A device for detecting and optimizing the structure of old residential buildings and its application method

Abstract

This invention discloses an optimized device for detecting building structures in old residential communities and its usage method, belonging to the field of building structure detection technology. It includes a base with an adaptive movement mechanism installed inside, and a detection mechanism installed at the upper end of the base. The detection mechanism includes a U-shaped support frame, which is bolted to the center of the upper end of the base. A cylinder is installed at the lower end of the U-shaped support frame, with a piston rod at the output end of the cylinder. A rotating component is installed at the upper end of the piston rod. Three sets of telescopic rods are installed at the upper edge of the base and connected to the lower end of the rotating component. An angle adjustment component is installed at the upper end of the rotating component, and a detection component is installed inside the angle adjustment component. This invention, by setting an adaptive movement mechanism in conjunction with a laser radar and a steering component, achieves autonomous obstacle avoidance, precise steering, and stable movement in complex environments in old residential communities, solving the problems of inconvenient movement and inability to automate the movement of traditional devices.

Description

Technical Field

[0001] This invention belongs to the field of building structure testing technology, specifically relating to an optimization device for testing the building structure of old residential communities and its usage method. Background Technology

[0002] As my country's urbanization process enters the stock renewal stage, a large number of old residential communities with outdated structures are facing problems such as declining safety performance and frequent defects. Old residential buildings generally suffer from defects such as concrete carbonization, steel corrosion, wall cracks, and component deformation. Traditional inspection methods often rely on manual handheld equipment, scaffolding, or the use of simple inspection instruments, which are not only inefficient but also pose risks of working at height.

[0003] While existing building structure testing devices can detect some indicators, they generally suffer from poor mobility, inability to autonomously avoid obstacles in narrow corridors, limited range of detection posture adjustment, insufficient integration of multiple probes, and single data acquisition methods, making them difficult to adapt to the complex working conditions of old residential communities. At the same time, the height adjustment of the devices is prone to swaying, the turning accuracy is insufficient, and the detection cannot be automated, resulting in many blind spots, low data accuracy, and cumbersome operation, which cannot meet the needs of efficient, comprehensive, and safe testing of building structures in old residential communities. Summary of the Invention

[0004] To address the problems mentioned in the background section, this invention provides a device for detecting and optimizing the structure of old residential buildings, featuring adaptive movement, omnidirectional attitude adjustment, integrated detection of multiple indicators, automated operation, and stable reliability.

[0005] The present invention also provides a method for using the device for detecting and optimizing the structural structure of old residential buildings.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a device for detecting and optimizing the structure of old residential buildings, comprising a base, wherein an adaptive moving mechanism is installed inside the base, and a detection mechanism is installed at the upper end of the base; The detection mechanism includes a U-shaped support frame. The U-shaped support frame is bolted to the upper center of the base. A cylinder is installed at the lower end of the U-shaped support frame. A piston rod is provided at the output end of the cylinder. A rotating component is installed at the upper end of the piston rod. Three sets of telescopic rods are installed at the upper edge of the base and connected to the lower end of the rotating component. An angle adjustment component is installed at the upper end of the rotating component. A detection component is installed inside the angle adjustment component.

[0007] Furthermore, the rotating assembly includes a mounting box, which is mounted on the upper end of the piston rod. A motor is mounted on the inner side of the mounting box. A small gear is provided at the output end of the motor. A large gear is meshed with the side of the small gear. A rotating shaft is installed through the inside of the large gear. The lower end of the rotating shaft is rotatably connected to the mounting box via a bearing. The upper end of the rotating shaft is connected to the lower end of the angle adjustment assembly.

[0008] Furthermore, the rotating assembly also includes a T-shaped slider. The lower side of the angle adjustment assembly is provided with a T-shaped slider inside the mounting box, and the upper end of the mounting box is provided with an annular slide rail corresponding to the T-shaped slider.

[0009] Furthermore, the angle adjustment component includes a U-shaped plate, with the upper end of the rotating shaft one equipped with the U-shaped plate, a slot being provided on the side of the U-shaped plate, and a second motor being installed inside the slot. The output end of the second motor is provided with a second rotating shaft.

