Intelligent construction site concrete intelligent detection robot and method thereof

Abstract

The invention discloses an intelligent construction site concrete intelligent detection robot and a method thereof, and relates to the technical field of intelligent detection robots, the intelligent construction site concrete intelligent detection robot comprises a detection mechanism, a removal mechanism comprises a motor, a rod with a hole, an image acquisition sensor and a cylindrical groove, the output end of the motor is connected with a round rod, and the outer surface of the round rod is fixedly sleeved with a gear; a sliding block is arranged in the groove, connecting rods are rotationally connected to the interiors of the grooves in the two sides of the sliding block, a set of symmetrical rotating plates are rotationally connected to the interior of the rod with the hole, a strip-shaped grinding block is bonded to the surface of each rotating plate, and a round grinding block is bonded to one end face of the rod with the hole. When laitance appears at the position detected by the intelligent detection robot, the laitance can be removed, so that a worker does not need to clean the laitance and then detect the laitance, the construction period is shortened, the cost is reduced, and the detection efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent inspection robot technology, specifically to an intelligent concrete inspection robot and method for smart construction sites. Background Technology

[0002] Intelligent inspection robots are intelligent devices that integrate sensors, autonomous navigation, and AI analysis functions. They can automatically complete target inspection and output data. In smart construction sites, they are the core tool for concrete quality control. They can replace manual labor in high-risk areas such as high altitudes and tunnels. The core of the inspection is to automatically collect key data such as concrete cracks and internal voids through sensors such as vision and ultrasound, avoiding the safety risks and efficiency shortcomings of manual inspection. At the same time, the inspection data can be transmitted to the smart construction site platform in real time and combined with AI algorithms to quickly identify and classify defects, thereby significantly shortening the time from inspection to results and reducing human data analysis errors.

[0003] Existing intelligent inspection robots often fail to operate properly when inspecting concrete surfaces with laitance due to the interference of laitance. For example, laitance on the concrete surface can hinder effective contact between the sensor and the concrete substrate, causing disordered reflected signals during ultrasonic sensor detection and leading to misjudgments of internal voids. At the same time, laitance on the concrete surface can also interfere with the image acquisition of visual sensors, causing AI models to be unable to clearly identify cracks on the concrete surface, resulting in missed crack detection or misidentification of laitance accumulation as cracks, affecting the accuracy of defect judgment. However, existing intelligent inspection robots do not have a laitance removal mechanism. To avoid these problems, workers need to assess the laitance before inspection, which increases the time and cost and affects inspection efficiency.

[0004] Therefore, we have proposed a new type of intelligent concrete inspection robot for smart construction sites to address the problems mentioned above. Summary of the Invention

[0005] The purpose of this invention is to provide a smart construction site concrete intelligent inspection robot. By setting up a removal mechanism, it can remove laitance when it appears at the location being inspected by the intelligent inspection robot, thus eliminating the need for workers to clean before inspection, thereby reducing construction time and costs, improving inspection efficiency, and solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a smart construction site concrete intelligent inspection robot, including an inspection mechanism, wherein the inspection mechanism is provided with a removal mechanism, the removal mechanism being used to clean the solidified laitance on the surface of the concrete block;

[0007] The removal mechanism includes a motor, a perforated rod, an image acquisition sensor, and a cylindrical groove. The output end of the motor is connected to a cylindrical rod, and a gear is fixedly sleeved on the outer surface of the cylindrical rod. A set of sliding grooves is pre-set on the inner wall of the perforated rod. A grooved rod is movably sleeved inside the perforated rod. A slider is slidably connected between the inside of the perforated rod and the inside of the set of sliding grooves. Connecting rods are rotatably connected inside the grooves on both sides of the slider. A set of symmetrical rotating plates is rotatably connected inside the perforated rod. A strip-shaped grinding block is adhered to the surface of each rotating plate. A circular grinding block is adhered to one end face of the perforated rod. The grooved rod, slider, connecting rod, and perforated rod are used to control the rotating plates to perform retraction and extension operations.

