Wall surface flatness detection equipment

Abstract

The utility model discloses wall surface flatness detection equipment, which relates to the technical field of building construction and comprises a base, a bearing holder and a pose adjusting module, and the bearing holder is assembled on the base through the pose adjusting module. A control module is carried at the base, a detection module is carried at the bearing holder, the pose adjusting module is in signal connection with and controlled by the control module, the detection module is in signal connection with the control module, and wall surface detection result data is transmitted between the detection module and the control module. The wall surface flatness detection equipment provided by the utility model aims to solve the problems of low detection efficiency, insufficient precision and the like in the prior art, realizes multi-degree-of-freedom accurate positioning and dynamic closed-loop adjustment of the bearing holder through cooperative control of the pose adjustment module and the control module, and ensures data integrity; a multi-sensor fusion detection system composed of a laser ranging array and double cameras is combined, and the detection efficiency and precision are remarkably improved compared with a manual detection mode.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of building construction, specifically relates to a wall flatness detection equipment. BACKGROUND

[0002] In the field of building construction, the flatness of the concrete wall is an important indicator to measure the construction quality, and runs through the whole process of construction, use and maintenance of the building. The advantages and disadvantages of the wall flatness not only directly affect the appearance effect of the building, but also may have a profound impact on the structural safety and service life of the building. In the process of building use, if the wall flatness is poor, cracks are easy to appear in the stress concentration position, thereby affecting the overall structural stability of the building and increasing the later maintenance cost. Ensuring that the flatness of the concrete wall meets the construction standard is of great significance to improve the building quality, protect the structural safety and enhance the beauty of the building. However, the existing technology has the following problems:

[0003] 1. The existing wall flatness detection method, whether it is for the horizontal or vertical detection of a single wall, or the comprehensive detection of the walls around the room, the traditional detection method mostly relies on tools such as ruler or laser level. These tools have many inconveniences in the process of use. The detection personnel need to frequently adjust the position or angle of the equipment to ensure that different areas of the wall are covered. This manual operation method not only increases the labor intensity of the detection personnel, but also makes the operation process become cumbersome. In addition, since the detection process is greatly affected by human factors, there are obvious deficiencies in efficiency and accuracy, which is difficult to meet the high requirements of modern building construction on wall flatness detection.

[0004] 2. Although some detection equipment is equipped with auxiliary structures such as telescopic rods, the detection range is still limited by the length of the telescopic rod and the operation angle. In actual application, when the detection equipment measures the top and bottom of the wall, due to the limited extension and contraction range of the telescopic rod, it often cannot effectively cover the upper and lower edge areas of the wall, resulting in detection omission. This design defect makes it difficult for the detection personnel to obtain the flatness data of the whole area of the wall, thereby seriously affecting the accuracy and integrity of the detection result. SUMMARY

[0005] The utility model discloses a wall surface flatness detection equipment, which aims to solve the problems of low detection efficiency and insufficient precision in the prior art.

[0006] The technical scheme of the utility model adopts the following:

[0007] A wall surface flatness detection equipment includes a base, a bearing holder and a pose adjustment module. The bearing holder is assembled on the base through the pose adjustment module. The pose adjustment module can act on the bearing holder and adjust the relative pose of the bearing holder on the base. A control module is carried on the base. A detection module is carried on the bearing holder. The pose adjustment module is signal connected to and controlled by the control module. The detection module is signal connected to the control module. Wall surface detection result data is transmitted between the detection module and the control module. The control module can establish a dynamic mapping relationship between the pose adjustment module and the detection module according to the wall surface detection result data.

[0008] Thanks to the above technical scheme, the equipment realizes multi-degree-of-freedom accurate positioning of the bearing holder through the pose adjustment module. The real-time data interaction of the control module and the detection module can dynamically establish a closed-loop control system for detection and adjustment, significantly improving the automation degree and measurement precision of wall surface flatness detection, while reducing system complexity through modular design. The equipment can automatically complete continuous scanning of wall surface moisture in the circumferential direction and in the pitch direction, realize dead angle-free coverage of the top, bottom and corner areas of the wall surface, and ensure data integrity.

