A site safety intelligent inspection robot

Abstract

The application discloses a construction site safety intelligent inspection robot and relates to the technical field of construction site inspection. The construction site safety intelligent inspection robot comprises a vehicle body, a driving motor is fixedly connected to the inner wall corners of the vehicle body, a moving wheel is fixedly connected to the output end of the driving motor, an adjusting device is arranged in the vehicle body, a detection device is arranged at the top end of the adjusting device, and a single-chip microcomputer is fixedly connected to the outer wall of the vehicle body. The adjusting device is provided with an adjusting structure, the hydraulic push rod, the limiting sliding structure and the rotating disc are cooperated, the top detection device is driven to be adaptively adjusted in height and angle, the complex civil structure detection scene of the building engineering can be adapted, and the problems of single shooting position and limited coverage range of the traditional fixed inspection equipment are solved.

Description

Technical Field

[0001] This invention relates to the field of construction site inspection technology, and in particular to an intelligent construction site safety inspection robot. Background Technology

[0002] In the construction and daily maintenance of civil engineering projects, structural safety inspection is the main task to avoid construction risks, ensure project quality and maintain safety. This work mainly involves checking for defects and monitoring the status of building, road and bridge surfaces and municipal surfaces. Traditionally, it is mostly carried out by manual inspection combined with traditional fixed and simple mobile inspection equipment.

[0003] In existing technologies, traditional inspection equipment has a relatively simple structure and function. Most of them are fixed-position inspection structures that cannot automatically adjust the height and angle. They can only perform inspections at a single position and a fixed height, making it difficult to adapt to the complex scenarios of construction sites. They are prone to blind spots and cannot achieve comprehensive and full-area inspection of civil structures. Summary of the Invention

[0004] The technical solution provided by this invention is as follows: A construction site safety intelligent inspection robot, comprising: a vehicle body, drive motors fixedly connected to the four corners of the inner wall of the vehicle body, moving wheels fixedly connected to the output end of the drive motors, an adjustment device provided inside the vehicle body, a detection device provided at the top of the adjustment device, a microcontroller fixedly connected to the outer wall of the vehicle body, a pathfinding radar fixedly connected to the outer wall of the vehicle body, and a computing module fixedly connected to the outer wall of the vehicle body.

[0005] The microcontroller is connected and powered to the pathfinding radar, defect scanner, 3D LiDAR, camera, transmission antenna, drive motor, adjustment device, and computing module. It is the core of control for all electrical components, used to send inspection operation instructions, manage the start and stop of all acquisition components and acquisition frequency, and receive image and structural data from various sensors. It then forwards the data to the computing module for calculation and analysis. At the same time, it receives instructions from the remote terminal to adjust the equipment's movement, lifting and inspection operations, and changes the operation status in real time according to the inspection situation.

[0006] The pathfinding radar is fixedly installed on the outer wall of the vehicle and is mainly used for long-distance environmental monitoring and navigation to obtain the location of obstacles at the construction site. Its signal output terminal is electrically connected to the microcontroller and transmits signals through the microcontroller and intelligent planning unit to identify obstacles such as walls, building materials, and personnel at the construction site.

[0007] The defect scanner is fixedly mounted at the bottom of the vehicle body. It is a short-range ultrasonic scanner used to detect defects in the planar structure of horizontal road surfaces and bridges. It collects echo characteristic data of concrete cracks, road potholes, and surface peeling. The scanner does not work if the object being inspected is a non-horizontal structure such as a wall or bridge. Its signal terminal is electrically connected to a microcontroller, and the collected data is transmitted to the inference and diagnostic unit via the microcontroller.

[0008] The three-dimensional lidar is symmetrically fixed on the outer wall of the mounting plate of the detection device for structural detection at medium and close range. It is electrically connected to a single-chip microcomputer. The collected spatial deformation data is transmitted to the computing module for fusion and calculation. It works with the lifting and adjustment device to complete the adaptive adjustment of height and angle, and performs three-dimensional spatial ranging, deformation monitoring and contour scanning of the building structure.

[0009] The camera is fixedly installed in the center of the mounting plate. It is electrically connected to the microcontroller. The camera collects inspection image data in real time and identifies visible problems such as structural damage, debris accumulation, illegal construction, and exposed components.

[0010] The transmission antenna is fixedly installed on the outside of the vehicle body and electrically connected to the microcontroller to transmit data and receive remote commands. It transmits the data analyzed by the computing module to the back-end terminal over a long distance and receives control signals from the remote terminal to complete the control of the equipment.