[0008] Preferably, the teeth of the gear mesh with the grooves of the grooved rod, one end of each of the two connecting rods is rotatably connected to the groove at one end of each of the two rotating plates, and a counterweight is provided around the perforated rod.

[0009] Preferably, the detection mechanism includes a tracked chassis, a placement box is installed on the top rotating end of the tracked chassis, a driver and a navigation module are installed on the bottom inner wall of the placement box, and a cover is installed at both ends of the placement box.

[0010] Preferably, the top of the inner wall of the placement box is movably perforated by multiple rubber sleeves, the bottom of the inner wall of the placement box is fixed with multiple hexagonal posts and a fixing frame, and a control board and an antenna are installed between the tops of a group of hexagonal posts, with the control board located inside the placement box.

[0011] Preferably, a battery is installed inside the fixed frame, a robotic arm is installed on the top of the placement box, the cylindrical groove is pre-set at the front end of the robotic arm, the grooved rod is movably sleeved inside the cylindrical groove, two symmetrical connecting blocks are installed at the front end of the robotic arm, and the motor is installed on the surface of one of the connecting blocks.

[0012] Preferably, one end of the round rod movably passes through the surface of one of the connecting blocks and is slidably embedded in the surface of the other connecting block. The gear is located between the two connecting blocks, the perforated rod is fixed between the two connecting blocks, and the counterweight is mounted on the surface of the other connecting block.

[0013] Preferably, a perforated plate is installed at one end of each connecting block, the image acquisition sensor is installed on the surface of one of the perforated plates, and a stabilizing plate is installed between each perforated plate and the corresponding connecting block.

[0014] Preferably, each of the perforated plates has a movable plate movably sleeved inside, each of the perforated plates has an electric actuator mounted on its surface, each of the electric actuators has a connecting plate mounted on its telescopic end, and each connecting plate is fixed to the surface of the corresponding movable plate.

[0015] Preferably, a vision sensor and a tilt sensor are mounted on the surface of one of the movable plates, a fixing seat is fixed on the surface of the other movable plate, an ultrasonic sensor is pressed and fixed inside the fixing seat, and a switch is mounted on the surface of one of the cover plates, with the control end of the switch moving through the surface of the cover plate.

[0016] A method for using an intelligent concrete inspection robot at a smart construction site includes the following steps:

[0017] S1. When the intelligent inspection robot receives the inspection command, it first uses the control board, driver, navigation module, battery and tracked chassis to move the intelligent inspection robot to the designated position. Then it moves the ultrasonic sensor back. Next, it uses the control board, driver, robotic arm, tilt sensor, battery and vision sensor to judge the situation of the area to be inspected on the concrete surface. Then it moves the vision sensor back and resets the ultrasonic sensor.

[0018] S2. Next, use an ultrasonic sensor to detect the internal condition of the concrete. When there is laitance in the detected area of ​​the concrete surface, which needs to be treated, use an image acquisition sensor, tilt sensor, circular grinding block and robotic arm to clean the laitance on the concrete surface.

[0019] S3. When there is a lot of laitance in the area to be tested on the concrete surface, first use the control panel, driver, motor, two connecting blocks, round rod, gear, slider, two connecting rods and perforated rod to fully unfold the two rotating plates that are connected to strip grinding blocks. Finally, use the two rotating and moving strip grinding blocks and the round grinding block to treat the laitance on the concrete surface.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. In this invention, by setting up a removal mechanism, when laitance appears at the location detected by the intelligent inspection robot, it can remove it, thus eliminating the need for workers to clean it before inspection, thereby reducing the construction period and cost and improving inspection efficiency. When there is laitance in the area of ​​the concrete surface to be inspected and needs to be treated, the circular grinding block can be moved to a horizontal position in the area of ​​the concrete surface to be inspected by using the cooperation of an image acquisition sensor, an tilt sensor and a robotic arm. The circular grinding block is then rotated by the front end of the robotic arm, and the rotating and moving circular grinding block cleans the laitance on the concrete surface.

