Structural bonded steel reinforcement quality detection equipment based on infrared thermal imaging

Abstract

The invention relates to the technical field of structural bonded steel quality detection equipment, and discloses structural bonded steel reinforcement quality detection equipment based on infrared thermal imaging, which comprises a mobile platform and magnetic walking wheels arranged on the mobile platform, the device further comprises a mounting platform, a control module, a power module, an infrared heating module, an infrared thermal imaging module, a laser ranging module and a distance adjusting device. According to the invention, thermal excitation can be applied to the steel body at the to-be-detected position through the infrared heating module, the infrared thermal imaging module can acquire a thermal imaging picture with better quality no matter what temperature environment is, and subsequent analysis of the acquired thermal imaging picture is facilitated; moreover, the distance adjusting device can adjust the distance between the mounting platform and the steel body to be kept unchanged, the distance between the infrared thermal imaging module on the mounting platform and the steel body is kept stable, the quality of the collected thermal imaging picture is further improved, and finally the detection accuracy can be improved.

Description

Technical Field

[0001] This invention belongs to the technical field of structural steel bonding quality inspection equipment, and relates to a structural steel bonding reinforcement quality inspection equipment based on infrared thermal imaging. Background Technology

[0002] Steel plate bonding reinforcement, due to its advantages of high strength, convenient construction, and minimal impact on the original structure, has been widely used in the reinforcement and strengthening of various reinforced concrete structures such as bridges, high-rise buildings, and industrial plants. This process uses high-performance structural adhesives to bond steel plates to the surface of concrete members, allowing them to work together to improve the load-bearing capacity and stiffness of the members. However, the reinforcement effect is highly dependent on the construction quality of the bonding layer between the steel plate and the concrete substrate. Defects such as hollow areas and debonding can seriously affect stress transfer, causing the steel plate to fail to function effectively, or even leading to sudden peeling under load and catastrophic consequences. Therefore, comprehensive quality inspection and evaluation of steel plate bonding reinforcement projects are crucial for ensuring structural safety.

[0003] Traditional methods for inspecting the quality of steel-bonded reinforcement mainly include the hammering method and the pull-out method. The hammering method relies on the experience of the inspectors, who roughly determine the area of ​​hollowness by listening to the sound. Its results are highly subjective, lack quantitative analysis, and are inefficient. Furthermore, it poses a significant safety risk for high-altitude facade inspections. The pull-out method is a localized damage detection method. Although it can quantitatively measure the bond strength, it damages the original structure and can only be used for sampling inspections, not comprehensive surveys.

[0004] In the prior art, Chinese patent CN111103297A discloses a non-contact detection method and system for the quality of building exterior wall surfaces, comprising a drone, a drone remote controller, and a data measurement and control processing device. The data measurement and control processing device is mounted on the drone and includes a telemetry module, a ground human-machine interaction module, a self-stabilizing control module, and an image and video storage module and an image wireless transmission module installed within the drone. The self-stabilizing control module includes a self-stabilizing gimbal, a rotation angle sensor, and an infrared thermal imager. The drone, equipped with the data measurement and control processing device, is remotely controlled from the ground by the drone remote controller or performs detection on the exterior wall surfaces at any height of the building according to a preset scheme. Although drones can capture thermal images of the building structure surface, the stability of drone-based thermal image acquisition is poor, the distance to the building structure surface is difficult to control, and the detection accuracy is low. Therefore, to solve the above technical problems, there is an urgent need for a structural steel reinforcement quality detection device based on infrared thermal imaging that offers good stability and high detection accuracy. Summary of the Invention

[0005] This invention proposes a structural steel-bonded reinforcement quality inspection device based on infrared thermal imaging, which effectively solves the problems in the prior art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a structural steel-bonded reinforcement quality inspection device based on infrared thermal imaging, comprising a mobile platform and magnetic wheels mounted on the mobile platform, and further comprising:

[0007] The installation platform is connected to the mobile platform and can be slidably adjusted.

