Intelligent detection robot for internal defects of concrete structure

Abstract

The invention discloses an intelligent detection robot for internal defects of a concrete structure, and relates to the field of concrete detection equipment, the detection robot is dual-purpose defect detection equipment configured to perform nondestructive detection on the ground and a vertical side wall, and the dual-purpose defect detection equipment comprises a frame, a vertical frame and a detection assembly, wherein the frame is a movable chassis provided with rollers and a driving motor at the bottom, the two sides of the frame are connected with the vertical frames, and the detection assemblies used for bearing and executing detection tasks are arranged on the inner sides of the two vertical frames; the inner side and the outer side of the vertical frame are provided with a sliding groove and a long rack which are arranged in the height direction of the vertical frame. The detection assembly comprises a host, a lifting driving module, a side wall detection module and a ground detection module. According to the detection robot, the ground detection module, the side wall detection module, the large-stroke lifting mechanism and the like are integrated on the movable integrated platform, and the double-scene nondestructive detection requirement of the vertical side wall and the horizontal ground is met.

Description

Technical Field

[0001] This invention relates to concrete testing equipment technology, specifically to an intelligent robot for detecting internal defects in concrete structures. Background Technology

[0002] During long-term service, concrete structures are susceptible to hidden defects such as cracks, voids, spalling, and steel reinforcement corrosion due to factors such as load and environmental erosion, which seriously affect structural safety and durability. Therefore, it is crucial to regularly inspect concrete structures (such as building walls, bridge piers, tunnel linings, and floor slabs) for internal defects.

[0003] Currently, non-destructive testing of concrete structures mainly relies on manual operation. For vertical sidewalls (such as shear walls and columns), inspectors need to erect scaffolding or use high-altitude work platforms, using handheld impact echometers, ultrasonic instruments, or ground-penetrating radar for contact testing. This method suffers from high labor intensity, high risks associated with working at heights, low testing efficiency, and poor data coverage and consistency. For large-area horizontal floor slabs or pavements, although hand-push testing equipment can be used, it still requires manual pushing, recording, and positioning throughout the process, resulting in low automation and difficulty in adapting to complex or uneven ground environments.

[0004] To overcome the drawbacks of manual inspection, some mobile robot platforms equipped with inspection devices have emerged on the market, attempting to achieve automated inspection, as detailed below:

[0005] 1) Chinese Patent Publication No. CN120928363A discloses a radar scanning device for detecting internal defects in concrete structures. This patent application includes a control host with an extension rod movably mounted in the middle. The bottom end of the extension rod passes through the bottom end of the control host and is fixedly mounted with a radar probe. The extension rod moves vertically relative to the control host. The output end of the radar probe is electrically connected to the input end of the control host. Push handles are installed on both sides of the control host. This invention utilizes the manipulation process of the operating components and the linkage process of the linkage components—specifically, the pressing process—to achieve automatic downward movement of the support rod and the radar probe. This allows the radar probe to be close to the concrete during detection, reducing the impact of gaps on sound wave return and improving detection accuracy. Simultaneously, it provides stable support for the device, reducing the risk of device displacement and further improving detection accuracy and overall detection quality.

[0006] 2) Chinese Patent Publication No. CN213689260U discloses a non-destructive testing device for internal defects in concrete structures. This patent application includes a base with an opening in the middle of its upper end. A support plate is fixedly installed on the right side of the upper end of the base. Fixing plates three are symmetrically fixed at the upper and lower ends of the left end of the support plate. A lead screw is located in the middle of fixing plate three, and a motor is fixedly installed at the upper end of the lead screw. A nut seat is sleeved on the outside of the lead screw, and the nut seat is movably connected to the lead screw. Sliding rods are symmetrically arranged inside the nut seat, slidingly connected to the nut seat. The sliding rods pass through the upper and lower ends of the nut seat and are fixedly connected to fixing plates three respectively. A connecting rod two is fixedly installed on the left end of the nut seat, located near the four corners of the left end face of the nut seat. A fixing plate four is fixedly installed on the left end of the connecting rod two. In use, the lead screw rotates, and the nut seat moves on the sliding rods, thereby controlling the height of the rebound hammer. This provides good processing results for surfaces to be inspected at different heights.

[0007] The above-mentioned solutions improve the convenience and adjustability of testing to some extent, but they still have the following obvious limitations:

[0008] First, both of the above solutions are single-function ground trolley-type or fixed-point lifting devices, lacking a dedicated mechanism for efficient and stable detection of vertical sidewalls, and thus cannot achieve dual-purpose detection integrating ground and sidewalls.