[0022] 2. In this invention, when there is a lot of laitance in the area to be detected on the concrete surface, the grooved rod is first moved out of the cylindrical groove using the control board, driver, motor, two connecting blocks, round rod, gear and perforated rod. Then, the two rotating plates, each connected to a strip grinding block, are fully unfolded using the slider, two connecting rods and perforated rod. Finally, the two rotating and moving strip grinding blocks and the round grinding block are used to treat the laitance on the concrete surface.

[0023] 3. In this invention, by setting up a detection mechanism, it is possible to detect whether cracks appear on the concrete surface and whether voids appear inside the concrete. When the intelligent detection robot receives a detection command, it first uses the control board, driver, navigation module, battery, and tracked chassis to move the intelligent detection robot to the designated position. Then, using the control board, driver robotic arm, tilt sensor, and battery, it can make the acquisition end of the vision sensor illuminate the required acquisition position on the concrete surface. Next, using the electric push rod on another perforated plate, the corresponding connecting plate, the corresponding perforated plate, and the fixed base, it can make the ultrasonic sensor move back to the position where it cannot move. Then, using the vision sensor, control board, and antenna, it can determine whether cracks appear in the detected area of ​​the concrete surface. At the same time, by using the ultrasonic sensor and control board, it can detect whether voids appear inside the detected area of ​​the concrete surface. Attached Figure Description

[0024] Figure 1 This is a side-view perspective perspective view of a smart construction site concrete intelligent inspection robot according to the present invention.

[0025] Figure 2 This is a top-view perspective view of a smart construction site concrete intelligent inspection robot according to the present invention.

[0026] Figure 3 This is a perspective view of the detection mechanism of a smart construction site concrete intelligent detection robot according to the present invention.

[0027] Figure 4 This is a schematic diagram of the frontal view of a smart construction site concrete intelligent inspection robot according to the present invention.

[0028] Figure 5 This is a cross-sectional perspective view of another state of the intelligent concrete inspection robot for smart construction sites according to the present invention.

[0029] Figure 6 This is a three-dimensional view of the removal mechanism of a smart construction site concrete intelligent inspection robot when it is unfolded, according to the present invention.

[0030] Figure 7 This is a three-dimensional view of another state of the intelligent concrete inspection robot for smart construction sites according to the present invention.

[0031] Figure 8 This invention relates to an intelligent concrete inspection robot for smart construction sites. Figure 1 Enlarged 3D view of the structure at point A in the middle;

[0032] Figure 9 This invention relates to an intelligent concrete inspection robot for smart construction sites. Figure 7 Enlarged 3D view of the structure at point B.

[0033] In the picture:

[0034] 1. Testing mechanism; 101. Tracked chassis; 102. Placement box; 103. Driver; 104. Navigation module; 105. Cover plate; 106. Rubber sleeve; 107. Hexagonal column; 108. Control board; 109. Antenna; 110. Fixing frame; 111. Battery; 112. Robotic arm; 113. Connecting block; 114. Perforated plate; 115. Stabilizing plate; 116. Moving plate; 117. Electric actuator; 118. Connecting plate; 119. Vision sensor 1. Device; 120. Tilt sensor; 121. Fixing base; 122. Ultrasonic sensor; 123. Switch; 2. Removal mechanism; 201. Motor; 202. Round rod; 203. Gear; 204. Slide groove; 205. Rod with hole; 206. Grooved rod; 207. Slider; 208. Connecting rod; 209. Rotating plate; 210. Strip grinding block; 211. Circular grinding block; 212. Image acquisition sensor; 213. Counterweight; 214. Cylindrical groove. Detailed Implementation