[0008] A control module is installed on the mobile platform;

[0009] A power module, which is installed on the mobile platform and electrically connected to the control module;

[0010] Infrared heating module, used to apply thermal excitation to the steel body at the location to be detected on the structure;

[0011] An infrared thermal imaging module is used to collect thermal imaging information at the location where thermal excitation is applied by the infrared heating module.

[0012] A laser ranging module is mounted on the mounting platform and is used to measure the distance between the mounting platform and the steel body at the detection location.

[0013] The infrared heating module, infrared thermal imaging module, and laser ranging module are all connected to the control module and are all located on the lower side of the mounting platform.

[0014] A distance adjustment device is used to adjust the distance between the mounting platform and the steel body at the location to be detected. The distance adjustment device is installed on the mounting platform and electrically connected to the control module.

[0015] The laser ranging module can feed back the collected distance information to the control module. The control module can send adjustment commands to the distance adjustment device based on the distance information, so that the distance adjustment device can adjust the distance between the installation platform and the steel body at the location to be detected.

[0016] Furthermore, the mobile platform is provided with a support frame, a sliding rod is installed on the support frame, and a spring is sleeved on the sliding rod.

[0017] Furthermore, the sliding rod includes a sleeve and a rod body that is slidably inserted into the sleeve. A groove is provided on the side wall of the sleeve, and a slider that slides in the groove is connected to the rod body. A retaining ring is connected to the end of the sleeve. A base plate is provided at one end of both the sleeve and the rod body facing away from each other. The spring abuts between the two base plates and is sleeved on the outside of the sleeve.

[0018] Furthermore, the magnetic walking wheel includes a wheel body mounted on a mobile platform and a plurality of magnets disposed on the outer circular surface of the wheel body; the magnets are evenly distributed around the circumference of the wheel body along the axis of the wheel body, and the wheel body is connected to a servo drive motor electrically connected to the control module.

[0019] Furthermore, the distance adjustment device includes drive gears disposed at both ends of the mounting platform, each drive gear meshing with a first driven gear, and each drive gear and the first driven gear meshing with a second driven gear, each second driven gear being connected to a support structure capable of coaxial rotation; the drive gear is connected to a servo power source electrically connected to the control module.

[0020] Furthermore, the support structure includes two parallel long rods and two parallel short rods forming a parallelogram; one end of one of the long rods is coaxially connected to the second driven gear; one end of one of the short rods is fixed to the mounting platform and perpendicular to the mounting platform, and the other end is hinged to the end of the other long rod; the two ends of the other short rod are respectively hinged to the ends of the two long rods.

[0021] Furthermore, a mounting column parallel to the short rod is fixed on the short rod away from the mounting platform, and a swivel ball is installed on the end of the mounting column opposite to the mounting platform.

[0022] Furthermore, the servo power source includes a rotating shaft rotatably connected to the mounting platform, a drive gear connected to the end of the rotating shaft, a worm gear provided in the middle section of the rotating shaft, the worm gear meshing with a worm rotatably connected to the mounting platform, and a servo drive motor connected to one end of the worm.

[0023] Furthermore, the mobile platform is provided with U-shaped frames at both opposite ends, and the side of the U-shaped frames facing the steel body is provided with bristles.

[0024] Furthermore, the infrared heating module consists of multiple short-wave infrared flash lamps, which are evenly distributed around the axis of the infrared thermal imaging module.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] In this invention, the infrared heating module can apply thermal excitation to the steel body at the detection location. Regardless of the temperature environment, the infrared thermal imaging module can acquire high-quality thermal images, which facilitates subsequent analysis of the acquired thermal images.

