A machine vision-based wall crack automatic identification and marking device

Abstract

This invention discloses an automatic wall crack identification and marking device based on machine vision, belonging to the field of building wall inspection technology. The device includes a base, a control unit, and an inspection robot capable of moving on the wall surface. The base accommodates the inspection robot when it is not performing wall inspection tasks. The control unit is fixedly connected to the base, and a first omnidirectional robotic arm is fixedly connected to the control unit. A first camera is fixedly connected to the end of the first omnidirectional robotic arm. This invention utilizes a first camera and a second camera mounted on the inspection robot. The first camera performs a large-scale coarse inspection of the wall surface. After identifying suspected crack locations, the inspection robot moves to the corresponding area for fine inspection. This eliminates the need for the inspection robot to perform high-precision inspection of the entire wall area area by area, reducing unnecessary crawling and fine inspection times in crack-free areas, and improving inspection efficiency.

Description

Technical Field

[0001] This invention relates to the field of building wall inspection technology, and in particular to an automatic wall crack identification and marking device based on machine vision. Background Technology

[0002] During construction and long-term use, building walls are prone to cracks of varying degrees due to factors such as material shrinkage, temperature changes, structural stress, foundation settlement, and external environmental erosion. Wall cracks not only affect the appearance of the building, but some cracks may also extend and affect the structural performance. Therefore, timely detection, location, and marking of wall cracks are of great significance.

[0003] Current methods for detecting wall cracks typically involve manual inspections or mobile inspection robots equipped with cameras. Manual inspection requires personnel to observe each area of ​​the wall, which is not only inefficient but also poses safety risks, especially when working on walls at heights. While wall-climbing robots can reduce the risks of manual work at heights, relying solely on the robot's onboard camera to search the entire wall area by area requires the robot to continuously move and inspect numerous areas without cracks. This results in long inspection paths, many invalid inspections, and low overall efficiency. Furthermore, after discovering a crack, the robot needs to perform close-range inspection and marking. Since crack locations and directions vary, frequently adjusting the robot's posture to adapt to crack locations increases the number of movements required and can affect the robot's adhesion stability and positioning accuracy on the wall.

[0004] For detection devices that use liquid pigments for crack marking, the pigments are prone to sedimentation or concentration stratification during storage. Especially when the robot inspection time is long, relying solely on static storage methods can easily cause inconsistent pigment concentrations at different times, thus affecting the continuity and recognizability of the marking lines. When simply using rotating blades for stirring, there may be local stirring dead zones inside the storage container, and pigments located at the bottom or corners of the container may still accumulate. Summary of the Invention

[0005] The purpose of this invention is to solve the problems mentioned in the background art and to propose an automatic wall crack identification and marking device based on machine vision.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An automatic wall crack identification and marking device based on machine vision includes a base, a control unit, and a detection robot capable of walking on the wall. The base is used to house the inspection robot when it is not performing the wall inspection task. The control unit is fixedly connected to the base, and a first omnidirectional robotic arm is fixedly connected to the control unit. A first camera is fixedly connected to the end of the first omnidirectional robotic arm. The first omnidirectional robotic arm can adjust the height, orientation and pitch angle of the first camera so that the first camera can face the wall to be inspected and perform large-area image acquisition on the wall to be inspected. The inspection robot is fixedly connected to a position locator, a negative pressure generator, and a second omnidirectional robotic arm. A second camera is fixedly connected to the end of the second omnidirectional robotic arm. The negative pressure generator creates a negative pressure suction effect between the inspection robot and the wall, allowing the robot to remain attached to the wall and move along it. The position locator is used to obtain the position of the inspection robot and send the position information to the control unit. The first camera is used to perform long-distance coarse inspection of the wall surface to be inspected. The controller analyzes the wall surface image obtained by the first camera to determine the suspected crack area and its target location. Based on the target location of the suspected crack and the real-time position of the inspection robot fed back by the position locator, the controller controls the inspection robot to move towards the suspected crack area. Once the detection robot reaches the suspected crack area, the second omnidirectional robotic arm adjusts the position and shooting direction of the second camera relative to the suspected crack. The second camera then performs close-range precision detection of the suspected crack to obtain information on the crack's length, width, and depth.

[0008] The inspection robot is fixedly connected to a storage cylinder for storing crack marking pigment. The storage cylinder is connected to a feeding pipe for replenishing the marking pigment into the storage cylinder. Preferably, the outer end of the feeding pipe is equipped with a sealing cap that can be opened and closed to reduce the leakage of marking pigment from the feeding pipe when the inspection robot moves.

[0009] Preferably, the detection robot is rotatably connected to a rotating ring, and a rotating rod extending into the storage cylinder is rotatably connected to the rotating ring. A stirring blade is fixedly connected to the rotating rod.