[0009] Further, the control module includes an industrial computer that can generate a detection module control instruction and a single-chip microcomputer that can generate a pose adjustment module control instruction. The single-chip microcomputer is signal connected to the industrial computer. The pose signal of the pose adjustment module is transmitted between the single-chip microcomputer and the industrial computer. The driving control signal is transmitted between the pose adjustment module and the single-chip microcomputer. The industrial computer is signal connected to the detection module and transmits control instructions and detection data between the detection module.

[0010] Due to the adoption of the above technical scheme, the hierarchical control architecture of the industrial computer and the single-chip microcomputer ensures the operation capability of complex image processing and realizes high real-time performance of motion control, effectively avoids electromagnetic interference through signal isolation transmission, and ensures stable operation of the system in the complex environment of the construction site.

[0011] Further, the pose adjustment module comprises a circumferential rotation driving motor, an orthogonal connector, and a pitch adjustment driving motor; the orthogonal connector comprises a transmission frame and a horizontal rotation shaft, the horizontal rotation shaft is rotatably connected to the transmission frame, one end of the horizontal rotation shaft in the length direction is provided with a horizontal rotation driving end, and the transmission frame is provided with a circumferential rotation driving end in the vertical direction; the circumferential rotation driving motor is installed on the base, the rotating shaft of the circumferential rotation driving motor is connected to and acts on the circumferential rotation driving end, and the pitch adjustment driving motor is installed on the bearing holder; the rotating shaft of the pitch adjustment driving motor is connected to and acts on the horizontal rotation driving end.

[0012] Due to the adoption of the above technical scheme, the orthogonal connector cooperates with the double-shaft driving to enable the bearing holder to perform 360-degree circumferential rotation in the horizontal direction and pitch adjustment, and the detection module can meet the demand for large-range scanning detection.

[0013] Further, the rotating shaft of the circumferential rotation driving motor is provided with a circumferential driving gear, the circumferential rotation driving end is provided with a circumferential driven gear, and the circumferential driving gear and the circumferential driven gear are meshed with each other; the rotating shaft of the pitch adjustment driving motor is provided with a pitch driving gear, the horizontal rotation driving end is provided with a pitch driven gear, and the pitch driving gear and the pitch driven gear are meshed with each other.

[0014] Due to the adoption of the above technical scheme, the gear transmission system has the self-locking function while ensuring the transmission accuracy, and prevents displacement of the equipment in the non-driving state.

[0015] Further, the circumferential driven gear is provided with a mechanical contact switch, the mechanical contact switch comprises a contact provided on the end face of the circumferential driven gear and a trigger matched with the contact, and the contact can trigger the trigger beside the circumferential driven gear when the contact rotates to a specified position.

[0016] Due to the adoption of the above technical scheme, the mechanical contact switch can simply and effectively prevent the rotation angle of the horizontal shaft from exceeding the preset range, so as to prevent faults caused by excessive twisting of the cable.

[0017] Further, the other end of the horizontal rotation shaft in the length direction relative to the horizontal rotation driving end is a horizontal rotation supporting end, the horizontal rotation supporting end is provided with a supporting bearing, and the outer wall of the supporting bearing abuts against the inner wall of the bearing holder.

[0018] Due to the above technical scheme, the support bearing can effectively disperse the shaft load, effectively reduce the vibration in the pose adjustment process, ensure the stability of the scanning motion, and greatly reduce the equipment calibration and maintenance frequency.

[0019] Further, the detection module includes a distance acquisition unit for acquiring distance data of point positions on the wall surface, and an image acquisition unit for acquiring surface features of the wall surface; the distance acquisition unit and the image acquisition unit are assembled in a longitudinal hierarchical distribution structure on the bearing holder.

