Air-land amphibious robot for concrete quality detection

Abstract

The utility model belongs to the technical field of detection radars, and particularly relates to an air-land amphibious robot for concrete quality detection. Comprising an unmanned aerial vehicle, an air coupling radar is arranged on the unmanned aerial vehicle, the air coupling radar comprises a shell assembly, the shell assembly is formed by connecting an upper shell, a lower shell and a shielding shell in a buckling mode, and four pins which are arranged in a rectangular mode are arranged at the four corners of the shielding shell and used for suppressing interference electromagnetic waves; the radar control assembly comprises a main control board, an antenna control board and a heat dissipation module located below the antenna control board, the main control board and the antenna control board are arranged in a stacked mode, and the main control board is connected with a battery; the radar control assembly is arranged in the shielding shell. According to the utility model, the air-land amphibious robot is carried, so that the quality detection of the masonry structure is realized, and compared with the conventional ground coupling radar, the air coupling radar has the advantages of good imaging, no contact and the like.

Description

Technical Field

[0001] This utility model belongs to the field of detection radar technology, specifically an amphibious robot for concrete quality detection. Background Technology

[0002] In current concrete engineering inspections, under normal circumstances, workers need to use handheld radar and specialized inspection vehicles to detect defects in masonry structures. With the advent of drone inspections, which can be equipped with high-definition cameras for all-around imaging, or infrared detection and radar flaw detection technologies, these methods have many problems, such as low imaging efficiency, significant influence from human factors, and lack of intelligent operation, thus becoming a pain point in the industry.

[0003] Therefore, there is a need to provide a new radar for climbing inspection drones to improve flaw detection efficiency and inspection quality. The existing technology proposes an air-coupled radar for amphibious robots for concrete quality inspection, which uses air-coupled radar to perform flaw detection and defect analysis on masonry structures. However, due to the limited mass of the amphibious robot, the weight of the radar used is limited, which requires reducing unnecessary components and will also affect the inspection results. Summary of the Invention

[0004] To solve the above problems, this utility model provides an amphibious robot for concrete quality inspection.

[0005] This utility model adopts the following technical solution: an amphibious robot for concrete quality inspection, comprising: a drone, wherein the drone is equipped with an air-coupled radar, the air-coupled radar comprising:

[0006] The housing assembly consists of an upper shell, a lower shell, and a shielding shell connected by snap-fit. The shielding shell has four pins arranged in a rectangular pattern at its four corners to suppress interfering electromagnetic waves.

[0007] A radar control assembly, comprising a main control board, an antenna control board, and a heat dissipation module stacked below them, with a battery connected to the main control board; the radar control assembly is housed within a shielding enclosure.

[0008] In some embodiments, the upper shell secures the interface board via a connector, and the interface board is connected to the main control board via a data cable for exchanging data.

[0009] In some embodiments, a handle and a measuring wheel are fixed to the upper shell, the measuring wheel being used to determine the distance traveled and to measure the distance.

[0010] In some embodiments, a wear-resistant pad is provided on the bottom of the lower shell.

[0011] In some embodiments, the drone includes:

[0012] A frame, wherein four cavities are symmetrically arranged on the frame;

[0013] Rotor, with one rotor housed within each cavity.

[0014] The wheel modules are symmetrically distributed at the four corners of the frame.

[0015] In some embodiments, the wheel module includes wheels mounted on the frame via their respective axles, and a drive controller and wheel reducer within each axle.

[0016] In some embodiments, the wheel includes a rim, spokes, and a tire. The rim is composed of processed carbon fiber plates and is fitted onto the edges of two thin-walled carbon fiber plates on the spokes for attaching the tire. The spokes are composed of two thin-walled carbon fiber plates placed parallel to each other. The tire uses 24-grit sandpaper and has a multi-layer structure, including an outer friction layer, a middle flexible layer, and an inner rigid carbon fiber layer. EVA shock-absorbing foam is filled between the tire layers, and the rim and tire are connected by a replaceable ring sleeve.