[0010] The inspection robot has a drive motor fixedly connected inside. A drive rod is fixedly connected to the drive end of the drive motor, and a gear is fixedly connected to the drive rod. A geared ring is fixedly connected to the rotating ring, and the gear meshes with the geared ring. When the drive motor drives the drive rod to rotate, the gear rotates synchronously with the drive rod and drives the rotating ring to rotate through the meshing action with the geared ring.

[0011] Since the rotating rod is rotatably connected to the rotating ring, the rotating ring can drive the rotating rod to revolve around a predetermined area inside the storage cylinder when it rotates. The stirring blades on the rotating rod are subjected to the fluid resistance of the marking pigment inside the storage cylinder during the rotation of the rotating rod. The fluid resistance generates a torque on the stirring blades in the direction of the rotating rod axis, thereby causing the rotating rod to rotate relative to the rotating ring.

[0012] Therefore, the stirring blades both revolve around the inside of the storage cylinder with the rotating rod and rotate on their own axis, thus forming a compound stirring trajectory and expanding the range of action of the stirring blades inside the storage cylinder.

[0013] Furthermore, an air cylinder is fixedly connected inside the inspection robot, a piston is slidably connected inside the air cylinder, a connecting rod is slidably connected to the air cylinder, one end of the connecting rod is fixedly connected to the piston, and a drive ball is fixedly connected to the end of the connecting rod away from the piston.

[0014] A protruding plate is fixedly connected to the drive rod. When the drive rod rotates, the protruding plate can periodically abut against the drive ball, thereby pushing the piston to move inside the cylinder through the drive ball and the connecting rod.

[0015] Furthermore, a spring is fixedly connected inside the air cylinder. The spring is connected to the piston. When the protruding part of the convex plate pushes the driving ball, the driving ball drives the piston to move in the first direction via the connecting rod and causes the spring to undergo elastic deformation. When the protruding part of the convex plate leaves the driving ball, the spring releases its elastic potential energy and pushes the piston to reset in the opposite direction, thereby causing the piston to reciprocate inside the air cylinder.

[0016] Preferably, the air cylinder is fixedly connected to an air supply pipe and an air delivery pipe, and a one-way valve is provided on the air supply pipe and the air delivery pipe respectively.

[0017] The one-way valve on the air supply pipe is configured to open from the outside towards the inside of the air cylinder, while the one-way valve on the air delivery pipe is configured to open from the inside of the air cylinder towards the air delivery pipe.

[0018] When the piston returns to its original position under the action of the spring, increasing the effective volume inside the air cylinder, the pressure inside the air cylinder decreases, the one-way valve on the air supply pipe opens, and external air enters the air cylinder through the air supply pipe, while the one-way valve on the air delivery pipe closes.

[0019] When the convex plate drives the piston to move and reduces the effective volume inside the air cylinder, the air inside the air cylinder is compressed. The one-way valve on the air supply pipe closes, and the one-way valve on the air delivery pipe opens, allowing the compressed air to enter the air delivery pipe.

[0020] An air chamber is provided inside the rotating ring, preferably extending circumferentially along the rotating ring. A sealing ring is rotatably connected to the rotating ring, and the sealing ring is fixed relative to the inspection robot.

[0021] The gas supply pipe is connected to the sealing ring and communicates with the gas chamber through the sealing ring. A rotational seal is formed between the sealing ring and the rotating ring, so that the gas supply pipe can continue or periodically supply gas to the gas chamber while the rotating ring rotates relative to the sealing ring.

[0022] A jet pipe is fixedly connected to the rotating rod, and the jet pipe is connected to the air chamber. The outlet end of the jet pipe extends into the storage cylinder. The outlet end of the jet pipe is designed with a bent structure, so that the gas discharged from the jet pipe has an inclined or lateral jet component relative to the axis of the rotating rod.

[0023] As the rotating rod revolves around the ring and rotates on its own axis under the resistance of the marking pigment, the jet pipe moves together with the rotating rod, causing the outlet position and direction of the jet pipe to change continuously.

[0024] The gas generated by the air cylinder enters the jet pipe through the air supply pipe, sealing ring, and air chamber, and is then sprayed into the marking pigment from the bend of the jet pipe, thus creating a turbulent airflow inside the storage cylinder.

[0025] Therefore, the storage cylinder is simultaneously subjected to the mechanical compound stirring action generated by the stirring blades and the changing airflow disturbance action generated by the jet pipe. The two work together to cause the marking pigments at different positions in the storage cylinder to circulate and tumble, reducing the deposition of pigments at the bottom of the storage cylinder or in local areas.

