Concrete strength detection device and system based on multi-axis mechanical arm

Abstract

The concrete strength detection device comprises a bearing robot, a detection host and a collaborative robot are arranged at the top of the bearing robot, the collaborative robot is arranged on one side of the detection host, and an automatic program control detection device is arranged at the end, away from the bearing robot, of the collaborative robot. And an automatic positioning system is arranged at the top of the detection host. Compared with the prior art, the system has the advantages that network communication and intelligent control technologies are integrated, remote monitoring and operation are supported, an operator can obtain detection data and equipment state information in real time, a detection strategy can be conveniently and timely adjusted, meanwhile, the system has certain self-diagnosis and fault early warning functions, and the service life of the system is prolonged. And the reliability and the maintenance convenience of the equipment can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete strength detection, and in particular to a concrete strength detection device and system based on a multi-axis robotic arm. Background Art

[0002] Concrete is a mixture of binder, granular aggregate, water, and, if necessary, chemical and mineral admixtures, mixed in appropriate proportions. Its abundant raw materials, low price, and simple production process have led to its increasing use. Concrete also boasts high compressive strength, excellent durability, and a wide range of strength grades, making it a widely applicable material. It is used not only in various civil engineering projects but also in shipbuilding, machinery, marine development, geothermal engineering, and other fields.

[0003] Traditional concrete strength testing methods, such as rebound and core drilling, have numerous limitations. The rebound method is significantly affected by the concrete surface condition and suffers from unstable test accuracy. While the core drilling method offers high accuracy, it is a destructive test, causing damage to the structure and resulting in low test efficiency. As modern construction projects grow larger and more complex, traditional testing methods are no longer able to meet the demands for efficient, accurate, and non-destructive testing, necessitating the development of a new testing device and system. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the above technical defects and provide a concrete strength detection device and system based on a multi-axis robotic arm.

[0005] In order to solve the above problems, the technical solution of the present invention is: a concrete strength detection device and system based on a multi-axis robotic arm, including a carrying robot, a detection host and a collaborative robot are provided on the top of the carrying robot, the collaborative robot is arranged on one side of the detection host, and an automatic program-controlled detection device is provided at the end of the collaborative robot away from the carrying robot, and an automatic positioning system is provided on the top of the detection host.

[0006] Furthermore, the carrying robot, the detection host, the collaborative robot, the automatic program-controlled detection device and the automatic positioning system are electrically connected.

[0007] Furthermore, the carrying robot adopts a wheeled or tracked mobile chassis, which has good terrain adaptability and movement stability.

[0008] Furthermore, the collaborative robot adopts a multi-axis linkage design, has a high degree of freedom and flexibility, can accurately simulate human arm movements, and achieve multi-angle and multi-directional movements in three-dimensional space.

[0009] Furthermore, the central part of the detection host includes a network communication system and a power supply system. The detection host is equipped with a high-performance data processing chip and professional signal analysis software, and has powerful data processing and computing capabilities. The network communication system supports multiple communication protocols to achieve high-speed and stable data transmission between the detection device and the host computer and cloud server. The power supply system adopts a high-efficiency lithium battery pack or a design that can be connected to an external stable power supply, and has an intelligent power management function. The concrete strength prediction algorithm is added to the detection host, and a multivariate regression model is established in combination with parameters such as component size, age, and mix ratio to improve the strength calculation accuracy. The detection host is equipped with a leakage protection module and an overheating power-off mechanism to ensure the safety of equipment and operators.

[0010] Furthermore, the excitation device of the automatic program-controlled detection device can generate elastic wave signals in various forms, such as ultrasonic waves, stress waves, etc., and by adjusting the excitation parameters, it can adapt to the detection needs of concrete structures of different types and thicknesses. A force control sensor is set at the end of the automatic program-controlled detection device to provide real-time feedback on the knocking force to avoid detection errors or equipment damage caused by uneven concrete surface.

[0011] Furthermore, the automatic positioning system is based on the high-precision positioning technology of dual positioning antennas, combining satellite positioning and indoor positioning means to obtain the precise coordinate information of the robot in space in real time. A dynamic obstacle avoidance algorithm is developed in the automatic positioning system to automatically adjust the moving path by scanning the surrounding obstacles in real time to avoid collisions.