[0009] Secondly, its detection probes are usually rigidly installed or simply pressed down, which cannot adaptively fit the uneven concrete surface, making it difficult to ensure the consistency of the coupling of the entire array probes, thus affecting the detection accuracy and reliability.

[0010] Therefore, existing technologies still lack an intelligent inspection robot that can simultaneously meet the inspection needs of both ground concrete and vertical sidewall concrete, possess adaptive precision fitting capabilities, and achieve efficient and wide-area coverage. Summary of the Invention

[0011] The purpose of this invention is to provide an intelligent robot for detecting internal defects in concrete structures, in order to solve the problems of low efficiency of manual inspection in the prior art, and the inability of automated inspection equipment to simultaneously inspect ground and vertical sidewalls and the limited inspection coverage.

[0012] To achieve the above objectives, the present invention provides the following technical solution: an intelligent robot for detecting internal defects in concrete structures. The robot is configured as a dual-purpose defect detection device for non-destructive testing of the ground and vertical sidewalls. This dual-purpose defect detection device includes a frame, a support frame, and detection components. The frame is a mobile chassis with rollers and a drive motor at its bottom. Support frames are connected to both sides of the frame, and detection components for carrying and performing detection tasks are located on the inner sides of the two support frames. The inner and outer sides of the support frames are provided with grooves and long racks arranged along their height direction. The detection components include a main unit, a lifting drive module, a sidewall detection module, and a ground detection module. The sidewall detection module is mounted on the main unit. The main unit cooperates with the grooves and long racks to scan along the height direction of the wall to be tested. The ground detection module is assembled under the main unit and includes a transverse sliding table, a longitudinal lifting sliding table, and an end detector. The end detector moves with the transverse sliding table and the longitudinal lifting sliding table to achieve continuous scanning and coverage of the ground area.

[0013] Furthermore, the main unit is a chamber-type body with a control panel on the front and an integrated cavity on the rear, and lifting drive modules are set on both sides of the main unit.

[0014] Furthermore, the sidewall detection module includes a first detection unit, which is connected to the outside of the main unit via a first push rod. The first detection unit is a narrow-type impact-echo probe array. In actual concrete structures, especially on vertical sidewalls, there are numerous areas such as edges, corners, joints, and around embedded parts. These areas have irregular geometries and narrow spaces, making it impossible for traditional wide or standard probes to fit them well. The first detection unit uses a narrow-type impact-echo probe array, whose detection end face width is significantly smaller than that of conventional probes. Precise extension, retraction, and position control of this array via the first push rod allows it to flexibly probe into the aforementioned narrow, uneven areas.

[0015] Furthermore, the sidewall detection module also includes a second detection unit, which comprises a second push rod, an extended working plate, a main probe array, and a flexible attachment mechanism. The second push rod is fixed inside the main unit, and the extended working plate is hinged to the shaft end of the second push rod. The front end of the extended working plate is hinged to the front of the main unit via a support arm. Since the first detection unit can only cover a narrow strip area, when detecting concrete walls that are relatively high or require continuous vertical scanning, the extended working plate can be unfolded from its folded state to a working position parallel to the wall by driving the second push rod to extend it. This works in conjunction with the lifting movement of the main unit to form a wide, vertically movable detection surface composed of the main probe array, enabling efficient and continuous scanning of a large area of ​​the wall.

[0016] Furthermore, the main probe array is mounted in the middle of the surface of the extended working plate, and the flexible attachment mechanism is located on the outer periphery of the extended working plate. The flexible attachment mechanism is a flexible airbag array. When the extended working plate is close to the concrete wall, the flexible airbag array first undergoes elastic deformation to adapt to the macroscopic undulations of the wall surface. Under the action of inflation pressure, the airbag array can further apply a uniform surrounding attachment force to the wall surface, thereby constructing a locally flat and well-coupled sealed detection area for the main probe array on the uneven wall surface, effectively isolating external interference and ensuring the transmission quality of the detection signal.

[0017] Furthermore, the end detector includes a front panel, a probe array, and a servo motor, wherein a transverse slide is connected to the lower side of the main unit, a longitudinal lifting slide is provided on the sliding end of the transverse slide, and a front panel is provided on the front side of the sliding end of the longitudinal lifting slide.