[0026] The inspection robot is also fixedly connected to a material pump, and the material pump's suction end is fixedly connected to a material suction pipe, which extends into the storage cylinder and is connected to the storage cylinder.

[0027] When performing inspection tasks on a wall, the inspection robot maintains a preset wall working posture. That is, the inspection robot keeps its predetermined direction attached to the wall through its walking mechanism and negative pressure machine, and mainly adjusts the position and angle of the second camera through the second omnidirectional robotic arm, rather than frequently changing the overall orientation of the inspection robot to adapt to the crack imaging position.

[0028] In the preset wall-mounted working posture, a low-level storage area is formed on one side of the storage cylinder along the direction of gravity. The length and position of the extraction pipe extend its extraction end into the low-level storage area.

[0029] Once the inspection robot is attached to the vertical wall in a preset posture, the side of the storage cylinder closest to the extraction end of the extraction tube is at the lower position of gravity. Under the influence of gravity, the marking pigment in the storage cylinder gathers in this area, ensuring that the extraction end of the extraction tube remains in the area where the marking pigment is located. This reduces the possibility of the extraction tube sucking in air or breaking down due to changes in the robot's posture.

[0030] The material extraction pipe is located below the area where the air jet moves, and it is offset from the air jet in the thickness direction of the detection robot and the height direction inside the storage cylinder. Therefore, even if the air jet rotates with the rotating rod, its trajectory will not coincide with the material extraction pipe, thus avoiding collisions or interference between the air jet and the material extraction pipe during their movement.

[0031] Preferably, the discharge end of the pump is connected to two sets of marking pipes, which are spaced apart and preferably symmetrically arranged about the crack detection area.

[0032] When the pump is working, it draws marking pigment from the lower storage area of ​​the storage cylinder through the extraction pipe and delivers the marking pigment to two sets of marking pipes. The discharge ends of the two sets of marking pipes are located on both sides of the crack to be marked, so that the marking pigment sprayed from the two sets of marking pipes can form two spaced marking lines on both sides of the crack, with the crack located between the two marking lines.

[0033] By spraying marking pigment on both sides of the crack instead of directly into the crack, maintenance personnel can quickly determine the area of ​​the crack by using two marking lines. At the same time, it can reduce the impact of a large amount of marking pigment directly entering the crack and affecting subsequent crack observation, inspection or maintenance.

[0034] The control unit can also acquire crack detection data obtained by the second camera, establish a correspondence between the crack detection data and the corresponding crack location information, and send it to an external computer platform for subsequent storage, query and maintenance.

[0035] Compared with the prior art, the present invention provides a machine vision-based automatic wall crack identification and marking device, which has the following advantages: 1. This invention sets up a first camera and a second camera mounted on a detection robot. The first camera performs a large-scale coarse inspection of the wall surface. After determining the location of suspected cracks, the detection robot moves to the corresponding area for close-range fine inspection. This eliminates the need for the detection robot to complete a high-precision inspection of the entire wall surface area by area, reduces the number of invalid crawls and fine inspections in crack-free areas, and improves the efficiency of wall crack detection.

[0036] 2. By setting a position locator on the detection robot, the controller can simultaneously obtain the target location of the suspected crack and the real-time position of the detection robot, thereby forming a positioning closed loop between the target location and the actual position of the robot, improving the reliability of the detection robot reaching the suspected crack area.

[0037] 3. This invention drives the rotating ring to rotate via a drive rod, gear, and gear ring, causing the rotating rod to revolve around the internal area of ​​the storage cylinder. Simultaneously, the stirring blades are subjected to the resistance of the pigment, causing the rotating rod to rotate relative to the rotating ring, forming a composite stirring trajectory that combines revolution and rotation, thus expanding the mechanical stirring range. At the same time, the jet pipe moves with the rotating rod, and the bent exhaust end of the jet pipe allows the gas injection position and direction to change continuously. This, combined with the mechanical composite stirring formed by the stirring blades, expands the disturbance area of ​​the marking pigment, further reducing the possibility of fixed stirring dead zones and pigment sedimentation inside the storage cylinder. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of an automatic wall crack identification and marking device based on machine vision proposed in this invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of an automatic wall crack identification and marking device based on machine vision proposed in this invention. Figure 2 ; Figure 3 This is a schematic diagram of the detection robot in a machine vision-based automatic wall crack identification and marking device proposed in this invention. Figure 1 ; Figure 4 This is a schematic diagram of the detection robot in a machine vision-based automatic wall crack identification and marking device proposed in this invention. Figure 2 ; Figure 5 This invention proposes a machine vision-based automatic wall crack identification and marking device. Figure 4 Enlarged view of section A in the middle; Figure 6 This is a cross-sectional view of the detection robot in the automatic wall crack identification and marking device based on machine vision proposed in this invention; Figure 7 This invention proposes a machine vision-based automatic wall crack identification and marking device. Figure 6 Enlarged view of section C; Figure 8 This invention proposes a machine vision-based automatic wall crack identification and marking device. Figure 6 Enlarged view of section B; Figure 9 This invention proposes a machine vision-based automatic wall crack identification and marking device. Figure 8 Enlarged view of section D in the middle.