[0035] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Example 1: Please refer to Figures 1-5 and Figures 7-9As shown, the present invention provides a technical solution: a smart construction site concrete intelligent inspection robot, including an inspection mechanism 1. The inspection mechanism 1 includes a tracked chassis 101. A placement box 102 is installed on the top rotating end of the tracked chassis 101. A driver 103 and a navigation module 104 are installed on the bottom inner wall of the placement box 102. Cover plates 105 are installed at both ends of the placement box 102. Multiple rubber sleeves 106 are movably inserted through the top inner wall of the placement box 102. Multiple hexagonal posts 107 and a fixing frame 110 are fixed to the bottom inner wall of the placement box 102. A control board 108 and an antenna 109 are installed between the tops of a group of hexagonal posts 107. The control board 108 is located inside the placement box 102. A battery 111 is installed inside the fixing frame 110. A robotic arm 112 is installed on the top of the placement box 102. Two... The connecting blocks 113 are symmetrical. Each connecting block 113 has a perforated plate 114 installed at one end. Each perforated plate 114 is connected to a corresponding connecting block 113 with a stabilizing plate 115. Each perforated plate 114 has a movable plate 116 movably sleeved inside. Each perforated plate 114 has an electric push rod 117 installed on its surface. Each electric push rod 117 has a connecting plate 118 installed at its telescopic end. Each connecting plate 118 is fixed to the surface of the corresponding movable plate 116. One movable plate 116 has a vision sensor 119 and a tilt sensor 120 installed on its surface. Another movable plate 116 has a fixed base 121 fixed on its surface. An ultrasonic sensor 122 is pressed and fixed inside the fixed base 121. One cover plate 105 has a switch 123 installed on its surface, and the control end of the switch 123 moves through the surface of the cover plate 105.

[0037] In this embodiment, when the intelligent inspection robot receives an inspection command, the control board 108 first activates the tracked chassis 101 via the driver 103, navigation module 104, and battery 111, causing the activated tracked chassis 101 to move the entire intelligent inspection robot. When the intelligent inspection robot moves to the designated position, the tracked chassis 101 will pause. Then, the control board 108 will again activate the robotic arm 112 and turn on the tilt sensor 120 via the driver 103 and battery 111. At this time, the front end of the activated robotic arm 112 will move, driving the components connected to and mounted on it to move together. When the acquisition end of the vision sensor 119 illuminates the required acquisition position on the concrete surface, and the vision sensor... When sensor 119 is adjusted to a horizontal position by tilt sensor 120, control board 108 pauses robotic arm 112 and then activates electric actuator 117 on another perforated plate 114. This activated electric actuator 117, in cooperation with the connecting plate 118, the corresponding perforated plate 114, and the mounting base 121, drives ultrasonic sensor 122 to retract. When ultrasonic sensor 122 reaches a point where it cannot move further, the activated electric actuator 117 is paused, and then vision sensor 119 is activated. Vision sensor 119 then acquires an image of the concrete surface and transmits it to control board 108. Upon receiving the image data, control board 108 utilizes its integrated... The processing module first performs preliminary invalid data screening, and then uses its integrated AI analysis module to analyze and process the data to determine whether there are cracks in the detected area. At the same time, the control board 108 also wirelessly transmits the collected image data and analysis results to the smart construction site platform through the antenna 109. When it is necessary to perform ultrasonic detection on the detected location, the vision sensor 119 is first turned off. Then, the control board 108, one of the perforated plates 114, the connecting plate 118, the driver 103, and the electric push rod 117 are used to move the vision sensor 119 back to a position where it cannot move. Then, the front end of the robotic arm 112 is rotated 180 degrees to swap the positions of the vision sensor 119 and the ultrasonic sensor 122. Then, the ultrasonic sensor is turned on again. 122 is reset to its original position. After resetting, the ultrasonic sensor 122 is moved horizontally to contact the concrete surface through the robotic arm 112 and tilt sensor 120. Then, the ultrasonic sensor 122 is turned on to collect data. The collected data is then transmitted to the control board 108. After receiving the data, the control board 108 will first perform preliminary invalid data screening and then perform analysis to determine whether there are voids in the detected area. At the same time, the control board 108 will also wirelessly transmit the collected data and analysis results to the smart construction site platform through the antenna 109. When the intelligent detection robot completes the concrete surface detection operation, all components are reset first, and then the previously activated components are turned off.