[0017] In some embodiments, the tire width is 25 mm and the coefficient of friction on a dry concrete surface is ≥0.71.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] Enhanced anti-interference and stability: The shielding shell and the rectangular pin arrangement at the four corners effectively suppress external electromagnetic interference, ensuring the detection accuracy of the air-coupled radar in complex electromagnetic environments; the stacked radar control components combined with the heat dissipation module achieve efficient heat dissipation and a compact layout, ensuring stability during long-term operation.

[0020] Multi-scenario adaptability: The amphibious design (rotor flight + ground wheel movement) breaks through the spatial limitations of traditional detection equipment. It can quickly switch flight modes to cross obstacles, or switch ground modes to perform fine scanning of complex structural surfaces such as bridges and tunnels, covering high altitudes, narrow spaces and rugged terrain.

[0021] High-precision positioning and data acquisition: The ranging wheel and air-coupled radar work together to achieve centimeter-level path positioning and simultaneous calibration of defect depth; multi-layer sandpaper tires (friction coefficient ≥0.71) combined with EVA shock-absorbing layer ensure that the tires are in close contact with the detection surface when moving on the ground, avoiding positioning errors caused by slippage.

[0022] Modular maintenance advantages: snap-on shell components and replaceable tire design simplify disassembly and assembly; carbon fiber rims and split spoke structure reduce maintenance costs; independently driven wheel modules support emergency operation in case of single wheel failure, improving reliability in field operations.

[0023] This invention utilizes an amphibious robot to perform quality inspections on masonry structures. Compared to conventional ground-coupled radar, air-coupled radar offers advantages such as superior imaging and non-contact operation. Furthermore, this invention employs a special shielding shell, resulting in a low signal-to-noise ratio and a wide dynamic range for the antenna signal received. Attached Figure Description

[0024] Figure 1 A schematic diagram of an amphibious robot for concrete quality inspection.

[0025] Figure 2 This is a schematic diagram of the external structure of an air-coupled radar.

[0026] Figure 3 This is a schematic diagram of the internal structure of an air-coupled radar.

[0027] Figure 4 This is a schematic diagram of the wheel structure;

[0028] In the diagram, 1-UAV, 2-Air-coupled radar, 3-Range measuring wheel, 4-Interface board, 5-Upper shell, 6-Main control board, 7-Heat dissipation module, 8-Battery, 9-Antenna control board, 10-Pin, 11-Shielding shell, 12-Lower shell, 13-Wear pad, 14-Handle, 15-Frame, 16-Rotor, 17-Wheel module, 17.1-Rim, 17.2-Spoke, 17.3-Tire. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0030] An amphibious robot for concrete quality inspection, comprising:

[0031] The drone, wherein the drone is equipped with an air-coupled radar, the air-coupled radar comprising:

[0032] The outer shell assembly consists of an upper shell 5, a lower shell 12, and a shielding shell 11 connected by snap-fit. The shielding shell 11 has four rectangularly arranged pins 10 at its four corners to suppress interfering electromagnetic waves.

[0033] The radar control assembly includes a main control board 6, an antenna control board 9, and a heat dissipation module 7 stacked below them. A battery 8 is connected to the main control board 6. The radar control assembly is housed within a shielding shell 11. This design accelerates heat dissipation and maintains stable controller output. The main control board 6 is the main control center of the air-coupled radar, capable of sampling and processing returned signals. The antenna control board is used to transmit signals and receive reflected radar signals.

[0034] The antenna control board includes a transmitting antenna and a receiving antenna. The antennas possess ultra-wideband characteristics, enabling better signal radiation and improved signal fidelity. The radar main control board controls the signal transmission strength and sets the reception threshold level. The antenna control board 9 can transmit signal waves in different frequency bands, operating at both low and high frequencies. The frequency can freely change with the detection depth, resulting in high detection accuracy.

[0035] Air-coupled radar 2 has fewer components and is lighter in weight. Moreover, it uses air-coupled radar, which means that the antenna can be lifted off the ground, so poor contact between the antenna and the ground will not affect the image.

[0036] The upper shell 5 is fixed with a handle 14 and a distance measuring wheel 3. The distance measuring wheel 3 is used to determine the distance and measure the distance.