[0018] Furthermore, servo motors are mounted on both sides of the front panel end face. The output shafts of the servo motors are connected to the probe array via swing arms. The probe array includes an impact echo probe array and a ground-coupled radar array. The impact echo probe array analyzes the propagation and reflection characteristics of stress waves within concrete, making it suitable for accurately detecting the depth and location of shallow cracks, voids, and delamination. The ground-coupled radar array transmits and receives high-frequency electromagnetic waves, imaging based on differences in dielectric constants, making it suitable for quickly surveying the distribution of reinforcing steel, the thickness of the protective layer, and areas with abnormal deep water content. Working together, the two achieve comprehensive multi-physics detection of internal concrete defects from shallow to deep layers, and from qualitative to quantitative analysis.

[0019] Furthermore, the lifting drive module is a drive assembly that meshes with a long rack. The drive assembly converts the motor torque into linear driving force through the meshing of the gear and the long rack, driving the entire detection component to achieve lifting and lowering displacement along the frame. On one hand, this lifting displacement can meet the large stroke position adjustment requirements of the first and second detection units in the vertical direction, enabling them to cover any detection point within the full height range from near the ground to the top of the frame; on the other hand, this lifting motion can also meet the vertical feed of the probe array at the end of the ground detection module during the detection process, reducing the working stroke of the longitudinal lifting slide.

[0020] Compared with existing technologies, this invention provides an intelligent inspection robot for internal defects in concrete structures. It integrates a ground inspection module, a sidewall inspection module, and a large-stroke lifting mechanism onto a movable, integrated platform. Utilizing a flip-out, deployable extended working plate and a flexible attachment mechanism for adaptive precision bonding, it meets the non-destructive testing requirements of both vertical sidewalls and horizontal surfaces. In particular, through the coordinated action of the extended working plate and the lifting mechanism, it can simultaneously perform large-scale continuous scanning and localized fine-tuning of vertical walls. Specific technical effects include the following:

[0021] 1. It realizes integrated intelligent inspection of ground and vertical sidewalls. A single device can adapt to various concrete structure inspection scenarios, significantly improving equipment utilization and inspection efficiency.

[0022] 2. By combining the extended working plate with the adaptive attachment design of the flexible airbag array, the detection probe array is fully and stably coupled with the irregular concrete surface.

[0023] 3. By utilizing the long-stroke lifting drive on the stand and the expandable extension work plate, a large-height continuous coverage scan of the vertical wall is achieved in a single station, avoiding frequent movement of the robot body and simplifying the work path. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0025] Figure 1 This is a structural schematic diagram of Embodiment 1 of the present invention. Figure 1 ;

[0026] Figure 2 This is a structural schematic diagram of Embodiment 1 of the present invention. Figure 2 ;

[0027] Figure 3 This is a schematic diagram of the structure of Embodiment 2 of the present invention;

[0028] Figure 4 This is a schematic diagram of the ground detection module in Embodiment 2 of the present invention;

[0029] Figure 5 This is a schematic diagram of the longitudinal lifting slide and probe array in Embodiment 2 of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1. Chassis; 2. Frame; 3. Long rack; 4. Main unit; 5. Lifting drive module; 6. Side wall detection module; 601. First detection unit; 602. First push rod; 603. Second push rod; 604. Extended working plate; 605. Main probe array; 606. Flexible attachment mechanism; 7. Ground detection module; 701. Lateral slide; 702. Longitudinal lifting slide; 703. Front panel; 704. Probe array; 705. Servo motor. Detailed Implementation

[0032] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0033] As attached Figure 1 To be continued Figure 2 As shown:

[0034] Example 1:

[0035] This invention provides an intelligent robot for detecting internal defects in concrete structures, comprising a chassis 1, a support frame 2, and detection components. The chassis 1 is a mobile chassis with rollers and a drive motor at the bottom. The support frames 2 are connected to both sides of the chassis 1. Detection components for carrying and performing detection tasks are set on the inner sides of the two support frames 2. The inner and outer sides of the support frames 2 are provided with sliding grooves and long racks 3 arranged along their height direction. The detection components include a main unit 4, a lifting drive module 5, and a side wall detection module 6. The side wall detection module 6 is set on the main unit 4. The main unit 4 cooperates with the sliding grooves and long racks 3 to scan along the height direction of the wall to be tested.

[0036] 1. In one embodiment of the present invention, the host 4 is a chamber-type body with a control panel on the front and an integrated cavity on the rear, and lifting drive modules 5 are provided on both sides of the host 4.