[0010] Furthermore, the detection assembly includes a detection head, which is located at the other end of the rotating shaft. A crack width detection probe is installed at the center of the side of the detection head, a crack depth detection probe is installed near the crack width detection probe at the center of the side of the detection head, a concrete strength detection probe is installed near the crack depth detection probe at the center of the side of the detection head, a steel corrosion detection probe is installed near the concrete strength detection probe at the center of the side of the detection head, a humidity sensor is installed at the edge of the side of the detection head, a temperature sensor is installed near the humidity sensor at the edge of the side of the detection head, and a strain gauge is installed at the other edge of the detection head.

[0011] Furthermore, the adaptive movement mechanism includes a motor three, which is installed on one side of the inside of the base. A rotating shaft three is provided at the output end of the motor three, and a moving wheel is installed at the other end of the rotating shaft three. A lithium battery is provided at the center of the inside of the base, and a controller is provided inside the base near the lithium battery. A steering component is provided on the other side of the inside of the base, and a charging port connected to the lithium battery is installed on the outside of the base.

[0012] Furthermore, the steering assembly includes a motor four, and multiple sets of support rods are installed on the other side of the base. A support plate is installed on the upper end of the support rods, and a motor four is installed on the upper end of the support plate. A rotating shaft four is provided at the output end of the motor four, and a mounting seat is installed at the lower end of the rotating shaft four. A through hole corresponding to the mounting seat is opened at the lower end of the base. A steering wheel is installed inside the mounting seat, and the steering wheel and the mounting seat are rotatably connected by a rotating shaft.

[0013] Furthermore, the steering assembly also includes a rotating block, with the rotating block mounted on the surface of the rotating shaft four, and a rotating groove corresponding to the rotating block being opened inside the support plate.

[0014] Furthermore, the adaptive movement mechanism also includes an ear plate, which is installed on the side edge of the base. A lidar is installed at the lower end of the ear plate. The lidar, motor three, lithium battery, controller, charging port and motor four are electrically connected by wires.

[0015] Furthermore, a method for using a structural testing and optimization device for old residential buildings includes the following steps: S1: Before use, fully charge the lithium battery through the charging port, check that all components of the device are securely connected and the sensors are functioning properly, move the device to the entrance of the building to be inspected in the old residential area, and start the controller and lidar to complete the system initialization. S2: Input the building detection range and detection requirements into the controller. The lidar scans the environment in real time. The controller automatically plans the optimal travel path and controls the motor and steering component drive device to move autonomously, automatically avoiding obstacles such as debris, walls, and steps. S3: After the device reaches the designated detection point, it automatically stops moving. The cylinder starts to drive the piston rod to rise and fall, and together with the telescopic rod, it precisely adjusts the detection component to the target detection height, keeping the lifting and lowering stable. S4: Motor 1 starts to drive the rotating component to adjust the horizontal position of the detection, and Motor 2 starts to drive the angle adjustment component to adjust the pitch angle of the detection, so that the detection head is completely in contact with the surface of the building structure. S5: All probes and sensors in the detection component start up synchronously, collecting multiple data such as crack width, crack depth, concrete strength, steel corrosion, temperature and humidity, and structural strain, and transmitting them to the controller in real time for storage and preliminary analysis. S6: After the current point is detected, the device automatically determines whether there is a next detection point. If there is, it continues to move and cyclically detect according to the planned path. If not, it automatically returns to the initial position to complete the structural detection of the entire building.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention, by setting up an adaptive movement mechanism in conjunction with lidar and steering components, enables autonomous obstacle avoidance, precise steering, and stable movement in complex environments of old residential areas, solving the problems of inconvenient movement and inability to automate the movement of traditional devices.

[0017] 2. By setting up a rotating component and an angle adjustment component, and cooperating with a cylinder and telescopic rod lifting structure, the present invention can realize 360° orientation adjustment and pitch angle adjustment of the detection head, eliminate detection blind spots, and improve detection coverage and posture adaptability.