[0011] The present invention is further configured such that a battery is fixedly connected to the inner wall of the vehicle body, a defect scanner is fixedly connected to the bottom of the vehicle body, and a transmission antenna is fixedly connected to the end of the vehicle body away from the pathfinding radar.

[0012] The present invention is further configured such that the adjusting device includes a fixed disk, a rotating disk is provided at the bottom end of the fixed disk, a hydraulic push rod is provided at the bottom end of the rotating disk, and an adjusting motor is provided outside the rotating disk.

[0013] The invention is further configured such that the outer wall of the rotating disk is rotatably connected to the inner wall of the vehicle body, the output end of the adjusting motor is connected to the rotating disk via a pulley assembly, and the bottom outer wall of the hydraulic push rod is fixedly connected to the inner wall of the vehicle body.

[0014] The present invention is further configured such that a limiting cylinder is symmetrically fixedly connected to the outer wall of the rotating disk, a fixed rod is slidably connected to the inner wall of the limiting cylinder, and a push rod is slidably connected to the center of the rotating disk.

[0015] The present invention is further configured such that the top end of the fixed rod is fixedly connected to the bottom end of the fixed disk, the top end of the push rod is slidably connected to the bottom end of the fixed disk, and the bottom end of the push rod is fixedly connected to the top output end of the hydraulic push rod.

[0016] The invention is further configured such that the detection device includes a mounting plate, a camera is fixedly connected to the center of the mounting plate, three-dimensional laser radars are symmetrically fixedly connected to the outer wall of the mounting plate, and the bottom end of the mounting plate is fixedly connected to the top end of the fixed plate.

[0017] The present invention is further configured such that the computing module includes an electronic control scheduling unit, an intelligent planning unit, a signal transmission unit, and an inference and diagnosis unit.

[0018] The electronic control scheduling unit is used to receive inspection instructions from the microcontroller, control the start and stop of all execution and data acquisition components, and adjust the equipment; the intelligent planning unit is used to plan inspection paths and control inspection tasks, and complete path planning and obstacle avoidance.

[0019] The workflow of the intelligent planning unit is as follows: First, the pathfinding radar scans in real time to build a 3D point cloud map of the construction site. Combined with the pre-set coordinates of key inspection areas, an inspection path is generated based on the path planning algorithm of the grid map. Second, when the equipment moves, the pathfinding radar activates its detection. If obstacles or temporarily closed areas are detected, the path will be replanned to generate detour routes to avoid obstacles and update the original global trajectory. Finally, the planned results are sent to the electronic control and scheduling unit, which converts them into speed and steering commands that can drive the motor, thus achieving autonomous walking with real-time mapping, path planning, and dynamic obstacle avoidance.

[0020] The signal transmission unit aggregates data collected by multiple sensors such as cameras, 3D LiDAR, and defect scanners, and, together with the transmission antenna, remotely and wirelessly uploads local data in real time. At the same time, it receives inspection tasks and adjustment instructions from the background and sends them back to the electrical control and dispatch unit, thereby establishing a data channel between the equipment end and the remote control end, ensuring that inspection data can be viewed at any time and remote instructions can be responded to immediately.

[0021] The reasoning and diagnosis unit is equipped with an algorithm model for civil engineering structures, including discrete element method and strain mode, etc. It calculates and makes inference judgments on the data collected by sensors to identify potential hazards such as wall cracks and concrete spalling; and identifies and judges potential hazards.

[0022] The input layer receives image data from the camera, point cloud spatial data from the 3D LiDAR, and echo feature data from the defect scanner. Then, it performs preprocessing on these data, including timestamp synchronization and spatial coordinate alignment.

[0023] The feature extraction layer uses convolutional neural networks to extract appearance defects of building structures from image data; it extracts features of building structures from point cloud spatial data. The extraction can be performed using computational networks such as PointNet++ and DGCNN to calculate the deformation displacement of the structure and extract defect features from the obtained echo signals.

[0024] The input layer takes the collected data features and puts them into the fusion inference layer for feature-level splicing and fusion. Then it is input into the classification network and finally outputs the type of hazard. Hazard types include cracks, detachment, pits, settlement and deformation.

[0025] The initial image data of the construction site is set as the initial data. The output layer compares the pre-set initial data with the data of the inspection process, and divides the risk level into qualified and unqualified levels. If the inspection data is greater than the initial data, it is unqualified. If the inspection data is the same as the initial data, it is qualified. Then, the diagnosis results and the corresponding image annotations are sent to the signal transmission unit.

