Field movement detection platform

Abstract

The invention belongs to the technical field of detection platforms, and particularly relates to a field movement detection platform. The field movement detection platform comprises a chassis frame system, and a lifting leveling mechanism is installed at the bottom of the chassis frame system; a multi-mode sensor array, an active excitation device, a control and data acquisition system and a human-computer interaction interface are arranged in the chassis frame system, and the multi-mode sensor array is installed on the lifting leveling mechanism. The multi-mode sensor array comprises a thermal infrared imager, a ground penetrating radar sensor, an ultrasonic phased array sensor, a microwave humidity sensor and a vibration sensor, the active excitation device comprises a thermal excitation system and a sound excitation system, and the control and data acquisition system comprises a hardware architecture, a motion control system and a power management system. The man-machine interaction interface comprises a local operation panel and a remote monitoring system. The invention provides a field movement detection platform which is used for bearing a multi-mode sensor array, an active excitation device and a data acquisition system and realizing intelligent and automatic leakage detection of a large-thickness bottom plate of an existing building.

Description

Technical Field

[0001] This invention belongs to the field of detection platform technology, and specifically relates to a field-moving detection platform. Background Technology

[0002] Detecting leakage in the thick foundation slabs of existing buildings faces a series of technical challenges, which severely restrict the accuracy and efficiency of leakage diagnosis.

[0003] Traditional infrared detection technology suffers from severely insufficient detection depth, typically only able to detect temperature anomalies within 50 millimeters of the surface. However, the foundation slabs of existing buildings such as basements, subway stations, and civil defense projects are generally 300 to 800 millimeters thick, and leaks often occur deep within or at the bottom of the slab, where surface infrared signals are weak or even undetectable. This limitation in detection depth leads to a large number of deep leaks going undetected, and by the time water seeps to the surface, severe damage has often already occurred, missing the optimal time for repairs.

[0004] Insufficient positioning accuracy is another prominent problem. While existing technologies can roughly determine the area of ​​leakage, they have significant shortcomings in accurately locating the source of the leak. Planar positioning errors are typically over 100 millimeters, and there is a lack of effective positioning methods in the depth direction, making it impossible to determine whether the leak is occurring in the upper, middle, or bottom of the base slab. This uncertainty in positioning greatly hinders maintenance work, forcing workers to rely on experience to blindly excavate or treat large areas, wasting materials and time, and potentially damaging the normal structure.

[0005] Low testing efficiency increases both testing costs and time costs. Traditional methods require multiple on-site tests, each followed by complex data interpretation and analysis by professionals, often taking several days or even weeks for the entire testing cycle. For continuously operating facilities such as subway stations, the testing window is extremely limited, and low efficiency means that large-scale testing cannot be completed.

[0006] The lack of leak path tracing capabilities leads to a widespread problem of treating the symptoms but not the root cause. Current technology can only detect surface signs of leakage, unable to trace where the water entered from or what path it took to reach the detection location. This results in repairs often only addressing the surface symptoms, while the true source and path of the leak remain undiscovered and untreated. Leaks quickly reappear in other locations, creating a situation where "repairing is never enough."

[0007] Insufficient automation leads to a high reliance on professional personnel. Existing testing methods require experienced experts at every stage, from data collection and analysis to diagnosis and treatment plan development. Human interpretation is highly subjective, resulting in inconsistent results and is prone to misjudgment due to fatigue or negligence. The shortage of professional personnel and their high cost also limit the widespread availability of testing services.

[0008] The difficulty in identifying early-stage micro-leakage makes preventative maintenance challenging. Passive detection methods produce very weak signals for early-stage micro-leakage with low moisture content and small leakage volume, often drowned out by background noise and undetectable. By the time the leakage develops to a detectable level, irreversible deterioration has often occurred inside the concrete, significantly increasing the difficulty and cost of repairs. Summary of the Invention

[0009] In order to solve the above-mentioned problems in the existing technology, the purpose of this invention is to provide a field-moving detection platform for carrying a multimodal sensor array, an active excitation device and a data acquisition system, so as to realize intelligent and automated leakage detection of thick foundation slabs of existing buildings.

[0010] The technical solution adopted in this invention is as follows: A mobile detection platform includes a chassis frame system with a lifting and leveling mechanism installed at the bottom. The chassis frame system is equipped with a multimodal sensor array, an active excitation device, a control and data acquisition system, and a human-machine interface. The multimodal sensor array is mounted on the lifting and leveling mechanism and includes an infrared thermal imager, a ground-penetrating radar sensor, an ultrasonic phased array sensor, a microwave humidity sensor, and a vibration sensor. The active excitation device includes a thermal excitation system and an acoustic excitation system. The control and data acquisition system includes a hardware architecture, a motion control system, and a power management system. The human-machine interface includes a local operation panel and a remote monitoring system.