[0038] Example 2: According to Figures 1-9 As shown, the detection mechanism 1 is equipped with a removal mechanism 2, which is used to clean the solidified laitance on the surface of the concrete block. The removal mechanism 2 includes a motor 201, a perforated rod 205, an image acquisition sensor 212, and a cylindrical groove 214. The output end of the motor 201 is connected to a cylindrical rod 202, and a gear 203 is fixedly sleeved on the outer surface of the cylindrical rod 202. A set of sliding grooves 204 are preset on the inner wall of the perforated rod 205. A grooved rod 206 is movably sleeved inside the perforated rod 205. A slider 207 is slidably connected between the inside of the perforated rod 205 and the inside of the set of sliding grooves 204. Connecting rods 208 are rotatably connected inside the grooves on both sides of the slider 207. An internally rotating connection includes a set of symmetrical rotating plates 209. Each rotating plate 209 has a strip-shaped grinding block 210 adhered to its surface. A circular grinding block 211 is adhered to one end of a perforated rod 205. A grooved rod 206, a slider 207, a connecting rod 208, and the perforated rod 205 control the retraction and extension of the rotating plates 209. The teeth of the gear 203 mesh with the grooves of the grooved rod 206. One end of each of the two connecting rods 208 is rotatably connected to a groove at one end of each of the two rotating plates 209. A counterweight 213 is provided around the perforated rod 205. The detection mechanism 1 includes a tracked chassis 101. A placement box 102 is mounted on the rotating top end of the tracked chassis 101. A driver 103 and a navigation module 104 are installed on the bottom inner wall of the placement box 102. Multiple hexagonal pillars 107 and a fixing frame 110 are fixed on the bottom inner wall of the placement box 102. A control board 108 and an antenna 109 are installed between the tops of a group of hexagonal pillars 107. A robotic arm 112 is installed on the top of the placement box 102. The cylindrical groove 214 is pre-set at the front end of the robotic arm 112. The grooved rod 206 is movably sleeved inside the cylindrical groove 214. Two symmetrical connecting blocks 113 are installed at the front end of the robotic arm 112. A motor 201 is installed on the surface of one of the connecting blocks 113. One end of the rod 202 movably passes through the surface of one of the connecting blocks 113. Meanwhile, a gear 203 is slidably embedded on the surface of another connecting block 113, a gear 203 is located between the two connecting blocks 113, a perforated rod 205 is fixed between the two connecting blocks 113, a counterweight 213 is mounted on the surface of another connecting block 113, a perforated plate 114 is mounted on one end of each connecting block 113, an image acquisition sensor 212 is mounted on the surface of one of the perforated plates 114, a stabilizing plate 115 is mounted between each perforated plate 114 and the corresponding connecting block 113, a movable plate 116 is movably sleeved inside each perforated plate 114, and a vision sensor 119 and a tilt sensor 120 are mounted on the surface of one of the movable plates 116.

[0039] In this embodiment, when there is laitance in the area of ​​the concrete surface to be detected and needs to be treated, the intelligent detection robot is first moved to the detection position, then the image acquisition sensor 212 is turned on, and the circular grinding block 211 is moved to the horizontal position of the concrete surface detection area through the tilt sensor 120. Then, the circular grinding block 211 is moved towards the concrete surface detection area, and at the same time, the front end of the robotic arm 112 is rotated. At this time, the rotating front end of the robotic arm 112 will rotate the circular grinding block 211 through two connecting blocks 113 and the perforated rod 205. When the circular grinding block 211 contacts the laitance and continues to move towards it, the rotating and moving circular grinding block 211 will clean it. When there is a lot of laitance in the area of ​​the concrete surface to be detected, the control board 108 and the driver 103 are used to start... The motor 201 is started. When started, the motor 201 drives the round rod 202 to rotate via two connecting blocks 113. The rotating round rod 202 drives the gear 203 to rotate. At the same time, the rotating gear 203 uses the perforated rod 205 to move the grooved rod 206 out of the cylindrical groove 214. Then, the moving grooved rod 206 uses a set of sliding grooves 204 and the perforated rod 205 to move the slider 207 along the trajectory. Then, the moving slider 207 uses two connecting rods 208 and the perforated rod 205 to unfold the two rotating plates 209. The unfolded two rotating plates 209 drive the connected strip grinding block 210 to rotate. When the two rotating plates 209 are fully unfolded, the motor 201 is paused. Then, the above operation steps are repeated to treat the concrete surface with laitance. Then, the test is performed.