[0039] In the diagram: 1. Base; 2. Control unit; 201. First omnidirectional robotic arm; 2011. First camera; 3. Inspection robot; 301. Position locator; 302. Negative pressure unit; 304. Feeding pipe; 306. Marking pipe; 4. Second omnidirectional robotic arm; 401. Second camera; 5. Drive motor; 501. Drive rod; 5011. Protruding plate; 5012. Gear; 6. Air cylinder; 601. Air supply pipe; 602. Air replenishment pipe; 603. Piston; 604. Spring; 605. Connecting rod; 6051. Drive ball; 7. Rotating rod; 701. Stirring blade; 702. Jet nozzle; 8. Storage cylinder; 9. Rotating ring; 901. Gear ring; 902. Air chamber; 10. Sealing ring; 11. Pump; 12. Extraction pipe. Detailed Implementation

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0041] Example 1: Reference Figures 1-9 A machine vision-based automatic wall crack identification and marking device includes a base 1, a control unit 2, and a detection robot 3.

[0042] The base 1 is set on the ground to support the control unit 2 and to accommodate the inspection robot 3 when it is not in operation. The base 1 can be provided with a accommodating area for the inspection robot 3 to enter and exit, so that the inspection robot 3 can drive out from inside the base 1 and move to the vicinity of the wall to be inspected.

[0043] The control unit 2 is fixedly mounted on the base 1. The control unit 2 may include a computing processing unit, a communication unit, and a control unit for controlling the operation of the first omnidirectional robotic arm 201 and the inspection robot 3; the first omnidirectional robotic arm 201 is fixedly connected to the top of the control unit 2. The first omnidirectional robotic arm 201 has multiple arm segments that can rotate relative to each other, so that the first camera 2011 located at the end of the first omnidirectional robotic arm 201 can be adjusted in position and angle in multiple directions.

[0044] Before the actual inspection, the base 1 is placed on the opposite side of the wall to be inspected, and the first camera 2011 is positioned at a shooting distance that covers the predetermined inspection area. Depending on the wall dimensions, the shooting position and direction of the first camera 2011 can be adjusted using the first omnidirectional robotic arm 201.

[0045] The first camera 2011 takes a picture of the entire wall surface to be inspected or takes pictures of it in sections. The control unit 2 identifies linear, strip-shaped or other suspected crack features in the wall surface based on the acquired wall surface images and determines the location of the corresponding suspected crack areas.

[0046] For larger walls, the first camera 2011 can change its shooting direction under the drive of the first omnidirectional robotic arm 201, and sample multiple areas of the wall in sequence. Then, the controller 2 will map the images of each area to the same wall position system.

[0047] The aforementioned machine vision crack recognition can employ existing image processing or machine vision recognition methods. The specific recognition algorithm is not a necessary limitation of the mechanical structure improvement of this invention, as long as the suspected crack area and corresponding location can be determined from the wall image acquired by the first camera 2011.

[0048] like Figure 3 and Figure 4As shown, the inspection robot 3 is a tracked inspection robot capable of moving along a wall. The inspection robot 3 is equipped with a negative pressure pump 302, forming a negative pressure adsorption area on the side of the inspection robot 3 facing the wall. The negative pressure pump 302 is connected to the negative pressure adsorption area. When the negative pressure pump 302 is working, it extracts air from the negative pressure adsorption area, creating a pressure difference between the inspection robot 3 and the wall, thus pressing the inspection robot 3 firmly against the wall. In the negative pressure adsorption state, the tracks of the inspection robot 3 obtain sufficient contact pressure with the wall, allowing the inspection robot 3 to move upwards, downwards, or in a predetermined direction along the wall by driving the tracks.

[0049] A position locator 301 fixedly connected to the inspection robot 3 is used to obtain the actual position of the inspection robot 3 on the wall. The position locator 301 can be an existing positioning device that can provide robot position feedback, such as a visual positioning device, a wireless positioning device, or other positioning devices that can obtain the position of the inspection robot 3 relative to the wall.

[0050] After the first camera 2011 identifies a suspected crack area, the controller 2 generates a target position corresponding to the suspected crack area and controls the detection robot 3 to move towards the target position.

