Building facade wall climbing detection system and detection method

Abstract

The invention discloses a building facade wall climbing detection system and method, and relates to the technical field of building safety detection.The building facade wall climbing detection system comprises a wall climbing robot, a knocking unit, a camera shooting unit, a detection unit and a climbing unit are carried on the upper portion of the wall climbing robot, and the detection unit comprises a light source detection unit and a sound detection unit; the output end of the light source detection unit and the output end of the sound detection unit are connected with the input end of the signal receiving unit, the output end of the signal receiving unit is connected with the input end of the recognition unit, and the camera shooting unit comprises an acquisition unit. By means of the detection unit and the camera shooting unit, the detection efficiency of the wall-climbing robot on uneven positions, cracks and hollowing positions of the building outer wall facade is improved, and by means of the 3D model building unit and the stereoscopic model building unit, the damage situation of the building outer wall facade can be rapidly positioned; meanwhile, the damage range of the building outer wall facade can be found more meticulously, precautionary measures can be taken in advance, and risks are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of building safety detection, and in particular to a detection system and method for building facade wall climbing. Background Art

[0002] With the development of urbanization and the increase in the number of buildings, building safety hazards and safety accidents have become issues of great concern. The most common are safety hazards and accidents caused by cracks in cement-cast walls and hollow walls. The traditional method of detecting unevenness, cracks and hollows on the facades of buildings is to use manual detection, which not only poses safety hazards, but also has low efficiency and high time cost. The use of facade detection climbing robots or drones can avoid these problems, make detection more efficient and intelligent, and provide support for building maintenance and prevention.

[0003] The existing building facade climbing robot is equipped with a camera and a knocking device to detect hollows and cracks on the cement-poured building exterior walls. However, the detection accuracy is low, and the detection is recorded by shooting. When there is a lot of detection data, it is not possible to timely correspond the detection data with the location of the photographed building exterior wall. At the same time, it is not convenient to conduct subsequent in-depth analysis of the detection data through picture shooting. It is necessary to design a building facade climbing detection method to solve the above-mentioned problems. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings existing in the prior art and to propose a detection system and a detection method for building facade climbing to solve the problem that the above technical solutions cannot quickly locate and deeply analyze the detection data.

[0005] To achieve the above-mentioned object, the present invention is implemented through the following technical solutions: a detection system for climbing a building facade, comprising a wall-climbing robot, wherein the upper part of the wall-climbing robot is equipped with a knocking unit, a camera unit, a detection unit and a climbing unit, wherein the knocking unit is used to knock the facade of the building exterior wall, so that the hollow part and the non-hollow part of the facade of the building exterior wall produce different audible sounds, the camera unit is used to take and collect physical pictures of the facade of the building exterior wall, and collect and analyze the cracks, the detection unit is used to detect the flatness and hollowness of the facade of the building exterior wall, and the climbing unit is used for the wall-climbing robot to climb on the facade of the building exterior wall; The detection unit includes a light source detection unit and a sound detection unit, the output ends of the light source detection unit and the sound detection unit are connected to the input end of the signal receiving unit, the output end of the signal receiving unit is connected to the input end of the recognition unit, and the output end of the recognition unit is connected to the input end of the analysis unit and the 3D model building unit; The camera unit includes a collection unit, the output end of the collection unit is connected to the input end of the target detection unit, the output end of the target detection unit is connected to the input end of the size quantization unit, and the output end of the size quantization unit is connected to the input end of the analysis unit and the three-dimensional model building unit; The output end of the analysis unit is connected to the input end of the 3D model building unit and the stereo model building unit respectively.

[0006] Furthermore, the output ends of the 3D model building unit and the stereoscopic model building unit are connected to the output end of the integration unit, and the output end of the integration unit is connected to the input end of the storage unit.

[0007] Furthermore, the light source detection unit includes a laser detection module, a visible light detection module and an infrared detection module. The laser detection module is used to emit and receive lasers and detect hollows and cracks on the facade of the building's exterior wall. The visible light detection module is used to generate and detect visible light shadows. The infrared detection module is used to emit and receive infrared light.

[0008] Furthermore, the sound detection unit includes an ultrasonic detection module and an audible sound detection module. The ultrasonic detection module is used to transmit and receive ultrasonic waves and detect the propagation speed of ultrasonic waves on the facade of the building's exterior wall. The audible sound detection module is used to detect the changes in sound vibration frequency and timbre generated at hollow drums and non-hollow drums when the knocking unit knocks on the facade of the building's exterior wall.