[0011] As a preferred embodiment of the present invention, the chassis frame system includes a main frame system and a walking mechanism installed at the bottom of the main frame system.

[0012] As a preferred embodiment of the present invention, the lifting and leveling mechanism includes a three-axis leveling system and a sensor bracket, wherein the three-axis leveling system performs X / Y axis tilt adjustment and Z-axis lifting.

[0013] In a preferred embodiment of the present invention, in the multimodal sensor array, the infrared thermal imager is located at the top, the ground penetrating radar sensor is located at the bottom, the ultrasonic phased array sensor is located in the middle, and the microwave humidity sensor is placed on the side.

[0014] As a preferred embodiment of the present invention, the infrared thermal imager, ground penetrating radar sensor, ultrasonic phased array sensor, microwave humidity sensor and vibration sensor are symmetrically arranged on the chassis frame system, and their fields of view do not interfere with each other.

[0015] As a preferred embodiment of the present invention, the distance between the ground-penetrating radar sensor and the microwave humidity sensor is ≥300mm.

[0016] As a preferred embodiment of the present invention, the thermal excitation system includes a heating unit, and a liftable frame is provided inside the chassis frame system, with the heating unit mounted on the liftable frame.

[0017] As a preferred embodiment of the present invention, the acoustic excitation system includes an ultrasonic excitation source, which is multiplexed with an ultrasonic receiving array, and can be time-division multiplexed or separate.

[0018] As a preferred embodiment of the present invention, the hardware architecture includes a main control unit, a data acquisition card, and a communication interface; the motion control system performs navigation and positioning, path planning, and safety protection.

[0019] As a preferred embodiment of the present invention, the remote monitoring system includes a mobile APP and PC software.

[0020] The beneficial effects of this invention are as follows: High integration: Five sensors and two excitation devices are integrated into a single mobile platform, avoiding multiple tests. Intelligent automation: Autonomous navigation, automatic leveling, and automatic parameter optimization reduce manual intervention. Modular design: Sensors, excitation devices, and power supplies can be quickly replaced for easy maintenance and upgrades. Real-time processing: Edge computing capabilities enable real-time data processing and preliminary diagnosis on-site. Safe and reliable: Multiple protection mechanisms include collision prevention, rollover prevention, and overload prevention. Environmental adaptability: Adaptable to complex working conditions such as uneven ground, temperature and humidity variations, and electromagnetic interference. Attached Figure Description

[0021] Figure 1 This is the front view of the present invention; Figure 2 This is the left view of the present invention; Figure 3 This is a top view of the sensor layout of the present invention; Figure 4 This is a schematic diagram illustrating the sensor array detection principle and depth coverage. Figure 5 This is a partial structural diagram of the present invention.

[0022] In the diagram: 1-Chassis frame system; 2-Multimodal sensor array; 3-Active excitation device; 4-Control and data acquisition system; 5-Human-machine interface; 6-Lifting and leveling mechanism; 11-Main frame system; 12-Walking mechanism; 21-Infrared thermal imager; 22-Ground penetrating radar sensor; 23-Ultrasonic phased array sensor; 24-Microwave humidity sensor; 25-Vibration sensor; 31-Thermal excitation system. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the invention can be combined with each other.

[0025] like Figures 1-5 As shown, the field movement detection platform of this embodiment includes a chassis frame system 1, and a lifting and leveling mechanism 6 is installed at the bottom of the chassis frame system 1. The chassis frame system 1 is provided with a multimodal sensor array 2, an active excitation device 3, a control and data acquisition system 4, and a human-machine interface 5. The multimodal sensor array 2 is installed on the lifting and leveling mechanism 6. The multimodal sensor array 2 includes an infrared thermal imager 21, a ground penetrating radar sensor 22, an ultrasonic phased array sensor 23, a microwave humidity sensor 24, and a vibration sensor 25. The active excitation device 3 includes a thermal excitation system 31 and an acoustic excitation system. The control and data acquisition system 4 includes a hardware architecture, a motion control system, and a power management system. The human-machine interface 5 includes a local operation panel and a remote monitoring system.

[0026] Specifically, the chassis frame system 1 includes a main frame system 11 and a walking mechanism 12 installed at the bottom of the main frame system 11.

[0027] The lifting and leveling mechanism 6 includes a three-axis leveling system and a sensor bracket. The three-axis leveling system performs X / Y axis tilt adjustment and Z-axis lifting.