[0026] This device acquires raw image, point cloud, and echo data through a camera, 3D LiDAR, and a defect scanner, respectively. After the signal transmission unit of the microcontroller and computing module completes the timestamp synchronization and spatial coordinate alignment, the inference and diagnosis unit extracts appearance defect features from the image data, extracts geometric features from the point cloud data and calculates the deformation displacement, and extracts internal defect features from the echo signal through an algorithm. The three types of features are spliced ​​together in the fusion inference layer and input into the classification network to output the hazard type, which is then compared with the initial data to determine the risk level.

[0027] The control steps for this device are as follows:

[0028] Step 1: After the system starts up, the pathfinding radar will scan the construction site environment in real time and transmit the collected 3D point cloud data to the intelligent planning unit in the computing module to create a 3D raster map of the current scene.

[0029] Step two: The intelligent planning unit first takes the preset coordinates of the inspection target area, combines them with the information in the 3D map, and then uses a global path planning algorithm to generate the optimal walking path starting from the current position and passing through each detection point in sequence. After that, the generated path data is output to the electronic control and dispatching unit.

[0030] Step 3: The electronic control scheduling unit will convert the path data into speed and steering control signals for each drive motor, driving the moving wheels to run at different speeds, allowing the vehicle to move along the planned path by itself.

[0031] Step 4: While walking, the pathfinding radar will continuously monitor the environment ahead. If an obstacle is detected entering the preset safe distance, the intelligent planning unit will immediately start local path replanning to generate a new route that bypasses the obstacle, and at the same time update the motor control parameters.

[0032] Step 5: After the vehicle moves to the pre-set detection point, the electronic control scheduling unit will control the adjustment device to adjust the lifting and rotation positions so that the detection device is aligned with the structural position to be detected.

[0033] Step six: The camera, 3D LiDAR, and defect scanner simultaneously acquire images, point clouds, and echo data. After being aggregated and filtered by the signal transmission unit, the data is sent to the inference and diagnosis unit.

[0034] Step 7: The reasoning and diagnosis unit integrates and analyzes the multi-source data, makes intelligent judgments, and outputs the corresponding hazard type, spatial location coordinates, and risk level. Then, the data is transmitted remotely to the back-end control terminal via the transmission antenna.

[0035] Step 8: Determine if there are any uninspected locations. If so, repeat steps 3 to 7 until all tasks are completed. After that, the device will automatically return to the charging point or standby position.

[0036] The beneficial effects of the technical solution provided by this invention include:

[0037] This device, through the setting of an adjustment structure, utilizes a hydraulic push rod, a limit sliding structure, and a rotating disk to drive the top detection device to achieve adaptive adjustment of height and angle. It can adapt to the complex civil structure inspection scenarios of building engineering and solve the problems of single machine position and limited coverage of traditional fixed inspection equipment.

[0038] This device, equipped with a pathfinding radar and a computing module, enables autonomous path planning and dynamic obstacle avoidance. It can identify temporary obstacles and changes in the construction area, adjust the patrol route, and adapt to the working environment of the construction site without requiring repeated manual adjustments.

[0039] This device collects data by setting up multiple detection components, which can quickly identify potential safety hazards such as structural damage, deformation, and cracks, and make risk assessments. Then, in conjunction with the transmission antenna, it can remotely upload data to form a complete closed loop, solving the problem of low efficiency in traditional manual inspections. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of the present invention;

[0041] Figure 2 This is a schematic diagram of the internal structure of the present invention;

[0042] Figure 3 This is a schematic diagram of the structure of the adjusting device of the present invention;

[0043] Figure 4 This is a schematic diagram of the internal structure of the regulating device of the present invention;

[0044] Figure 5 This is a schematic diagram of the internal structure of the detection device of the present invention;

[0045] Figure 6 This is a flowchart of the system control logic of the present invention.

[0046] In the diagram: 1. Vehicle body; 2. Microcontroller; 3. Moving wheels; 4. Navigation radar; 5. Adjustment device; 51. Adjustment motor; 52. Pulley assembly; 53. Rotary disc; 54. Hydraulic push rod; 55. Push rod; 56. Fixed disc; 57. Fixed rod; 58. Limiting cylinder; 6. Defect scanner; 7. Battery; 8. Calculation module; 9. Detection device; 91. Mounting plate; 92. Camera; 93. 3D LiDAR; 10. Transmission antenna; 11. Drive motor. Detailed Implementation

[0047] Example:

[0048] Please see Figure 1 - Figure 5 The present invention provides a technical solution: a construction site safety intelligent inspection robot, comprising: a vehicle body 1, a drive motor 11 fixedly connected to the four corners of the inner wall of the vehicle body 1, a moving wheel 3 fixedly connected to the output end of the drive motor 11, an adjustment device 5 provided inside the vehicle body 1, a detection device 9 provided at the top of the adjustment device 5, a single-chip microcomputer 2 fixedly connected to the outer wall of the vehicle body 1, a pathfinding radar 4 fixedly connected to the outer wall of the vehicle body 1, and a computing module 8 fixedly connected to the outer wall of the vehicle body 1.