[0009] Furthermore, the recognition unit includes a surface fitting module, a projection transformation module and a percussion recognition module. The surface fitting module is used to analyze and identify the thermal imaging characteristics and surface fitting algorithm of infrared light of the building's exterior wall facade, the projection transformation module is used to extract and analyze the shadow area image of the uneven part of the building's exterior wall facade, and the percussion recognition module is used to identify hollowness of the building's exterior wall facade.

[0010] Furthermore, the analysis unit includes an original damage module, a coarse damage positioning module and a fine damage segmentation module. The original damage module is used to take original photos of unevenness, gaps and hollows on the facade of the building's exterior wall; the coarse damage positioning module is used to mark and distinguish unevenness, gaps and hollows on the facade of the building's exterior wall; and the fine damage segmentation module is used to perform damage assessment on unevenness, gaps and hollows on the facade of the building's exterior wall.

[0011] Furthermore, a detection method for wall climbing detection on a building facade includes the following detection methods: S1: The wall-climbing robot is enabled to climb on the facade of the building's exterior wall by means of the climbing unit, and during the climbing process, the wall-climbing robot is enabled to knock on the facade of the building's exterior wall and take pictures of the facade of the building's exterior wall by means of the knocking unit and the camera unit; S2: The flatness, hollowness and cracks of the building's exterior wall facade are detected by the light source detection unit and the sound detection unit in the detection unit. The light source detection unit emits and receives laser, visible light and infrared light, and the sound detection unit emits and receives ultrasonic waves, and transmits the detection data to the signal receiving unit. The signal receiving unit transmits the received signal to the recognition unit for surface fitting, projection transformation and percussion recognition. At the same time, the camera unit collects images of the building's exterior wall facade through the acquisition unit, and performs target detection on the cracks through the target detection unit. The detected image is annotated with the fine size of the cracks through the size quantization unit; S3: The data in the recognition unit and the size quantification unit are transmitted to the analysis unit to perform original damage judgment, rough damage location and fine damage segmentation on the unevenness, gaps and hollows, and the unevenness, gaps and hollows on the building exterior wall are originally photographed, marked and distinguished, and damage assessed; S4: The unevenness, hollows and cracks detected on the building exterior wall are used to build a 3D model by a 3D model building unit, and the images collected by the camera unit are used to build a building stereo model by a stereo model building unit; S5: The established 3D model and the stereoscopic model are integrated through the integration unit, the unevenness, hollows and cracks are marked in the stereoscopic model, and the established integrated data is stored in the storage unit.

[0012] In summary, the present invention provides a building facade wall climbing detection system and detection method, which have the following beneficial effects: The percussion identification detection and ultrasonic detection are performed on the hollow parts through the knocking unit and the sound detection unit, the shadow area and cracks of the uneven parts are detected through the light source detection unit and the camera unit. At the same time, the 3D model establishment unit and the stereo model establishment unit can establish 3D models of the uneven parts, cracks and hollow parts, and compare and mark them with the physical picture model of the exterior wall facade of the cement-cast building. The uneven parts, cracks and hollow parts of the exterior wall facade of the cement-cast building can be quickly viewed and analyzed, thereby increasing the efficiency of manual review.

[0013] The detection unit and the camera unit not only improve the wall-climbing robot's detection efficiency of unevenness, cracks and hollows on the cement-poured building exterior walls, but also accurately present the damage details and actual situation of the building exterior wall facades through the target detection unit, size quantification unit and analysis unit, facilitating in-depth analysis of the detection data.

[0014] Through the 3D model building unit and the three-dimensional model building unit, not only can the damage of the cement-poured building exterior wall facade be quickly located, but the damage scope of the cement-poured building exterior wall facade can also be discovered more carefully, so that preventive measures can be taken in advance to reduce risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of a detection system and a detection method for building facade climbing according to the present invention; Figure 2 A schematic diagram of the system architecture of a building facade wall climbing detection system and detection method of the present invention; Figure 3 A schematic diagram of the light source detection unit architecture of a building facade wall climbing detection system and detection method of the present invention; Figure 4 A schematic diagram of the sound detection unit architecture of a building facade wall climbing detection system and detection method of the present invention; Figure 5 A schematic diagram of the recognition unit architecture of a building facade wall climbing detection system and detection method of the present invention; Figure 6 The present invention is a schematic diagram of the analysis unit architecture of a building facade wall climbing detection system and detection method. DETAILED DESCRIPTION

[0016] 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.