[0020] Due to the above technical scheme, based on the complex working conditions of multiple columns in the construction site, the distance acquisition unit and the image acquisition unit adopt a longitudinal hierarchical distribution structure to optimize the sensor working space, which enables the pose adjustment module to flexibly adjust the pose of the detection module, effectively avoids obstacles such as construction columns during data acquisition, and significantly improves the adaptability of the device in complex construction environments.

[0021] Further, the distance acquisition unit is a laser ranging array mounted on the top of the bearing holder; the image acquisition unit includes a 3D structured light camera capable of capturing micron-level surface deformation features of the wall surface to acquire local inclination angle information, and a high-resolution visible light camera capable of collecting two-dimensional images of the wall surface to identify surface cracks and bulge defects, the 3D structured light camera and the high-resolution visible light camera are arranged in the bearing holder; the 3D structured light camera is arranged in the middle of the bearing holder, and the high-resolution visible light camera is arranged at the bottom of the bearing holder.

[0022] Due to the above technical scheme, the laser ranging array is arranged at the top to ensure that it is not disturbed by other devices during data acquisition, and the laser ranging array can realize non-contact continuous scanning to form a dense ranging point cloud, and through a multi-beam cross verification mechanism, the risk of local data distortion caused by artificial single-point measurement is effectively avoided; the dual-camera cooperative work overcomes the technical limitations of single-parameter detection of existing devices, realizes synchronous detection of macroscopic defects and microscopic deformation, and the 3D structured light camera accurately quantifies the surface flatness; the high-resolution visible light camera can identify 0.1mm-level crack defects to form a complete wall surface quality evaluation system; the positional relationship between the 3D structured light camera and the high-resolution visible light camera realizes spatial layout optimization and provides compactness of the device as a whole.

[0023] Further, the bearing holder head is equipped with a heat dissipation module, and a heat dissipation air outlet is arranged on the bearing holder head corresponding to the heat dissipation module; the heat dissipation module at least comprises a pair of heat dissipation fans, which are arranged on both sides of the bearing holder head along the length direction of the bearing holder head, wherein one side is a positive pressure fan for directional cooling in a positive pressure mode, and the other side is a negative pressure fan for air extraction in a negative pressure mode; the positive pressure fan and the negative pressure fan can form a double-difference convection heat dissipation structure.

[0024] Due to the above technical scheme, the two fans work cooperatively to effectively improve the heat dissipation efficiency of the equipment during operation, so that the heat generated in the equipment during long-time operation can be dissipated in time, thereby maintaining the stable operation of the equipment and prolonging the service life.

[0025] Further, the base is equipped with a man-machine interaction module, and the man-machine interaction module is signal connected with the control module.

[0026] Due to the above technical scheme, the man-machine interaction module can be a touch button or a touch screen; when the man-machine interaction module is a touch screen, a visual three-dimensional cloud chart can be generated in real time according to the wall detection result data, and the defect position is automatically marked for construction verification.

[0027] Further, the base is equipped with a power supply, and the power supply is electrically connected with the control module of the pose adjusting module and the detection module.

[0028] Due to the above technical scheme, the built-in independent power supply makes the wall flatness detection equipment have higher mobility, and the position can be moved at will according to needs.

[0029] In conclusion, due to the adoption of the technical scheme, the beneficial effects of the utility model are: through the cooperative control of the pose adjustment module and the control module, the multi-freedom precise positioning and dynamic closed-loop adjustment of the bearing holder are realized, the continuous scanning of the wall surface moisture in the circumferential direction and the continuous scanning of the pitch can be automatically completed, the dead angle coverage of the top, bottom and corner area of the wall surface is realized, and the data integrity is ensured; the multi-sensor fusion detection system composed of the laser ranging array and the dual-phase mechanism generates a three-dimensional visual report in real time, not only greatly reduces the manual error, but also automatically identifies potential safety hazards, and the detection efficiency and accuracy are significantly improved compared with the manual detection mode; the sensor layout of the detection module is longitudinally distributed, and the obstacle avoidance ability in the complex construction environment is optimized; the design of the orthogonal connector and the gear transmission system cooperates with the hardware level calibration of the mechanical contact switch, and the control accuracy of the bearing holder is ensured; the double-pressure-difference convection and radiation structure solves the heat dissipation problem of high-power devices in a closed space; the modularized human-computer interaction system provides convenience for the detection process, and can generate a visual cloud picture based on the detection data for construction verification; the configuration of the independent power supply greatly improves the mobility of the device in the construction site; and finally, the wall flatness detection equipment integrating automatic scanning, multi-dimensional detection and intelligent analysis is formed, and the detection efficiency and accuracy are greatly improved compared with manual operation. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is the front view of the utility model vertical double-dimensional wall automatic detection device;

