information and distance measurement processing. The process of obtaining image information is specifically: finding the area to be tested for rebound and the area to be tested for carbonization depth, feeding back the obtained information to the host computer 11, the host computer 11 sends instructions to the embedded controller 12, and the embedded controller 12 controls the operation execution module 4 to complete the detection of the strength value and carbonization depth value of the concrete. The process of distance measurement processing specifically includes: judging whether the distance between the robot and the wall meets the working conditions and realizing the reading of the carbonization depth value of the drill hole that has been sprayed with phenolphthalein.

[0047] The embedded controller 12 is used as a control center. The chassis 2, the lifting mechanism 3, and the operation execution module 4 are controlled by programming the embedded controller 12, that is, the steering motor and the drive motor are controlled to drive the chassis 2, and the servo motors are controlled to drive the operation of the components of the operation execution module 4, so as to meet the requirements of the rebound detection device and the carbonization depth detection device to work in different working spaces. Specifically:

[0048] The embedded controller 12 is initialized by configuring the I / O port, communication parameters and initial test status, receives the movement instruction through the communication module, and calculates the movement path according to the target position and current status. According to the result of path planning, the driving wheel 21 and universal wheel 22 of the chassis 2 are controlled through the CAN bus to realize the movement of the robot, and the real-time position and obstacle detection are performed by reading the data of the sensor and the status of the chassis 2 is fed back to the host computer 11.

[0049] The embedded controller 12 is configured with an I / O port to connect the start, stop, and direction control signals of the motor, control the rotation direction of the motor (clockwise or counterclockwise) by setting the output port, control the speed and target position of the motor by analog output or pulse output, read the feedback signal of the position sensor to achieve closed-loop control of the motor, and adjust the running state of the motor according to the difference between the actual position and the target position by reading the signal of the position sensor. The embedded controller 12 controls the lifting mechanism 3 through the I / O port, controls the motor of the four-degree-of-freedom actuator 43 through the CAN bus, and controls the start and stop of the air pump 423, the electric drill 421 and other mechanisms through the I / O port.

[0050] Furthermore, based on the aforementioned control system, this embodiment also provides a collaborative control method for a building concrete strength detection robot, such as Figure 4 As shown, the execution steps of the method include:

[0051] 1) Control the robot to reach the designated working area, the visual sensor module 44 identifies the rebound detection area and the carbonization depth detection area, and feeds back the identification result to the host computer 11. Specifically: the distance between the robot chassis 2 and the designated working area is obtained through the laser radar 231, the infrared sensor 232, and the inertial measurement unit 233 (IMU). After the robot reaches the designated working area, the chassis 2 realizes the self-locking function. The visual sensor module 44 first finds the rebound detection area through the distance measurement processing and image acquisition process, and feeds back the identification result of the rebound detection area to the host computer 11.

[0052] 2) Based on the recognition result of the area to be rebounded, the host computer 11 sends a first control instruction (movement instruction) to the embedded controller 12;

[0053] 3) Based on the first control instruction, the embedded controller 12 controls the robot to move to the rebound detection area and then feeds back the current state information of the robot to the host computer 11. Figure 5 As shown, the process of the embedded controller 12 controlling the movement of the chassis 2 is as follows:

[0054] After the host computer 11 sends the first control instruction, the embedded controller 12 receives and parses the instruction, performs path planning, and sends control signals to the steering motor and the drive motor to drive the chassis 2 to move, thereby realizing the movement of the robot; when the robot moves to the rebound detection area, the sensor detects the environment, position and status information and feeds back, and the embedded controller 12 adjusts the motion control signal based on the feedback information, and feeds back the status information to the host computer 11.