[0049] A battery 7 is fixedly connected to the inner wall of the vehicle body 1, a defect scanner 6 is fixedly connected to the bottom of the vehicle body 1, and a transmission antenna 10 is fixedly connected to the end of the vehicle body 1 away from the pathfinding radar 4.

[0050] The adjusting device 5 includes a fixed disk 56, a rotating disk 53 is provided at the bottom of the fixed disk 56, a hydraulic push rod 54 is provided at the bottom of the rotating disk 53, and an adjusting motor 51 is provided on the outside of the rotating disk 53.

[0051] The outer wall of the rotating disk 53 is rotatably connected to the inner wall of the vehicle body 1. The output end of the adjusting motor 51 is connected to the rotating disk 53 through the pulley group 53. The bottom outer wall of the hydraulic push rod 54 is fixedly connected to the inner wall of the vehicle body 1.

[0052] A limiting cylinder 58 is symmetrically fixedly connected to the outer wall of the rotating disk 53, and a fixed rod 57 is slidably connected to the inner wall of the limiting cylinder 58. A push rod 55 is slidably connected to the center of the rotating disk 53.

[0053] The top end of the fixed rod 57 is fixedly connected to the bottom end of the fixed plate 56, the top end of the push rod 55 is slidably connected to the bottom end of the fixed plate 56, and the bottom end of the push rod 55 is fixedly connected to the top output end of the hydraulic push rod 54.

[0054] The detection device 9 includes a mounting plate 91, with a camera 92 fixedly connected to the center of the mounting plate 91. Three-dimensional lidar 93s are symmetrically fixedly connected to the outer wall of the mounting plate 91. The bottom end of the mounting plate 91 is fixedly connected to the top end of the fixed disk 56. The computing module 8 includes an electronic control scheduling unit, an intelligent planning unit, a signal transmission unit, and an inference and diagnosis unit.

[0055] This invention is a construction site safety intelligent inspection robot used in the safety inspection of building structures and municipal structures. The entire robot is supported by a vehicle body 1, which carries all functional components and works by means of walking drive, lifting and adjustment, multi-source detection, intelligent computing and transmission early warning.

[0056] When the equipment starts working, the battery 7 continuously supplies power to all electrical components of the machine. First, the host computer or background system sends the target area to be inspected and the coordinates of each inspection point to the microcontroller 2. After receiving the information, the microcontroller 2 transmits it to the intelligent planning unit on the computing module 8. The intelligent planning unit combines the 3D environment map scanned in real time by the pathfinding radar 4 to automatically calculate an inspection path from the current position, through each inspection point, to the final destination. The electronic control scheduling unit then calculates the required speed and steering angle of each drive motor 11 in real time based on the information of this path, and then uses the speed control signal to drive the four sets of moving wheels 3 to operate at different speeds, so that the entire equipment moves forward along the planned path. During the movement, the pathfinding radar 4 will continuously scan the environment ahead. If an obstacle is detected, the intelligent planning unit will calculate an alternative path to avoid the dynamic obstacle. The pathfinding radar 4 will also continuously collect environmental information of the construction site. Together with the intelligent planning unit and electronic control scheduling unit inside the computing module 8, it will automatically perform global inspection path planning and dynamic obstacle avoidance.

[0057] During the inspection, the starting adjustment motor 51 drives the rotating disk 53 to rotate relative to the vehicle body 1 via the pulley group 52. The fixed disk 56 on the top and the detection device 9 also rotate with the rotating disk, which can complete the circumferential angle adjustment. At the same time, the hydraulic push rod 54 will drive the push rod 55 to perform vertical extension and retraction. In conjunction with the limit sliding structure formed by the upper limit cylinder 58 and the fixed rod 57, the fixed disk 56 is vertically lifted and lowered and its movement is limited, ensuring that the entire lifting and adjustment process is stable and will not deviate. This achieves automatic adaptation and adjustment of the height and angle of the detection device 9.