[0031] Figure 2 is the utility model about Figure 1 the sectional view in A-A direction;

[0032] Figure 3 is the side sectional view of the bearing holder of the utility model in the upward state;

[0033] Figure 4 is the side view of the utility model vertical double-dimensional wall automatic detection device;

[0034] Figure 5 is the utility model about Figure 4 the sectional view in B-B direction;

[0035] Figure 6 is the front view of the pose adjustment unit of the utility model;

[0036] Figure 7 is the side view of the pose adjustment unit of the utility model;

[0037] Figure 8 is the rear view of the utility model vertical double-dimensional wall automatic detection device;

[0038] Figure 9It is the structure schematic view of the hidden bearing holder of the automatic detection device of the flat vertical double-dimensional wall surface.

[0039] Marked in the figure: 1-pitch adjustment driving motor, 2-horizontal rotating shaft, 3-transmission frame, 4-support bearing, 5-orthogonal connector, 6-circumferential rotation driving motor, 7-circumferential driving gear, 8-3D structured light camera, 9-pitch avoidance groove, 10-mounting plate, 11-laser ranging array, 12-bearing holder, 13-radiation module, 14-base, 15-circumferential driven gear, 16-pitch driving gear, 17-pitch driven gear, 18-high-resolution visible light camera, 19-human-computer interaction module, 20-power supply, 21-industrial computer, 22-single-chip microcomputer, 23-contact, 24-flip-flop. DETAILED DESCRIPTION

[0040] The utility model will be described in detail below with reference to the drawings.

[0041] In order to make the utility model's purpose, technical scheme and advantage more clearly clear, the following combines the drawing and example, and this utility model carries out further detailed explanation.It should be understood that the specific example described here is only used to explain the utility model, and is not used to limit the utility model.

[0042] Example 1

[0043] A kind of wall surface flatness detection equipment, as shown in Fig. Figures 1-9 It comprises base 14, bearing holder 12 and pose adjustment module, bearing holder 12 is assembled in base 14 by pose adjustment module, pose adjustment module can act on bearing holder 12, and adjusts the relative pose of bearing holder 12 in base 14;Control module is carried at base 14, detection module is carried at bearing holder 12, pose adjustment module is signal connected and controlled by control module, detection module is signal connected with control module, wall surface detection result data is transmitted between detection module and control module, control module can establish the dynamic mapping relationship of pose adjustment module and detection module according to wall surface detection result data.

[0044] Specifically, the equipment realizes the multi-degree-of-freedom accurate positioning of the bearing holder 12 through the pose adjustment module, and dynamically establishes a closed-loop control system of detection and adjustment by combining the real-time data interaction of the control module and the detection module, which significantly improves the automation degree and measurement accuracy of wall surface flatness detection, and reduces the system complexity through modular design;It can automatically complete the continuous scanning of wall surface moisture in 360 degrees and the continuous scanning of pitch, realize the dead angle coverage of wall surface top, bottom and corner area, and ensure data integrity.