[0055] 4) Based on the status information, the host computer 11 sends a second control instruction (motion instruction) to the embedded controller 12;

[0056] 5) Based on the second control instruction, the embedded controller 12 controls the concrete strength detection unit 41 to move to the rebound detection area including multiple sub-detection areas, and controls the concrete strength detection unit 41 to perform rebound detection. Figure 6 As shown, the process of the embedded controller 12 controlling the movement of the concrete strength detection unit 41 specifically includes:

[0057] The lifting mechanism 3 transports the operation execution module 4 to the rebound detection area;

[0058] After the host computer 11 sends the second control instruction (motion instruction including position and speed), the embedded controller 12 receives and analyzes the instruction, calculates the target position, and outputs a start signal to each servo motor in the four-degree-of-freedom actuator 43, driving the X-axis, Y-axis, and Z-axis screw modules to move, thereby driving the movement of the rebound instrument 411 on the R-axis servo motor 431. The rebound instrument 411 can realize linear motion. At the same time, the position sensor feeds back real-time information to the embedded controller 12. The embedded controller 12 compares the actual position with the target position based on the feedback information and adjusts the motion parameters, and updates the display status information to the host computer 11.

[0059] 6) The concrete strength detection unit 41 detects the rebound value of each sub-detection area in turn and uploads it to the host computer 2 in real time until the rebound detection of all sub-detection areas is completed. Specifically, the rebound tester 411 uploads the rebound value of each test area to the host computer 11 in real time through the Bluetooth serial port communication, and after the rebound tester 411 completes the concrete strength test of each sub-detection area, it will feedback information to the host computer 11.

[0060] 7) Based on the rebound value of each sub-detection area, the host computer 11 sends a third control instruction (motion instruction) to the embedded controller 12;

[0061] 8) Based on the third control instruction, the embedded controller 12 controls the carbonization depth detection unit 42 to move to the area to be carbonized depth detected, and controls the carbonization depth detection unit 42 to drill holes, blow soot, and spray phenolphthalein into the holes in the area to be carbonized depth detected in sequence;

[0062] 9) Based on the interface of phenolphthalein discoloration, the visual sensor module 44 calculates the carbonization depth value and uploads it to the host computer 11.

[0063] Among them, the specific test process of concrete carbonization depth detection is: after the host computer 11 receives the feedback information of step 6), the third control instruction is sent to the embedded controller 12 to control the robot chassis 2 to wait for the test in the carbonization depth test area. After the robot arrives at the designated area, the visual sensor module 44 will find the area to be carbonized depth detected through the ranging processing and image acquisition process, and at the same time feedback the status to the host computer 11. When the host computer 11 issues an instruction to automatically perform carbonization depth detection, the rebound tester 411 will rotate to the top, and the impact drill will Drill a hole in the designated area, the pneumatic spray gun 422 will perform soot blowing, and then the pneumatic spray gun 422 will spray phenolphthalein into the hole, the visual sensor module 44 will find the interface where the phenolphthalein changes color, calculate the carbonization depth value and upload the measured value to the host computer 11, and then the robot will move to the next designated area to repeat the operation until the robot completes the entire concrete strength value and carbonation depth value detection process. After completing all operations, the host computer 11 will automatically generate a concrete strength and carbonation depth detection report to facilitate the staff to analyze the data.

[0064] Further, in step 5), after the visual sensor module 44 is positioned to the area to be rebounded, the host computer 11 will send a measurement start signal to the embedded controller 12. At this time, the embedded controller 12 will drive the four-degree-of-freedom actuator 43 to complete the measurement of different measurement areas, and each measurement area is a sub-detection area. The specific workflow is: to realize the workflow of the rebound tester 411 in a square grid including 16 small square measurement areas, it is necessary to use the embedded controller 12 to control four servo motors (for the X-axis, Y-axis, Z-axis and rotation axis, the rotation axis is the R axis). Assume that the side length of the square grid is L, and the side length of each small square measurement area is L / 4. Then, the control can be carried out according to the following steps:

[0065] (1) Initialization: Initialize the position of each servo motor, ensure that the rebound hammer 411 is at the starting point (the lower left corner of the grid), and reset the counter and position variables of the embedded controller 12.

