Construction steel bar detection system and method based on UWB technology and steel bar scanner fusion

Abstract

The invention relates to a construction steel bar detection system and method based on the fusion of a UWB technology and a steel bar scanner, and the system comprises a UWB positioning module which is used for obtaining the real-time position coordinates of scanning equipment in a three-dimensional space; the reinforcing steel bar scanning module is integrated with a UWB label and is used for collecting reinforcing steel bar scanning data; and the data processing module is used for fusing the UWB positioning data and the steel bar scanning data to realize three-dimensional reconstruction and evaluation of the position, the diameter and the length of the steel bar and the thickness of the protective layer. The beneficial effects of the invention are that the UWB tag is fixed on the steel bar scanner, and the UWB tag and the three base stations are utilized to realize three-dimensional positioning and distance measurement. Through a TDOA algorithm, a bidirectional bilateral distance measurement method and a three-ball positioning algorithm, the coordinates of the UWB tag in the space are accurately calculated.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of building engineering detection, and particularly relates to a building steel bar detection system and method based on fusion of UWB technology and a steel bar scanner. BACKGROUND

[0002] Steel bars, as the "skeleton" of buildings, play a key role in resisting tension and controlling crack propagation. In recent years, structural failure accidents caused by steel bar corrosion, protective layer peeling and other diseases have occurred frequently. Therefore, accurate detection of the spatial position, diameter and length of steel bars is a core technical requirement for ensuring the safety of the whole life cycle of buildings, reducing maintenance costs and prolonging the service life. Current steel bar detection mainly relies on manual point-by-point detection and electromagnetic induction scanning technology, but the existing technology has the following problems:

[0003] 1. Dual contradiction between efficiency and accuracy. Traditional manual detection adopts a "handheld electromagnetic scanner + marker pen" mode, which has low detection speed and cannot meet the rapid detection needs of large buildings. At the same time, manual marking is easily affected by operation specifications, resulting in high repeat detection rate in the same area and thus reducing detection efficiency.

[0004] 2. Limitations in obtaining three-dimensional spatial information. Electromagnetic induction type steel bar scanners detect based on electromagnetic field changes. In terms of planar position detection, the positions in the X and Y directions are usually measured and obtained by means of the encoder rollers provided on the steel bar scanner, and scanning operations are performed in the two directions to draw the steel bar distribution in the XY plane. In terms of depth detection, the depth information in the Z axis direction (i.e., the direction perpendicular to the detection plane), which specifically represents the protective layer thickness of the steel bar, is measured by magnetic induction technology. However, in actual application, it is difficult to directly establish an accurate correlation between this detection technology and the overall structure coordinate system of the building, which to some extent limits its precision and applicability in the detection of complex building structures. SUMMARY

[0005] The purpose of the present application is to overcome the deficiencies in the prior art and provide a building steel bar detection system and method based on fusion of UWB technology and a steel bar scanner.

[0006] In a first aspect, a building steel bar detection system based on fusion of UWB technology and a steel bar scanner is provided, comprising:

[0007] a UWB positioning module for obtaining real-time position coordinates of a scanning device in a three-dimensional space;

[0008] a steel bar scanning module integrated with a UWB tag for collecting steel bar scanning data;

[0009] The data processing module is used to integrate UWB positioning data and rebar scanning data to achieve three-dimensional reconstruction and evaluation of rebar location, diameter, length, and protective layer thickness.

[0010] Secondly, a method for detecting building rebar based on the fusion of UWB technology and a rebar scanner is provided, executed by the system described in the first aspect, including:

[0011] S1. Set up UWB base stations in the detection area and fix UWB tags to the rebar scanner;

[0012] S2. Move the rebar scanner to scan the rebar, and at the same time obtain the three-dimensional coordinates of the scanner in real time through the UWB tag;

[0013] S3. Obtain rebar scanning data using the rebar scanner;

[0014] S4. Based on the three-dimensional coordinates and the steel bar scanning data, obtain the target parameters of the steel bar.