[0045] The control module comprises an industrial computer 21 capable of generating detection module control instructions and a single-chip microcomputer 22 capable of generating pose adjustment module control instructions; the single-chip microcomputer 22 is in signal connection with the industrial computer 21, and the single-chip microcomputer 22 and the industrial computer 21 transmit pose signals of the pose adjustment module and driving control signals between the pose adjustment module; the industrial computer 21 is in signal connection with the detection module and transmits control instructions and detection data between the detection module. Specifically, a hierarchical control architecture of the industrial computer 21 and the single-chip microcomputer 22 is adopted, the single-chip microcomputer 22 generates pose adjustment module control instructions, pulse sequences are sent to the pose adjustment module through the connection of USB3.0, and the current pose data of the pose adjustment module are transmitted to the industrial computer 21 in real time through the CAN bus; the industrial computer 21 establishes a high-speed data channel with the detection module through the USB interface; the industrial computer 21 sends control instructions to the detection module; the detection module acquires detection data of the target wall surface based on the control instructions; the detection module transmits the acquired detection data back to the industrial computer 21; the industrial computer 21 synchronizes the pose data of the pose adjustment module and the detection data of the detection module through time stamps; and finally, continuous and visual cloud images covering the whole wall surface are generated.

[0046] The operation ability of complex image processing is ensured, the high real-time performance of motion control is realized, electromagnetic interference is effectively avoided through signal isolation transmission, and stable operation of the system in a complex environment of a construction site is ensured.

[0047] The pose adjustment module comprises a circumferential rotation driving motor 6, an orthogonal connector 5 and a pitch adjustment driving motor 1; the orthogonal connector 5 comprises a transmission frame 3 and a horizontal rotation shaft 2, the horizontal rotation shaft 2 is rotatably connected to the transmission frame 3, one end of the horizontal rotation shaft 2 in the length direction is provided with a horizontal rotation driving end, and the transmission frame 3 is provided with a circumferential rotation driving end in the vertical direction; the circumferential rotation driving motor 6 is installed on a base 14, a rotating shaft of the circumferential rotation driving motor 6 is connected to and acts on the circumferential rotation driving end, and the pitch adjustment driving motor 1 is installed on a bearing holder 12, a rotating shaft of the pitch adjustment driving motor 1 is connected to and acts on the horizontal rotation driving end.

[0048] Specifically, the orthogonal connector 5 cooperates with the dual-shaft driving to enable the bearing holder 12 to perform 360-degree circumferential rotation in the horizontal direction and pitch adjustment from-45° to +90° in the vertical direction, and cooperates with the detection module to meet the requirement of large-range scanning detection.

[0049] The rotation shaft of the circumferential rotation driving motor 6 is equipped with a circumferential driving gear 7, and the circumferential rotation driving end is equipped with a circumferential driven gear 15, and the circumferential driving gear 7 and the circumferential driven gear 15 are meshed with each other; the rotation shaft of the pitch adjusting driving motor 1 is equipped with a pitch driving gear 16, and the horizontal rotation driving end is equipped with a pitch driven gear 17, and the pitch driving gear 16 and the pitch driven gear 17 are meshed with each other.

[0050] Specifically, the gear transmission system has a self-locking function while ensuring transmission accuracy, preventing displacement of the equipment in a non-driving state.

[0051] The circumferential driven gear 15 is provided with a mechanical contact switch, which includes a contact 23 arranged on the end face of the circumferential driven gear 15 and a trigger 24 matched with the contact 23, and the contact 23 can trigger the trigger 24 beside the circumferential driven gear 15 when it rotates to a specified position.

[0052] Specifically, the mechanical contact switch can simply and effectively prevent the horizontal rotation angle from exceeding the preset range, so as to prevent the cable from being excessively twisted and causing failure.

[0053] The other end of the horizontal rotation shaft 2 relative to the horizontal rotation driving end in the length direction is a horizontal rotation supporting end, and the horizontal rotation supporting end is provided with a supporting bearing 4, and the outer wall of the supporting bearing 4 abuts against the inner wall of the bearing holder 12.