[0037] 2. In one embodiment of the present invention, the sidewall detection module 6 includes a first detection unit 601, which is connected to the outside of the host 4 via a first push rod 602. The first detection unit 601 is a narrow impact echo probe array 704. In actual concrete structures, especially on vertical sidewalls, there are numerous areas such as edges, corners, joints, and around embedded parts. These areas have irregular geometry and narrow spaces, making it impossible for traditional wide or standard probes to fit them well. The first detection unit 601 uses a narrow impact echo probe array 704, whose detection end face width is significantly smaller than that of conventional probes. By precisely controlling the extension and position of the array through the first push rod 602, it can flexibly probe into the aforementioned narrow and uneven areas.

[0038] 3. In one embodiment of the present invention, the sidewall detection module 6 further includes a second detection unit. The second detection unit includes a second push rod 603, an extended working plate 604, a main probe array 605, and a flexible attachment mechanism 606. The second push rod 603 is fixed inside the host 4, and the shaft end of the second push rod 603 is hinged to the extended working plate 604. The front end of the extended working plate 604 is hinged to the front of the host 4 via a support arm. Since the first detection unit 601 can only cover a narrow strip area, when detecting concrete walls that are relatively high or require continuous vertical scanning, the extended working plate 604 can be unfolded from a folded state to a working position parallel to the wall by driving the second push rod 603 to extend. This coordinates with the lifting movement of the host 4 to form a wide detection surface that can be vertically moved by the main probe array 605, thereby achieving efficient continuous scanning of a large area of ​​the wall.

[0039] 4. In one embodiment of the present invention, the main probe array 605 is mounted in the middle of the surface of the extended working plate 604, and the flexible attachment mechanism 606 is disposed on the outer periphery of the extended working plate 604. The flexible attachment mechanism 606 is a flexible airbag array. When the extended working plate 604 is close to the concrete wall, the flexible airbag array first undergoes elastic deformation to adapt to the macroscopic undulations of the wall surface; under the action of inflation pressure, the airbag array can further apply a uniform surrounding attachment force to the wall surface, thereby constructing a locally flat and well-coupled sealed detection area for the main probe array 605 on the uneven wall surface, effectively isolating external interference and ensuring the transmission quality of the detection signal.

[0040] 5. In one embodiment of the present invention, the lifting drive module 5 is a drive assembly that meshes with the long rack 3. The drive assembly converts the torque of the motor into linear driving force through the meshing of the gear and the long rack 3, driving the entire detection assembly to achieve lifting displacement along the frame 2. This lifting displacement can meet the large stroke position adjustment requirements of the first detection unit 601 and the second detection unit in the vertical direction, enabling them to cover any detection point within the full height range from near the ground to the top of the frame 2.

[0041] Working Principle: Example 1 presents a sidewall inspection robot system capable of automated and highly adaptable inspection of concrete structure facades. Through the collaborative operation of a first inspection unit 601 (narrow probe array 704) and a second inspection unit (extension work plate 604 integrating the main probe), the robot can accurately cover complex and narrow areas as well as large flat areas on vertical walls, achieving efficient, comprehensive inspection by combining point and surface measurements. In particular, through the adaptive attachment mechanism of the extension work plate 604 and the flexible airbag array, the system can automatically adapt to the unevenness of the concrete surface, providing stable and reliable coupling conditions for high-precision ultrasonic / impact echo detection. This significantly improves the accuracy, efficiency, and safety of facade defect detection, effectively overcoming the technical bottlenecks of traditional manual inspection and existing rigid automated equipment in terms of adaptability, coverage, and coupling quality.

[0042] As attached Figure 3 To be continued Figure 5 As shown:

[0043] Example 2:

[0044] This invention provides an intelligent robot for detecting internal defects in concrete structures. The robot is configured as a dual-purpose defect detection device for non-destructive testing of the ground and vertical sidewalls. The dual-purpose defect detection device includes a frame 1, a support frame 2, and detection components. The detection components include a main unit 4, a lifting drive module 5, a sidewall detection module 6, and a ground detection module 7. The sidewall detection module 6 is mounted on the main unit 4. The main unit 4 cooperates with a slide and a long rack 3 to scan along the height direction of the wall to be tested. The ground detection module 7 is mounted on the lower side of the main unit 4. The ground detection module 7 includes a transverse slide 701, a longitudinal lifting slide 702, and an end detector. The end detector moves with the transverse slide 701 and the longitudinal lifting slide 702 to achieve continuous scanning and coverage of the ground area.