[0012] A concrete strength detection system based on a multi-axis robotic arm is characterized in that it includes a load-bearing robot control and a collaborative robot control. After the intelligent detection robot is powered on and started, the load-bearing robot automatically searches and connects to the available network through the network communication system. The operator can send instructions through the remote control terminal and click the "AGV positioning" button to enter the load-bearing robot control interface. In the control interface, the robot network connection IP address and port number can be set to achieve stable communication with the detection host and other equipment. By inputting mobile program control instructions, the moving direction and speed of the load-bearing robot can be accurately controlled. In addition, the positioning system control mode can be selected to use the coordinate information obtained in real time by the automatic positioning system to achieve precise navigation. The file reading mode can also be selected to control the robot movement according to the preset path file. The control interface also has functions such as dotting, resetting, saving positioning, opening files, and only sending waypoints, which facilitate operators to operate flexibly according to different detection scenarios. When the load-bearing robot reaches the designated detection area and completes positioning, the operator The operator clicks the "Navigation Component" button to enter the collaborative robot control interface. In this interface, the detection structure information and detection point settings are first performed. Reasonable detection point distribution rules can be set according to the type, size and other parameters of the concrete structure, such as arranging the detection points in a grid, matrix or custom path. At the same time, the knocking sequence can be set to ensure the systematic and comprehensiveness of the detection process, accurately determine the knocking surface, and monitor the position and posture of the collaborative robot's end effector through real-time robotic arm coordinate feedback. The operator can adjust the collaborative robot IP port and the programmable hammer voltage according to actual detection needs, control the knocking force and frequency, to obtain the best elastic wave excitation effect, realize robotic arm connection and reset operations, and ensure that the robotic arm is in the initial stable state before each detection. Through the power-on enable and zero-force mode switching functions, it can flexibly switch between the detection mode and the test surface determination mode to improve detection efficiency and accuracy. It has the component selection function. The robot can automatically move to the origin position of the component according to the input information, providing a benchmark for subsequent detection operations.

[0013] The advantages of the present invention compared with the existing technology are:

[0014] (1) Through the collaborative operation of automated carrying robots and collaborative robots, the inspection tasks of multiple inspection points can be completed quickly and continuously according to the preset paths and procedures. Compared with traditional manual inspection methods, the inspection time is greatly shortened and the inspection efficiency is improved. It is especially suitable for batch inspection of large-scale construction projects.

[0015] (2) It integrates network communication and intelligent control technologies to support remote monitoring and operation. Operators can obtain detection data and equipment status information in real time, which facilitates timely adjustment of detection strategies. At the same time, the system has certain self-diagnosis and fault warning functions, which can improve the reliability and maintenance convenience of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the device structure of the present invention.

[0017] As shown in the figure: 1. Carrying robot; 2. Detection host; 3. Collaborative robot; 4. Automatic program-controlled detection device; 5. Automatic positioning system. DETAILED DESCRIPTION

[0018] The specific embodiments of the present invention are further described below with reference to the accompanying drawings, wherein the same parts are represented by the same reference numerals.

[0019] It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to directions in the accompanying drawings, and the words "inside" and "outside" refer to directions toward or away from the geometric center of a specific component, respectively.

[0020] In order to make the contents of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0021] like Figure 1 As shown, a concrete strength testing device based on a multi-axis robotic arm includes a load-bearing robot 1, a detection host 2 and a collaborative robot 3 are provided on the top of the load-bearing robot 1, the collaborative robot 3 is arranged on one side of the detection host 2, an automatic program-controlled detection device 4 is provided on the end of the collaborative robot 3 away from the load-bearing robot 1, an automatic positioning system 5 is provided on the top of the detection host 2, and the load-bearing robot 1, the detection host 2, the collaborative robot 3, the automatic program-controlled detection device 4 and the automatic positioning system 5 are electrically connected;

[0022] The carrying robot 1 adopts a crawler mobile chassis with good terrain adaptability and mobile stability. The chassis is equipped with a drive motor and an intelligent control system. It can automatically travel according to a preset path or remote command, carrying collaborative robots and other detection modules to the designated detection position. At the same time, the chassis has a certain load capacity and shock absorption measures to protect internal equipment from vibration and impact.