[0051] During the movement of the inspection robot 3, the position locator 301 continuously or periodically feeds back the current position to the controller 2. The controller 2 adjusts the movement direction and distance of the inspection robot 3 according to the deviation between the target position and the current position until the inspection robot 3 enters the fine inspection area near the suspected crack.

[0052] The inspection robot 3 is fixedly connected to a second omnidirectional robotic arm 4, and a second camera 401 is fixedly connected to the end of the second omnidirectional robotic arm 4. After the inspection robot 3 enters the fine inspection area, it is not necessary to frequently change the overall posture of the inspection robot 3 on the wall in order to make the second camera 401 align with the crack. Instead, the second omnidirectional robotic arm 4 extends, swings and turns to make the second camera 401 approach and face the suspected crack area.

[0053] The second camera 401 acquires close-up images of suspected cracks and uses them to determine whether the suspected area is a real crack. After confirming the existence of a crack, it performs precise detection on the crack length, width, and depth. When detecting the crack length or width, the second camera 401 can use a high-definition machine vision camera module with size calibration function. When it is necessary to obtain crack depth information, the second camera 401 can use a binocular vision imaging module, a structured light depth imaging module, a time-of-flight depth imaging module, or other visual inspection modules that can obtain depth information of the measured surface.

[0054] Therefore, the first camera 2011 is responsible for screening suspected cracks over a large area, while the second camera 401 only performs close-range fine detection on suspected crack areas, thereby reducing the number of invalid detections by the second camera 401 and the invalid walking distance of the detection robot 3 in crack-free areas.

[0055] like Figures 7 to 9 As shown, a storage cylinder 8 is fixedly installed inside the inspection robot 3. The storage cylinder 8 is used to store crack marking pigment. The storage cylinder 8 is connected to the feeding pipe 304. The outer end of the feeding pipe 304 can be operated from outside the inspection robot 3, so that pigment can be added to the storage cylinder 8 when the pigment is insufficient. After the feeding is completed, the feeding pipe 304 can be sealed with a sealing cap to prevent the pigment from leaking out of the feeding pipe 304 during the movement or climbing of the inspection robot 3.

[0056] The rotating ring 9 is rotatably mounted on the inspection robot 3 and is located above or corresponding to the storage cylinder 8. A rotating rod 7 is rotatably mounted on the rotating ring 9, extending into the storage cylinder 8; several stirring blades 701 are fixedly connected to the lower part of the rotating rod 7. Preferably, the stirring blades 701 have a certain inclination angle relative to the radial direction of the rotating rod 7 or adopt a blade structure that can generate a rotational torque under the action of liquid resistance.

[0057] When the drive motor 5 is working, it drives the drive rod 501 to rotate. The gear 5012 fixed on the drive rod 501 rotates synchronously. The gear 5012 meshes with the gear ring 901 fixed on the rotating ring 9, so that the rotating ring 9 rotates around its own center. When the rotating ring 9 rotates, the rotating rod 7 installed on the rotating ring 9 revolves around the inside of the storage cylinder 8 with the rotating ring 9.

[0058] Since the rotating rod 7 and the rotating ring 9 are rotatably connected, the rotating rod 7 can rotate relative to the rotating ring 9. When the stirring blade 701 revolves with the rotating rod 7 within the marking pigment, the pigment generates resistance to the stirring blade 701. Due to the shape, inclination angle, and force position of the stirring blade 701, this resistance generates torque relative to the axis of the rotating rod 7, thus driving the rotating rod 7 to passively rotate around its own axis. As a result, the stirring blade 701 forms a composite motion combining revolution and rotation inside the storage cylinder 8.

[0059] During the operation of the same drive motor 5, the drive rod 501 also drives the convex plate 5011 to rotate; during the rotation, the convex plate 5011 periodically contacts the drive ball 6051. When the protruding area of ​​the convex plate 5011 contacts the drive ball 6051, it pushes the drive ball 6051 to move. The drive ball 6051 pushes the piston 603 to move via the connecting rod 605 and causes the spring 604 to undergo compression or stretching deformation. As the convex plate 5011 continues to rotate, after the protruding area leaves the drive ball 6051, the spring 604 drives the piston 603 and the connecting rod 605 to return to their original positions. Therefore, every time the drive rod 501 rotates one revolution or passes through a predetermined angle, the piston 603 can complete at least one reciprocating motion.

[0060] When piston 603 resets and increases the effective volume of air cylinder 6, a low pressure is formed inside air cylinder 6, the one-way valve on air supply pipe 602 opens, and external air enters air cylinder 6; the one-way valve on air delivery pipe 601 remains closed to prevent backflow of gas in air delivery pipe 601; when convex plate 5011 pushes piston 603 and decreases the effective volume of air cylinder 6, the air inside air cylinder 6 is compressed, the one-way valve on air supply pipe 602 closes, the one-way valve on air delivery pipe 601 opens, and compressed air is discharged through air delivery pipe 601.