[0037] A wear-resistant pad 13 is provided at the bottom of the lower shell 12.

[0038] The upper shell 5 is fixed to the interface board 4 by a connector. The interface board 4 is connected to the main control board 6 by a data cable to exchange data.

[0039] Once the robot reaches the designated location, the radar is remotely activated. The antenna control board transmits control signals and receives reflected signals to detect the interior of the masonry material. The main controller can adjust the frequency of the transmitted signal and the threshold level of the received signal to detect masonry at different depths. The returned signals are then processed by timing pulses provided by the main controller, and the signals are sampled and collected. Finally, the data is transmitted externally via an interface panel, where radar wave analysis software automatically images the data to obtain the detection results.

[0040] Drone 1 includes:

[0041] A frame 15, on which four cavities are symmetrically arranged;

[0042] Rotor 16, one rotor 16 is installed in each cavity.

[0043] Wheel modules 17 are symmetrically distributed at the four corners of the frame 15.

[0044] The wheel module 17 includes wheels, which are respectively mounted on the frame 15 via their respective axles, and a drive controller and wheel reducer within each axle.

[0045] The wheel includes a rim 17.1, spokes 17.2, and a tire 17.3. The rim 17.1 is composed of processed carbon fiber plates and is fitted onto the edges of the two thin-walled fiber plates of the spokes 17.2 for attaching the tire. The spokes 17.2 are composed of two thin-walled carbon fiber plates placed parallel to each other. The tire 17.3 uses 24-grit sandpaper and has a multi-layer structure, including an outer friction layer, a middle flexible layer, and an inner rigid carbon fiber layer. The layers of the tire 17.3 are filled with EVA shock-absorbing foam, and the rim and tire are connected by a replaceable ring sleeve.

[0046] The tire 17.3 has a width of 25mm and a coefficient of friction ≥0.71 on a dry concrete surface.

[0047] After the amphibious robot activates its wall-climbing mode, its four wheels roll forward through contact with the wall surface. During this contact, the abrasive layer on the tire surface rubs against the concrete interface, while the pressure causes significant deformation of the second flexible layer. At this point, compressive and shear deformations occur within the tire. The compressive deformation increases the contact area between the tire and the concrete, thereby increasing friction and providing thrust for the robot's forward movement. The shear force from the flexible layer is transferred to the third rigid layer. The rigid layer, made of lightweight and high-strength carbon fiber, can maximally restrain shear deformation and maintain the overall shape of the tire.

[0048] By employing a three-layer tire design, a balance between flexible and rigid deformation is achieved. This allows the amphibious robot to climb walls and walk without slipping, while maintaining a lightweight design that preserves the overall shape of the tire, which is beneficial for its range and simplifies its structure.

[0049] Step 1: Task Startup and Mode Switching

[0050] The operator sets the detection area path via a remote terminal, and the drone, equipped with an air-coupled radar, takes off and heads to the target area. As it approaches the detection surface, the wheel module deploys and touches the ground, the rotors stop rotating, and the drone switches to ground movement mode. The tires then make close contact with the concrete surface through the sandpaper friction layer.

[0051] Step 2: Ground-based detection data collection

[0052] During ground movement, the ranging wheel 3 records the distance traveled in real time and feeds it back to the main control board 6, simultaneously triggering the air-coupled radar to emit high-frequency electromagnetic waves. After the electromagnetic waves penetrate the concrete, the echo signal reflected by the internal defects is received by the antenna control board 9, filtered and noise-reduced within the shielding shell 11, and then transmitted to the interface board 4 via the data cable.

[0053] Step 3: Real-time Data Processing and Navigation

[0054] The main control board 6 integrates the positioning data from the ranging wheel with radar echo signals, uses a built-in algorithm to generate a two-dimensional cross-sectional view of the internal structure of the concrete, and marks the coordinates of suspected defects. At the same time, the drive controllers of the wheel module 17 dynamically adjust the rotation speed according to the path planning, guide the robot to move along the preset trajectory, and automatically switch to flight mode to avoid obstacles.