[0018] 3. This invention, by setting up an integrated multi-probe detection component, simultaneously collects structural damage and environmental auxiliary data, achieving high-precision detection of multiple indicators in one go, greatly improving detection efficiency and data reliability, and adapting to the comprehensive safety assessment needs of old residential building structures. Attached Figure Description

[0019] Figure 1 This is a perspective view of the present invention; Figure 2 This is a three-dimensional sectional view of the lifting structure of the present invention; Figure 3 This is a three-dimensional sectional view of the rotating structure of the present invention; Figure 4 This is a three-dimensional cross-sectional view of the detection structure of the present invention; Figure 5 This is a perspective view of the base position of the present invention; Figure 6 This is a three-dimensional sectional view of the adaptive movement mechanism of the present invention; Figure 7 This is a perspective sectional view of the base of the present invention; Figure 8 This is a perspective view of the steering structure of the present invention; Figure 9 This is a three-dimensional cross-sectional view of the steering structure of the present invention from a bottom-view perspective. Figure 10 This is an exploded view of the steering structure of the present invention; In the diagram: 1. Base; 2. Detection mechanism; 21. Telescopic rod; 22. U-shaped support frame; 23. Cylinder; 24. Piston rod; 25. Rotating assembly; 251. Mounting box; 252. Circular slide rail; 253. Pinion; 254. Motor 1; 255. Large gear; 256. Rotating shaft 1; 257. T-shaped slider; 26. Angle adjustment assembly; 261. Motor 2; 262. Slot; 263. U-shaped plate; 264. Rotating shaft 2; 27. Detection assembly; 271. Temperature sensor; 272. Humidity sensor; 273. Strain gauge; 274. Crack width detector. 275. Crack depth detection probe; 276. Concrete strength detection probe; 277. Reinforcing steel corrosion detection probe; 278. Detection head; 3. Adaptive movement mechanism; 31. Ear plate; 32. LiDAR; 33. Lithium battery; 34. Motor three; 35. Rotating shaft three; 36. Moving wheel; 37. Controller; 38. Steering assembly; 381. Motor four; 382. Support plate; 383. Support rod; 384. Mounting base; 385. Rotating shaft; 386. Steering wheel; 387. Rotating shaft four; 388. Rotating groove; 389. Rotating block; 39. Charging port. Detailed Implementation

[0020] 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.

[0021] Example 1 Please see Figure 1-10 The present invention provides the following technical solution: a device for detecting and optimizing the structure of old residential buildings, including a base 1, an adaptive moving mechanism 3 installed inside the base 1, and a detection mechanism 2 installed at the upper end of the base 1; The testing mechanism 2 includes a U-shaped support frame 22. The U-shaped support frame 22 is bolted to the upper center of the base 1. A cylinder 23 is installed at the lower end of the U-shaped support frame 22. A piston rod 24 is provided at the output end of the cylinder 23. A rotating component 25 is installed at the upper end of the piston rod 24. Three sets of telescopic rods 21 are installed at the upper edge of the base 1 and connected to the lower end of the rotating component 25. An angle adjustment component 26 is installed at the upper end of the rotating component 25. A testing component 27 is provided inside the angle adjustment component 26.

[0022] Furthermore, the rotating component 25 includes a mounting box 251. The mounting box 251 is mounted on the upper end of the piston rod 24. A motor 254 is mounted on the inner side of the mounting box 251. A pinion 253 is provided at the output end of the motor 254. A large gear 255 is meshed with the side of the pinion 253. A rotating shaft 256 is installed through the interior of the large gear 255. The lower end of the rotating shaft 256 is rotatably connected to the mounting box 251 via a bearing. The upper end of the rotating shaft 256 is connected to the lower end of the angle adjustment component 26. By adopting the above technical solution, the motor 254 provides rotational power, which is reduced and increased in torque by the pinion 253 and the large gear 255, driving the rotating shaft 256 to operate smoothly. This can drive the angle adjustment component 26 and the detection component 27 to achieve 360° omnidirectional horizontal rotation, covering detection areas in different directions such as the walls, columns, and corners of old buildings, significantly expanding the detection coverage.