[0061] The other end of the gas supply pipe 601 is connected to a fixed sealing ring 10; a ring-shaped or circumferentially extending gas cavity 902 is formed inside the rotating ring 9, and the sealing ring 10 is disposed corresponding to the gas cavity 902. A rotary seal structure is formed between the sealing ring 10 and the rotating ring 9, which allows the rotating ring 9 to rotate relative to the sealing ring 10 while restricting a large amount of gas leakage from the connection between the two; therefore, no matter what angle the rotating ring 9 rotates to, the fixed gas supply pipe 601 can deliver gas to the gas cavity 902 through the sealing ring 10.

[0062] The air chamber 902 is then connected to the jet pipe 702 fixed on the rotating rod 7. The jet pipe 702 extends along the rotating rod 7 into the storage cylinder 8, and its lower part or the air outlet end is bent. When the compressed gas is discharged through the jet pipe 702, the airflow is sprayed along the bent air outlet end into the pigment inside the storage cylinder 8.

[0063] Because the jet nozzle 702 revolves with the rotating rod 7 and can change its circumferential direction with the passive rotation of the rotating rod 7, the actual spray position and spray direction of the jet nozzle 702 continuously change. During this process, the stirring blades 701 form macroscopic composite mechanical stirring, while the airflow ejected from the jet nozzle 702 agitates and turbulents the bottom and local areas of the pigment. The combined effect of these two stirring methods causes the pigment that would otherwise easily deposit at the bottom or edge of the storage cylinder 8 to re-enter the bulk liquid.

[0064] Furthermore, since both gear 5012 and convex plate 5011 are driven by drive rod 501, when the speed of drive motor 5 increases, the movement speed of rotating ring 9 and rotating rod 7 increases, and the reciprocating frequency of piston 603 also increases accordingly, so that the mechanical stirring intensity and airflow disturbance frequency can be adjusted synchronously with the same power source.

[0065] like Figure 7 As shown, a material pump 11 is fixedly connected inside the detection robot 3, and a material extraction pipe 12 is fixedly connected to the material extraction end of the material pump 11. The material extraction pipe 12 extends into the storage cylinder 8, and its length is set so that the material extraction end of the material extraction pipe 12 is located in the lower region of the storage cylinder 8 when the robot is working on the wall.

[0066] In this embodiment, after the detection robot 3 moves out from the base 1 and adheres to the wall, it works along the wall in a preset fixed orientation. The installation direction of the detection robot 3 relative to the wall remains basically stable. The second camera 401 is not adjusted by arbitrarily flipping the main body of the detection robot 3, but the position and shooting angle of the second camera 401 are adjusted by the second universal robotic arm 4. Therefore, when the detection robot 3 is in the preset working posture on the wall, the positional relationship of the storage cylinder 8 relative to the direction of gravity is also determined.

[0067] As shown in the attached diagram, the side of the storage cylinder 8 closest to the extraction end of the extraction pipe 12 is in a low position due to gravity after the inspection robot 3 is mounted on the wall, and the pigment in the storage cylinder 8 naturally gathers to this side; by extending the extraction end of the extraction pipe 12 to this area, even if the amount of pigment in the storage cylinder 8 gradually decreases as the marking operation is carried out, the extraction pipe 12 can still remain in the pigment gathering area for a longer period of time, thereby stably supplying material to the extraction pump 11.

[0068] It should be noted that the material extraction pipe 12 is located below the movement trajectory of the jet pipe 702; although the jet pipe 702 can revolve with the rotating rod 7 and rotate on its own axis, the lowest movement position of the jet pipe 702 is still located above the plane where the material extraction pipe 12 is located, so the movement areas of the two do not overlap.

[0069] This design allows the extraction pipe 12 to be positioned close to the lowest storage position of the storage cylinder 8 when working on the wall, without affecting the normal rotation and air jet disturbance of the jet pipe 702. After the extraction pump 11 starts, it extracts the stirred marking pigment from the storage cylinder 8 through the extraction pipe 12. The discharge end of the extraction pump 11 is connected to two sets of marking pipes 306. The outlets of the two sets of marking pipes 306 are symmetrically or substantially symmetrically positioned about the predetermined crack marking center area.

[0070] After the inspection robot 3 moves to the location of the crack after the fine inspection is completed, the crack is positioned between the two sets of marking tubes 306. The material pump 11 delivers pigment to the two sets of marking tubes 306, and the two sets of marking tubes 306 output pigment simultaneously or in a predetermined manner, thereby forming marking lines on both sides of the crack.