[0028] In the multimodal sensor array 2, the infrared thermal imager 21 is located at the top, the ground penetrating radar sensor 22 is located at the bottom, the ultrasonic phased array sensor 23 is in the middle, and the microwave humidity sensor 24 is placed on the side.

[0029] The infrared thermal imager 21, ground-penetrating radar sensor 22, ultrasonic phased array sensor 23, microwave humidity sensor 24, and vibration sensor 25 are symmetrically arranged on the chassis frame system 1, with their fields of view not interfering with each other.

[0030] The distance between the ground-penetrating radar sensor 22 and the microwave humidity sensor 24 is ≥300mm.

[0031] The thermal excitation system 31 includes a heating unit, and a liftable frame is provided inside the chassis frame system 1, with the heating unit installed on the liftable frame.

[0032] The acoustic excitation system includes an ultrasonic excitation source, which is multiplexed with an ultrasonic receiving array, and can be time-division multiplexed or separate.

[0033] The hardware architecture includes a main control unit, a data acquisition card, and a communication interface; the motion control system performs navigation and positioning, path planning, and safety protection.

[0034] The remote monitoring system includes a mobile app and PC software.

[0035] Example: I. Design Objectives: Load capacity: Total load capacity ≥ 150kg (including sensors, excitation devices, power supply, and control system).

[0036] Movement accuracy: Positioning accuracy ≤10mm, repeatability ≤5mm.

[0037] Work efficiency: Detection speed adjustable from 0.1 to 0.5 m / s, single measurement point dwell time < 10 minutes.

[0038] Adaptability: Adaptable to ground unevenness ≤15mm, and can overcome obstacles with a height ≤20mm.

[0039] Stability: Vibration amplitude <0.5mm, ensuring sensor measurement accuracy.

[0040] Intelligent features: Supports autonomous navigation, route planning, and remote control.

[0041] II. Platform Mechanical Structure Design: 2.1 Chassis Frame System 1: Main framework structure: Material: 6061-T6 aluminum alloy profile, lightweight design; Dimensions: 1200mm (L) × 800mm (W) × 1500mm (H); Load capacity: Maximum load 200kg, safety factor 1.5; Structure: Modular design, consisting of three layers: chassis layer, sensor layer, and control layer.

[0042] Walking mechanism 12: Drive type: Four-wheel independent drive, front-wheel drive + rear-wheel steering; Front wheel: Φ200mm solid rubber wheel with shock-absorbing spring (stiffness coefficient k=50N / mm); Rear wheels: Φ150mm swivel casters, angle adjustment range ±90°; Drive motor: 24V DC servo motor, rated power 200W×2; Speed ​​control: PWM speed regulation, speed range continuously adjustable from 0.05-0.5m / s; Positioning system: encoder (resolution 0.1mm) + laser rangefinder (accuracy ±5mm).

[0043] 2.2 Lifting and Leveling Mechanism 6: Three-axis leveling system: X / Y axis tilt adjustment: ±3° electric leveling, driven by a stepper motor; Z-axis lifting: 200mm stroke, ball screw drive (5mm lead); Leveling sensor: Dual-axis tilt sensor (accuracy 0.01°); Automatic leveling: Closed-loop control, leveling time <30 seconds.

[0044] Sensor bracket: Height adjustable: electrically adjustable within the range of 600-1200mm; Adjustable angles: pitch angle -10° to +30°, rotation angle 360°; Quick-release mechanism: snap-on quick installation, replacement time for a single sensor is less than 2 minutes.

[0045] III. Layout of Multimodal Sensor Array 2: 3.1 Sensor Configuration Scheme: According to the invention, the platform integrates five types of sensors, arranged as follows: 1. Infrared thermal imager 21 (IR): Location: Top center, 1000mm from the ground; Model: 640×480 pixels, sensitivity <0.03℃; Field of view: 25°×19°, detection area 500×375mm (1m height); Installation method: Gimbal suspension, pitch ±30°, rotation 360°.

[0046] 2. Ground Penetrating Radar Sensor 22 (GPR): Location: Bottom center, 50mm from the ground; Antenna configuration: Tri-band array; 800MHz antenna (depth detection): 300×200mm; 1.5GHz antenna (mid-level detection): 200×150mm; 2.5GHz antenna (surface detection): 150×100mm; Scanning mode: Electronic switching, no mechanical adjustment required; Shielding design: Metal shielding cover to prevent electromagnetic interference.