[0066] (2) X-axis and Y-axis movement control: The X-axis and Y-axis servo motors control the rebound tester 411 to move between the 16 measurement areas of the square grid.

[0067] X 位置 =X 起始 +(i%4)×(L / 4)+(L / 8),Y 位置 =Y 起始 +(i / / 4)×(L / 4)+(L / 8) (1)

[0068] Where i is the index of the current measurement area (0 to 15), % is the remainder operation, / / is the integer division operation, X 起始Indicates the starting position on the X axis, or the initial X axis coordinate. This value is the reference point where the rebound hammer starts moving on the X axis. 位置 Indicates the specific position in the X-axis direction of a specific measurement area, that is, the coordinate of the current test point on the X-axis. This is the calculated result, indicating the position to which the rebound hammer moves on the X-axis.

[0069] (3) Z-axis movement control: The Z-axis servo motor is used to control the rebound test hammer 411 to contact and detect the strength and carbonation depth of the wall concrete. After each measuring area is moved into place, the rebound test hammer 411 is moved to the wall for measurement and then returns to the initial Z position.

[0070] (4) Rotation control: The R-axis servo motor 431 controls the turntable of the rebound tester 411 to enable it to measure at different angles.

[0071] In step 8), the specific working process of the carbonization depth detection unit 42 is as follows:

[0072] (1) After recording the rebound measurement data, the robot is controlled to move to the starting position of the carbonization depth detection area.

[0073] (2) Perform drilling operation: Control the Z-axis servo motor to make the impact drill contact the wall and start drilling. After drilling is completed, control the Z-axis servo motor to return to a safe height.

[0074] (3) Perform soot blowing: Control the R-axis servo motor 431 to rotate the rebound tester 411 upward to avoid affecting the soot blowing operation. After the soot blowing is completed, control the Z-axis servo motor to return to a safe height.

[0075] (4) Perform phenolphthalein spraying operation: Control the Z-axis servo motor to enable the pneumatic spray gun 422 to spray phenolphthalein on the drilled hole. After the phenolphthalein spraying is completed, control the Z-axis servo motor to return to a safe height.

[0076] (5) Record the carbonization depth test data.

[0077] Furthermore, if Figure 7 As shown, the overall workflow of the collaborative control system provided by this embodiment is as follows:

[0078] S1. System initialization

[0079] Start Embedded Controller 12:

[0080] After powering on, the embedded controller 12 starts up and performs a self-check to ensure that each module operates normally.

[0081] Initialize the status of each motor, sensor, and other control devices.

[0082] Reset all motors and sensors:

[0083] The servo motors of the axes (X-axis, Y-axis, Z-axis, and R-axis) are controlled to return to their initial positions.

[0084] Reset the laser radar 231, infrared sensor 232 and inertial measurement unit 233 (IMU) to ensure that all sensors are in the initial state.

[0085] S2, Chassis Control

[0086] Position to the starting point:

[0087] According to the predetermined starting position, the robot chassis 2 is controlled to move to the lower left corner of the square grid.

[0088] Navigation and obstacle avoidance:

[0089] The laser radar 231 and the infrared sensor 232 are used to scan the environment and obtain the surrounding environment information.

[0090] Through the path planning algorithm, obstacles can be avoided automatically to ensure that the robot reaches its destination safely.

[0091] S3. Concrete strength test

[0092] Set the area to be rebounded:

[0093] Use formula (1) to calculate the center positions of the 16 small square measurement areas in the square grid:

[0094] Move to the measurement area:

[0095] Control the X-axis and Y-axis servo motors to move to the center of the current measurement area.

[0096] Concrete strength test:

[0097] Perform a rebound test in each test area:

[0098] The Z-axis servo motor is controlled to make the rebound tester 411 contact the wall surface for measurement.

[0099] Acquire and record measurements for each angle.

[0100] After the test is completed, control the Z-axis servo motor to return to the initial height.

