CN116202501B - Standardized construction detection system and method - Google Patents
Standardized construction detection system and method Download PDFInfo
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- CN116202501B CN116202501B CN202310498375.4A CN202310498375A CN116202501B CN 116202501 B CN116202501 B CN 116202501B CN 202310498375 A CN202310498375 A CN 202310498375A CN 116202501 B CN116202501 B CN 116202501B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/12—Instruments for setting out fixed angles, e.g. right angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/045—Analysing solids by imparting shocks to the workpiece and detecting the vibrations or the acoustic waves caused by the shocks
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Abstract
A standardized construction detection system and method relate to the technical field of construction quality detection, wherein the system comprises a control mechanism, an auxiliary device and a wall climbing robot, and the wall climbing robot comprises a robot body and a pneumatic claw assembly for controlling the posture of the robot body on a wall surface; the method comprises the step of detecting the wall surface in the process of adjusting the posture of the robot body on the wall surface and walking. The invention provides a device for comprehensively detecting verticality, flatness, cracks and hollows of an outer wall of a high-rise building, and the device can be used for accurately detecting the construction quality of the outer wall of the high-rise building, so that the labor intensity can be greatly reduced, the working efficiency can be improved, and the detection effect can be ensured.
Description
Technical Field
The invention relates to the technical field of construction quality detection, in particular to a standardized construction detection system and method.
Background
The quality detection of the building outer wall relates to the projects of verticality, flatness, cracks, hollows and the like of the outer wall, and currently, the on-site detection tool is simpler, for example, the verticality and flatness are detected through a guiding rule, and the cracks and hollows are detected through visual inspection and knocking modes. However, this detection approach is clearly not applicable for more and more high-rise buildings. Although the robot can be applied to the field of outer wall detection, the posture of the robot on the wall surface is difficult to control, and the detection result is often not accurate enough, so that the reference value is reduced. In general, there is no device for comprehensive detection of verticality, flatness, cracks and hollows of an outer wall in the prior art, and improvement of the prior art is necessary for solving the problems of low detection efficiency, poor detection effect, and incapability of performing accurate detection due to general detection.
Disclosure of Invention
The invention provides a standardized construction detection system and a standardized construction detection method, which can solve the problems that the existing outer wall is low in detection efficiency and poor in detection effect, can only carry out general detection but cannot carry out accurate detection, and a device for comprehensively detecting verticality, flatness, cracks and hollows of the outer wall is not available.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the utility model provides a standardized construction detecting system, includes control mechanism, auxiliary device, climbs wall robot, control mechanism with climb wall robot signal connection, auxiliary device be used for assisting to climb wall robot action on the wall, climb wall robot include the robot body and be used for controlling the pneumatic jack catch subassembly of the gesture of robot body on the wall, the robot body dispose the inclination sensor that is used for detecting the wall straightness, be used for detecting the laser range sensor of wall roughness, be used for detecting the wall empty drum strike device, be used for detecting the cracked vision sensor of wall.
Preferably, the robot body include bottom plate, controller, pneumatic jack catch subassembly including coaxial fixed connection in the cube fixed shell of bottom plate surface, side and the top surface of fixed shell all constitute counterforce structure, the top surface of fixed shell fixed be equipped with top gas storehouse, side fixed be equipped with the side gas storehouse, the top of top gas storehouse be equipped with the pressure gas storehouse fixedly, the top of pressure gas storehouse be connected with flexible pressure air conveying pipe through first takeover, the side of pressure gas storehouse is connected with every side gas storehouse through the second takeover respectively, pressure gas storehouse bottom be connected with top gas storehouse through the third takeover, first takeover, second takeover, third takeover all be equipped with electromagnetic flow control valve, the one end of top gas storehouse towards the fixed shell be equipped with first pressure sensor, the one end of side gas storehouse towards the fixed shell be equipped with second pressure sensor, top gas storehouse and side gas storehouse all be equipped with the blast pipe, the blast pipe be equipped with electromagnetic exhaust valve, the controller fixed shell in be equipped with the electrical tilt angle sensor and the bottom plate, the electrical tilt angle sensor is equipped with the electrical tilt angle sensor in the bottom plate, the electrical axis is connected with the bottom plate, the electrical tilt angle sensor is used for measuring the bottom plate, the electrical sensor is equipped with the electrical tilt angle sensor is parallel to the outer surface, the bottom plate, the electrical axis is connected with the electromagnetic flow sensor, the electrical sensor is parallel with the bottom plate, the electrical axis, the sensor is connected with the electrical sensor with the sensor.
