Emery ground state detection device

Abstract

The invention is suitable for the technical field of ground detection equipment, and provides a carborundum ground state detection device, which comprises a shell, a control module is arranged in the shell, rollers are arranged at the bottom of the shell, and the control module controls the rollers to rotate and drives the shell to walk; the detection assembly is rotationally connected to the bottom of the shell and comprises a rotating disc rotationally connected to the bottom of the shell, and a driving part for driving the rotating disc to rotate is arranged in the shell; the plurality of detection contacts are arranged at the bottom of the rotating disc, the plurality of detection contacts are rotatably connected to the bottom of the rotating disc, and when the detection contacts abut against the abnormal ground, the abutting state of the detection contacts changes, so that by arranging the detection device capable of automatically walking on the ground, it is ensured that the detection efficiency is improved through an automatic walking mode; whether flaws or cracks exist on the passing road surface or not is judged, and therefore automatic detection of the road surface state is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ground detection equipment, and particularly relates to a diamond sand ground state detection device. BACKGROUND

[0002] At present, diamond sand is mainly applied to underground garage floors in civil buildings. Diamond sand can reduce the unevenness of the ground, thereby reducing the impact and wear during vehicle driving and prolonging the service life of the floor. In addition, diamond sand has good skid resistance, effectively reducing the phenomenon of ground skidding, thereby improving driving safety.

[0003] However, after the diamond sand pavement is poured, the surface needs to be processed after the diamond sand ground solidifies, and then the state of the diamond sand ground is detected, so that when cracks or partial wear appear on the diamond sand ground, the corresponding position is repaired to ensure the quality of the diamond sand ground. In the prior art, the state of the diamond sand ground can only be recognized by the human eye to determine whether the ground has wear or crack phenomena, which increases the labor cost and is prone to missed detection, has large errors and low automation.

[0004] From the above, it can be seen that the prior art obviously has inconvenience and defects in actual use, and therefore needs to be improved. SUMMARY

[0005] In view of the above defects, the purpose of the present application is to provide a diamond sand ground state detection device which can detect whether the passing pavement has defects or cracks and other phenomena by automatically walking on the ground, thereby realizing automatic detection of the pavement state.

[0006] In order to achieve the above purpose, the present application provides a diamond sand ground state detection device, comprising: A shell having a control module inside, a walking piece being arranged at the bottom of the shell, and the control module controlling the rotation of the walking piece and driving the shell to walk; A detection assembly rotatably connected to the bottom of the shell, the detection assembly comprising: A rotating disc rotatably connected to the bottom of the shell, and a driving piece being arranged inside the shell to drive the rotating disc to rotate; A plurality of detection contacts being arranged at the bottom of the rotating disc, the plurality of detection contacts being densely rotatably connected to the bottom of the rotating disc, the plurality of detection contacts abutting onto the ground to be detected during use, the abutting state of the detection contacts changing when the detection contacts abut onto the abnormal ground, and a signal being transmitted to the control module, the control module judging the abnormal condition of the ground through the signal.

[0007] In an embodiment, the bottom of the rotating disc is provided with rotating shafts arranged uniformly around the axis, the detection contacts are rotatably connected to the rotating shafts, and the detection contacts are arranged uniformly on the outside of the rotating shafts. The bottom of the rotating disc is provided with detection members arranged correspondingly to the detection contacts, and the detection members detect the rotation angle of the detection contacts.

[0008] In an embodiment, the detection member is a detection button, the detection contact includes a rotating sleeve rotatably connected to the rotating shaft and a cam arranged on the side wall of the rotating sleeve, the detection button abuts against the outer wall of the cam, the detection contact rotates to push the detection button to move, the detection button detects the rotation angle of the cam and feeds back to the control module.

[0009] In an embodiment, the detection member is a detection column, the detection column is provided with a detection gap in the middle, the detection contact includes a rotating sleeve rotatably connected to the rotating shaft and an arc-shaped convex edge arranged on the outside of the rotating sleeve, and the arc-shaped convex edge is arranged correspondingly to the detection gap.

[0010] In an embodiment, the detection column and the arc-shaped convex edge are Hall sensors.