[0023] Furthermore, the rotating component 25 also includes a T-shaped slider 257. The lower side of the angle adjustment component 26 is provided with the T-shaped slider 257 inside the mounting box 251. The upper end of the mounting box 251 is provided with an annular slide rail 252 corresponding to the T-shaped slider 257. By adopting the above technical solution, the T-shaped slider 257 and the annular slide rail 252 form a sliding limit support structure, which provides uniform support during the rotation of the angle adjustment component 26, effectively reducing rotational sway and offset, ensuring that the detection component 27 maintains a stable posture during rotational adjustment, and providing structural protection for high-precision detection.

[0024] Furthermore, the angle adjustment component 26 of the present invention includes a U-shaped plate 263. The upper end of the rotating shaft 256 is equipped with the U-shaped plate 263. A slot 262 is provided on the side of the U-shaped plate 263. A motor 261 is installed inside the slot 262. A rotating shaft 264 is provided at the output end of the motor 261. By adopting the above technical solution, the motor 261 drives the rotating shaft 264 to rotate in the pitch direction, thereby driving the detection component 27 to achieve precise adjustment of the up and down angle. It can flexibly fit complex detection surfaces such as wall facades, inclined components, and floor slab bottoms, completely eliminating blind spots in the detection of old residential building structures and improving the comprehensiveness of the detection.

[0025] Furthermore, the detection component 27 includes a detection head 278. The detection head 278 is located at the other end of the rotating shaft 264. A crack width detection probe 274 is installed at the center of the side of the detection head 278. A crack depth detection probe 275 is located near the center of the side of the detection head 278, near the crack depth detection probe 275, and a concrete strength detection probe 276 is located near the center of the side of the detection head 278, near the concrete strength detection probe 276. A steel reinforcement corrosion detection probe 277 is located near the center of the side of the detection head 278, near the concrete strength detection probe 276. A humidity sensor 272 is installed on the side edge of the detection head 278, and a temperature sensor 271 is installed on the side edge of the detection head 278 near the humidity sensor 272. A strain gauge 273 is installed on the other side edge of the detection head 278. By adopting the above technical solution, four core structural detection indicators, namely crack width, crack depth, concrete strength, and steel corrosion, are integrated with two environmental auxiliary indicators, namely temperature and humidity and structural strain, into the integrated detection head 278. This enables simultaneous acquisition of multiple parameters and mutual calibration of data, which greatly improves detection accuracy and efficiency and meets the comprehensive safety assessment needs of old residential building structures.

[0026] In this embodiment, the cylinder 23 drives the piston rod 24 to move the rotating assembly 25 vertically. The three sets of telescopic rods 21 extend and retract synchronously with the lifting stroke, forming multi-point balanced support for the rotating assembly 25 and ensuring a smooth and wobbly lifting process. The rotating assembly 25 completes the horizontal orientation adjustment, and the angle adjustment assembly 26 completes the pitch angle adjustment, so that the detection head 278 is in close contact with the building structure detection surface. The crack width detection probe 274, crack depth detection probe 275, concrete strength detection probe 276, and steel corrosion detection probe 277 simultaneously collect structural damage data. The temperature sensor 271, humidity sensor 272, and strain gauge 273 simultaneously collect environmental and structural stress data, providing accurate calibration basis for the detection results.

[0027] Example 2 The difference between this embodiment and Embodiment 1 is that: the adaptive movement mechanism 3 includes a motor 34, which is installed on one side of the base 1. The output end of the motor 34 is provided with a rotating shaft 35, and the other end of the rotating shaft 35 is provided with a moving wheel 36. A lithium battery 33 is located at the center of the base 1. A controller 37 is located inside the base 1 near the lithium battery 33. A steering component 38 is located on the other side of the base 1. A charging port 39 connected to the lithium battery 33 is installed on the outside of the base 1. By adopting the above technical solution, the motor 34 drives the rotating shaft 35 to rotate the moving wheel 36, realizing the autonomous movement function of the device. The lithium battery 33 provides a continuous power supply for the entire device, with the characteristics of stable endurance and safety. The charging port 39 supports fast charging, which can meet the needs of continuous multi-point and long-term detection operations in old residential areas. The controller 37, as the core control unit, coordinates various actions such as movement, steering, and detection.