[0045] 1. In one embodiment of the present invention, the end detector includes a front panel 703, a probe array 704 and a servo motor 705, wherein a transverse slide 701 is connected to the lower side of the host 4, and a longitudinal lifting slide 702 is provided on the sliding end of the transverse slide 701, and the front panel 703 is provided on the front side of the sliding end of the longitudinal lifting slide 702.

[0046] 2. In one embodiment of the present invention, servo motors 705 are installed on both sides of the front panel 703 end face. The output shaft of the servo motors 705 is connected to the probe array 704 via a swing arm. The probe array 704 includes an impact echo probe array 704 and a ground-coupled radar array. The impact echo probe array 704, by analyzing the propagation and reflection characteristics of stress waves inside concrete, is suitable for accurately detecting the depth and location of defects such as shallow cracks, voids, and delamination. The ground-coupled radar array, by transmitting and receiving high-frequency electromagnetic waves and imaging based on differences in dielectric constant, is suitable for quickly surveying the distribution of reinforcing bars, the thickness of the protective layer, and deep areas with abnormal water content. The two work together to achieve comprehensive multi-physics detection of defects inside concrete from shallow to deep layers and from qualitative to quantitative analysis.

[0047] 3. In one embodiment of the present invention, the lifting drive module 5 is a drive assembly that meshes with the long rack 3. The drive assembly converts the torque of the motor into linear driving force through the meshing of the gear and the long rack 3, driving the entire detection assembly to achieve lifting displacement along the stand 2. This lifting motion can also meet the vertical feed of the end probe array 704 of the ground detection module 7 during the detection process, reducing the working stroke of the longitudinal lifting slide 702.

[0048] Working Principle: Based on Example 1, Example 2 further integrates a dedicated ground detection module 7 for horizontal ground detection, thus forming a truly integrated intelligent detection platform suitable for both ground and wall surfaces. This ground detection module 7 uses a horizontal and vertical lifting slide 702 to achieve horizontal scanning positioning and vertical feed and engagement of the probe array 704. The end probe array 704 integrates two complementary sensors based on shock echo and ground penetrating radar principles. An adaptive pitch adjustment mechanism driven by a servo motor 705 ensures that both types of probe arrays 704 maintain optimal contact with uneven ground. Example 2, through a single device and a single deployment, can sequentially or selectively complete omnidirectional, multi-depth, high-precision automated detection of vertical sidewalls and large areas of ground, greatly expanding the equipment's application scenarios and significantly improving overall detection efficiency.

[0049] In conjunction with Embodiments 1 and 2 above, the present invention also provides a method for using the intelligent robot for detecting internal defects in concrete structures, comprising the following steps:

[0050] Step 1: Path Planning and Robot Localization. Operators import a map of the concrete structure to be tested from the control panel or remote terminal, or autonomously construct the working environment by mounting environmental perception sensors (such as LiDAR and cameras) on the robot. The system automatically plans the robot's global movement path based on the inspection task (general survey of the entire area or detailed inspection of a designated area) and controls the chassis drive motors to precisely move the robot to the first inspection starting point. For vertical sidewall inspection, the robot stops at a predetermined working distance from the wall; for ground inspection, the robot directly enters the starting boundary of the area to be tested.

[0051] Step Two: Detection Mode Selection and Module Preparation. Based on the type of surface to be tested (vertical wall or horizontal ground), select the corresponding detection mode on the control interface. In side wall detection mode, the system first controls the lifting drive module 5 to adjust the main unit 4 to the predetermined detection height. Then, it controls the second push rod 603 to smoothly flip the extended working plate 604 from its retracted state to a working position parallel to the wall, and inflates the flexible airbag array to achieve adaptive pre-attachment to the wall. In ground detection mode, the system controls the longitudinal lifting slide 702 of the ground detection module 7 to descend, bringing the probe array 704 closer to the ground. Simultaneously, the servo motor 705 is activated to adjust the pitch angle of the probe array 704 to the ready state based on a preset angle or initial contact feedback.

[0052] Step 3: During sidewall testing, the system uses feedback from distributed pressure sensors within the flexible airbag array to fine-tune the extension of the second push rod 603 and the lateral position of the main unit 4 until the pressure of each airbag unit reaches the preset range, confirming that the main probe array 605 has achieved good coupling with the wall through the flexible sealing area. During ground testing, the system controls the longitudinal lifting slide 702 to continue descending slowly, while simultaneously monitoring the contact force between the probe array 704 and the ground in real time through the force sensor at the swing arm connection. When the contact force reaches the set value, the descent stops, and the pitch angle can be fine-tuned via the servo motor 705 to balance the pressure at each point, completing adaptive bonding.