[0047] 3. Ultrasonic phased array sensor 23 (US): Location: Front middle layer, 600mm from the ground; Array element configuration: 64-element linear array or 128-element area array; Frequency range: 50-200kHz, center frequency 100kHz; Depth of focus: 100-600mm electronically adjustable; Coupling method: Dry coupling or water coupling are optional.

[0048] 4. Microwave humidity sensor 24 (MW): Location: Symmetrically arranged on the left and right sides, 400mm from the ground; Operating frequency: 2.45GHz; Detection depth: 0-300mm; Scan range: forward fan-shaped area, angle ±30°.

[0049] 5. Vibration sensor 25 (VIB): Location: Passive: at the four bottom corners, used to receive environmental vibrations; Active: integrated into the acoustic excitation device; Type: Piezoelectric accelerometer, sensitivity 100mV / g; Frequency range: 1-500Hz (low frequency vibration) + 40-100kHz (ultrasonic vibration).

[0050] 3.2 Sensor spatial layout optimization: Vertical layout principle: Infrared at the top: to avoid thermal interference and obtain the maximum field of view; GPR at the bottom: closest to the object being detected, reducing signal attenuation; Ultrasound centering: facilitates focusing on targets at various depths; Microwave side-mounted: Detects from different angles, enhancing spatial coverage.

[0051] Horizontal layout principle: Symmetrical design: left and right symmetrical to maintain the platform's center of gravity balance; Avoid obstruction: The fields of view of each sensor do not interfere with each other; Electromagnetic isolation: Spacing between radio frequency sensors (GPR / MW) ≥ 300 mm.

[0052] IV. Design of Active Excitation Device 3: 4.1 Thermal Excitation System 31: Heating unit: Heating method: Infrared heating plate array (4×4, 16 pieces in total); Heating power: 250W per piece, total power 4kW; Temperature control: PID control, temperature rise 10-15℃, accuracy ±0.5℃; Heating time: Preheat for 5 minutes, then continue heating for 15-30 minutes; Safety protection: overheat protection (>80℃), touch protection.

[0053] Layout method: Location: Adjustable frame, lowered to 100mm above the ground during operation; Coverage area: 800×800mm; Movement strategy: Zoned heating, heating first and then detection, repeated cyclically.

[0054] 4.2 Acoustic Excitation System: Ultrasonic excitation source: Transducer type: piezoelectric ceramic transducer, array arrangement; Frequency range: 40-100kHz sweep frequency; Excitation power: Adjustable from 50-200W; Excitation mode: sweep pulse, pulse width 1-10ms; Sound beam control: Phased array technology, adjustable focusing depth.

[0055] Integrated Design: Multiplexing with ultrasound receiver array: time-division multiplexing or separate type; Coupling medium: Replaceable coupling pad (rubber / gel); Protection mechanism: Overload protection to prevent damage to the concrete surface.

[0056] V. Control and Data Acquisition System 4: 5.1 Hardware Architecture: Main control unit: Processor: Industrial-grade embedded motherboard; CPU: Intel Core i7 or ARM Cortex-A72; Memory: 16GB DDR4; Storage: 512GB SSD; Operating system: Linux Ubuntu 20.04LTS.

[0057] Data acquisition card: Infrared: GigE interface, 30fps acquisition; GPR: High-speed ADC, sampling rate 2.5GHz; Ultrasound: 128 channels parallel acquisition, sampling rate 50MHz; Microwave: I2C / SPI interface, 10Hz acquisition; Vibration: Multi-channel synchronous acquisition, sampling rate 10kHz.

[0058] Communication interface: Wired: Gigabit Ethernet, USB 3.0; Wireless: WiFi 6 (802.11ax), Bluetooth 5.0; Remote: 4G / 5G module (optional).

[0059] 5.2 Motion Control System: Navigation and positioning: SLAM mapping: LiDAR (range 10m, accuracy ±10mm); Visual positioning: aided by a depth camera (RGB-D); Marker recognition: Ground QR code / ArUco marker; GPS positioning: for outdoor use (accuracy RTK centimeter level).

[0060] Path planning: Global planning: Dijkstra's algorithm or A* algorithm; Local planning: Obstacle avoidance using the DWA dynamic window method; Scanning strategy: raster scan or snake scan are available; Repeated location: Automatically repeat detection of key areas.

[0061] Security protection: Collision detection: Touch switch + ultrasonic obstacle avoidance sensor; Emergency stop button: Physical button + wireless remote control dual emergency stop; Boundary restrictions: Virtual fences to prevent boundary crossings; Overturning protection: Automatic shutdown when tilt angle exceeds limit.