[0011] In an embodiment, the side of the rotating sleeve close to the ground is provided with an abutting rod, the end of the abutting rod abuts against the ground during use, and the driving member and the rotating disc are provided with a torque sensor.

[0012] In an embodiment, the control module collects the detection signals of the detection member and the torque sensor, judges the detection signals, judges the state of the ground, and judges whether the inspected ground is a crack or a wear state.

[0013] In an embodiment, the judgment steps of the control module are as follows: S1, reference calibration: place the device on a flat ground, and the control module detects and records the initial angle α1 of each abutting rod and the initial torque P1 of the rotating disc as a reference; S2, movement detection: the control roller moves the shell, the driving member drives the rotating disc to rotate, the abutting rod contacts and rotates with the ground, and the angle α of each abutting rod and the torque P of the rotating disc are detected in real time; i (i=1~M, M is the total number of detection contacts) are detected in real time; S3, data processing: calculate the angle change ratio k of each detection contact i = α i / α1, set the pit threshold θ L , and the protrusion threshold θ H ; and count the number of the following parameters: The number of detection contacts C L satisfy k i < θ L The number of detection contacts; The number of normal detection contacts C N satisfy θ L ≤ k i ≤ θ H The number of detection contacts; The number of convex detection contacts C H satisfy ki> θ H The number of detection contacts; Calculate the torque change ΔP = P - P1; S4, comprehensive judgment: simultaneously detecting the number of detection contacts of different states, and comprehensively judging the ground in the pit, convex, crack and wear state.

[0014] S5, dynamic calibration: in long-term detection, the reference value α1 and P1 can be updated regularly to adapt to the overall change of the ground.

[0015] In an embodiment, in step S3, if C L + C H >0, it is judged that there is an abnormal situation of the ground: When C L >0 and C H =0, the ground has a depression; When C H >0 and C L =0: the ground has a convex situation at this time; When C L >0 and C H >0: it is judged that the ground is complex and uneven at this time; When C L + C H =0, all detection contact angles are normal at this time, and the torque value is further judged to determine whether there is an abnormal situation of the ground.

[0016] In an embodiment, when C L + C H =0, compare ΔP and ε, ε is a torque threshold value and is adjusted according to requirements: If ΔP>ε, it is judged that the ground is rough or the surface is worn; If ΔP<-ε, it is judged that the ground is smooth; If |ΔP|≤ε, it is judged that the ground is normal.

[0017] The present application provides a diamond sand ground state detection device, comprising: The shell is internally provided with a control module, the bottom of the shell is provided with a roller, the inside of the shell is provided with a roller motor for controlling the rotating direction of the roller, the overall walking direction of the device can be controlled through the roller motor, and the roller can be arranged in a motor integrated structure, so that the walking and walking direction of the shell are controlled. The detection assembly is rotatably connected to the bottom of the shell, the top surface of the ground is detected through the detection assembly, and the detection assembly comprises: The rotating disc is rotatably connected to the bottom of the shell, and can rotate during use to ensure that the state of the ground can be detected at any time, the inside of the shell is provided with a driving member for driving the rotating disc to rotate, and the rotating disc is driven to rotate by the driving member; a plurality of detection contacts are arranged at the bottom of the rotating disc, the plurality of detection contacts are rotatably connected to the bottom of the rotating disc, so that the detection contacts can contact the top surface of the ground during use, thereby effectively detecting the state of the ground, the plurality of detection contacts abut on the ground to be detected during use, so that the state of the ground can be detected by the rotation angle of the detection contacts, the detection contacts change the abutting state when abutting on the abnormal ground, and a signal is transmitted to the control module, the control module judges the abnormal condition of the ground through the signal, detects the state of the ground, and the above, the technical effect of the application is that a detection device automatically walking on the ground is arranged, so that whether the passing road surface has defects or cracks and other phenomena can be judged through automatic walking, thereby realizing automatic detection of the state of the road surface. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a perspective structural schematic diagram of the present application; Figure 2 is a perspective structural schematic diagram of the first embodiment of the present application; Figure 3 is a cross-sectional structural schematic diagram of the first embodiment of the present application; Figure 4 is a Figure 3 is an enlarged structural schematic diagram of part A of the present application; Figure 5 is a perspective structural schematic diagram of the rotating disc of the first embodiment of the present application; Figure 6 is a cross-sectional structural schematic diagram of the second embodiment of the present application; Figure 7 is a perspective structural schematic diagram of the rotating disc of the second embodiment of the present application; Figure 8 isFigure 7 Amplification structure schematic diagram of middle B part; Figure 9 Schematic diagram of three-dimensional structure of detection contact of first embodiment of the present application; Figure 10 Schematic diagram of cross-sectional structure of detection contact of second embodiment of the present application; Figure 11 Schematic diagram of judging process structure of the present application; Figure 12 Schematic diagram of control flow structure of the present application; Figure 13 Schematic diagram of internal structure of the present application; in the figure, 1 - shell, 2 - infrared sensor, 3 - display screen, 4 - control button, 5 - rotating disc, 51 - driving shaft, 52 - detection gap, 53 - rotating hole, 54 - mounting flange, 55 - detection column, 6 - roller, 7 - detection contact, 71 - abutting rod, 72 - rotating sleeve, 73 - cam, 74 - arc-shaped convex edge, 8 - rotating shaft, 9 - detection button, 10 - driving member, 11 - roller motor, 12 - power management module, 13 - microprocessor. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0020] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture, and if the specific posture changes, the directional indications also change accordingly.