[0017] Example: See also Figure 1-Figure 6 As shown, a detection system for climbing the exterior wall of a building comprises a wall-climbing robot, the upper part of which is equipped with a knocking unit, a camera unit, a detection unit and a climbing unit. The knocking unit is used to knock on the exterior wall of the building so that different audible sounds are produced at the hollow parts and non-hollow parts of the exterior wall of the building. The camera unit is used to take and collect physical pictures of the exterior wall of the building, and collect and analyze cracks. The detection unit is used to detect the flatness and hollowness of the exterior wall of the building. The climbing unit is used for the wall-climbing robot to climb on the exterior wall of the building.

[0018] The detection unit includes a light source detection unit and a sound detection unit, the output ends of the light source detection unit and the sound detection unit are connected to the input end of the signal receiving unit, the output end of the signal receiving unit is connected to the input end of the recognition unit, the output end of the recognition unit is connected to the input end of the analysis unit and the 3D model establishment unit, and the 3D model establishment unit is used to establish a 3D model of the unevenness, hollowness and cracks detected on the facade of the building exterior wall; The camera unit includes a collection unit, the output end of the collection unit is connected to the input end of the target detection unit, the output end of the target detection unit is connected to the input end of the size quantization unit, the output end of the size quantization unit is connected to the input end of the analysis unit and the three-dimensional model building unit, and the three-dimensional model building unit uses the image collected by the camera unit to build a three-dimensional model of the building; The output end of the analysis unit is connected to the input end of the 3D model building unit and the stereoscopic model building unit respectively, and the analyzed data is displayed in the 3D model building unit and the stereoscopic model building unit through the analysis unit.

[0019] See also Figure 2 As shown, the output ends of the 3D model building unit and the three-dimensional model building unit are connected to the output end of the integration unit, and the output end of the integration unit is connected to the input end of the storage unit. The established 3D model and the three-dimensional model are integrated through the integration unit, and the unevenness, hollowness and cracks are marked in the three-dimensional model.

[0020] See also Figure 3 As shown, the light source detection unit includes a laser detection module, a visible light detection module and an infrared detection module. The laser detection module is used to emit and receive lasers, and detect hollows and cracks on the facade of the building's exterior wall. The laser beam is irradiated on the facade of the building's exterior wall and then reflected, and the reflected light is received. When there are hollows or cracks on the facade of the building's exterior wall, the surface will be uneven or concave, resulting in a change in the measured distance. By analyzing the distance data, it can be determined whether there are hollows and cracks. The visible light detection module is used to generate and detect visible light shadows. Since the unevenness of the facade of the building's exterior wall generates a shadow area under the irradiation of visible light, the flatness of the facade of the building's exterior wall can be detected by detecting the shadow area. The infrared detection module is used to emit and receive infrared light. Since infrared light has the characteristics of thermal radiation, at the gaps in the facade of the building's exterior wall, its absorption, conduction and dissipation of heat are different from those at the flat part of the facade of the building's exterior wall. Due to the influence of the heat dissipation area and air flow, the temperature is different from the surrounding area, and different grayscales are generated in the infrared image, so the depth and size of the gaps in the facade of the building's exterior wall can be detected.

[0021] See also Figure 4As shown, the sound detection unit includes an ultrasonic detection module and an audible sound detection module. The ultrasonic detection module is used to transmit and receive ultrasonic waves and detect the propagation speed of ultrasonic waves on the facade of the building's exterior wall. When the ultrasonic wave propagates on the facade of the building's exterior wall, since the facade of the building's exterior wall is made of the same material, the propagation speed of the ultrasonic wave in the non-hollow drum is fast, and the propagation speed in the hollow drum is affected by the air, and the propagation speed is slow, resulting in a difference in sound speed. The audible sound detection module is used to detect the changes in sound vibration frequency and timbre generated at the hollow drum and the non-hollow drum when the knocking unit knocks on the facade of the building's exterior wall. Since the same material is used when knocking, the sound vibration frequency generated at the hollow drum is low and the timbre is dull, while the sound vibration frequency generated at the non-hollow drum is high and the timbre is crisp, resulting in differences in vibration frequency and timbre.