[0015] As a preferred method, in S2, the coordinates of the UWB tag in space are calculated using the TDOA algorithm, combined with the two-way bilateral ranging method and the three-sphere positioning algorithm.

[0016] Preferably, in S3, the steel bar scanning data includes the steel bar cross-sectional area, rib attenuation coefficient, and rib height parameter.

[0017] Preferably, in S4, the target parameters of the reinforcing bars include the thickness of the protective layer, the spacing between the reinforcing bars, the position of the reinforcing bars, the diameter of the reinforcing bars, and the length of the reinforcing bars.

[0018] As a preferred option, the formula for calculating the thickness of the concrete cover for reinforcing bars is:

[0019]

[0020] In the formula, v is the propagation speed of electromagnetic waves in concrete, and Δt is the time difference between the device's transmission and echo.

[0021] The formula for calculating the spacing of reinforcing bars is:

[0022]

[0023] In the formula, t1 and t2 are the echo times of adjacent reinforcing bars.

[0024] As a preferred option, the formula for calculating the diameter of the reinforcing bar is:

[0025]

[0026] Among them, A s The cross-sectional area of ​​the steel bar is measured by the scanner, α is the rib attenuation coefficient, h is the rib height, and d is the diameter.

[0027] As preferred, the calculation formula of the length of the steel bar is:

[0028]

[0029] wherein (x i ,y i ,z i ), i = 1, 2, …, n are three-dimensional coordinates of a series of discrete points on the steel bar.

[0030] In a third aspect, a computer storage medium is provided, and the computer storage medium stores a computer program; when the computer program runs on a computer, the computer program causes the computer to execute the method of any one of the second aspect.

[0031] In a fourth aspect, an electronic device is provided, and the electronic device comprises:

[0032] a memory for storing a computer program;

[0033] a processor for executing the computer program to implement the method of any one of the second aspect.

[0034] The beneficial effects of the present application are:

[0035] 1. The present application fixes the UWB tag on the steel bar scanner, and uses the UWB tag and three base stations to realize three-dimensional positioning and ranging. Through the TDOA algorithm, the two-way double-side ranging method (DS-TWR) and the three-ball positioning algorithm, the coordinates of the UWB tag in space are accurately calculated. In the detection process, taking the base station A as the fixed origin, the steel bar scanner is moved, and the plane coordinates are preliminarily determined in combination with the measured thickness of the protective layer and the spacing between the steel bars, and the space coordinates are supplemented by the UWB to quickly construct a three-dimensional model of the surface steel bar arrangement of the building.

[0036] 2. Based on the electromagnetic wave attenuation coefficient, the steel bar diameter is dynamically corrected by means of the steel bar cross-sectional area, rib attenuation coefficient and rib height parameters obtained by the scanner, effectively solving the rib interference problem in the measurement of the rib steel bar diameter.

[0037] 3. The present application combines the steel bar position information provided by the UWB positioning data and the linear scanning data of the scanner, adopts the method of three-dimensional point cloud data fitting to calculate the length of the steel bar, and realizes continuous length measurement. The UWB positioning system can accurately record the three-dimensional coordinate data of the steel bar at different positions, and the steel bar scanner performs stable and uniform linear scanning along the length direction of the steel bar to obtain the profile and feature information of the steel bar. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1The architectural steel bar detection system based on the UWB technology and the steel bar scanner fusion provided by the application has the architectural steel bar detection system based on the UWB technology and the steel bar scanner fusion provided by the application.

[0039] Figure 2 The diameter correction algorithm flowchart of the architectural steel bar detection system and method based on the UWB technology and the steel bar scanner fusion provided by the application.

[0040] Figure 3 The steel bar length reconstruction point cloud schematic diagram of the architectural steel bar detection system and method based on the UWB technology and the steel bar scanner fusion provided by the application. DETAILED DESCRIPTION

[0041] The application will be further described below in conjunction with the embodiments. The following description of the embodiments is only used to help understand the application. It should be pointed out that for ordinary people in the technical field, some modifications can be made to the application without departing from the principles of the application, and these improvements and modifications also fall within the protection scope of the claims of the application.