[0021] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, if "and / or" or "and / or" appears throughout the text, it means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection required by the present application.

[0022] Referring to Figure 1 and Figure 2 , the present application provides a diamond floor state detection device, which comprises a shell 1, a control module is arranged in the shell 1, a walking part is arranged at the bottom of the shell 1, the walking part can be a roller 6, a roller motor 11 is arranged in the shell 1 to control the rotating direction of the roller 6, the overall walking direction of the device can be controlled through the roller motor 11, and the roller 6 can be arranged in a motor integrated structure, so as to ensure the control of the walking and walking direction of the shell 1; the control module controls the rotation of the roller 6 and drives the shell 1 to walk, so as to ensure the control of the overall walking of the device. A detection assembly is rotatably connected to the bottom of the shell 1, the top surface of the ground is detected through the detection assembly, and the detection assembly comprises: A rotating disc 5 is rotatably connected to the bottom of the shell 1, the rotating disc 5 can rotate during use, so as to ensure that the state of the ground can be detected at any time, and a driving part 10 is arranged in the shell 1 to drive the rotating disc 5 to rotate; A plurality of detection contacts 7 are arranged at the bottom of the rotating disc 5, the plurality of detection contacts 7 are rotatably connected to the bottom of the rotating disc 5, so that the detection contacts 7 can contact the top surface of the ground during use, thereby effectively detecting the state of the ground. The plurality of detection contacts 7 abut on the ground to be detected during use, so that the state of the ground can be detected through the rotation angle of the detection contacts 7. When the detection contacts 7 abut on the abnormal ground, the abutting state of the detection contacts 7 changes and a signal is transmitted to the control module. The control module judges the abnormal condition of the ground through the signal, thereby detecting the state of the ground.

[0023] Among them, combined with Figure 1 , Figure 2 , Figure 3、 Figure 4 、 Figure 5 and Figure 9 , in order to ensure the trajectory of the shell 1 control in the process of walking, can be set around the shell 1 infrared sensor 2 or vision sensor (prior art, the same as the prior art in the walking robot control method), ensure that the shell 1 can be monitored around, while the shell 1 top is provided with display screen 3 and control button 4, ensure that the results can be displayed, while the shell 1 walking speed control and parameter input, drive is a rotating motor, the output shaft of the rotating motor and the drive shaft 51 of the rotating disc connected, so as to ensure the normal rotation of the rotating disc.