[0053] Step 4: After bonding is completed, the corresponding probe array 704 is activated for detection. For large-area sidewall scanning, the system controls the lifting drive module 5 to drive the entire detection assembly to move vertically at a uniform speed along the stand 2. The main probe array 605 on the extended work plate 604 continuously acquires data, achieving seamless scanning of a vertical strip area. Simultaneously, the first detection unit 601 can perform targeted supplementary detection on specific narrow areas according to instructions. For ground area scanning, the system controls the transverse slide 701 to drive the probe array 704 to reciprocate along the planned transverse path. In conjunction with the robot's chassis movement, a grid-like full-coverage scan of the ground area is achieved. All detection data is synchronized to the host 4 in real time and includes precise spatial position encoding.

[0054] Step 5: Repeat steps 2 through 4 until all scheduled testing tasks are completed.

[0055] Step Six: After all inspection tasks are completed, the data processing algorithm built into the host 4 or in the cloud performs fusion analysis on the collected multimodal data (ultrasonic / impact echo data, radar data), automatically identifies the type, location, size and depth of defects inside the concrete, and generates structured inspection reports and visualization charts (such as defect distribution maps, depth profile maps, and 3D imaging maps).

[0056] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An intelligent robot for detecting internal defects in concrete structures, the robot being configured as a dual-purpose defect detection device for non-destructive testing of the ground and vertical sidewalls, the dual-purpose defect detection device comprising a frame (1), a support frame (2), and detection components, characterized in that: The frame (1) is a mobile chassis with rollers and a drive motor at the bottom. The frame (1) is connected to the uprights (2) on both sides. The inner side of the two uprights (2) is provided with a detection component for carrying and performing detection tasks. The inner and outer sides of the uprights (2) are provided with a slide groove and a long rack (3) arranged along its height direction. The detection component includes a host (4), a lifting drive module (5), a side wall detection module (6) and a ground detection module (7). The side wall detection module (6) is provided on the host (4). The host (4) cooperates with the slide groove and the long rack (3) and scans along the height direction of the wall to be tested. The ground detection module (7) is installed on the lower side of the host (4). The ground detection module (7) includes a transverse slide (701), a longitudinal lifting slide (702) and an end detector. The end detector moves with the transverse slide (701) and the longitudinal lifting slide (702) to realize continuous scanning and coverage of the ground area.

2. The intelligent robot for detecting internal defects in concrete structures according to claim 1, characterized in that, The host (4) is a chamber-type machine body with a control panel on the front and an integrated cavity on the rear. Lifting drive modules (5) are set on both sides of the host (4).

3. The intelligent robot for detecting internal defects in concrete structures according to claim 1, characterized in that, The sidewall detection module (6) includes a first detection unit (601), which is connected to the outside of the host (4) via a first push rod (602). The first detection unit (601) is a narrow impact echo probe array (704).

4. The intelligent robot for detecting internal defects in concrete structures according to claim 1, characterized in that, The sidewall detection module (6) also includes a second detection unit, which includes a second push rod (603), an extended working plate (604), a main probe array (605) and a flexible attachment mechanism (606). The second push rod (603) is fixed inside the host (4), and the shaft end of the second push rod (603) is hinged to the extended working plate (604). The front end of the extended working plate (604) is hinged to the front of the host (4) through a support arm.

5. The intelligent robot for detecting internal defects in concrete structures according to claim 4, characterized in that, The main probe array (605) is installed in the middle of the surface of the extended working plate (604), and the flexible attachment mechanism (606) is located on the outer periphery of the extended working plate (604). The flexible attachment mechanism (606) is a flexible airbag array.

6. The intelligent robot for detecting internal defects in concrete structures according to claim 1, characterized in that, The end detector includes a front panel (703), a probe array (704) and a servo motor (705), wherein the transverse slide (701) is connected to the lower side of the host (4), and a longitudinal lifting slide (702) is provided on the sliding end of the transverse slide (701), and the front panel (703) is provided on the front side of the sliding end of the longitudinal lifting slide (702).

7. The intelligent robot for detecting internal defects in concrete structures according to claim 6, characterized in that, Servo motors (705) are installed on both sides of the front panel (703). The output shaft of the servo motor (705) is connected to the probe array (704) through a swing arm. The probe array (704) includes an impact echo probe array (704) and a ground-coupled radar array.

8. The intelligent robot for detecting internal defects in concrete structures according to claim 1, characterized in that, The lifting drive module (5) is a drive assembly that meshes with the long rack (3).

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