[0054] Specifically, the supporting bearing 4 can effectively disperse the rotation shaft load, effectively reduce the vibration in the pose adjustment process, ensure the stability of the scanning motion, and greatly reduce the equipment calibration and maintenance frequency.

[0055] The detection module includes a distance acquisition unit for acquiring distance data of point positions on the wall surface, and an image acquisition unit for acquiring surface features of the wall surface; the distance acquisition unit and the image acquisition unit are arranged in the bearing holder 12 in a longitudinal hierarchical distribution structure.

[0056] Specifically, based on the complex working conditions of multiple columns existing in the construction site, the distance acquisition unit and the image acquisition unit adopt a longitudinal hierarchical distribution structure to optimize the sensor working space, which enables the pose adjustment module to flexibly adjust the pose of the detection module, effectively avoids obstacles such as construction columns during data acquisition, and significantly improves the adaptability of the device in complex construction environments.

[0057] The distance acquisition unit is a laser ranging array 11, which is mounted on the top of a bearing holder 12; the image acquisition unit includes a 3D structured light camera 8 capable of capturing the micron-level surface deformation characteristics of the wall surface to obtain local inclination angle information and a high-resolution visible light camera 18 capable of collecting two-dimensional images of the wall surface to identify surface cracks and bulge defects, and the 3D structured light camera 8 and the high-resolution visible light camera 18 are arranged in the bearing holder 12; the 3D structured light camera 8 is arranged in the middle of the bearing holder 12, and the high-resolution visible light camera 18 is arranged at the bottom of the bearing holder 12.

[0058] Specifically, the laser ranging array 11 is arranged at the top to ensure that it is not disturbed by other devices during data acquisition, and the laser ranging array 11 can realize non-contact continuous scanning to form a dense ranging point cloud, and through a multi-beam cross verification mechanism, the risk of local data distortion caused by manual single-point measurement can be effectively avoided; the dual-camera cooperative work overcomes the technical limitations of single-parameter detection of existing equipment, realizes the synchronous detection of macroscopic defects and microscopic deformation, and the 3D structured light camera 8 accurately quantifies the surface flatness; the high-resolution visible light camera 18 can identify 0.1mm-level crack defects to form a complete wall surface quality evaluation system; the positional relationship between the 3D structured light camera 8 and the high-resolution visible light camera 18 realizes the optimization of spatial layout and provides the compactness of the whole equipment.

[0059] The bearing holder 12 is provided with a heat dissipation module 13, and the bearing holder 12 is provided with a heat dissipation air inlet corresponding to the heat dissipation module 13; the heat dissipation module 13 at least includes a pair of heat dissipation fans, which are arranged on both sides of the bearing holder 12 along the length direction of the bearing holder 12, wherein one side is a positive pressure fan for directional cooling in a positive pressure mode, and the other side is a negative pressure fan for air extraction in a negative pressure mode, and the positive pressure fan and the negative pressure fan can form a double-pressure-difference convection heat dissipation structure.

[0060] Specifically, the dual-fan cooperative work effectively improves the heat dissipation efficiency of the equipment during operation, ensures that the heat generated inside the equipment during long-time operation can be dissipated in time, thereby maintaining the stable operation of the equipment and prolonging the service life. The positive pressure fan and the negative pressure fan are arranged at both ends of the high-resolution visible light camera 18, which is compact in structure and high in space utilization.

[0061] The base 14 is provided with a human-computer interaction module 19, and the human-computer interaction module 19 is signal-connected with the control module.

[0062] Specifically, the human-computer interaction module 19 is a touch screen, which can generate a visual three-dimensional cloud picture in real time according to the wall detection result data, and automatically mark the defect position for construction verification.

[0063] The base 14 is equipped with a power supply 20, which is electrically connected with the pose adjustment module and the control module of the detection module, respectively.

[0064] Specifically, the built-in independent power supply 20 makes the wall flatness detection equipment have higher mobility, and can be moved at will as needed.