[0024] In an embodiment, in order to realize the uniform arrangement of the detection contact 7, ensure the subsequent detection process, the bottom of the rotating disc 5 is provided with rotating shaft 8 around the axis of the rotating disc, rotating hole 53 is arranged on the outer side of the mounting flange 54 and the drive shaft 51, the rotating shaft is connected inside the rotating hole 53, which can be fixed connection or rotating connection, the detection contact 7 is rotatably connected to the rotating shaft 8, which ensures that the detection contact 7 can effectively rotate, so as to ensure that the detection contact 7 can effectively realize the corresponding state change when the state of the road changes, thereby detecting the state of the road. A plurality of detection contacts 7 are uniformly arranged outside the rotating shaft 8, and the bottom of the rotating disc 5 is provided with a detection member corresponding to the detection contact 7. The detection member detects the rotation angle of the detection contact 7, so that the state of the road can be detected by changing the signal of the detection contact 7.

[0025] Specifically, in order to realize that the detection member can effectively detect the state of the detection contact 7, the detection member is a detection button 9, the detection contact 7 includes a rotating sleeve 72 rotatably connected to the rotating shaft 8 and a cam 73 arranged on the side wall of the rotating sleeve 72, the detection button 9 abuts against the outer wall of the cam 73, and the detection button 9 is moved by pushing the detection contact 7 to rotate. The detection button 9 can adopt the form of travel sensor or directly adopt pressure sensor, the rotation position of the cam can be directly calculated, and the rotation angle can be further calculated, so that the rotation angle of the detection contact 7 can be calculated by the pressing position of the detection button 9 (prior art, not described again), the detection button 9 detects the rotation angle of the cam 73 and feeds back to the control module, which ensures that the control module can effectively judge the state of the detection contact 7 and the road.

[0026] In another embodiment, in combination with Figure 6 、 Figure 7 、 Figure 8 and Figure 10, in order to realize the detection of the angle of the detection contact 7, the detection piece is a detection column 55, the detection column 55 is provided with a detection gap 52 in the middle, the detection contact 7 comprises a rotating sleeve 72 rotatingly connected to the rotating shaft 8 and an arc-shaped convex edge 74 provided on the outer side of the rotating sleeve 72, and the arc-shaped convex edge 74 is correspondingly arranged with the detection gap 52, wherein the detection column 55 and the arc-shaped convex edge 74 are Hall sensors, which ensure the detection accuracy of the rotation angle of the detection contact 7. At this time, the reset force of the detection contact 7 can be directly controlled by the gravity of the abutting rod 71, or a torsional spring can be directly used for control, so as to ensure the force of the abutting rod 71 abutting to the ground and the detection accuracy of the detection contact 7. In order to protect the abutting rod 71, a wear-resistant coating or a ball or a roller can be arranged at the bottom of the abutting rod 71 to protect the bottom of the abutting rod 71 and prevent the abutting rod 71 from being damaged by friction.

[0027] In an embodiment, in order to better effectively judge the state of the top surface of the ground, the abutting rod 71 is arranged on the side of the rotating sleeve 72 close to the ground, the end of the abutting rod 71 abuts to the ground during use, and the torque sensor is arranged between the driving piece 10 and the rotating disc 5. The torque sensor and the rotation angle of the detection contact 7 are simultaneously linked to judge, so that the state of the ground can be better judged.

[0028] Specifically, the control module collects the detection signals of the detection piece and the torque sensor, judges the detection signals, judges the state of the ground, judges the state of the inspected ground such as crack or wear state, and ensures the detection effect. In order to realize the use of the device, the control module can adopt a microprocessor 13 such as STM32 series, ESP32, etc. At the same time, the detection piece at the bottom of the rotating disc can be connected with the control module in a wireless communication mode, so that the detection signals can be transmitted to the inside of the control module. Various driving pieces can adopt rotating motors, so as to ensure the control of the walking direction and the rotation of the rotating disc. The power management module 12 is embedded in the inside of the shell 1, which ensures the power supply of the control module and the driving piece. The micro power supply is embedded at the bottom of the rotating disc, which supplies power to the wireless communication module and the detection piece, and ensures the power supply and communication process of each component.