[0028] Furthermore, the steering assembly 38 includes a motor 381. Multiple support rods 383 are installed on the other side of the base 1. A support plate 382 is installed at the upper end of the support rods 383, and the motor 381 is installed at the upper end of the support plate 382. A rotating shaft 387 is provided at the output end of the motor 381, and a mounting seat 384 is installed at the lower end of the rotating shaft 387. A through hole corresponding to the mounting seat 384 is opened at the lower end of the base 1. A steering wheel 386 is installed inside the mounting seat 384. The steering wheel 386 and the mounting seat 384 are rotatably connected via a rotating shaft 385. By adopting the above technical solution, the motor 381 outputs steering power, driving the steering wheel 386 to complete the steering action. The support rods 383 and the support plate 382 form a stable support structure, ensuring stable transmission of steering power. The mounting seat 384 and the rotating shaft 385 provide reliable rotational support for the steering wheel 386, enabling the device to flexibly turn in narrow corridors and corners in old residential areas, with strong passability.

[0029] Furthermore, the steering assembly 38 of the present invention also includes a rotating block 389. The rotating block 389 is mounted on the surface of the rotating shaft 387, and the support plate 382 has a rotating groove 388 corresponding to the rotating block 389 inside. By adopting the above technical solution, the rotating block 389 and the rotating groove 388 cooperate with each other to form a steering limiting structure, which limits the rotation angle and attitude of the steering wheel 386, avoids oversteering or deviation, improves the accuracy of the device's movement path, and ensures stable driving in complex indoor environments.

[0030] Furthermore, the adaptive movement mechanism 3 of this invention also includes an ear plate 31. The ear plate 31 is installed on the side edge of the base 1, and a lidar 32 is installed at the lower end of the ear plate 31. The lidar 32, motor 34, lithium battery 33, controller 37, charging port 39, and motor 381 are electrically connected by wires. By adopting the above technical solution, the lidar 32 is fixed to the outside of the base 1 through the ear plate 31, and can scan and detect the surrounding environment in 360°, identify obstacles, stairs, walls, etc. in real time, and transmit the information to the controller 37. The controller 37 automatically controls the start, stop, and speed of motor 34 and the steering angle of motor 381 according to the scanning results, realizing autonomous obstacle avoidance and autonomous navigation movement under unmanned operation, which greatly improves the safety and intelligence level of the detection operation in old residential areas.

[0031] In this embodiment, the lithium battery 33 supplies power to the lidar 32, controller 37, motor 34, motor 4 381, and detection mechanism 2 via a circuit. The lidar 32 constructs an environmental map in real time and identifies obstacles. The controller 37 autonomously plans its route according to a preset path, controls motor 34 to drive the moving wheel 36 forward, and motor 4 381 to drive the steering wheel 386 to adjust the direction. After the device automatically reaches the detection point, the detection mechanism 2 starts and completes the adjustment of height, orientation, and angle. The detection component 27 begins to collect various data of the building structure. The entire process requires no manual intervention, realizing automated and intelligent detection operations.

[0032] Furthermore, the present invention provides a method for using a structural testing and optimization device for old residential buildings, comprising the following steps: S1: Before use, fully charge the lithium battery 33 through the charging port 39, check that all components of the device are securely connected and the sensors are functioning properly, move the device to the entrance of the building to be inspected in the old residential area, and start the controller 37 and the lidar 32 to complete the system initialization. S2: Input the building detection range and detection requirements into the controller 37, the lidar 32 scans the environment in real time, the controller 37 automatically plans the optimal travel path, controls the motor 34 and the steering component 38 to drive the device to move autonomously, and automatically avoids obstacles such as debris, walls, and steps. S3: After the device reaches the designated detection point, it automatically stops moving. The cylinder 23 starts to drive the piston rod 24 to rise and fall, and together with the telescopic rod 21, it precisely adjusts the detection component 27 to the target detection height, keeping the lifting and lowering stable. S4: Motor 1 254 starts to drive the rotating component 25 to adjust the horizontal orientation of the detection, and Motor 2 261 starts to drive the angle adjustment component 26 to adjust the pitch angle of the detection, so that the detection head 278 is completely in contact with the surface of the building structure. S5: All probes and sensors in the detection component 27 start up synchronously, collect multiple data such as crack width, crack depth, concrete strength, steel corrosion, temperature and humidity, and structural strain, and transmit them to the controller 37 in real time for storage and preliminary analysis. S6: After the current point is detected, the device automatically determines whether there is a next detection point. If there is, it continues to move and cyclically detect according to the planned path. If not, it automatically returns to the initial position to complete the structural detection of the entire building.