[0027] In this invention, the laser ranging module can detect the distance between the installation platform and the steel body in real time, enabling the control module to send adjustment commands to the distance adjustment device and keep the distance between the installation platform and the steel body constant. This maintains the stability of the distance between the infrared thermal imaging module on the installation platform and the steel body, further improving the quality of the acquired thermal imaging images and ultimately enhancing the accuracy of the detection. Attached Figure Description

[0028] Figure 1 This is a top view of the present invention;

[0029] Figure 2 This is the front view of the present invention;

[0030] Figure 3 This is a front view of the distance adjustment device in this invention on the mounting platform;

[0031] Figure 4 This is a left view of the distance adjustment device in this invention on the mounting platform;

[0032] Figure 5 This is a cross-sectional schematic diagram of the sliding rod in this invention.

[0033] In the diagram: 1. Mobile platform; 2. Magnetic wheels; 3. Mounting platform; 4. Control module; 5. Power module; 6. Infrared heating module; 7. Infrared thermal imaging module; 8. Laser ranging module; 9. Support frame; 10. Spring; 11. Sleeve; 12. Rod; 13. Slide groove; 14. Slider; 15. Retaining ring; 16. Base plate; 17. Drive gear; 18. First driven gear; 19. Second driven gear; 20. Support leg structure; 2010. Long rod; 2020. Short rod; 2030. Mounting column; 2040. Universal ball; 21. Rotating shaft; 22. Worm gear; 23. Worm; 24. U-shaped frame; 25. Brush bristles. Detailed Implementation

[0034] 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.

[0035] like Figures 1 to 5 As shown, the present invention proposes a structural steel-bonded reinforcement quality inspection device based on infrared thermal imaging, including a mobile platform 1 and magnetic walking wheels 2 set on the mobile platform 1, as well as an installation platform 3, a control module 4, a power supply module 5, an infrared heating module 6, an infrared thermal imaging module 7, a laser ranging module 8, and a distance adjustment device.

[0036] The mobile platform 1 is a square frame formed by carbon fiber plates. The carbon fiber plates reduce the overall weight and facilitate the magnetic walking wheels 2 to be firmly attached to the steel plate of the building structure. The magnetic walking wheels 2 are installed at the four corners of the mobile platform 1. The magnetic walking wheels 2 include a wheel body and multiple magnets bonded to the outer circular surface of the wheel body. The multiple magnets are evenly distributed around the circumference of the wheel body axis. The magnets are high-strength magnets made of neodymium iron boron, which can attach the entire invention to the steel plate. The magnetic walking wheels 2 also have a servo drive motor electrically connected to the control module 4. The servo drive motor is mounted on the mobile platform 1 through a bearing seat, and the wheel body is mounted on the output shaft of the servo drive motor.

[0037] The infrared heating module 6 consists of multiple short-wave infrared flash tubes, evenly distributed around the axis of the infrared thermal imaging module 7. The infrared heating module 6 applies thermal excitation to the steel body, increasing its surface temperature and facilitating the acquisition of thermal images from the steel surface by the infrared thermal imaging module 7. If a void exists at the detection location, the steel body's temperature cannot dissipate easily, resulting in rapid heating and very slow temperature drop, fundamentally different from thermal images from detection locations without voids. The infrared thermal imaging module 7 can be an infrared thermal imager; the laser ranging module 8 can be a laser ranging sensor; the control module 4 can be an edge calculator; and the power module 5 uses a battery with an integrated charging module, allowing connection to external AC power via a Type-C port and wires. The battery provides power to the control module 4, infrared heating module 6, infrared thermal imaging module 7, laser ranging module 8, magnetic wheels 2, and distance adjustment device.

[0038] The mobile platform 1 is equipped with a support frame 9, on which a sliding rod is installed, and a spring 10 is sleeved on the sliding rod. Specifically, the support frame 9 includes a support column bolted to the mobile platform 1 and a connecting plate connected to the top of the support column. There are four support columns, located at the four corners of the connecting plate. One end of the sliding rod is connected to the connecting plate, and the other end is connected to the mobile platform 1. The sliding rod allows the mobile platform 1 to adjust the distance between itself and the connecting plate, thereby changing the distance between the mounting platform 3 and the steel body at the detection position. The spring 10 provides a restoring force during the adjustment process.

