Multifunctional concrete quality detection robot and detection method

Abstract

The invention relates to a multifunctional concrete quality detection robot and a detection method, the multifunctional concrete quality detection robot comprises a robot main body, and a millimeter wave radar group, a camera module, a concrete rebound apparatus, a ground penetrating radar, a laser radar and a driving wheel group which are arranged on the robot main body, and the driving wheel group is mounted at the bottom of the robot main body; the millimeter-wave radar group comprises a first millimeter-wave radar, a second millimeter-wave radar and a third millimeter-wave radar which are sequentially arranged on the outer side of the robot main body; the camera module comprises a first camera module and a second camera module which are arranged at the front end and the rear end of the robot body. The multifunctional concrete quality detection robot provided by the invention solves the problems that the current concrete quality detection focuses on manual inspection, is high in randomness, low in coverage rate, low in accuracy, incapable of identifying internal defects and the like, and belongs to a visual and intelligent solution.

Description

Technical Field

[0001] The invention belongs to the technical field of building construction, and in particular relates to a multifunctional concrete quality detection robot and a detection method. Background Art

[0002] The construction quality of concrete directly determines the safety performance of building structures. Concrete construction quality problems caused by insufficient material strength or improper construction technology are one of the key causes of major risk accidents. Therefore, quality inspection of concrete components or in-service concrete structures is crucial. However, current concrete quality inspection still relies heavily on extensive manual inspections, which are highly arbitrary and have low coverage. There is a lack of efficient and accurate technical means, and the inspection content is mainly strength and apparent quality, lacking effective inspection of internal damage.

[0003] Therefore, how to provide a multifunctional concrete quality inspection robot and inspection method to provide an intelligent, efficient and accurate solution for concrete construction quality inspection is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] In view of the difficulties that the current concrete quality inspection is mainly based on manual inspection, which is highly random, has low coverage, low accuracy, and cannot identify internal defects, this paper proposes a multifunctional concrete quality inspection robot and inspection method that can detect concrete surface quality, internal defects and material strength. It is a visual and intelligent solution.

[0005] In order to solve the above technical problems, the present invention includes the following technical solutions:

[0006] A multifunctional concrete quality inspection robot comprises a robot body and a millimeter-wave radar group, a camera module, a concrete rebound tester, a ground penetrating radar, a laser radar and a driving wheel group arranged on the robot body, wherein the driving wheel group is installed at the bottom of the robot body, the millimeter-wave radar group comprises a first millimeter-wave radar, a second millimeter-wave radar and a third millimeter-wave radar arranged in sequence on the outside of the robot body; the camera module comprises a first camera module and a second camera module arranged at the front and rear ends of the robot body.

[0007] Furthermore, the driving module includes a central controller, a driving motor and a power battery.

[0008] Furthermore, it also includes a rebound test hammer storage groove, which is arranged at the lower part of the robot body, and the concrete rebound test hammer is retracted and stored in the rebound test hammer storage groove in a non-working state.

[0009] Furthermore, it also includes a ground-penetrating radar storage groove, which is arranged at the lower part of the robot body, and the ground-penetrating radar is retracted and stored in the ground-penetrating radar storage groove in a non-working state.

[0010] Furthermore, the camera module includes a high-definition camera, a fill light and a cleaning device. The camera module uses the fill light to provide fill light when the light is weak, and uses the cleaning device to spray water to self-clean the surface when the camera is dirty.

[0011] A concrete quality detection method, the detection method comprising the following steps:

[0012] Step S1, using the multifunctional concrete quality detection robot;

[0013] Step S2: First, place the concrete quality inspection robot in the area to be inspected, use the laser radar on board to scan the surrounding environment in real time, and establish a spatial point cloud model of the area to be inspected. Then, start the drive module to issue instructions to control the concrete quality inspection robot to move. During the process, use the millimeter wave radar group to scan obstacles on the route and assist in avoiding them, and build a scene map.

[0014] Step S3: After the scene mapping is completed, the concrete quality inspection robot performs quality inspection according to the built-in algorithm or the set moving path. During the inspection process, the camera module is first used to take high-definition pictures and videos of the apparent quality of concrete in the area to be inspected to complete the visual inspection; then the concrete rebound test hammer is controlled to extend from the rebound test hammer storage slot to align with the inspection area for strength inspection;

[0015] Step S4: After the central controller of the driving module identifies and determines that the above-mentioned visual and strength detection results have the possibility of quality defects, the ground penetrating radar is controlled to extend from the ground penetrating radar storage slot and perform internal damage detection on the parts with the possibility of quality defects;

[0016] Step S5, the concrete quality inspection robot enters the next inspection area, and repeats the inspection process of steps S1 to S4 until all inspections of all the areas to be inspected are completed.

[0017] Furthermore, the ground penetrating radar is used to distinguish internal pores, cavities and steel bar corrosion defects in concrete.

[0018] Furthermore, if the concrete quality inspection robot finds concrete quality defects during work, it will mark them in the spatial point cloud model obtained by environmental scanning and visualize them through a mobile or platform-side interactive interface, making it easier for staff to locate the defective parts and conduct manual verification.