[0065] In use, the base 14 is positioned to the wall area to be detected, and the base 14 is provided with a dovetail groove below, which can be installed on a tripod to ensure the height of the gimbal 12, and the pose adjustment module is started to drive the gimbal 12 to perform initial pose calibration; the high-resolution visible light camera 18 collects wall texture information in real time and sends the collected image data to the data processing unit, the data processing unit pre-processes the image data, realizes rotation correction of the distorted wall picture, determines the wall to be detected, selects the sampling point position in the image by avoiding the shelter, and converts the image sampling point coordinates into wall sampling point coordinates, generates an optimal laser scanning path through an adaptive planning algorithm, and the pose adjustment module controls the gimbal 12 to rotate according to the optimal path, guiding the laser ranging array 11 carried on the gimbal 12 to project high-density measurement points, wherein, in the flatness detection mode, the pose adjustment module controls the gimbal 12 to perform circumferential rotation in the horizontal direction, realizing continuous scanning in the horizontal direction, in the perpendicularity detection mode, the pose adjustment module controls the gimbal 12 to perform pitching in the vertical direction, realizing continuous scanning in the vertical direction, and synchronously triggering the 3D structured light camera 8 to capture micron-level surface deformation to obtain local inclination angle information; the data processing unit adopts a spatial geometric projection algorithm to accurately map the oblique measurement data to a vertical reference surface, and an inclination sensor can also be loaded in the gimbal 12 to compensate for the device posture deviation in real time. In a single scanning period, the laser ranging array 11, the 3D structured light camera 8 and the high-resolution visible light camera 18 respectively acquire wall space coordinates, three-dimensional deformation and two-dimensional visual data, and through time stamping, the pose data of the pose adjustment module and the spatial registration algorithm realize multi-source data fusion, realize high-precision detection of wall flatness and perpendicularity, the human-computer interaction module 19 visualizes the detection results, realizes accurate positioning and quantitative evaluation of wall defects, and provides full-dimensional automatic detection technical support for building digital acceptance; not only greatly reduces the manual error, but also automatically identifies potential safety hazards, and the detection efficiency and accuracy are significantly improved compared with the manual detection method.

[0066] The principle and implementation mode of the present application are described by using specific embodiments in the present application, and the above embodiment description is only used to help understand the method and core idea of the present application. It should be pointed out that, for ordinary skilled persons in the technical field, without departing from the principle of the present application, the present application can be improved and modified in many ways, and these improvements and modifications also fall within the protection scope of the present application.

[0067] In the description of the utility model, it needs to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or position relation is based on the orientation or position relation shown in the drawing, or is the orientation or position relation of the utility model product when using usual, just is for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as the restriction to the utility model.

[0068] In the description of the utility model, it also needs to explain, unless another explicit provision and limitation, the term "set", "installation", "link", "connection" should do the broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected, can be mechanical connection, also can be electrical connection, can be directly connected, also can be indirectly connected through the intermediate medium, can be the intercommunication of two elements inside.For the ordinary skilled person in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to the specific circumstances.

Claims

1. A wall flatness detection apparatus, characterized by, The application relates to a wall surface detection device, which comprises a base, a bearing holder and a pose adjusting module, the bearing holder is assembled on the base through the pose adjusting module, the pose adjusting module can act on the bearing holder and adjust the relative pose of the bearing holder on the base, a control module is arranged on the base, a detection module is arranged on the bearing holder, the pose adjusting module is signal-connected and controlled by the control module, the detection module is signal-connected with the control module, wall surface detection result data is transmitted between the detection module and the control module, and the control module can establish a dynamic mapping relationship between the pose adjusting module and the detection module according to the wall surface detection result data.

2. The wall flatness detection apparatus of claim 1, wherein The control module comprises an industrial computer which can generate detection module control instructions and a single-chip microcomputer which can generate pose adjusting module control instructions; the single-chip microcomputer is signal-connected with the industrial computer, the pose signal of the pose adjusting module is transmitted between the single-chip microcomputer and the industrial computer, and the driving control signal is transmitted between the single-chip microcomputer and the pose adjusting module; the industrial computer is signal-connected with the detection module, and the control instructions and the detection data are transmitted between the industrial computer and the detection module.