[0058] The top detection device 9 will adjust its own posture along with the adjustment device 5, and use the camera 92 mounted on the mounting plate 91 to collect real-time image data of the construction site. It will then work with the symmetrically arranged three-dimensional laser radar 93 to complete the collection of spatial ranging and structural deformation data. At the same time, the defect scanner 6 at the bottom of the vehicle body 1 will scan and collect defects on the surface of buildings and municipal structures.

[0059] All collected inspection data is transmitted to the computing module 8 in real time. The internal signal transmission unit then summarizes, organizes, and transmits the data. The electronic control and scheduling unit coordinates the overall operational logic of the equipment, while the intelligent planning unit adjusts the inspection route. Simultaneously, it analyzes and judges data from multiple sensors to identify the types of structural safety hazards and their corresponding risk levels. It can also perform online intelligent image diagnosis. The transmission antenna 10 mounted on the outside of the vehicle body 1 can remotely and wirelessly transmit inspection data and diagnostic results to the outside.

[0060] The entire device uses a single-chip microcomputer as the control center to coordinate the entire process of walking drive, posture adjustment, data acquisition, intelligent computing, and data transmission. When a safety hazard is detected in a building or municipal structure, it can determine the location of the hazard and store the data. With the help of pre-set early warning logic, it can identify anomalies and issue alerts. At the same time, it can transform the detection results obtained by intelligent reasoning into visible and analyzable inspection conclusions. This enables the automatic completion of construction site structural inspections, diagnosis based on intelligence, and early warning to form a closed loop, thereby improving the efficiency and accuracy of safety inspections at civil engineering construction sites.

[0061] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A construction site safety intelligent inspection robot, characterized in that, include: The vehicle body (1) has a drive motor (11) fixedly connected to the four corners of the inner wall of the vehicle body (1). The output end of the drive motor (11) is fixedly connected to a moving wheel (3). An adjustment device (5) is provided inside the vehicle body (1). A detection device (9) is provided at the top of the adjustment device (5). A microcontroller (2) is fixedly connected to the outer wall of the vehicle body (1). A pathfinding radar (4) is fixedly connected to the outer wall of the vehicle body (1). A computing module (8) is fixedly connected to the outer wall of the vehicle body (1).

2. The intelligent construction site safety inspection robot according to claim 1, characterized in that: A battery (7) is fixedly connected to the inner wall of the vehicle body (1), a defect scanner (6) is fixedly connected to the bottom of the vehicle body (1), and a transmission antenna (10) is fixedly connected to the end of the vehicle body (1) away from the pathfinding radar (4).

3. The intelligent construction site safety inspection robot according to claim 1, characterized in that: The adjusting device (5) includes a fixed disk (56), a rotating disk (53) is provided at the bottom of the fixed disk (56), a hydraulic push rod (54) is provided at the bottom of the rotating disk (53), and an adjusting motor (51) is provided outside the rotating disk (53).

4. The intelligent construction site safety inspection robot according to claim 3, characterized in that: The outer wall of the rotating disk (53) is rotatably connected to the inner wall of the vehicle body (1), the output end of the adjusting motor (51) is connected to the rotating disk (53) through the pulley group (53), and the bottom outer wall of the hydraulic push rod (54) is fixedly connected to the inner wall of the vehicle body (1).

5. The intelligent construction site safety inspection robot according to claim 4, characterized in that: The outer wall of the rotating disk (53) is symmetrically fixedly connected to a limiting cylinder (58), the inner wall of the limiting cylinder (58) is slidably connected to a fixing rod (57), and the center of the rotating disk (53) is slidably connected to a push rod (55).

6. The intelligent construction site safety inspection robot according to claim 5, characterized in that: The top end of the fixed rod (57) is fixedly connected to the bottom end of the fixed plate (56), the top end of the push rod (55) is slidably connected to the bottom end of the fixed plate (56), and the bottom end of the push rod (55) is fixedly connected to the top output end of the hydraulic push rod (54).

7. The intelligent construction site safety inspection robot according to claim 1, characterized in that: The detection device (9) includes a mounting plate (91), a camera (92) is fixedly connected to the center of the mounting plate (91), a three-dimensional laser radar (93) is symmetrically fixedly connected to the outer wall of the mounting plate (91), and the bottom end of the mounting plate (91) is fixedly connected to the top end of the fixed plate (56).

8. The intelligent construction site safety inspection robot according to claim 1, characterized in that: The computing module (8) includes an electronic control scheduling unit, an intelligent planning unit, a signal transmission unit, and an inference and diagnosis unit.

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