[0029] Among them, in combination with Figure 12 and Figure 13In use, the working process of the system starts from the real-time collection of the ground state by various sensors, including the angle sensor acquiring the deflection angle of the abutting rod and the torque sensor measuring the resistance of the rotating disc. The angle sensor can adopt a potentiometer type (such as Bourns 3386 and Alps RK09K angle sensor), a magnetic encoder type (AS5600 or AS5048 angle sensor), an optical encoder (Broadcom AEDR-8500), or a Tindie MPU9250 BT Bluetooth transmission wireless angle sensor. The torque sensor is arranged on the rotating shaft of the rotating disc to detect the rotating torque of the rotating disc. The torque sensor can adopt a strain gauge type (HX711 module + strain gauge), and the original analog signal is amplified and filtered by a signal conditioning circuit, and then converted into a digital signal by an analog-to-digital conversion module. The microprocessor 13 receives and processes these data, which can adopt an STM32F407VET6 or ESP32-S3-WROOM processor. The microprocessor 13 is connected with various modules through a communication line, executes a preset ground state judgment algorithm, and obtains results by comprehensively detecting geometric anomalies and analyzing materials. The processed information is used to generate intuitive display data, which is displayed on the display screen through an SPI / I2C interface to show the detection values and state interface in real time. The display screen can adopt an OLED display screen. According to the analysis results, control instructions are generated to adjust the motor to perform corresponding actions. The motor can adopt a servo motor of Siemens or other manufacturers with controllable speed. The user can input operation instructions through the control button 4, and the stable operation of the entire system is guaranteed by the power management module 12. Each module is connected with the power management module 12 through a power line to form a complete closed loop from data sensing to decision output. The power management module 12 can adopt a lithium battery for power supply, a traditional embedded cover plate structure, and a USB port for charging. The charging interface is arranged on the side or bottom of the shell. The core processor (such as STM32F407) is internally integrated with a complete system on chip.

[0030] In this embodiment, referring to Figure 10 and Figure 11 In use, the judgment steps of the control module are as follows: S1, reference calibration: place the device on a flat ground, and the control module detects and records the initial angle a1 of each abutting rod and the initial torque P1 of the rotating disc as a reference; S2, movement detection: move the shell 1 by the control roller 6, drive the rotating disc to rotate, the abutting rod contacts and rotates with the ground, and the angle a i (i=1~M, M is the total number of detection contacts 7) and the torque P of the rotating disc are detected in real time. S3, data processing: calculate the angle change ratio k of each detection contact 7 i = α i / α1, set the pit threshold θ L (like 0.75), the convex threshold θ H (like 1.25), the four-part method can be used to set each threshold, and the following quantities are counted: Pit detection contact number C L : the number of detection contacts that meet k i < θ L ; Normal detection contact number C N : the number of detection contacts that meet θ L ≤ k i ≤ θ H ; Convex detection contact number C H : the number of detection contacts that meet k i > θ H ; Calculate the torque change ΔP = P - P1; S4, comprehensive judgment: A. If C L + C H > 0 (there is a geometric anomaly), there is a ground depression at this time: b. Convex dominant (C H > 0 and C L = 0), there is a ground convexity at this time; c. Mixed anomaly (C L > 0 and C H > 0): judge as complex uneven ground (such as gravel, damaged road surface); If C L + C H = 0 (all detection contacts 7 angles are normal): a. If ΔP> ε (ε is the positive torque threshold, such as 0.1P1, this parameter can be adjusted according to the specific situation or experience), judge as rough ground or surface wear; b. If ΔP<-ε, judge as smooth ground; c. If |ΔP|≤ε, judge as normal ground; S5. Dynamic Calibration: During long-term testing, the reference values ​​α1 and P1 can be updated periodically to adapt to overall ground changes. Various parameters can be manually adjusted via buttons to ensure testing reliability. Simultaneously, the processing results can be directly displayed on the screen, ensuring better human-computer interaction. Of course, this invention can have other embodiments. Without departing from the spirit and essence of this invention, those skilled in the art can make various corresponding changes and modifications according to this invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A device for detecting the condition of a corundum surface, characterized in that, include: The housing has a control module inside, and a walking component is located at the bottom of the housing. The control module controls the walking component to rotate and drive the housing to move. A detection assembly rotatably connected to the bottom of the housing, the detection assembly comprising: A rotating disk is rotatably connected to the bottom of the housing, and a driving component for driving the rotating disk to rotate is provided inside the housing; A plurality of detection contacts are disposed at the bottom of the rotating disk, and the plurality of detection contacts are rotatably connected to the bottom of the rotating disk. When in use, the plurality of detection contacts are in contact with the ground to be detected. When the detection contacts are in contact with abnormal ground, the contact state of the detection contacts changes and a signal is generated and transmitted to the control module. The control module determines the abnormality of the ground based on the signal.