[0071] As the inspection robot 3 moves along the direction of the crack extension, the two sets of marking tubes 306 can form continuous or intermittent double-sided markings along both sides of the crack, enabling maintenance personnel to quickly observe the area where the crack is located from a distance.

[0072] The controller 2 associates the detection data such as crack length, width and depth obtained by the second camera 401 with the corresponding crack location information and sends it to an external computer platform for storage.

[0073] In practical use, this device can operate according to the following process: First, the base 1 is placed in an area that allows the first camera 2011 to cover the wall surface to be inspected. The first omnidirectional robotic arm 201 adjusts the shooting posture of the first camera 2011. Then, the first camera 2011 acquires images of the wall surface to be inspected. The control unit 2 filters suspected crack areas based on the acquired images and determines the target location of the suspected cracks. The inspection robot 3 moves out from the base 1 and onto the wall. The negative pressure unit 302 is activated, causing the inspection robot 3 to adhere to the wall surface. The control unit 2 controls the inspection robot 3 to move along the wall surface according to the target location of the suspected crack, and continuously corrects the movement of the inspection robot 3 based on the position feedback from the position locator 301.

[0074] When the detection robot 3 enters the suspected crack area, it maintains the preset wall operation posture of the detection robot 3, and adjusts the second camera 401 through the second omnidirectional robotic arm 4 so that the second camera 401 approaches and aligns with the suspected crack, and completes the precise detection of the crack length, width and depth.

[0075] When crack marking is required, drive motor 5 is started. Drive motor 5 drives rotating ring 9 to move through gear 5012 and gear ring 901, so that rotating rod 7 and stirring blade 701 form a composite mechanical stirring inside pigment; on the other hand, it drives piston 603 to reciprocate through convex plate 5011, so that air cylinder 6 generates periodic airflow.

[0076] The airflow enters the jet pipe 702 through the air supply pipe 601, the sealing ring 10 and the air chamber 902, and then the jet pipe 702 aerodynamically turbulents the pigment in the storage cylinder 8; under the combined action of mechanical stirring and aerodynamic turbulence, the marking pigment is kept in a relatively uniform state.

[0077] Then the material pump 11 is started. As the detection robot 3 maintains the preset wall operation posture, the marking pigment gathers in the low storage area of ​​the storage cylinder 8 under the action of gravity. The material extraction pipe 12 located in this area can stably extract the pigment. The material pump 11 delivers the extracted pigment to two sets of marking pipes 306, and the two sets of marking pipes 306 form marking lines on both sides of the crack.

[0078] After completing the current crack detection and marking, the controller 2 records the corresponding detection data and controls the detection robot 3 to move to the next suspected crack area, repeating the above fine detection and marking process.

[0079] After all the pre-defined areas have been inspected, the inspection robot 3 leaves the wall and returns to the base 1.

[0080] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A machine vision-based automatic wall crack identification and marking device, characterized in that, It includes a base (1), a control unit (2), and a detection robot (3); The control unit (2) is fixedly connected to the base (1), and a first universal mechanical arm (201) is fixedly connected to the control unit (2). A first camera (2011) is fixedly connected to the end of the first universal mechanical arm (201). The detection robot (3) is fixedly connected to a position locator (301), a negative pressure machine (302), and a second universal robotic arm (4), and a second camera (401) is fixedly connected to the end of the second universal robotic arm (4). The detection robot (3) is fixedly connected to a storage cylinder (8), the storage cylinder (8) is connected to a feeding pipe (304), the detection robot (3) is rotatably connected to a rotating ring (9), the rotating ring (9) is rotatably connected to a rotating rod (7) that extends into the storage cylinder (8), and the rotating rod (7) is fixedly connected to a stirring blade (701). The detection robot (3) is fixedly connected to a drive motor (5), the drive end of the drive motor (5) is fixedly connected to a drive rod (501), a gear (5012) is fixedly connected to the drive rod (501), and a toothed ring (901) that meshes with the gear (5012) is fixedly connected to the rotating ring (9). The detection robot (3) is also fixedly connected to an air cylinder (6), a piston (603) is slidably connected inside the air cylinder (6), an air supply pipe (601) is fixedly connected to the air cylinder (6), an air chamber (902) is opened inside the rotating ring (9), a sealing ring (10) is rotatably connected to the rotating ring (9), the sealing ring (10) is fixedly connected to the detection robot (3), the air supply pipe (601) is connected to the sealing ring (10) and communicates with the air chamber (902), an air jet pipe (702) is fixedly connected to the rotating rod (7) and communicates with the air chamber (902), and the air outlet end of the air jet pipe (702) extends into the storage cylinder (8); The detection robot (3) is also fixedly connected to a material pump (11). The material pump (11) is fixedly connected to a material pump pipe (12) that is connected to the material storage cylinder (8). The material pump (11) is connected to two sets of marking pipes (306). The two sets of marking pipes (306) are arranged at intervals to form mutually spaced marking lines on both sides of the crack.