[0040] The overall effect and working principle of the mechanism are as follows: When in use, the entire intelligent inspection robot is started by using switch 123 to enter the initial stage. Then, the entire intelligent inspection robot is wirelessly connected to the smart construction site platform by antenna 109. Then, the smart construction site platform sends the inspection position command to the intelligent inspection robot. After receiving the command, the intelligent inspection robot will start to move.

[0041] First, the control board 108 activates the tracked chassis 101 via the driver 103, navigation module 104, and battery 111, causing the activated tracked chassis 101 to move the entire intelligent inspection robot. When the intelligent inspection robot reaches the designated position, the tracked chassis 101 will pause. Then, the control board 108 will again activate the robotic arm 112 and activate the tilt sensor 120 via the driver 103 and battery 111. At this time, the front end of the activated robotic arm 112 will move, driving the components connected to and mounted on it to move together. When the acquisition end of the vision sensor 119 illuminates the desired acquisition position on the concrete surface, and the vision sensor 119 is adjusted to a horizontal state by the tilt sensor 120, the control board 108 will pause the robotic arm 112, and then activate the electric actuator on another perforated plate 114. When the electric actuator 117 is activated, it will drive the ultrasonic sensor 122 to move back in cooperation with the connecting plate 118, the corresponding perforated plate 114 and the fixed base 121. When the ultrasonic sensor 122 can no longer move, the electric actuator 117 is paused. Then the vision sensor 119 is activated. The vision sensor 119 will collect images of the concrete surface and transmit the collected images to the control board 108. After receiving the image data, the control board 108 will first use its integrated processing module to perform preliminary invalid data screening, and then use its integrated AI analysis module to perform analysis and processing to determine whether there are cracks in the detected area. At the same time, the control board 108 will also wirelessly transmit the collected image data and analysis results to the smart construction site platform through the antenna 109.

[0042] When ultrasonic testing is required at the detected location, first turn off the vision sensor 119. Then, using the control board 108, one of the perforated plates 114, the connecting plate 118, the driver 103, and the electric actuator 117, move the vision sensor 119 back to its immovable position. Next, rotate the front end of the robotic arm 112 180 degrees to swap the positions of the vision sensor 119 and the ultrasonic sensor 122. Then, reset the ultrasonic sensor 122 to its original position. After resetting, use the robotic arm 112 and the tilt sensor 120 to level the ultrasonic sensor 122. The robot moves to contact the concrete surface with its detection end, then turns on the ultrasonic sensor 122 to collect data. The collected data is then transmitted to the control board 108. After receiving the data, the control board 108 first performs preliminary invalid data screening, and then performs analysis to determine whether there are voids in the detected area. At the same time, the control board 108 also wirelessly transmits the collected data and analysis results to the smart construction site platform through the antenna 109. When the intelligent detection robot completes the concrete surface detection operation, it first resets all components and then shuts down the previously activated components.