[0042] Embodiment 1

[0043] To solve the problems of low efficiency and poor precision in the prior art, the embodiment 1 of the application provides an architectural steel bar detection system based on the UWB technology and the steel bar scanner fusion, which realizes three-dimensional accurate detection of the position, diameter and length of the architectural steel bar. Figure 1 As shown in the figure, the system comprises:

[0044] The UWB positioning module is used to obtain the real-time position coordinates of the scanning device in the three-dimensional space.

[0045] The UWB positioning module comprises a plurality of base stations. For example, a 6.5 / 8GHz dual-band base station is used, three UWB base stations are arranged in the detection area according to the acute triangle layout, and the spacing between the base stations is 10 meters. The base stations should be arranged far away from metal objects and liquid environment to reduce signal interference. The base station antenna should be kept more than 30cm away from the wall, and each base station is powered and data transmitted through the POE network cable.

[0046] The working principle of the UWB positioning module is that the UWB tag is fixed to the steel bar scanner, and three base stations are used with the UWB tag to realize three-dimensional positioning and ranging function. The UWB calculates the coordinates of the distance between the base station in space through the TDOA algorithm, combined with the double-sided ranging method (DS-TWR) and the three-ball positioning algorithm. By moving the steel bar scanner in the X / Y direction of the fixed origin (base station A), the steel bar scanner can calculate the thickness of the protective layer and the spacing between the steel bars, so as to preliminarily determine the coordinates in the plane. Through the UWB, the x, y, and z coordinates in space can be supplemented to realize the modeling of the building surface steel bar arrangement position. The UWB tag moves with the steel bar scanner, and the moving distance can be positioned to supplement the unknown distance of the steel bar scanner moving distance, and the UWB coordinate data can be used to determine whether the steel bar scanner is deviated.

[0047] The steel bar scanning module is integrated with a UWB tag for collecting steel bar scanning data.

[0048] The steel bar scanning module can realize multi-mode scanning, which is equipped with a multi-coil sensor and supports five modes such as JGJ scanning and grid scanning. In the JGJ mode, three positions are automatically measured according to the regulations and the average value is taken, and the grid scanning realizes high-density point cloud acquisition.

[0049] In addition, the operation specification of the steel bar scanning module is that the scanning direction is perpendicular to the steel bar direction, the uniform speed is maintained, and the upper layer of the mesh steel bar is positioned first and then the lower layer is measured. Calibration is performed before each scan.

[0050] The data processing module is used for fusing UWB positioning data and steel bar scanning data to realize three-dimensional reconstruction and evaluation of steel bar position, diameter, length, and protective layer thickness.

[0051] The data processing module transmits data remotely to the cloud through 5G communication to realize big data analysis and long-term quality evaluation.

[0052] Embodiment 2

[0053] Based on the embodiment 1, the application embodiment 2 provides a building steel bar detection method based on UWB technology and steel bar scanner fusion, comprising:

[0054] S1, arranging UWB base stations in the detection area, and fixing the UWB tag on the steel bar scanner.

[0055] S1 is the device installation and initialization step, specifically as follows:

[0056] UWB tag installation: firmly fix the UWB tag at a suitable position of the steel bar scanner, and ensure that the antenna part of the UWB tag is not blocked so as to be able to normally receive and send signals.

[0057] Base station arrangement: three UWB base stations are arranged in a right-angle triangle layout in the detection area, and the spacing between the base stations is 10 meters. When arranging the base stations, they should be kept away from metal objects and liquid environment to reduce signal interference. The base station antenna should be kept more than 30 cm away from the wall, and each base station is powered and data transmitted through POE network cable.

[0058] System initialization: turn on the UWB positioning system and the steel bar scanner, and perform system initialization setting. It includes parameter configuration of UWB tag and base station, such as frequency setting (6.5 / 8GHz dual frequency), communication protocol setting, etc.; at the same time, the steel bar scanner is calibrated to ensure that its sensor is in normal working state.

[0059] S2, moving the steel bar scanner to scan the steel bar, and simultaneously acquiring the three-dimensional coordinates of the scanner in real time through the UWB tag.