[0033] The working principle and usage process of this invention: When in use, the invention uses a lithium battery 33 as the overall power source and a controller 37 as the core control unit. Environmental perception and autonomous obstacle avoidance are achieved through a laser radar 32, and adaptive movement is completed in conjunction with a motor 34 and a steering component 38. After reaching the detection position, the detection height is adjusted by a cylinder 23, the horizontal orientation is adjusted by a rotating component 25, and the pitch angle is adjusted by an angle adjustment component 26, ensuring that the detection component 27 precisely fits the detection surface. Multiple types of detection probes and sensors simultaneously collect various safety index data of old building structures, achieving integrated, automated, and high-precision detection. This effectively solves the problems of poor adaptability, cumbersome operation, low accuracy, and low efficiency of traditional detection equipment, and is particularly suitable for the safety detection and assessment of building structures under complex conditions in old residential areas.

[0034] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A device for detecting and optimizing the structure of old residential buildings, comprising a base (1), characterized in that: An adaptive moving mechanism (3) is installed inside the base (1), and a detection mechanism (2) is installed at the upper end of the base (1). The detection mechanism (2) includes a U-shaped support frame (22). The U-shaped support frame (22) is bolted to the upper center of the base (1). A cylinder (23) is installed at the lower end of the U-shaped support frame (22). A piston rod (24) is provided at the output end of the cylinder (23). A rotating component (25) is installed at the upper end of the piston rod (24). Three sets of telescopic rods (21) are installed at the upper edge of the base (1) and connected to the lower end of the rotating component (25). An angle adjustment component (26) is installed at the upper end of the rotating component (25). A detection component (27) is provided inside the angle adjustment component (26).

2. The device for detecting and optimizing the structure of old residential buildings according to claim 1, characterized in that: The rotating assembly (25) includes a mounting box (251). The upper end of the piston rod (24) is mounted on the mounting box (251). A motor (254) is mounted on the inner side of the mounting box (251). A small gear (253) is provided at the output end of the motor (254). A large gear (255) is meshed with the side of the small gear (253). A rotating shaft (256) is installed through the inside of the large gear (255). The lower end of the rotating shaft (256) is rotatably connected to the mounting box (251) through a bearing. The upper end of the rotating shaft (256) is connected to the lower end of the angle adjustment assembly (26).

3. The device for detecting and optimizing the structure of old residential buildings according to claim 2, characterized in that: The rotating assembly (25) also includes a T-shaped slider (257). The lower side of the angle adjustment assembly (26) is provided with a T-shaped slider (257) inside the mounting box (251). The upper end of the mounting box (251) is provided with an annular slide rail (252) corresponding to the T-shaped slider (257).

4. The device for detecting and optimizing the structure of old residential buildings according to claim 2, characterized in that: The angle adjustment component (26) includes a U-shaped plate (263), the upper end of the rotating shaft (256) is equipped with the U-shaped plate (263), the side of the U-shaped plate (263) is provided with a slot (262), the inside of the slot (262) is equipped with a motor (261), and the output end of the motor (261) is provided with a rotating shaft (264).