[0039] In this embodiment, the sliding rod includes a sleeve 11 and a rod 12 that is slidably inserted into the sleeve 11. A groove 13 is provided on the side wall of the sleeve 11. A slider 14 that slides in the groove 13 is connected to the rod 12. A retaining ring 15 is connected to the end of the sleeve 11. A base plate 16 is provided at the opposite ends of the sleeve 11 and the rod 12. A spring 10 abuts against the two bottom edges and is sleeved on the outside of the sleeve 11. Specifically, the base plate 16 is connected to the connecting plate and the mounting platform 3 by bolts. The sliding rod is preferably set to four, which are evenly supported between the mounting platform 3 and the connecting plate.

[0040] In this embodiment, the distance adjustment device includes drive gears 17 disposed at both ends of the mounting platform 3. Each drive gear 17 meshes with a first driven gear 18, and both drive gears 17 and first driven gears 18 mesh with a second driven gear 19. A shaft is rotatably connected to the axis of the second driven gear 19 via a bearing. The end of the shaft is welded to the mounting platform 3. Each second driven gear 19 is connected to a coaxially rotatable support structure 20, therefore there are four support structures 20. The end of the support structure 20 facing away from the mounting platform 3 abuts against the surface of the steel body. The drive gears 17 are connected to a servo power source connected to the control module 4. After the control module 4 receives the distance signal collected by the laser ranging module 8, the control module 4 can... The system can send adjustment commands to the servo power source, which drives the active gear 17 to rotate. Through the transmission of the first driven gear 18, the second driven gear 19 can be driven to rotate simultaneously. This causes the support structures 20 on both sides to move closer or further apart. When the four support structures 20 are adjusted simultaneously, the distance between the mounting platform 3 and the steel body can be adjusted, so that the distance between the infrared thermal imaging module 7 on the mounting platform 3 and the steel body remains constant within a certain error range. The distance adjustment device enables the mounting platform 3 to have adaptive adjustment capabilities, allowing the infrared thermal imaging module 7 on the mounting platform 3 to stably acquire thermal imaging images within a stable distance, thus improving the accuracy of acquisition.

[0041] Specifically, the servo power source includes a rotating shaft 21, with bearing seats and bearing structures connected to both ends of the shaft 21. The bearing seats are mounted on the mounting platform 3, allowing rotation on the mounting platform 3. A drive gear 17 is welded to the end of the rotating shaft 21, and a first driven gear 18 is welded to a coaxial shaft. The shaft is connected to the mounting platform 3 via bearing seats and bearing structures, and is parallel to the drive gear 17. The drive gear 17 and the first driven gear 18 are the same size. A worm gear 22 is keyed to the middle section of the rotating shaft 21, and the worm gear 22 meshes with a worm 23. Both ends of the worm 23 are also connected to... The worm gear 23 is equipped with a bearing housing and bearing structure, allowing it to rotate. One end of the worm gear 23 is connected to a servo drive motor via a coupling, and the servo drive motor is electrically connected to the control module 4. When the servo drive motor receives a command from the control module 4, it drives the worm gear 23 to rotate, and through the transmission between the worm gear 23 and the worm wheel 22, it drives the rotating shaft 21 and the drive gears 17 at both ends of it to rotate synchronously. Conversely, since the worm wheel 22 cannot drive the worm gear 23 to rotate, it can limit the foot structure 20 to remain stationary and the distance between the mounting platform 3 and the steel body without other external forces.

[0042] In this embodiment, the support structure 20 includes two parallel long rods 2010 and two parallel short rods 2020, which together form a parallelogram. One end of one of the long rods 2010 is coaxially connected to the second driven gear 19. When the second driven gear 19 rotates, it can synchronously drive the long rod 2010 to rotate. One end of one of the short rods 2020 is welded to the mounting platform 3 and is perpendicular to the mounting platform 3. The other end is hinged to the end of the other long rod 2010 through a hinge shaft. The two ends of the other short rod 2020 are respectively hinged to the ends of the two long rods 2010. Because the support structure 20 has a parallelogram linkage structure, the short rod 2020 that is away from the mounting platform 3 is always perpendicular to the mounting platform 3, and thus also remains perpendicular to the steel plane on the building structure.