[0062] 5.3 Power Management System: Power supply scheme: Main power supply: 24V / 30A lithium battery pack (capacity 720Wh); Battery life: 4-6 hours of continuous operation; Charging system: Fully charged in 3 hours with fast charging, supports charging while in use; Emergency power supply: supercapacitor (100F), with power failure protection.

[0063] Power distribution: Motion system: 24V / 10A; Sensor system: 12V / 5A + 5V / 3A; Excitation system: 220V / 20A (inverter power supply); Control system: 12V / 3A.

[0064] Energy consumption optimization: Sleep mode: Standby power consumption <10W; Time-sharing power supply: Sensors are activated on demand; Power monitoring: Real-time display of power consumption of each module.

[0065] VI. Human-Computer Interaction Interface 5: 6.1 Local Operation Panel: Touchscreen controller: Size: 10.1-inch industrial touchscreen; Resolution: 1920×1200; Installation location: Top side of the platform, operating height 1200mm; Protection rating: IP65, dustproof and waterproof.

[0066] Display content: Real-time view: Data from 5 sensors are displayed on the same screen; Status monitoring: battery level, temperature, location, faults; Parameter settings: detection mode, speed, excitation intensity; Data playback: View historical data.

[0067] 6.2 Remote Monitoring System: Mobile App: Platform: iOS / Android.

[0068] Function: Real-time monitoring: Sensor data streaming; Remote control: path planning, parameter adjustment; Alarm push notifications: Instant notifications for abnormal situations; Report Download: Test reports can be generated online.

[0069] PC software: Data analysis: offline in-depth analysis, 3D visualization; Algorithm debugging: parameter optimization, model training; Equipment Management: Unified management of multiple devices.

[0070] VII. Summary of Key Technical Parameters: Table 1 is a summary table of key technical parameters.

[0071]

[0072] This invention is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this invention. However, regardless of any changes made in their shape or structure, any technical solution that falls within the scope of the claims of this invention shall be protected by this invention.

Claims

1. A field movement detection platform, characterized in that: The system includes a chassis frame system (1), and a lifting and leveling mechanism (6) is installed at the bottom of the chassis frame system (1). The chassis frame system (1) is equipped with a multimodal sensor array (2), an active excitation device (3), a control and data acquisition system (4), and a human-machine interface (5). The multimodal sensor array (2) is installed on the lifting and leveling mechanism (6). The multimodal sensor array (2) includes an infrared thermal imager (21), a ground penetrating radar sensor (22), an ultrasonic phased array sensor (23), a microwave humidity sensor (24), and a vibration sensor (25). The active excitation device (3) includes a thermal excitation system (31) and an acoustic excitation system. The control and data acquisition system (4) includes a hardware architecture, a motion control system, and a power management system. The human-machine interface (5) includes a local operation panel and a remote monitoring system.

2. The field movement detection platform according to claim 1, characterized in that: The chassis frame system (1) includes a main frame system (11) and a walking mechanism (12) installed at the bottom of the main frame system (11).

3. The field movement detection platform according to claim 1, characterized in that: The lifting and leveling mechanism (6) includes a three-axis leveling system and a sensor bracket. The three-axis leveling system performs X / Y axis tilt adjustment and Z-axis lifting.

4. The field movement detection platform according to claim 1, characterized in that: In the multimodal sensor array (2), the infrared thermal imager (21) is located at the top, the ground penetrating radar sensor (22) is located at the bottom, the ultrasonic phased array sensor (23) is in the middle, and the microwave humidity sensor (24) is placed on the side.

5. The field movement detection platform according to claim 1, characterized in that: The infrared thermal imager (21), ground penetrating radar sensor (22), ultrasonic phased array sensor (23), microwave humidity sensor (24) and vibration sensor (25) are symmetrically arranged on the chassis frame system (1) with their fields of view not interfering with each other.

6. The field movement detection platform according to claim 5, characterized in that: The distance between the ground-penetrating radar sensor (22) and the microwave humidity sensor (24) is ≥300mm.

7. The field movement detection platform according to claim 1, characterized in that: The thermal excitation system (31) includes a heating unit, and a liftable frame is provided in the chassis frame system (1), with the heating unit installed on the liftable frame.

8. The field movement detection platform according to claim 1, characterized in that: The acoustic excitation system includes an ultrasonic excitation source, which is multiplexed with an ultrasonic receiving array, and can be time-division multiplexed or separate.

9. A field movement detection platform according to claim 1, characterized in that: The hardware architecture includes a main control unit, a data acquisition card, and a communication interface; the motion control system performs navigation and positioning, path planning, and safety protection.

10. A field movement detection platform according to claim 1, characterized in that: The remote monitoring system includes a mobile app and PC software.

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