[0060] In S2, the UWB tag is fixed to the steel bar scanner, and the three-dimensional positioning and ranging function is realized by using the UWB tag and three base stations. The UWB calculates its own distance from the base station in space through TDOA algorithm, combined with DS-TWR and three-ball positioning algorithm. By moving the steel bar scanner in the X / Y direction with the fixed origin (base station A), the steel bar scanner can calculate the thickness of the protective layer and the spacing between the steel bars, so as to preliminarily determine the coordinates in the plane. Through the UWB, the x, y and z coordinates in space are supplemented, so as to realize the modeling of the building surface steel bar arrangement position. The UWB tag moves with the steel bar scanner, and the moving distance can be positioned, so as to supplement the unknown distance of the steel bar scanner moving distance, and the steel bar scanner moving direction can be determined according to the UWB coordinate data.

[0061] Wherein, TDOA calculates the time difference from the UWB tag to the three base stations, which is used for time correction of the UWB system bottom layer, and is auxiliary to DS-TWR and three-ball positioning algorithm. When the UWB system starts to work, the more accurate DS-TWR and three-ball positioning algorithm are run first, and the TDOA algorithm is used for correcting and screening the time data of the tag arriving at the three base stations in parallel, so as to optimize the positioning accuracy.

[0062] The application adopts the bidirectional double-edge ranging method to further measure the distance between the UWB tag and the base station. The specific process is as follows: the UWB tag sends a ranging request signal, the base station responds immediately after receiving the signal, the tag records the time of sending the request and receiving the response, the base station also records the time of receiving the request and sending the response, and the round trip time of the signal is calculated through these time information, and then the accurate distance between the tag and the base station is obtained.

[0063] Specifically, Double-Sided Two-Way Ranging calculates the distance between two devices (tag and anchor) through multiple signal exchanges and reduces the impact of clock bias. The process includes three message exchanges:

[0064] Message 1: The tag sends a signal to the anchor and records the sending time T t1 .

[0065] Message 2: The anchor records the arrival time T a1 after receiving the signal, and then sends a reply signal to the tag at time T a2 .

[0066] Message 3: The tag receives the reply from the anchor at time T t2 and sends a second signal to the anchor at time T t3 .

[0067] Message 4: The anchor receives the second signal from the tag at time T a3 .

[0068] The distance d can be calculated by the following formula:

[0069]

[0070] where c is the speed of light, T rd1 is the round-trip time at the tag end, T rd1 = T t2 -T t1 , T ry1 is the reply time at the anchor end, T ry1 = T a2 -T a1 , T rd2 is the second round-trip time at the tag end, T rd2 = T t3 -T t2 , T ry2 is the second reply time at the anchor end, T ry2 = T a3 -T a2 .

[0071] In addition, the TDOA algorithm is applied: the UWB tag sends a signal to three anchors, and each anchor records the time of receiving the signal. Through the TDOA (Time Difference of Arrival) algorithm, the time difference of signal arrival at different anchors is calculated, and the position information of the tag relative to the anchor is obtained. Specifically, the present application has three anchors, of which A0 is the reference anchor.

[0072] Let the reference anchor be A0 and the other anchors be A i(i = 1, 2). The time of the tag sending the signal is T t , and the time of the signal reaching the reference base station is T0.

[0073] The time difference is:

[0074] Δt i = T i - T0

[0075] The distance difference is:

[0076] Δd i = c·Δt i = d i - d0

[0077] where d0 is the distance from the tag to the reference base station A0, and d i is the distance from the tag to the base station A i .

[0078] Let the position of the tag be (x, y, z), the position of the reference base station be (x0, y0, z0), and the positions of the other base stations be (x i , y i , z i ), then:

[0079]

[0080] Therefore, the distance difference equation can be written as:

[0081]

[0082] The above method is a hyperbolic equation, and the tag is located on a hyperboloid with two base stations as foci. The position (x, y, z) of the tag can be solved by at least three base stations (i.e., two independent hyperbolic equations).