3. The wall flatness detection apparatus of claim 1, wherein The pose adjusting module comprises a circumferential rotation driving motor, a right-angle connector and a pitch adjusting driving motor; the right-angle connector comprises a transmission frame and a horizontal rotation shaft, the horizontal rotation shaft is rotatably connected to the transmission frame, one end of the horizontal rotation shaft in the length direction is provided with a horizontal rotation driving end, and the transmission frame is provided with a circumferential rotation driving end in the vertical direction; the circumferential rotation driving motor is installed on the base, the rotating shaft of the circumferential rotation driving motor is connected to and acts on the circumferential rotation driving end, and the pitch adjusting driving motor is installed on the bearing holder, the rotating shaft of the pitch adjusting driving motor is connected to and acts on the horizontal rotation driving end.

4. The wall flatness detection apparatus of claim 3, wherein The rotating shaft of the circumferential rotation driving motor is provided with a circumferential driving gear, the circumferential rotation driving end is provided with a circumferential driven gear, and the circumferential driving gear and the circumferential driven gear are mutually engaged; The rotating shaft of the pitch adjusting driving motor is provided with a pitch driving gear, the horizontal rotation driving end is provided with a pitch driven gear, and the pitch driving gear and the pitch driven gear are mutually engaged.

5. The wall flatness detection apparatus of claim 4, wherein A mechanical contact switch is arranged on the circumferential driven gear, the mechanical contact switch comprises a contact arranged on the end face of the circumferential driven gear and a trigger matched with the contact, and the contact can trigger the trigger beside the circumferential driven gear when the contact rotates to a specified position.

6. The wall flatness detection apparatus of claim 3, wherein The other end of the horizontal rotation shaft in the length direction relative to the horizontal rotation driving end is a horizontal rotation supporting end, a supporting bearing is arranged at the horizontal rotation supporting end, and the outer wall of the supporting bearing abuts against the inner wall of the bearing holder.

7. The wall flatness detection apparatus of claim 1, wherein The detection module comprises a distance acquisition unit for acquiring distance data of points on the wall surface and an image acquisition unit for acquiring surface features of the wall surface; the distance acquisition unit and the image acquisition unit are assembled on the bearing holder in a longitudinal hierarchical distribution structure.

8. The wall flatness detection apparatus of claim 7, wherein The distance acquisition unit is a laser ranging array, which is carried on the top of the bearing holder; the image acquisition unit includes a 3D structured light camera capable of capturing the micron-level surface deformation characteristics of the wall surface to obtain local inclination angle information and a high-resolution visible light camera capable of collecting two-dimensional images of the wall surface to identify surface cracks and bulge defects, and the 3D structured light camera and the high-resolution visible light camera are arranged in the bearing holder; the 3D structured light camera is arranged in the middle of the bearing holder, and the high-resolution visible light camera is arranged at the bottom of the bearing holder.

9. The wall flatness detection apparatus of claim 1, wherein The bearing holder is provided with a heat dissipation module, and the bearing holder is provided with a heat dissipation air inlet corresponding to the heat dissipation module; the heat dissipation module at least includes a pair of heat dissipation fans, and the pair of heat dissipation fans are arranged on both sides of the bearing holder along the length direction of the bearing holder, wherein one side is a positive pressure fan for directional cooling in a positive pressure mode, and the other side is a negative pressure fan for air extraction in a negative pressure mode, and the positive pressure fan and the negative pressure fan can cooperate to form a double-pressure-difference convection heat dissipation structure.

10. The wall flatness detection apparatus of claim 1, wherein The base is provided with a man-machine interaction module, and the man-machine interaction module is signal-connected with the control module; the base is provided with a power supply, and the power supply is electrically connected with the control module of the pose adjustment module and the detection module.

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