[0022] See also Figure 5 As shown, the recognition unit includes a surface fitting module, a projection transformation module and a percussion recognition module. The surface fitting module is used to analyze and identify the thermal imaging characteristics of infrared light of the building's exterior wall facade and the surface fitting algorithm. According to the exterior wall surface temperature data points obtained by infrared thermal imaging, a surface fitting algorithm is used to construct a surface that fits these data points. If the exterior wall facade is flat, the deviation between the actual measured data points and the fitting surface is small; if there is unevenness, the data points and the fitting surface will have a large deviation. The projection transformation module is used to extract and analyze the shadow area image of the uneven exterior wall facade of the building. The two-dimensional image information of the wall can be transformed under different planes or viewing angles. Mapping and transformation, when detecting the shadow area of ​​the uneven facade of the building's exterior wall, by performing transmission transformation on the acquired image, the wall can be observed from different angles or projection methods, highlighting the difference between the shadow area and the surrounding area more clearly, and enhancing the characteristics of the shadow. The percussion recognition module is used to identify hollowing of the building's exterior wall facade. The characteristics of sound propagation in different media are different. When the wall is solid and the structure is tight, the sound produced by percussion is relatively crisp and solid; when there is hollowing in the wall, that is, there is an air layer in the wall or it is partially separated from the base layer, the sound produced by percussion will be relatively dull and hollow. By distinguishing the difference in sound, it can be determined whether the wall is hollow.

[0023] See also Figure 6 As shown, the analysis unit includes an original damage module, a damage coarse positioning module and a damage fine segmentation module. The original damage module is used to take original photos of the unevenness, gaps and hollows on the facade of the building's exterior wall. The damage coarse positioning module is used to mark and distinguish the unevenness, gaps and hollows on the facade of the building's exterior wall. The damage fine segmentation module is used to perform damage assessment on the unevenness, gaps and hollows on the facade of the building's exterior wall.

[0024] See also Figure 1-Figure 6 As shown, a method for detecting wall climbing on a building facade includes the following detection methods: S1: The wall-climbing robot is enabled to climb on the facade of the building's exterior wall by means of the climbing unit, and during the climbing process, the wall-climbing robot is enabled to knock on the facade of the building's exterior wall and take pictures of the facade of the building's exterior wall by means of the knocking unit and the camera unit; S2: The flatness, hollowness and cracks of the building's exterior wall facade are detected by the light source detection unit and the sound detection unit in the detection unit. The light source detection unit emits and receives laser, visible light and infrared light, and the sound detection unit emits and receives ultrasonic waves, and transmits the detection data to the signal receiving unit. The signal receiving unit transmits the received signal to the recognition unit for surface fitting, projection transformation and percussion recognition. At the same time, the camera unit collects images of the building's exterior wall facade through the acquisition unit, and performs target detection on the cracks through the target detection unit. The detected image is annotated with the fine size of the cracks through the size quantization unit; S3: The data in the recognition unit and the size quantification unit are transmitted to the analysis unit to perform original damage judgment, rough damage location and fine damage segmentation on the unevenness, gaps and hollows, and the unevenness, gaps and hollows on the building exterior wall are originally photographed, marked and distinguished, and damage assessed; S4: The unevenness, hollows and cracks detected on the building exterior wall are used to build a 3D model by a 3D model building unit, and the images collected by the camera unit are used to build a building stereo model by a stereo model building unit; S5: The established 3D model and the stereoscopic model are integrated through the integration unit, the unevenness, hollows and cracks are marked in the stereoscopic model, and the established integrated data is stored in the storage unit.

[0025] It can not only detect hollows on the building's exterior wall through percussion, audible sound and ultrasound, detect shadow areas of unevenness through visible light and transmission transformation, and detect cracks through infrared light and surface fitting, but also establish 3D models of unevenness, cracks and hollows, compare and mark them with the physical picture model of the building's exterior wall, and quickly view and analyze the unevenness, cracks and hollows on the building's exterior wall.