[0019] Furthermore, all data during the working process of the concrete quality inspection robot is recorded in the central controller and sent to the local server through the cloud for storage; the data transmission process adopts high-bandwidth, low-latency 5G mobile communication technology to ensure the continuity and clarity of the picture.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0021] The present invention provides a multifunctional concrete quality inspection robot, comprising a robot body and a millimeter wave radar group, a camera module, a concrete rebound tester, a ground penetrating radar, a laser radar and a driving wheel group arranged on the robot body, wherein the driving wheel group is installed at the bottom of the robot body, the millimeter wave radar group comprises a first millimeter wave radar, a second millimeter wave radar and a third millimeter wave radar sequentially arranged on the outside of the robot body; the camera module comprises a first camera module and a second camera module arranged at the front and rear ends of the robot body. The multifunctional concrete quality inspection robot of the present invention solves the problems that the current concrete quality inspection is mainly based on manual inspection, high randomness, low coverage, low accuracy, and internal defects cannot be identified, and belongs to a visual and intelligent solution. The detection method of the multifunctional concrete quality inspection robot is easy to operate and improves the accuracy and coverage of concrete quality inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The figure is a schematic structural diagram of a multifunctional concrete quality inspection robot according to an embodiment of the present invention.

[0023] In the figure:

[0024] 100-robot body, 101-driving module, 102-first millimeter-wave radar, 103-second millimeter-wave radar, 104-concrete rebound tester, 105-rebound tester storage slot, 106-ground penetrating radar, 107-ground penetrating radar storage slot, 108-third millimeter-wave radar; 201-first camera module, 202-second camera module; 301-first driving wheel, 302-second driving wheel; 401-laser radar. DETAILED DESCRIPTION

[0025] The following is a further detailed description of a multifunctional concrete quality inspection robot and inspection method provided by the present invention in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will become clearer. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. For the convenience of description, the "upper" and "lower" described below are consistent with the upper and lower directions of the accompanying drawings, but this cannot be a limitation of the technical solution of the present invention.

[0026] Embodiment 1

[0027] Combine the following Figure 1 , the structural composition of the multifunctional concrete quality inspection robot of the present invention is described in detail.

[0028] Please continue to refer to Figure 1 A multifunctional concrete quality inspection robot includes a robot body 100, which is used to carry and protect various functional modules, sensors, etc.; and a millimeter wave radar group, a camera module, a concrete rebound tester 104 arranged on the robot body 100, the concrete rebound tester 104 is used for concrete strength detection, a ground penetrating radar 106, a laser radar 401 and a driving wheel group, the driving wheel group is installed at the bottom of the robot body 100, the driving wheel group includes a first driving wheel 301 and a second driving wheel 302, which is the main power source for the robot to move; the laser radar 401 is used for scanning the surrounding environment and scene mapping.

[0029] The millimeter-wave radar group includes a first millimeter-wave radar 102, a second millimeter-wave radar 103 and a third millimeter-wave radar 108 which are sequentially arranged on the outside of the robot body 100, and are mainly used to explore surrounding obstacles and assist in obstacle avoidance; the camera module includes a first camera module 201 and a second camera module 202 which are arranged at the front and rear ends of the robot body 100.

[0030] In this embodiment, more preferably, the driving module includes a central controller, a driving motor and a power battery.

[0031] In the present embodiment, more preferably, a rebound hammer storage slot 105 is further included. The rebound hammer storage slot 105 is arranged at the lower part of the robot body 100. The concrete rebound hammer 104 is retracted and stored in the rebound hammer storage slot 105 in a non-working state.

[0032] In this embodiment, more preferably, a ground penetrating radar storage slot 107 is further included. The ground penetrating radar storage slot 107 is arranged at the lower part of the robot body 100, and the ground penetrating radar 106 is retracted and stored in the ground penetrating radar storage slot 107 when not in operation.

[0033] In this embodiment, more preferably, the camera module includes a high-definition camera, a fill light and a cleaning device. The camera module is filled with light by the fill light when the light is weak, and the cleaning device sprays water to self-clean the surface when the camera is dirty.

[0034] Please continue to refer to Figure 1 This embodiment also provides a concrete quality detection method, which includes the following steps:

[0035] Step S1, using the multifunctional concrete quality detection robot;

[0036] Step S2: firstly, the concrete quality inspection robot is placed in the area to be inspected, and the surrounding environment is scanned in real time by using the laser radar 401 carried by the robot to establish a spatial point cloud model of the area to be inspected. Then, the driving module is started to issue instructions to control the movement of the concrete quality inspection robot. During the process, the millimeter wave radar group is used to scan obstacles on the route and assist in avoiding them, and the scene is mapped.