[0043] When there is laitance on the concrete surface and it needs to be treated, first move the intelligent inspection robot to the inspection position, then turn on the image acquisition sensor 212, and use the tilt sensor 120 to move the circular grinding block 211 to the horizontal position of the concrete surface inspection area. Then move the circular grinding block 211 towards the concrete surface inspection area, while the front end of the robotic arm 112 rotates. The rotating front end of the robotic arm 112 will rotate the circular grinding block 211 through two connecting blocks 113 and the perforated rod 205. When the circular grinding block 211 contacts the laitance and continues to move towards it, the rotating and moving circular grinding block 211 will clean it. When the laitance on the concrete surface has been cleaned, repeat the above operation steps for inspection.

[0044] When there is a lot of laitance in the area of ​​the concrete surface being tested (initially in a closed state, such as...) Figure 5 When the motor 201 is started using the control board 108 and the driver 103, the motor 201 will rotate using the two connecting blocks 113. The rotating rod 202 will then rotate the gear 203. Simultaneously, the rotating gear 203 will use the perforated rod 205 to move the grooved rod 206 out of the cylindrical groove 214. The moving grooved rod 206 will then use a set of sliding grooves 204 and the perforated rod 205 to move the slider 207 along the trajectory. The moving slider 207 will then use the two connecting rods 208 and the perforated rod 205 to unfold the two rotating plates 209. The unfolded rotating plates 209 will then drive the connected strip grinding block 210 to rotate. When the two rotating plates 209 are fully unfolded, the motor 201 will be paused. The above operation steps will then be repeated to perform laitance treatment on the concrete surface, followed by inspection.

[0045] The wiring diagrams between the tracked chassis 101, driver 103, navigation module 104, control board 108, antenna 109, battery 111, robotic arm 112, two electric actuators 117, vision sensor 119, tilt sensor 120, ultrasonic sensor 122, switch 123, motor 201, and image acquisition sensor 212 are publicly disclosed technologies in this field. Their models can be selected according to actual conditions, so the control methods and wiring between the tracked chassis 101, driver 103, navigation module 104, control board 108, antenna 109, battery 111, robotic arm 112, two electric actuators 117, vision sensor 119, tilt sensor 120, ultrasonic sensor 122, switch 123, motor 201, and image acquisition sensor 212 are not described in detail here.

[0046] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart construction site concrete intelligent detection robot, comprising a detection mechanism (1), characterized in that: The detection mechanism (1) is equipped with a removal mechanism (2), which is used to clean the solidified laitance on the surface of the concrete block; The removal mechanism (2) includes a motor (201), a perforated rod (205), an image acquisition sensor (212), and a cylindrical groove (214). The output end of the motor (201) is connected to a cylindrical rod (202), and a gear (203) is fixedly sleeved on the outer surface of the cylindrical rod (202). A set of sliding grooves (204) is preset on the inner wall of the perforated rod (205). A grooved rod (206) is movably sleeved inside the perforated rod (205). The interior of the perforated rod (205) and the interior of the set of sliding grooves (204) are slidably connected. A slider (207) is connected, and a connecting rod (208) is rotatably connected inside the grooves on both sides of the slider (207). A set of symmetrical rotating plates (209) is rotatably connected inside the perforated rod (205). A strip-shaped polishing block (210) is glued to the surface of each rotating plate (209). A circular polishing block (211) is glued to one end face of the perforated rod (205). The grooved rod (206), slider (207), connecting rod (208) and perforated rod (205) are used to control the rotating plate (209) to perform opening and closing operations.

2. The intelligent concrete inspection robot for smart construction sites according to claim 1, characterized in that: The teeth of the gear (203) mesh with the grooves of the grooved rod (206), and one end of each of the two connecting rods (208) is rotatably connected to the groove at one end of each of the two rotating plates (209). A counterweight (213) is provided around the perforated rod (205).

3. The intelligent concrete inspection robot for smart construction sites according to claim 2, characterized in that: The detection mechanism (1) includes a tracked chassis (101), a placement box (102) is installed on the top rotating end of the tracked chassis (101), a driver (103) and a navigation module (104) are installed on the bottom of the inner wall of the placement box (102), and a cover plate (105) is installed at both ends of the placement box (102).