[0026] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A building facade wall climbing detection system, comprising a wall climbing robot, characterized in that: The upper part of the wall-climbing robot is equipped with a knocking unit, a camera unit, a detection unit and a climbing unit. The knocking unit is used to knock on the facade of the building's exterior wall, so that the hollow part and the non-hollow part of the facade of the building's exterior wall produce different audible sounds. The camera unit is used to take and collect physical pictures of the facade of the building's exterior wall, and collect and analyze the cracks. The detection unit is used to detect the flatness and hollowness of the facade of the building's exterior wall. The climbing unit is used for the wall-climbing robot to climb on the facade of the building's exterior wall. The detection unit includes a light source detection unit and a sound detection unit, the output ends of the light source detection unit and the sound detection unit are connected to the input end of the signal receiving unit, the output end of the signal receiving unit is connected to the input end of the recognition unit, and the output end of the recognition unit is connected to the input end of the analysis unit and the 3D model building unit; The camera unit includes a collection unit, the output end of the collection unit is connected to the input end of the target detection unit, the output end of the target detection unit is connected to the input end of the size quantization unit, and the output end of the size quantization unit is connected to the input end of the analysis unit and the three-dimensional model building unit; The output end of the analysis unit is connected to the input end of the 3D model building unit and the stereo model building unit respectively.

2. A building facade wall climbing detection system according to claim 1, characterized in that: The output ends of the 3D model building unit and the stereoscopic model building unit are connected to the output end of the integration unit, and the output end of the integration unit is connected to the input end of the storage unit.

3. A building facade wall climbing detection system according to claim 1, characterized in that: The light source detection unit includes a laser detection module, a visible light detection module and an infrared detection module. The laser detection module is used to emit and receive lasers and detect hollows and cracks on the facade of the building's exterior wall. The visible light detection module is used to generate and detect visible light shadows. The infrared detection module is used to emit and receive infrared light.

4. A building facade climbing detection system according to claim 1, characterized in that: The sound detection unit includes an ultrasonic detection module and an audible sound detection module. The ultrasonic detection module is used to transmit and receive ultrasonic waves and detect the propagation speed of ultrasonic waves on the facade of the building's exterior wall. The audible sound detection module is used to detect the changes in sound vibration frequency and timbre generated at hollow drums and non-hollow drums when the knocking unit knocks on the facade of the building's exterior wall.

5. A building facade climbing detection system according to claim 1, characterized in that: The recognition unit includes a surface fitting module, a projection transformation module and a percussion recognition module. The surface fitting module is used to analyze and recognize the thermal imaging characteristics of infrared light of the building's exterior wall facade and the surface fitting algorithm. The projection transformation module is used to extract and analyze the shadow area image of the uneven part of the building's exterior wall facade. The percussion recognition module is used to identify hollowness of the building's exterior wall facade.

6. A building facade climbing detection system according to claim 1, characterized in that: The analysis unit includes an original damage module, a rough damage positioning module and a fine damage segmentation module. The original damage module is used to take original photos of the unevenness, gaps and hollows on the facade of the building's exterior wall. The rough damage positioning module is used to mark and distinguish the unevenness, gaps and hollows on the facade of the building's exterior wall. The fine damage segmentation module is used to perform damage assessment on the unevenness, gaps and hollows on the facade of the building's exterior wall.

7. A method for detecting wall climbing on a building facade, using a building facade wall climbing detection system according to any one of claims 1 to 6, characterized in that: The following detection steps are included: S1: The wall-climbing robot is enabled to climb on the facade of the building's exterior wall by means of the climbing unit, and during the climbing process, the wall-climbing robot is enabled to knock on the facade of the building's exterior wall and take pictures of the facade of the building's exterior wall by means of the knocking unit and the camera unit; S2: The flatness, hollowness and cracks of the building's exterior wall facade are detected by the light source detection unit and the sound detection unit in the detection unit. The light source detection unit emits and receives laser, visible light and infrared light, and the sound detection unit emits and receives ultrasonic waves, and transmits the detection data to the signal receiving unit. The signal receiving unit transmits the received signal to the recognition unit for surface fitting, projection transformation and percussion recognition. At the same time, the camera unit collects images of the building's exterior wall facade through the acquisition unit, and performs target detection on the cracks through the target detection unit. The detected image is annotated with the fine size of the cracks through the size quantization unit; S3: The data in the recognition unit and the size quantification unit are transmitted to the analysis unit to perform original damage judgment, rough damage location and fine damage segmentation on the unevenness, gaps and hollows, and the unevenness, gaps and hollows on the building exterior wall are originally photographed, marked and distinguished, and damage assessed; S4: The unevenness, hollows and cracks detected on the building exterior wall are used to build a 3D model by a 3D model building unit, and the images collected by the camera unit are used to build a building stereo model by a stereo model building unit; S5: The established 3D model and the stereoscopic model are integrated through the integration unit, the unevenness, hollows and cracks are marked in the stereoscopic model, and the established integrated data is stored in the storage unit.

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