2. The automatic wall crack identification and marking device based on machine vision according to claim 1, characterized in that, The first camera (2011) is used to acquire images of the wall surface to be inspected from a distance. The controller (2) is used to determine the suspected crack area and its target location based on the wall surface image acquired by the first camera (2011), and to control the inspection robot (3) to move towards the suspected crack area based on the target location and the real-time position of the inspection robot (3) fed back by the position locator (301).

3. The automatic wall crack identification and marking device based on machine vision according to claim 2, characterized in that, The second camera (401) is used to perform close-range detection on the suspected crack area after the detection robot (3) moves to the suspected crack area to obtain information on the length, width and depth of the crack; the second omnidirectional robotic arm (4) is used to adjust the shooting position and shooting angle of the second camera (401) relative to the crack while the detection robot (3) maintains a preset wall walking posture.

4. The automatic wall crack identification and marking device based on machine vision according to claim 1, characterized in that, The detection robot (3) maintains a preset wall operation posture when walking on the wall. The storage cylinder (8) has a low-level storage area formed along the direction of gravity under the preset wall operation posture. The extraction end of the extraction pipe (12) extends to the low-level storage area.

5. The automatic wall crack identification and marking device based on machine vision according to claim 4, characterized in that, The material extraction end of the extraction pipe (12) is located near the storage cylinder (8) on the side where it is in a low position under the preset wall working posture, and the extraction pipe (12) is located below the movement area of ​​the jet pipe (702) so that the jet pipe (702) and the extraction pipe (12) are spatially offset when the rotating rod (7) moves with it.

6. The automatic wall crack identification and marking device based on machine vision according to claim 1, characterized in that, The rotating rod (7) can rotate relative to the rotating ring (9). When the rotating ring (9) rotates, it drives the rotating rod (7) to move around a predetermined area in the storage cylinder (8). The stirring blade (701) is resisted by the marking pigment in the storage cylinder (8) during the movement with the rotating rod (7), so that the rotating rod (7) rotates relative to the rotating ring (9), thereby causing the stirring blade (701) to form a compound stirring motion combining revolution and rotation.

7. The automatic wall crack identification and marking device based on machine vision according to claim 6, characterized in that, The jet pipe (702) moves together with the rotating rod (7). The outlet end of the jet pipe (702) is bent relative to the axial direction of the rotating rod (7) so that the jet pipe (702) changes the injection position and injection direction of the gas in the storage cylinder (8) during the movement with the rotating rod (7).

8. The automatic wall crack identification and marking device based on machine vision according to claim 1, characterized in that, A protruding plate (5011) is fixedly connected to the drive rod (501), and a connecting rod (605) is slidably connected to the air cylinder (6). One end of the connecting rod (605) is fixedly connected to the piston (603), and the other end of the connecting rod (605) is fixedly connected to a drive ball (6051) for abutting against the protruding plate (5011). A spring (604) is provided inside the air cylinder (6), and the spring (604) is connected to the piston (603). The air cylinder (6) is also fixedly connected to an air supply pipe (602). Both the air supply pipe (602) and the air supply pipe (601) are provided with one-way valves so that when the protruding plate (5011) rotates with the drive rod (501), it cooperates with the spring (604) to drive the piston (603) to reciprocate.

9. The automatic wall crack identification and marking device based on machine vision according to claim 8, characterized in that, The one-way valve on the gas supply pipe (602) is used to allow external gas to enter the gas cylinder (6) when the piston (603) is reset and the internal volume of the gas cylinder (6) increases. The one-way valve on the gas delivery pipe (601) is used to allow gas to enter the gas delivery pipe (601) from the gas cylinder (6) when the piston (603) is driven by the convex plate (5011) and the internal volume of the gas cylinder (6) decreases. The gas chamber (902) extends circumferentially along the rotating ring (9) so that when the rotating ring (9) rotates relative to the sealing ring (10), the gas delivery pipe (601), the gas chamber (902) and the jet pipe (702) remain connected.

10. The automatic wall crack identification and marking device based on machine vision according to claim 1, characterized in that, The two sets of marking tubes (306) are symmetrically arranged about the crack detection area of ​​the detection robot (3). The pump (11) is used to extract the marking pigment in the storage cylinder (8) through the pump (12) and deliver the marking pigment to the two sets of marking tubes (306) respectively, so that the two sets of marking tubes (306) form marking lines on both sides of the crack respectively. The controller (2) is also used to acquire the crack data detected by the second camera (401) and send the crack data and the corresponding crack location information to an external computer platform.

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