4. The intelligent concrete inspection robot for smart construction sites according to claim 3, characterized in that: Multiple rubber sleeves (106) are movably passed through the top of the inner wall of the placement box (102). Multiple hexagonal posts (107) and a fixing frame (110) are fixed to the bottom of the inner wall of the placement box (102). A control board (108) and an antenna (109) are installed between the tops of a group of hexagonal posts (107). The control board (108) is located inside the placement box (102).

5. The intelligent concrete inspection robot for smart construction sites according to claim 4, characterized in that: The fixed frame (110) is equipped with a battery (111), and a robotic arm (112) is mounted on the top of the placement box (102). The cylindrical groove (214) is pre-set at the front end of the robotic arm (112), and the grooved rod (206) is movably sleeved inside the cylindrical groove (214). Two symmetrical connecting blocks (113) are mounted on the front end of the robotic arm (112), and the motor (201) is mounted on the surface of one of the connecting blocks (113).

6. The intelligent concrete inspection robot for smart construction sites according to claim 5, characterized in that: One end of the round rod (202) movably passes through the surface of one of the connecting blocks (113) and is slidably embedded in the surface of the other connecting block (113). The gear (203) is located between the two connecting blocks (113). The perforated rod (205) is fixed between the two connecting blocks (113). The counterweight (213) is mounted on the surface of the other connecting block (113).

7. The intelligent concrete inspection robot for smart construction sites according to claim 6, characterized in that: A perforated plate (114) is installed at one end of each of the connecting blocks (113), and the image acquisition sensor (212) is installed on the surface of one of the perforated plates (114). A stabilizing plate (115) is installed between each of the perforated plates (114) and the corresponding connecting block (113).

8. The intelligent concrete inspection robot for smart construction sites according to claim 7, characterized in that: Each of the perforated plates (114) has a movable plate (116) movably sleeved inside, and each of the perforated plates (114) has an electric push rod (117) mounted on its surface. Each of the electric push rods (117) has a connecting plate (118) mounted on its telescopic end, and each of the connecting plates (118) is fixed to the surface of the corresponding movable plate (116).

9. The intelligent concrete inspection robot for smart construction sites according to claim 8, characterized in that: A vision sensor (119) and a tilt sensor (120) are mounted on the surface of one of the movable plates (116), and a fixing seat (121) is fixed on the surface of the other movable plate (116). An ultrasonic sensor (122) is pressed and fixed inside the fixing seat (121). A switch (123) is mounted on the surface of one of the cover plates (105), and the control end of the switch (123) moves through the surface of the cover plate (105).

10. A method for using an intelligent concrete inspection robot at a smart construction site, characterized in that, The intelligent concrete inspection robot for smart construction sites described in claim 9 is used, comprising the following steps: S1. When the intelligent inspection robot receives the inspection command, it first uses the control board (108), driver (103), navigation module (104), battery (111) and tracked chassis (101) to move the intelligent inspection robot to the designated position. Then, it moves the ultrasonic sensor (122) back. Next, it uses the control board (108), driver (103), robotic arm (112), tilt sensor (120), battery (111) and vision sensor (119) to determine the condition of the area to be inspected on the concrete surface. Then, it moves the vision sensor (119) back and resets the ultrasonic sensor (122). S2. Next, use the ultrasonic sensor (122) to detect the internal condition of the concrete. When there is laitance in the detected area of ​​the concrete surface, which needs to be treated, the laitance on the concrete surface can be cleaned by the cooperation of the image acquisition sensor (212), the tilt sensor (120), the circular grinding block (211) and the robotic arm (112). S3. When there is a lot of laitance in the area of ​​the concrete surface to be tested, the control plate (108), driver (103), motor (201), two connecting blocks (113), round rod (202), gear (203), slider (207), two connecting rods (208) and perforated rod (205) are used to make the two rotating plates (209) with strip grinding blocks (210) fully unfolded. Finally, the two rotating and moving strip grinding blocks (210) and round grinding blocks (211) are used to treat the laitance on the concrete surface.

Images