[0083] In addition, three sets of distance information obtained by combining the two-way double-sided ranging method are used to establish a space equation using the three-sphere positioning algorithm. Taking the three base stations as the centers of the spheres and the distances from the tag to each base station as the radii, the intersection point of the three spheres is the coordinate of the UWB tag in space. The precise coordinates of the tag are obtained by solving the equation using mathematical methods such as least squares. Specifically, the three-sphere positioning algorithm is:

[0084] When the precise distances (d0, d1, d2) from the tag to the three base stations (A0, A1, A2) are obtained by DS-TWR, the three-sphere positioning algorithm can be used to calculate the spatial coordinates of the tag.

[0085] Supposing the positions of the three base stations are A0=(x0, y0, z0), A1=(x1, y1, z1), A2=(x2, y2, z2), and the position of the tag is P=(x, y, z), the following three equations are obtained:

[0086]

[0087] where (x i ,y i ,z i ) are the coordinates of the base stations (i=0, 1, 2), and d i is the distance from the UWB tag to the base station.

[0088] S3, obtaining steel bar scanning data by the steel bar scanner.

[0089] In S3, the steel bar scanning data includes steel bar cross-sectional area, rib attenuation coefficient, and rib height parameters.

[0090] In S3, the moving distance positioning can also be performed: as the steel bar scanner moves, the UWB tag moves along with it. The UWB positioning system real-time locates the moving distance of the tag, thereby complementing the unknown information of the moving distance of the steel bar scanner.

[0091] In addition, according to the change of the UWB coordinate data, the moving trajectory of the steel bar scanner is analyzed. By comparing with the preset scanning path, it is determined whether the moving direction of the steel bar scanner is deviated. If the deviation occurs, an alarm or a prompt is sent in time so that the operator adjusts the moving direction of the scanner.

[0092] S4, obtaining target parameters of the steel bar based on the three-dimensional coordinates and the steel bar scanning data.

[0093] In S4, the coordinates of the steel bar in the plane can be obtained. Specifically, the steel bar plane coordinate measurement includes: fixing the base station A as the origin and moving the steel bar scanner in the X / Y direction. The steel bar scanner measures the thickness of the protective layer and the distance between the steel bars through its own sensor and measurement algorithm. According to the measurement information, in combination with the tag position (i.e., the position of the scanner) obtained by the UWB positioning, the coordinates of the steel bar in the plane can be preliminarily determined. Moreover, the spatial coordinate information provided by the UWB positioning system is used to complement the coordinates of the steel bar scanner in the z-axis direction, thereby realizing the three-dimensional modeling of the arrangement position of the surface steel bars of the building.

[0094] In addition, the spatial coordinate data provided by the UWB positioning system is fused with the steel bar position and parameter data measured by the steel bar scanner. Through the data fusion algorithm, the coordinate systems of the two data sources are ensured to be consistent, and the position information of the steel bar is accurately mapped into the three-dimensional space model. Then, according to the fused data, a three-dimensional model of the steel bar arrangement on the surface of the building is constructed by using a three-dimensional modeling software. In the model, the position, spacing, and protective layer thickness of the steel bar can be displayed, thereby providing a basis for subsequent engineering quality evaluation and analysis.

[0095] It should be noted that the method provided in this embodiment provides a corresponding method for the system of Embodiment 1, and therefore, the same or similar parts in this embodiment and Embodiment 1 can be mutually referred to, and will not be described herein again.

[0096] Embodiment 3

[0097] On the basis of Embodiment 2, the present embodiment 3 provides a more specific method for detecting building steel bars based on the fusion of UWB technology and a steel bar scanner, comprising:

[0098] S1, arranging a UWB base station in a detection area, and fixing a UWB tag on a steel bar scanner.

[0099] S2, moving the steel bar scanner to scan the steel bar, and simultaneously acquiring the three-dimensional coordinates of the scanner in real time through the UWB tag.

[0100] S3, acquiring steel bar scanning data through the steel bar scanner.

[0101] S4, acquiring target parameters of the steel bar based on the three-dimensional coordinates and the steel bar scanning data.