[0023] Collaborative robot 3 adopts a multi-axis linkage design with high degrees of freedom and flexibility. It can accurately simulate human arm movements and achieve multi-angle and multi-directional movements in three-dimensional space. Its end effector can be flexibly replaced according to detection requirements to adapt to different detection operations, such as installing detection probes and tapping devices, so as to accurately locate various detection points on the surface of the concrete structure.

[0024] The detection host 2 is equipped with a high-performance data processing chip and professional signal analysis software, and has powerful data processing and computing capabilities. It can quickly pre-process the elastic wave signals collected by the sensor by filtering, amplifying, and spectral analysis, and then use advanced algorithm models, combined with information such as the material properties and structural parameters of concrete, to accurately calculate the strength value of concrete and store and manage the test results. A concrete strength prediction algorithm is added to the detection host 2, and a multivariate regression model is established based on parameters such as component size, age, and mix ratio to improve the accuracy of strength calculations, reduce manual parameter adjustments, and realize intelligent analysis and prediction of test results. The detection host 2 is equipped with a leakage protection module and an overheating power-off mechanism to ensure the safety of equipment and operators, improve operational safety, and comply with industrial equipment safety standards.

[0025] The network communication system supports multiple communication protocols, such as WiFi, Bluetooth, 5G, etc., to achieve high-speed and stable data transmission between the detection device and the host computer and cloud server, facilitating remote monitoring of the detection process and real-time acquisition of detection results. It also supports the networking and collaborative work of multiple detection devices to improve the execution efficiency of large-scale detection tasks.

[0026] The power supply system adopts a high-efficiency lithium battery pack or a design that can be connected to an external stable power supply. It has intelligent power management functions, can monitor the battery power in real time, and automatically adjust the power supply strategy according to the power consumption of the device to ensure the stable operation of each component during long-term continuous operation, avoiding detection interruptions due to power problems. The power supply system integrates solar charging panels and fast battery replacement modules. The solar panel can be folded and installed on the top of the carrying robot for real-time charging during outdoor operations. The battery uses a standardized interface and supports rapid replacement within 3 minutes. A dynamic energy consumption management algorithm has been developed to intelligently adjust the power consumption of each module according to the detection task load, extending the battery life to more than 12 hours.

[0027] The excitation device of the automatic program-controlled detection device 4 can generate various forms of elastic wave signals, such as ultrasonic waves, stress waves, etc. By adjusting the excitation parameters, it can adapt to the detection needs of concrete structures of different types and thicknesses. The sensor has high sensitivity and wide-band response characteristics, and can accurately receive elastic wave signals reflected or transmitted from the inside of the concrete, providing reliable data for subsequent strength analysis. A force control sensor is set at the end of the automatic program-controlled detection device to provide real-time feedback on the knocking force, avoiding detection errors or equipment damage caused by uneven concrete surface, reducing the time of manual tool replacement, and improving detection flexibility and accuracy.

[0028] The automatic positioning system 5 is based on the high-precision positioning technology of dual positioning antennas, combining satellite positioning, such as GPS, Beidou, etc., with indoor positioning, such as laser positioning, visual positioning, etc., to obtain the precise coordinate information of the robot in space in real time. It can not only achieve centimeter-level positioning accuracy in open outdoor areas, but also effectively suppress interference through multi-sensor fusion algorithms in indoor or complex environments, ensuring the accuracy and stability of positioning, and providing basic support for the robot's precise operation. In specific use, a dynamic obstacle avoidance algorithm is developed in the automatic positioning system 5. By real-time scanning of surrounding obstacles, it automatically adjusts the moving path to avoid collisions, improves the autonomous operation capability in complex environments, and ensures detection safety.