[0101] Repeat the test:

[0102] Move to the next test area in turn and repeat the above concrete strength test steps until the tests in all test areas are completed.

[0103] S4. Carbonization depth detection

[0104] Move to the area to be carbonized depth detected:

[0105] The robot chassis 2 is controlled to move to a predetermined carbonization depth detection area.

[0106] Drilling operation:

[0107] The Z-axis servo motor is controlled to make the impact drill contact the wall surface and drill a hole.

[0108] After drilling is completed, control the Z-axis servo motor to return to a safe height.

[0109] Sootblowing:

[0110] The R-axis servo motor 431 is controlled to rotate the rebound hammer 411 upward to avoid affecting the soot blowing operation.

[0111] The Z-axis servo motor is controlled to enable the pneumatic spray gun 422 to perform soot blowing treatment on the drilled hole.

[0112] After the soot blowing is completed, the Z-axis servo motor is controlled to return to a safe height.

[0113] Phenolphthalein spraying operation:

[0114] The Z-axis servo motor is controlled to enable the pneumatic spray gun 422 to spray phenolphthalein on the drilled hole.

[0115] After spraying phenolphthalein, control the Z-axis servo motor to return to a safe height.

[0116] Recording data:

[0117] The visual sensing module 44 acquires and records the data of carbonization depth detection.

[0118] S5. Data processing and return to initial position

[0119] Data processing:

[0120] The data of the concrete strength test and the carbonation depth test are uploaded to the host computer 11.

[0121] Perform data analysis and generate test reports.

[0122] Return to the initial position:

[0123] Control the robot chassis 2 and the servo motors of each axis to return to the initial position.

[0124] Shut down the system and complete the inspection task.

[0125] The control system and method provided in this embodiment have at least the following performances:

[0126] (1) Multifunctional integrated testing: It integrates the two functions of concrete strength test and carbonation depth test. One device can complete multiple testing tasks, reducing the number of equipment and costs;

[0127] (2) Efficient testing process: The embedded controller controls the servo motor and robot chassis to automatically complete multi-angle and multi-point concrete strength testing and carbonation depth testing, greatly improving testing efficiency and accuracy;

[0128] (3) Precise positioning: The X, Y, Z axis servo motors and the R axis servo motor are used to achieve precise positioning of the testing equipment in three-dimensional space, ensuring that each test is performed at the correct position and avoiding human operation errors.

[0129] (4) High level of automation: The entire detection process is automatically controlled by an embedded controller, which reduces manual intervention, improves the consistency and reliability of detection, and reduces the complexity and labor intensity of manual operation;

[0130] (5) Multi-angle measurement: The concrete strength test can be carried out at different angles through the multi-angle rotation function of the turntable, comprehensively evaluating the strength of the concrete and providing more comprehensive test data;

[0131] (6) Strong environmental adaptability: Through navigation and positioning by laser radar and infrared sensors, it can adapt to complex detection environments and ensure the smooth progress of the detection process;

[0132] (7) High-precision carbonation depth detection: Through the combined use of impact drill and pneumatic spray gun, the carbonation depth of concrete can be accurately detected, providing precise test results and meeting high-standard testing requirements;

[0133] (8) Data recording and analysis: It can automatically record the detection data of each measurement area, and realize real-time analysis and processing of data through the embedded controller, providing a reliable basis for subsequent data analysis and decision-making;

[0134] (9) Improved safety: Through automated control and precise positioning, the risk of manual operation is reduced, especially during operations such as drilling and soot blowing, which improves the safety of the entire inspection process;

[0135] (10) Portability and flexibility: The compact mobile chassis and integrated detection device have high portability and flexibility, and can be easily moved between different testing sites to meet different testing needs.