Preferably, the bottom plate internal surface rectangular distribution have 4 cube shaped installation pieces, every installation piece is along the one end fixed mounting who keeps away from the bottom plate longitudinally have first servo jar, along the one end that transversely keeps away from the bottom plate install the second servo jar, the stiff end and the surface fixed connection of installation piece of first servo jar or second servo jar, the flexible end outwards extends, the coaxial fixedly connected with leg pole of flexible end, the tip of leg pole be connected with the friction block through 2 connecting plates, the one end centre gripping of 2 connecting plates is at the tip of leg pole to rotate with the leg pole through the pivot that runs through connecting plate and leg pole and be connected, the outside end of pivot be equipped with servo motor, servo motor pass through L shape mount pad and leg pole fixed connection, servo motor's output shaft and pivot tip fixed connection, the other end centre gripping of 2 connecting plates in the side fixed connection of friction block to bottom plate surface still be equipped with wireless signal transceiver module, first servo jar, second servo motor, wireless signal transceiver module respectively through the wire and be connected with the controller electricity.
Preferably, the bottom plate internal surface just be located 4 mounting blocks inboard and still fixedly connected with mounting panel, the internal surface front end of mounting panel along transversely being equipped with 1 row of a plurality of laser rangefinder sensors, the rear end is along transversely being equipped with 1 row of a plurality of vision sensors, still be equipped with between laser rangefinder sensor and vision sensor and strike the device, still be equipped with sound sensor at the internal surface of mounting panel, the device of beating include electric putter, electric putter's stiff end and mounting panel internal surface fixed connection, the extension end is along the direction inwards extension of perpendicular to bottom plate surface, the end fixedly connected with of extension end strikes the hammer, electric putter, vision sensor, sound sensor, laser rangefinder sensor be connected with the controller electricity through the wire respectively.
Preferably, the inner surface of the installation block is fixedly connected with cube-shaped limiting blocks, and the inner surfaces of the 4 limiting blocks are coplanar and parallel to the outer surface of the bottom plate.
Preferably, the auxiliary device at least comprises a pressure air supply device, a winding roller for winding the flexible pressure air conveying pipe and a base for fixing the winding roller, wherein the output end of the pressure air supply device is connected with the input end of the flexible pressure air conveying pipe, the tail end of the flexible pressure air conveying pipe is connected with the top end of the first connecting pipe, and the pressure air supply device is electrically connected with the control mechanism through a wire.
Preferably, the control mechanism is provided with a data analysis and processing module and a storage module, and the data analysis and processing module is used for drawing the information detected by the inclination sensor into an inclination line graph of the wall surface and labeling the inclination data of each part of lines; the motion information of the first servo cylinder and the second servo cylinder is converted into the position information of the robot body on the wall surface through a data analysis and processing module, and the position information is combined with the inclination angle data, the hollowing information and the crack information at the position; converting the detection signal of the sound sensor into hollowing information through a data analysis and processing module, and drawing a hollowing distribution diagram of the wall surface; drawing distribution diagrams of cracks, pits and bulges of the wall surface through information of a laser ranging sensor; and drawing a total graph of wall crack distribution through picture information acquired by the visual sensor.
A method for standardized comprehensive detection of a high-rise building wall surface comprises the following steps:
step 1, installing a base and a winding roller at the top of a high-rise building structure or at a proper height, connecting the tail end of a flexible pressure air conveying pipe with the top end of a first connecting pipe of a robot body, connecting the head end of the flexible pressure air conveying pipe with the output end of a pressure air supply device, attaching the robot body to a wall surface, starting the pressure air supply device by a control mechanism, opening an electromagnetic flow regulating valve of the first connecting pipe by a controller, and starting the electromagnetic flow regulating valves of a second connecting pipe and a third connecting pipe by the controller according to a detection signal of an inclination sensor, wherein the specific starting mode is as follows: firstly starting an electromagnetic flow regulating valve of a third connecting pipe, pressing a robot body against a wall surface through gas pressure, then starting an electromagnetic flow regulating valve of a second connecting pipe positioned at the bottom, carrying the weight of the robot body through the thrust of gas, starting the electromagnetic flow regulating valve of the second connecting pipe at one inclined side when the robot body is inclined to one side, righting the robot body through gas thrust, and finely adjusting the posture of the robot body through starting the electromagnetic flow regulating valve of the second connecting pipe at the opposite inclined side until the numerical value detected by an inclination sensor meets the specified standard, namely, the bottom plate has no inclination angle along the Y-axis direction; in the process, the controller adjusts the corresponding electromagnetic flow regulating valve and electromagnetic exhaust regulating valve according to the values of the first pressure sensor and the second pressure sensor, and the final adjusting result is as follows: the detection value of the first pressure sensor is adjusted to enable the robot body to lean against the wall surface under the pressure suitable for walking, so that the robot body is positioned towards the wall surface; the pressure value of the second pressure sensor at the bottom accords with the weight of the robot body, and the robot body is supported, so that the longitudinal positioning of the robot body is realized; the pressure values of the second pressure sensors positioned at the two sides are finally equal, so that the robot body is clamped from the two sides, and the lateral positioning of the robot body is realized; during this time, the weight of the flexible pressurized air delivery tube is borne by the wind roller;
step 2, the robot body walks from top to bottom or from left to right or from top to bottom, back to left or right after crossing one step along a set track under the control of the controller, then walks from bottom to top along an arcuate shape, and when the robot body stops walking at 1 set step distance, the servo motor rotates to drive the friction block to move to one side far away from the wall surface, and the electromagnetic flow regulating valve of the third connecting pipe increases the air inflow, and the inner surfaces of the 4 limiting blocks are attached to the wall surface by increasing the pressure, so that the numerical value detected by the inclination sensor arranged on the outer surface of the bottom plate is the inclination information of the wall surface as the inner surfaces of the 4 limiting blocks are coplanar and parallel to the outer surface of the bottom plate; when the robot body is stopped, the electric push rod pushes out a knocking hammer to knock the wall surface, and the sound sensor collects knocking sound information;
and 3, repeating the step 2 until all preset positions of the wall surface are detected, and outputting an inclination angle line drawing, a hollowing distribution drawing, a crack, a dent and bulge distribution drawing and a wall crack distribution summary drawing of the wall surface by the control mechanism through the data analysis and processing module.