[0043] Preferably, a mounting post 2030 parallel to the short rod 2020 is fixed to the short rod 2020 away from the mounting platform 3 by screws. A universal ball 2040 is installed at the end of the mounting post 2030 away from the mounting platform 3. This allows the end of the support structure 20 to make rolling contact with the steel surface, reducing the friction during overall walking, reducing the wear at the end of the support structure 20, and improving the service life.

[0044] In this embodiment, U-shaped frames 24 are provided at both ends of the mobile platform 1. The U-shaped frames 24 are connected to the mobile platform 1 by screws. When the mobile platform 1 walks on the steel body, brush bristles 25 are attached to the side of the U-shaped frame 24 facing the steel body. The brush bristles 25 can be made of nylon. The brush bristles 25 can clean the surface of the steel body when the mobile platform 1 walks, so as to avoid the adhering debris from interfering with the adsorption of the magnetic walking wheel 2, and also to avoid the debris from interfering with the acquisition of thermal imaging images by the infrared thermal imaging module 7.

[0045] When using the above technical solution:

[0046] First, keep the mobile platform 1 parallel to the steel body on the surface of the building to be inspected, then keep the magnetic walking wheel 2 in contact with the steel body surface; turn on the power module 5 to supply power to each module, the magnetic walking wheel 2, and the distance adjustment device;

[0047] The control module 4 can preset the movement trajectory of the mobile platform 1 or the coordinates of the position to be detected. The magnetic walking wheel 2 will move along the movement trajectory or move to the position to be detected. The control module 4 will send a command to the infrared heating module 6 to apply thermal excitation to heat the steel body at the position to be detected. During the heating process, the infrared thermal imaging module 7 will collect thermal images of the position where thermal excitation is applied and collect them into the control module 4. The control module 4 can store and analyze the collected thermal images, analyze the abnormalities of the thermal images, find the location of the hollow area, and calculate the area of ​​the hollow area.

[0048] When moving to different detection positions, the laser ranging module 8 can collect distance information between the steel body and the mounting platform 3 and feed it back to the control module 4. The control module 4 will issue adjustment commands to the servo power source in the distance adjustment device according to the collected distance information. The servo power source can drive the support structure 20 to swing through the transmission between the drive gear 17, the first driven gear 18 and the second driven gear 19, adjusting the vertical height of the support structure 20 between the mounting platform 3 and the steel body surface, keeping it within a set stable range, so that the infrared heating module 6 on the mounting platform 3 can apply thermal excitation stably, and the infrared thermal imaging module 7 can also stably collect thermal imaging image information. When moving to the steel body surface with bumps or protrusions, it can adaptively maintain a stable distance relationship, improve the quality of thermal imaging image information acquisition, and help improve the accuracy of subsequent analysis.

[0049] 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 structural steel-bonded reinforcement quality inspection device based on infrared thermal imaging, comprising a mobile platform (1) and magnetic wheels (2) mounted on the mobile platform (1), characterized in that, Also includes: The installation platform (3) is connected to the mobile platform (1) and can be slidably adjusted; Control module (4), which is installed on the mobile platform (1); Power module (5), which is installed on the mobile platform (1) and electrically connected to the control module (4); Infrared heating module (6) is used to apply thermal excitation to the steel body at the location to be detected on the structure; Infrared thermal imaging module (7) is used to collect thermal imaging information at the location where thermal excitation is applied by the infrared heating module (6); A laser ranging module (8) is installed on the mounting platform (3) and is used to measure the distance between the mounting platform (3) and the steel body at the detection position. The infrared heating module (6), infrared thermal imaging module (7) and laser ranging module (8) are all connected to the control module (4) and are all located on the lower side of the mounting platform (3); A distance adjustment device is used to adjust the distance between the mounting platform (3) and the steel body at the location to be detected. The distance adjustment device is installed on the mounting platform (3) and electrically connected to the control module (4). The laser ranging module (8) can feed back the collected distance information to the control module (4). The control module (4) can send an adjustment command to the distance adjustment device according to the distance information, so that the distance adjustment device adjusts the distance between the installation platform (3) and the steel body at the location to be detected.