[0102] In S4, the target parameters of the steel bar include the steel bar protective layer thickness, the steel bar spacing, the steel bar diameter, the steel bar position, and the steel bar length.

[0103] The calculation formula of the steel bar protective layer thickness is:

[0104]

[0105] In the formula, v is the propagation speed of electromagnetic waves in concrete, which is usually taken as 1.2x10 8 m / s, and Δt is the time difference between the device transmission and the echo;

[0106] The calculation formula of the steel bar spacing is:

[0107]

[0108] In the formula, v is the propagation speed of electromagnetic waves in concrete, which is usually taken as 1.2x10 8m / s, t1, t2 is the echo time of adjacent steel bars.

[0109] In addition, in the detection of threaded steel bars, the rib will interfere with the diameter measurement, resulting in measurement error. The present application is based on the electromagnetic wave attenuation coefficient, the steel bar cross-sectional area measured by the scanner, the rib attenuation coefficient and the rib height parameters, and the diameter of the steel bar is corrected to improve the measurement accuracy.

[0110] For example, the steel bar is scanned using a steel bar scanner, and the scanner is equipped with a multi-coil sensor, and a JGJ scanning mode or a grid scanning mode is selected.

[0111] In the JGJ scanning mode, according to the detection regulation requirement, the steel bar is measured 3 times at different positions, and the average value is taken as the preliminary steel bar cross-sectional area measurement value, recorded as A s1 .

[0112] In the grid scanning mode, high-density point cloud collection is performed on the surface of the steel bar with a step of 5mm, and the steel bar cross-sectional area is more accurately calculated through processing of the point cloud data, recorded as A s2 . The results of the two modes are combined to select a more suitable cross-sectional area value as the final A s .

[0113] Then, the rib height value of the steel bar is obtained by measuring the exposed steel bar according to the design drawing, and the rib attenuation coefficient is determined according to the type of the steel bar (such as HRB335, HRB400, etc.), which is usually 0.15-0.25.

[0114] The diameter correction formula based on the electromagnetic wave attenuation coefficient is:

[0115]

[0116] Wherein, A s is the steel bar cross-sectional area measured by the scanner, a is the rib attenuation coefficient (0.15-0.25), h is the rib height, and d is the diameter. The algorithm uses an iterative calculation mechanism, and the diameter of an ideal circular cross-section is used as an initial diameter estimate The current diameter value is substituted into the right side of the formula to calculate a new diameter value, and when , the calculation converges.

[0117] In addition, the present application also provides a steel bar length three-dimensional reconstruction method, which combines the steel bar position information provided by the UWB positioning data and the linear scanning data of the scanner, and calculates the length of the steel bar through the three-dimensional point cloud data fitting method, and realizes continuous length measurement, as follows:

[0118] The UWB positioning system records the three-dimensional coordinate data of the steel bar at different positions. The steel bar scanner is used to perform linear scanning along the length direction of the steel bar to obtain the profile and feature information of the steel bar. During the scanning process, the scanner is kept stable and uniform to ensure the accuracy of the scanning data. For example, the UWB tag is moved along different positions of the steel bar, and the system records the three-dimensional coordinate data of each point on the steel bar in real time. The steel bar scanner collects point cloud data on the surface of the steel bar at an interval of 5 cm along the length direction of the steel bar, and ensures that there are 5-10 points per square centimeter, thereby improving the density through slow scanning.

[0119] After that, the collected UWB positioning data and scanner linear scanning data are preprocessed. The integrity and accuracy of the data are checked, and abnormal data points are removed. For example, for position data in the UWB positioning data that obviously deviates from the normal range, marking, correction or rejection is performed.

[0120] The UWB positioning data and the scanner linear scanning data are combined to determine the three-dimensional coordinates (x i ,y i ,z i ) of a series of discrete points on the steel bar, i = 1, 2, …, n. Through a data matching algorithm, the steel bar feature information obtained by the scanner is corresponded with the position information positioned by the UWB, so as to accurately determine the coordinates of each discrete point.