[0037] Step S3: After the scene mapping is completed, the concrete quality inspection robot performs quality inspection according to the built-in algorithm or the set moving path. During the inspection process, the camera module is first used to take high-definition pictures and videos of the apparent quality of concrete in the area to be inspected to complete the visual inspection; then the concrete rebound tester 104 is controlled to extend from the rebound tester storage slot 105 to align with the inspection area for strength inspection;

[0038] Step S4: After the central controller of the driving module identifies and determines that the above-mentioned visual and strength detection results have the possibility of quality defects, the ground penetrating radar 106 is controlled to extend from the ground penetrating radar storage slot 107 and perform internal damage detection on the parts with the possibility of quality defects;

[0039] Step S5, the concrete quality inspection robot enters the next inspection area, and repeats the inspection process of steps S1 to S4 until all inspections of all the areas to be inspected are completed.

[0040] In this embodiment, more preferably, the ground penetrating radar 106 is used to distinguish internal pores, cavities, and steel bar corrosion defects in concrete.

[0041] In particular, the concrete rebound tester 104 and the ground penetrating radar 106 are extended only in the working state, and are promptly retracted into the corresponding rebound tester storage slot 105 or the ground penetrating radar storage slot 107 after completion; the corresponding module has an auxiliary sensor that can identify the distance to the surface to be detected to ensure the safe use of the functional module.

[0042] In this embodiment, more preferably, if the concrete quality inspection robot finds concrete quality defective parts during work, it will be marked in the spatial point cloud model obtained by environmental scanning, and visualized through the mobile or platform interactive interface, so as to facilitate the staff to locate the defective parts and perform manual verification.

[0043] In this embodiment, more preferably, all data during the working process of the concrete quality inspection robot are recorded in the central controller and sent to the local server through the cloud for storage; the data transmission process adopts high-bandwidth, low-latency 5G mobile communication technology to ensure the continuity and clarity of the picture.

[0044] The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. The above embodiments only express several embodiments of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A multifunctional concrete quality inspection robot, characterized in that: It includes a robot body and a millimeter-wave radar group, a camera module, a concrete rebound tester, a ground penetrating radar, a laser radar and a driving wheel group arranged on the robot body. The driving wheel group is installed at the bottom of the robot body. The millimeter-wave radar group includes a first millimeter-wave radar, a second millimeter-wave radar and a third millimeter-wave radar which are sequentially arranged on the outside of the robot body; the camera module includes a first camera module and a second camera module which are arranged at the front and rear ends of the robot body.

2. The multifunctional concrete quality inspection robot according to claim 1 is characterized in that: The driving module includes a central controller, a driving motor and a power battery.

3. The multifunctional concrete quality inspection robot according to claim 2 is characterized in that: It also includes a rebound hammer storage groove, which is arranged at the lower part of the robot body, and the concrete rebound hammer is retracted and stored in the rebound hammer storage groove in a non-working state.

4. The multifunctional concrete quality inspection robot according to claim 3 is characterized in that: It also includes a ground-penetrating radar storage groove, which is arranged at the lower part of the robot body, and the ground-penetrating radar is retracted and stored in the ground-penetrating radar storage groove in a non-working state.

5. The multifunctional concrete quality inspection robot according to claim 4 is characterized in that: The camera module comprises a high-definition camera, a fill light and a cleaning device. The camera module is filled with light by the fill light when the light is weak, and the cleaning device sprays water to self-clean the surface when the camera is dirty.

6. A method for detecting concrete quality, characterized in that: The detection method comprises the following steps: Step S1, using the multifunctional concrete quality inspection robot according to any one of claims 1 to 5; Step S2: First, place the concrete quality inspection robot in the area to be inspected, use the laser radar on board to scan the surrounding environment in real time, and establish a spatial point cloud model of the area to be inspected. Then, start the drive module to issue instructions to control the concrete quality inspection robot to move. During the process, use the millimeter wave radar group to scan obstacles on the route and assist in avoiding them, and build a scene map. Step S3: After the scene mapping is completed, the concrete quality inspection robot performs quality inspection according to the built-in algorithm or the set moving path. During the inspection process, the camera module is first used to take high-definition pictures and videos of the concrete surface quality of the area to be inspected to complete the visual inspection; Then the concrete rebound test hammer is controlled to extend from the rebound test hammer storage slot to the detection area for strength detection; Step S4: After the central controller of the driving module identifies and determines that the above-mentioned visual and strength detection results have the possibility of quality defects, the ground penetrating radar is controlled to extend from the ground penetrating radar storage slot and perform internal damage detection on the parts with the possibility of quality defects; Step S5, the concrete quality inspection robot enters the next inspection area, and repeats the inspection process of steps S1 to S4 until all inspections of all the areas to be inspected are completed.

7. The detection method according to claim 6, characterized in that: The ground penetrating radar is used to distinguish the internal pores, cavities and steel bar corrosion defects of concrete.

8. The detection method according to claim 6, characterized in that: If the concrete quality inspection robot finds concrete quality defects during work, it will mark them in the spatial point cloud model obtained by environmental scanning and visualize them through a mobile or platform-side interactive interface to facilitate staff to locate the defective parts and conduct manual verification.

9. The detection method according to claim 6, characterized in that: All data during the working process of the concrete quality inspection robot is recorded in the central controller and sent to the local server through the cloud for storage; the data transmission process adopts high-bandwidth, low-latency 5G mobile communication technology to ensure the continuity and clarity of the picture.

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