[0029] After the intelligent detection robot in the load-carrying robot control is powered on and started, it automatically searches for and connects to an available network through the network communication system. The operator can send instructions through a remote control terminal such as a tablet computer, smartphone, or industrial control computer and click the "AGV Positioning" button to enter the load-carrying robot control interface;

[0030] In the control interface, you can set the robot's network connection IP address and port number to achieve stable communication with the detection host and other equipment. By inputting movement program control instructions, such as left front, forward, right front, left back, backward, right back and other directional instructions, you can accurately control the movement direction and speed of the load-bearing robot. In addition, you can also choose the positioning system control method. For example, when using AGV positioning mode, the coordinate information obtained in real time by the automatic positioning system is used to achieve precise navigation. You can also choose file reading mode to control the robot's movement according to a preset path file.

[0031] The control interface also has functions such as marking, resetting, saving positioning, opening files, and sending only waypoints, allowing operators to flexibly operate according to different inspection scenarios. The control interface has added an AR visualization module, which superimposes the detection point location and component information on the actual scene in real time through a tablet or smart glasses to assist operators in rapid positioning. The wizard-style operation process is designed to provide standardized operation guidance for different inspection scenarios, lowering the threshold for novice operators, improving operational intuitiveness, and reducing human errors.

[0032] It also has dot function for recording RTK positioning point coordinate information and marking important detection positions; reset function for clearing the current file positioning information and replanning the path; save positioning function for saving the current detection point coordinates and related information; open file function for selecting and loading a pre-set detection path file; send waypoint only function for sending only the starting point and key waypoint information, which is used for preset model structure simulation action detection and simplifies the control process under non-standard paths.

[0033] Collaborative robot control is used when the carrier robot reaches the designated inspection area and completes positioning. The operator clicks the "Navigation Component" button to enter the collaborative robot control interface. In this interface, the inspection structure information and inspection point layout are first set. According to the type of concrete structure (such as beams, slabs, columns, etc.) and dimensions (such as length, width, height and other parameters), reasonable inspection point distribution rules can be set, such as arranging inspection points in a grid, matrix or custom path. At the same time, the tapping order can be set, such as row by row, column by column or random order, to ensure the systematic and comprehensiveness of the inspection process.

[0034] The striking surface is accurately determined, and the position and posture of the collaborative robot's end effector are monitored through real-time robotic arm coordinate feedback. The operator can adjust the collaborative robot's IP port and the voltage of the programmable striker according to actual inspection needs, control the striking force and frequency, and obtain the best elastic wave excitation effect, realize robotic arm connection and reset operations, and ensure that the robotic arm is in an initial stable state before each inspection. Through the power-on enable and zero-force mode switching functions, it can flexibly switch between the inspection mode and the test surface determination mode, improving inspection efficiency and accuracy. It has the function of selecting components and reading component information such as component number and type through AGV. The robot can automatically move to the origin position of the component based on the input information, providing a benchmark for subsequent inspection operations.

[0035] The detection mode is used for elastic wave excitation and signal acquisition, and the test surface determination mode is used for rapid positioning and calibration of the test surface.

[0036] The present invention and its embodiments are described above. This description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs structures and embodiments similar to this technical solution without inventiveness, they shall fall within the scope of protection of the present invention.

Claims

1. A concrete strength detection device based on a multi-axis robotic arm, characterized by: The invention comprises a carrying robot (1), wherein a detection host (2) and a collaborative robot (3) are provided on the top of the carrying robot (1), the collaborative robot (3) is arranged on one side of the detection host (2), an automatic program-controlled detection device (4) is provided on the end of the collaborative robot (3) away from the carrying robot (1), and an automatic positioning system (5) is provided on the top of the detection host (2).

2. The concrete strength detection device based on a multi-axis robotic arm according to claim 1, characterized in that: The carrying robot (1), the detection host (2), the collaborative robot (3), the automatic program-controlled detection device (4) and the automatic positioning system (5) are electrically connected.

3. The concrete strength detection device based on a multi-axis robotic arm according to claim 1, characterized in that: The carrying robot (1) adopts a wheeled or tracked mobile chassis and has good terrain adaptability and movement stability.