2. The structural steel-bonded reinforcement quality inspection equipment based on infrared thermal imaging according to claim 1, characterized in that, The mobile platform (1) is provided with a support frame (9), and a sliding rod is installed on the support frame (9). A spring (10) is sleeved on the sliding rod.

3. The structural steel-bonded reinforcement quality inspection equipment based on infrared thermal imaging according to claim 2, characterized in that, The sliding rod includes a sleeve (11) and a rod (12) that slides into the sleeve (11). A groove (13) is provided on the side wall of the sleeve (11). A slider (14) that slides in the groove (13) is connected to the rod (12). A retaining ring (15) is connected to the end of the sleeve (11). A base plate (16) is provided at one end of both the sleeve (11) and the rod (12). The spring (10) abuts against the two base plates (16) and is sleeved on the outside of the sleeve (11).

4. The structural steel-bonded reinforcement quality inspection equipment based on infrared thermal imaging according to claim 1, characterized in that, The magnetic walking wheel (2) includes a wheel body installed on the mobile platform (1) and multiple magnets disposed on the outer circular surface of the wheel body; the magnets are evenly distributed around the axis of the wheel body, and the wheel body is connected to a servo drive motor electrically connected to the control module (4).

5. The structural steel-bonded reinforcement quality inspection equipment based on infrared thermal imaging according to claim 1, characterized in that, The distance adjustment device includes drive gears (17) disposed at both ends of the mounting platform (3). Each drive gear (17) meshes with a first driven gear (18). Both the drive gear (17) and the first driven gear (18) mesh with a second driven gear (19). Each second driven gear (19) is connected to a support structure (20) that can rotate coaxially. The drive gear (17) is connected to a servo power source that is electrically connected to the control module (4).

6. The structural steel-bonded reinforcement quality inspection equipment based on infrared thermal imaging according to claim 5, characterized in that, The support structure (20) includes two parallel long rods (2010) and two parallel short rods (2020) forming a parallelogram; one end of one of the long rods (2010) is coaxially connected to the second driven gear (19); one end of one of the short rods (2020) is fixed to the mounting platform (3) and perpendicular to the mounting platform (3), and the other end is hinged to the end of the other long rod (2010); the two ends of the other short rod (2020) are respectively hinged to the ends of the two long rods (2010).

7. The structural steel-bonded reinforcement quality inspection equipment based on infrared thermal imaging according to claim 6, characterized in that, A mounting column (2030) parallel to the short rod (2020) is fixed on the short rod (2020) away from the mounting platform (3), and a universal ball (2040) is installed on the end of the mounting column (2030) away from the mounting platform (3).

8. The structural steel-bonded reinforcement quality inspection equipment based on infrared thermal imaging according to claim 5, characterized in that, The servo power source includes a rotating shaft (21) rotatably connected to the mounting platform (3), a drive gear (17) connected to the end of the rotating shaft (21), a worm gear (22) provided in the middle section of the rotating shaft (21), the worm gear (22) meshing with a worm (23) rotatably connected to the mounting platform (3), and a servo drive motor connected to one end of the worm (23).

9. The structural steel-bonded reinforcement quality inspection equipment based on infrared thermal imaging according to claim 1, characterized in that, The mobile platform (1) is provided with U-shaped frames (24) at both ends, and brush bristles (25) are provided on the side of the U-shaped frame (24) facing the steel body.

10. The structural steel-bonded reinforcement quality inspection equipment based on infrared thermal imaging according to claim 1, characterized in that, The infrared heating module (6) is composed of multiple short-wave infrared flash lamps, which are evenly distributed around the axis of the infrared thermal imaging module (7).

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