[0055] Step 4: In-depth analysis and report generation

[0056] After completing the area scan, the heat dissipation module 7 activates forced air cooling to ensure continuous operation of the main control board. Radar data is analyzed using a deep learning model, generating a report assessing the defect type (void, crack), size, and depth, which is then uploaded to the cloud platform via a wireless module. If a significant structural anomaly is detected, the robot automatically marks the location and issues an alarm.

[0057] Step 5: Equipment Recycling and Maintenance

[0058] After the task is completed, the wear-resistant pad 13 protects the lower shell 12 from ground abrasion. The operator can quickly disassemble the shell assembly via the handle 14 to replace the worn sandpaper tire 17.3 or replenish the battery 8, preparing for the next task. The hub-and-tire ring connection design allows for replacement within 30 seconds, significantly reducing downtime.

[0059] Example application scenarios:

[0060] During the internal inspection of the box girder, the robot flew to the top of the pier and switched to ground mode, moving and scanning along the inner wall of the box girder. The sandpaper tires maintained a friction coefficient of 0.68 on the wet concrete surface, and in conjunction with the ranging wheel, it achieved continuous, offset-free inspection for 200 meters, discovering three areas of hidden rebar corrosion with a positioning accuracy of ±2cm. The entire process took 45 minutes, saving 6 hours compared to traditional manual inspection.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A concrete quality inspection amphibious robot, characterized by, The utility model relates to an unmanned aerial vehicle (1) provided with an air coupling radar (2), the air coupling radar (2) comprising: A shell assembly composed of an upper shell (5), a lower shell (12) and a shielding shell (11) through a snap connection, the shielding shell (11) being provided with four pins (10) arranged in a rectangle at four corners for suppressing interference electromagnetic waves; A radar control assembly comprising a main control board (6), an antenna control board (9) and a heat dissipation module (7) arranged in layers, the main control board (6) being connected with a battery (8); the radar control assembly is arranged in the shielding shell (11). The upper shell (5) is fixed with an interface plate (4) through a connecting piece, the interface plate (4) is connected with the main control board (6) through a data line for data exchange.

2. The concrete quality inspection amphibious robot according to claim 1, characterized in that, The upper shell (5) is fixed with a handle (14) and a ranging wheel (3) respectively, the ranging wheel (3) being used for positioning a distance and measuring a distance.

3. The concrete quality inspection amphibious robot according to claim 1, characterized in that, The lower shell (12) is provided with a wear-resistant pad (13) at the bottom.

4. The concrete quality inspection amphibious robot according to claim 1, characterized in that, The unmanned aerial vehicle (1) comprising:

5. The concrete quality inspection amphibious robot according to claim 1, wherein, A frame (15) provided with four cavities symmetrically; A rotor (16) arranged in each cavity, A wheel module (17) symmetrically distributed at four corners of the frame (15). The wheel module (17) comprises wheels mounted on the frame (15) through respective wheel shafts, a drive controller and a wheel reducer in each wheel shaft.

6. The concrete quality inspection amphibious robot according to claim 5, characterized in that, The wheel comprises a rim (17.1), spokes (17.2) and a tire (17.3), the rim (17.1) being composed of processed carbon fiber plates, the rim (17.1) being sleeved on the edges of the two thin-wall fiber plates of the spokes (17.2) for sleeving the tire; the spokes (17.2) are composed of two thin-wall carbon fiber plates, the two carbon fiber plates being arranged in parallel; the tire (17.3) adopts 24-mesh sandpaper, the tire being a multi-layer structure comprising an outer friction layer, a middle flexible layer and an inner rigid carbon fiber layer, the layers of the tire (17.3) being filled with EVA shock-absorbing foam, and the hub and the tire being connected in a replaceable ring sleeve manner.

7. The concrete quality inspection amphibious robot according to claim 6, characterized in that, The tire (17.3) has a width of 25 mm, and the friction coefficient on a dry concrete surface is greater than or equal to 0.

71.

8. The concrete quality inspection amphibious robot according to claim 7, characterized in that, ​

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