[0136] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A collaborative control system for a building concrete strength detection robot, characterized in that: It includes a control module and a chassis, a lifting mechanism and an operation execution module electrically connected to the control module, the control module includes a host computer and an embedded controller connected via Ethernet, the operation execution module includes a concrete strength detection unit, a carbonization depth detection unit, a four-degree-of-freedom actuator and a visual sensor module communicating with the host computer, the control module is used to control the concrete strength detection unit to perform rebound detection on concrete, and control the carbonization depth detection unit to perform carbonization depth detection on concrete, and the visual sensor module is used to identify the area to be rebound detected and the area to be carbonized depth detected, and read the carbonization depth value.

2. The collaborative control system of the building concrete strength detection robot according to claim 1 is characterized in that: The chassis is equipped with a driving wheel, a universal wheel, a sensor module, a battery and an electric control cabinet, and the driving wheel and the universal wheel are installed at the bottom of the chassis.

3. The collaborative control system of the building concrete strength detection robot according to claim 2 is characterized in that: The driving wheels are controlled by a driving motor and a steering motor.

4. The collaborative control system of the building concrete strength detection robot according to claim 2 is characterized in that: The sensor module includes a laser radar, an infrared sensor and an inertial measurement unit for detecting environmental information.

5. The collaborative control system of the building concrete strength detection robot according to claim 1, characterized in that: The lifting mechanism comprises a lifting column and a hydraulic power unit and a hydraulic cylinder connected to the lifting column.

6. The collaborative control system of the building concrete strength detection robot according to claim 1, characterized in that: The four-degree-of-freedom actuator includes an X-axis screw module, a Y-axis screw module, a Z-axis screw module and an R-axis servo motor. The Y-axis screw module is fixedly connected to the lifting mechanism, and the X-axis screw module and the Z-axis screw module are respectively fixedly connected to the Y-axis screw module. The X-axis screw module, the Y-axis screw module and the Z-axis screw module are respectively driven and connected to the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor.

7. The collaborative control system of the building concrete strength detection robot according to claim 1, characterized in that: The carbonization depth detection unit comprises an electric drill, a pneumatic spray gun and an air pump, and the pneumatic spray gun is connected to the air pump.

8. The collaborative control system of the building concrete strength detection robot according to claim 1, characterized in that: The concrete strength detection unit includes a rebound tester.

9. A collaborative control method for a building concrete strength detection robot, characterized in that: The method is implemented based on the system described in any one of claims 1 to 8, and comprises the following steps: The visual sensor module identifies the area to be tested for rebound and the area to be tested for carbonization depth, and feeds back the identification results to the host computer; Based on the recognition result, the host computer sends a first control instruction to the embedded controller; Based on the first control instruction, the embedded controller controls the robot to move to the rebound detection area, and then feeds back the current state information of the robot to the host computer; Based on the state information, the host computer sends a second control instruction to the embedded controller; Based on the second control instruction, the embedded controller controls the concrete strength detection unit to perform a rebound detection, and after completing the rebound detection, controls the carbonization depth detection unit to perform a carbonization depth detection on the concrete.

10. The collaborative control method of a building concrete strength detection robot according to claim 9, characterized in that: The concrete strength detection unit performs a rebound detection on the concrete, and the specific process includes: The chassis drives the concrete strength detection unit to move to a to-be-rebound detection area, where the to-be-rebound detection area includes a plurality of sub-detection areas; The concrete strength detection unit detects the rebound value of each sub-detection area in turn and uploads it to the host computer in real time; After the rebound test is completed, the carbonization depth detection unit performs carbonization depth detection on the concrete. The specific process includes: Based on the rebound values ​​of each sub-detection area, the host computer sends a third control instruction to the embedded controller; Based on the third control instruction, the embedded controller controls the carbonization depth detection unit to move to the to-be-carbonized depth detection area, and controls the carbonization depth detection unit to drill holes, blow soot, and spray phenolphthalein into the holes in sequence in the to-be-carbonized depth detection area; Based on the discoloration interface of phenolphthalein, the visual sensing module calculates the carbonization depth value and uploads it to the host computer.

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