5. The device for detecting and optimizing the structure of old residential buildings according to claim 4, characterized in that: The detection assembly (27) includes a detection head (278). The other end of the rotating shaft (264) is equipped with a detection head (278). A crack width detection probe (274) is installed at the center of the side of the detection head (278). A crack depth detection probe (275) is installed at the center of the side of the detection head (278) near the crack width detection probe (274). A concrete strength detection probe (276) is installed at the center of the side of the detection head (278) near the crack depth detection probe (275). A steel corrosion detection probe (277) is installed at the center of the side of the detection head (278) near the concrete strength detection probe (276). A humidity sensor (272) is installed at the edge of the side of the detection head (278). A temperature sensor (271) is installed at the edge of the side of the detection head (278) near the humidity sensor (272). A strain gauge (273) is installed at the other edge of the detection head (278).

6. The device for detecting and optimizing the structure of old residential buildings according to claim 1, characterized in that: The adaptive movement mechanism (3) includes a motor (34), a motor (34) is installed on one side of the base (1), a rotating shaft (35) is provided at the output end of the motor (34), a moving wheel (36) is installed at the other end of the rotating shaft (35), a lithium battery (33) is provided at the center of the base (1), a controller (37) is provided in the base (1) near the lithium battery (33), a steering component (38) is provided on the other side of the base (1), and a charging port (39) connected to the lithium battery (33) is installed on the outside of the base (1).

7. The device for detecting and optimizing the structure of old residential buildings according to claim 1, characterized in that: The steering assembly (38) includes a motor (381), and multiple sets of support rods (383) are installed on the other side of the base (1). A support plate (382) is installed on the upper end of the support rod (383), and a motor (381) is installed on the upper end of the support plate (382). A rotating shaft (387) is provided at the output end of the motor (381), and a mounting seat (384) is installed at the lower end of the rotating shaft (387). A through hole corresponding to the mounting seat (384) is opened at the lower end of the base (1). A steering wheel (386) is installed inside the mounting seat (384), and the steering wheel (386) and the mounting seat (384) are rotatably connected by a rotating shaft (385).

8. The device for detecting and optimizing the structure of old residential buildings according to claim 7, characterized in that: The steering assembly (38) also includes a rotating block (389), the rotating block (389) is mounted on the surface of the rotating shaft (387), and the support plate (382) has a rotating groove (388) corresponding to the rotating block (389) inside.

9. The device for detecting and optimizing the structure of old residential buildings according to claim 7, characterized in that: The adaptive movement mechanism (3) also includes an ear plate (31). An ear plate (31) is installed on the side edge of the base (1). A lidar (32) is installed at the lower end of the ear plate (31). The lidar (32), motor three (34), lithium battery (33), controller (37), charging port (39) and motor four (381) are electrically connected by wires.

10. A method of using the structural testing and optimization device for old residential buildings according to any one of claims 1-9, characterized in that: Includes the following steps: S1: Before use, fully charge the lithium battery (33) through the charging port (39), check that all components of the device are securely connected and the sensors are functioning properly, move the device to the entrance of the building to be inspected in the old community, and start the controller (37) and the lidar (32) to complete the system initialization; S2: Input the building detection range and detection requirements into the controller (37), the lidar (32) scans the environment in real time, the controller (37) automatically plans the optimal travel path, controls the motor three (34) and the steering component (38) to drive the device to move autonomously and automatically avoid obstacles such as debris, walls, and steps; S3: After the device reaches the designated detection point, it automatically stops moving. The cylinder (23) starts to drive the piston rod (24) to rise and fall. In conjunction with the telescopic rod (21), the detection component (27) is precisely adjusted to the target detection height to maintain a smooth rise and fall. S4: Motor 1 (254) starts driving the rotating assembly (25) to adjust the horizontal orientation of the detection, and Motor 2 (261) starts driving the angle adjustment assembly (26) to adjust the pitch angle of the detection, so that the detection head (278) is completely in contact with the surface of the building structure. S5: All probes and sensors of the detection component (27) start synchronously, collect multiple data such as crack width detection probe (274), crack depth detection probe (275), concrete strength detection probe (276), steel corrosion detection probe (277), temperature sensor (271), humidity sensor (272), strain gauge (273), etc., and transmit them to the controller (37) in real time for storage and preliminary analysis; S6: After the current point is detected, the device automatically determines whether there is a next detection point. If there is, it continues to move and cyclically detect according to the planned path. If not, it automatically returns to the initial position to complete the structural detection of the entire building.

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