4. The concrete strength detection device based on a multi-axis robotic arm according to claim 1, characterized in that: The collaborative robot (3) adopts a multi-axis linkage design, has a high degree of freedom and flexibility, can accurately simulate human arm movements, and realize multi-angle and multi-directional movements in three-dimensional space.

5. The concrete strength detection device based on a multi-axis robotic arm according to claim 1, characterized in that: The central part of the detection host (2) includes a network communication system and a power supply system. The detection host (2) is equipped with a high-performance data processing chip and professional signal analysis software, and has powerful data processing and computing capabilities. The network communication system supports multiple communication protocols to achieve high-speed and stable data transmission between the detection device and the host computer and cloud server. The power supply system adopts a high-efficiency lithium battery pack or a design that can be connected to an external stable power supply, and has an intelligent power management function. The detection host (2) adds a concrete strength prediction algorithm, combines parameters such as component size, age, and mix ratio, and establishes a multivariate regression model to improve the strength calculation accuracy. The detection host (2) is provided with a leakage protection module and an overheating power-off mechanism to ensure the safety of the equipment and operators.

6. The concrete strength detection device based on a multi-axis robotic arm according to claim 1, characterized in that: The excitation device of the automatic program-controlled detection device (4) can generate elastic wave signals in various forms, such as ultrasonic waves, stress waves, etc., and can adapt to the detection requirements of concrete structures of different types and thicknesses by adjusting the excitation parameters. A force control sensor is provided at the end of the automatic program-controlled detection device (4) to provide real-time feedback on the knocking force, thereby avoiding detection errors or equipment damage caused by uneven concrete surfaces.

7. The concrete strength detection device based on a multi-axis robotic arm according to claim 1, characterized in that: The automatic positioning system (5) is based on high-precision positioning technology of dual positioning antennas, combined with satellite positioning and indoor positioning means, to obtain the precise coordinate information of the robot in space in real time. A dynamic obstacle avoidance algorithm is developed in the automatic positioning system (5), which automatically adjusts the moving path to avoid collisions by scanning the surrounding obstacles in real time.

8. A concrete strength detection system based on a multi-axis robotic arm, characterized by: The invention comprises the control of a carrier robot (1) and a collaborative robot (3). After the intelligent detection robot is powered on and started, the carrier robot (1) automatically searches and connects to an available network through a network communication system. The operator can send instructions through a remote control terminal and click the "AGV positioning" button to enter the control interface of the carrier robot (1). In the control interface, the robot network connection IP address and port number can be set to achieve stable communication with the detection host (2) and other equipment. By inputting mobile program control instructions, the moving direction and speed of the carrier robot (1) can be accurately controlled. In addition, the positioning system control mode can be selected to use the coordinate information obtained in real time by the automatic positioning system (5) to achieve precise navigation. The file reading mode can also be selected to control the movement of the robot according to the preset path file. The control interface also has the functions of marking, resetting, saving positioning, opening files, and only sending waypoints, which facilitates the operator to operate flexibly according to different detection scenarios. When the carrier robot (1) reaches the designated detection area and completes positioning, the operator clicks Click the "Navigation Component" button to enter the collaborative robot (3) control interface. In this interface, the detection structure information and detection point settings are first performed. According to the type, size and other parameters of the concrete structure, reasonable detection point distribution rules can be set, such as arranging detection points in a grid, matrix or custom path. At the same time, the knocking sequence can be set to ensure the systematic and comprehensiveness of the detection process, accurately determine the knocking surface, and monitor the position and posture of the collaborative robot (3) end effector through real-time robot arm coordinate feedback. The operator can adjust the collaborative robot (3) IP port and programmable hammer voltage according to actual detection needs, control the knocking force and frequency, and obtain the best elastic wave excitation effect, realize the robot arm connection and reset operation, and ensure that the robot arm is in the initial stable state before each detection. Through the power-on enable and zero-force mode switching functions, it can flexibly switch between the detection mode and the test surface determination mode to improve the detection efficiency and accuracy. It has the component selection function. The robot can automatically move to the origin position of the component according to the input information, providing a benchmark for subsequent detection operations.

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