2. The diamond abrasive ground condition detection device according to claim 1, characterized in that, The bottom of the rotating disk is provided with rotating shafts evenly arranged around the axis of the rotating disk. The detection contacts are rotatably connected to the rotating shafts. A plurality of detection contacts are evenly arranged outside the rotating shafts. The bottom of the rotating disk is provided with detection elements corresponding to the detection contacts. The detection elements detect the rotation angle of the detection contacts.

3. The diamond abrasive ground condition detection device according to claim 2, characterized in that, The detection element is a detection button. The detection contact includes a rotating sleeve rotatably connected to the rotating shaft and a cam disposed on the side wall of the rotating sleeve. The detection button abuts against the outer wall of the cam. The detection contact rotates, pushing the detection button to move. The detection button detects the rotation angle of the cam and feeds it back to the control module.

4. The diamond abrasive ground condition detection device according to claim 2, characterized in that, The detection element is a detection column with a detection notch in the middle. The detection contact includes a rotating sleeve rotatably connected to the rotating shaft and an arc-shaped protrusion disposed on the outer side of the rotating sleeve. The arc-shaped protrusion is correspondingly disposed to the detection notch.

5. The diamond abrasive ground condition detection device according to claim 4, characterized in that, The detection column and the arc-shaped convex edge are Hall sensors.

6. The diamond abrasive ground condition detection device according to any one of claims 3 to 4, characterized in that, The rotating sleeve has an abutment rod on the side near the ground, and the end of the abutment rod abuts against the ground during use. A torque sensor is provided between the driving component and the rotating disk.

7. The diamond abrasive ground condition detection device according to claim 6, characterized in that, The control module collects the detection signals from the detection device and the torque sensor, and judges the detection signals to determine the state of the ground.

8. The diamond abrasive ground condition detection device according to claim 7, characterized in that, The judgment steps of the control module are as follows: S1, Reference Calibration: Place the device on a flat ground, and the control module detects and records the initial angle α1 of each abutment rod and the initial torque P1 of the rotating disk as a reference. S2. Movement Detection: The control roller moves the housing, the drive unit drives the rotating disk to rotate, the contact rod contacts the ground and rotates, and the angle α of each contact rod is detected in real time. i (i=1~M, where M is the total number of detection contacts) and the torque P of the rotating disk; S3. Data Processing: Calculate the angle change ratio k for each detection contact. i = α i / α1, set the pothole threshold θ L , convex threshold θ H Count the number of the following parameters: Number of pit detection contacts C L : Satisfying k i <θ L The number of detection contacts; Normal detection contact number C N : Satisfies θ L ≤k i ≤θ H The number of detection contacts; Number of protrusion detection contacts C H : satisfying ki > θ H The number of detection contacts; Calculate the torque change ΔP = P - P1; S4. Comprehensive judgment: Simultaneously detect the number of detection contacts in different states to comprehensively judge whether the ground is in a state of potholes, bumps, cracks, and wear. S5. Dynamic calibration: During long-term testing, the baseline values ​​α1 and P1 can be updated periodically to adapt to overall changes in the ground.

9. The diamond abrasive ground condition detection device according to claim 8, characterized in that, In step S3, if C L +C H > 0, at this point, an anomaly is determined to exist on the ground: When C L > 0 and C H When the value is 0, the ground is sunken. When C H > 0 and C L When = 0: The ground is raised at this time; When C L > 0 and C H > 0: This indicates a complex and uneven surface. When C L + C H When the value is 0, all detection contact angles are normal. Further analysis of the torque value is then performed to determine if there are any abnormal ground conditions.

10. The diamond abrasive ground condition detection device according to claim 9, characterized in that, When C L + C H When ΔP = 0, compare ΔP and ε, where ε is the positive torque threshold and can be adjusted as needed: If ΔP > ε, it is determined to be ground roughness or surface wear. If ΔP < -ε, the ground is considered smooth; if |ΔP|≤ε, the ground is considered normal.

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