[0121] The coordinates of two adjacent discrete points are (x i ,y i ,z i ) and (x i+1 ,y i+1 ,z i+1 ), and the distance between each two adjacent points is calculated in turn. By adding the distances between all adjacent points, the total length L of the steel bar can be obtained, and the total length calculation formula of the steel bar is:

[0122]

[0123] In addition, by continuously moving the UWB tag and the steel bar scanner, the data acquisition and calculation are repeated according to the above steps to realize the continuous length measurement of the steel bar. The length of the steel bar is verified by using a traditional tape measure (for exposed steel bars) or referring to the architectural design drawings.

[0124] The data are stored, such as the calculated steel bar length data and related coordinate data, scanning data, etc. In addition, the length information of the steel bar and the three-dimensional model can be displayed by using three-dimensional visualization software. The display information includes the length, shape and position of the steel bar in space, which facilitates the quality evaluation and analysis of the engineering personnel.

[0125] It should be noted that the same or similar parts in the present embodiment as those in Embodiment 2 can be mutually referred to, and will not be described herein again.

Claims

1. A building rebar inspection system based on the integration of UWB technology and a rebar scanner, characterized in that, include: The UWB positioning module is used to obtain the real-time position coordinates of the scanning device in three-dimensional space; The rebar scanning module integrates a UWB tag for collecting rebar scanning data; The data processing module is used to integrate UWB positioning data and rebar scanning data to achieve three-dimensional reconstruction and evaluation of rebar location, diameter, length, and protective layer thickness.

2. A method for detecting building rebar based on the fusion of UWB technology and a rebar scanner, characterized in that, Performed by the system of claim 1, comprising: S1. Set up UWB base stations in the detection area and fix UWB tags to the rebar scanner; S2. Move the rebar scanner to scan the rebar, and at the same time obtain the three-dimensional coordinates of the scanner in real time through the UWB tag; S3. Obtain rebar scanning data using the rebar scanner; S4. Based on the three-dimensional coordinates and the steel bar scanning data, obtain the target parameters of the steel bar.

3. The method for detecting building rebar based on the fusion of UWB technology and a rebar scanner according to claim 2, characterized in that, In S2, the coordinates of the UWB tag in space are calculated using the TDOA algorithm, combined with the two-way bilateral ranging method and the three-sphere positioning algorithm.

4. The method for detecting building rebar based on the fusion of UWB technology and a rebar scanner according to claim 3, characterized in that, In S3, the steel bar scanning data includes the steel bar cross-sectional area, rib attenuation coefficient, and rib height parameter.

5. The method for detecting building rebar based on the fusion of UWB technology and a rebar scanner according to claim 4, characterized in that, In S4, the target parameters of the reinforcing bars include the thickness of the concrete cover, the spacing between the reinforcing bars, the position of the reinforcing bars, the diameter of the reinforcing bars, and the length of the reinforcing bars.

6. The method for detecting building rebar based on the fusion of UWB technology and a rebar scanner according to claim 5, characterized in that, The formula for calculating the thickness of the concrete cover for reinforcing bars is: In the formula, v is the propagation speed of electromagnetic waves in concrete, and Δt is the time difference between the device's transmission and echo. The formula for calculating the spacing of reinforcing bars is: In the formula, t1 and t2 are the echo times of adjacent reinforcing bars.

7. The method for detecting building rebar based on the fusion of UWB technology and a rebar scanner according to claim 6, characterized in that, The formula for calculating the diameter of reinforcing bars is: Among them, A s The cross-sectional area of ​​the steel bar is measured by the scanner, α is the rib attenuation coefficient, h is the rib height, and d is the diameter.

8. The method for detecting building rebar based on the fusion of UWB technology and a rebar scanner according to claim 7, characterized in that, The formula for calculating the length of the reinforcing bar is: Among them, (x i ,y i ,z i ), i = 1, 2, ..., n are the three-dimensional coordinates of a series of discrete points on the reinforcing bars.

9. A computer storage medium, characterized in that, The computer storage medium stores a computer program; when the computer program is run on the computer, it causes the computer to perform the method described in any one of claims 2 to 8.

10. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the method as described in any one of claims 2 to 8.

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