The standardized construction detection system and method have the beneficial effects that: the invention provides a device for comprehensively detecting verticality, flatness, cracks and hollows of an outer wall of a high-rise building, and the device can be used for accurately detecting the construction quality of the outer wall of the high-rise building, so that the labor intensity can be greatly reduced, the working efficiency can be improved, and the detection effect can be ensured.
Drawings
FIG. 1 is a schematic view of the structure of the present invention in use;
FIG. 2 is a schematic view of the partial structure of the present invention A;
FIG. 3 is a right-side view of the robot body of the present invention;
FIG. 4 is a schematic left-hand view of the robot body of the present invention;
1. building structures; 2. a flexible pressurized air delivery tube; 3. a pressure air supply device; 4. a base; 5. a winding roller; 6. a wall surface; 7. a bottom plate; 8. a fixed case; 9. a top gas bin; 10. a side air bin; 11. a first connection pipe; 12. a second connection pipe; 13. a mounting plate; 14. an electric push rod; 15. knocking a hammer; 16. a laser ranging sensor; 17. a visual sensor; 18. an inclination sensor; 19. a first servo cylinder; 20. a leg bar; 21. a connecting plate; 22. a friction block; 23. a cylinder barrel of a second servo cylinder; 24. an exhaust pipe; 25. a limiting block; 26. a mounting block; 27. a second servo cylinder; 28. a servo motor; 29. an L-shaped mounting seat; 30. and a pressure air bin.
Detailed Description
The following detailed description of the embodiments of the present invention in a stepwise manner is provided merely as a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, but any modifications, equivalents, improvements, etc. within the spirit and principles of the present invention should be included in the scope of the present invention.
In the description of the present invention, it should be noted that, the positional or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, and specific orientation configuration and operation, and thus should not be construed as limiting the present invention.
Example 1:
as shown in fig. 1-4: the utility model provides a standardized construction detecting system, includes control mechanism (not shown in the figure), auxiliary device, climbs wall robot, control mechanism and climb wall robot signal connection, auxiliary device be used for assisting to climb wall robot action on the wall, climb wall robot include the robot body and be used for controlling the pneumatic jack catch subassembly of the gesture of robot body on the wall, the robot body dispose the inclination sensor that is used for detecting wall 6 straightness that hangs down, be used for detecting the laser ranging sensor 16 of wall roughness, be used for detecting the knocking device of wall hollowness, be used for detecting the visual sensor 17 of wall crack.
In this embodiment, the pneumatic claw assembly essentially forms a manipulator that can grasp the robot body and maintain it in a set posture, so that the stability of the robot body in detecting the wall surface is ensured, and it is obvious that if the posture of the robot body itself cannot be maintained stable, the detection result is lacking in reference value. The pneumatic claw assembly can apply control force to the robot body at the left side, the right side, the bottom and the outer side, so that the robot body can move on a wall surface by virtue of a self travelling mechanism, and the reliability of positioning a detection position by a moving step of the travelling mechanism is ensured. The wall flatness detection comprises the detection of specific size information such as pits, bulges and cracks of the wall surface, and can accurately reflect the flatness information of the wall surface of a high-rise building.
Example 2:
based on embodiment 1, as shown in fig. 1-4, the robot body comprises a bottom plate 7 and a controller (not shown in the drawings), the pneumatic claw assembly comprises a cube-shaped fixing shell 8 coaxially and fixedly connected to the outer surface of the bottom plate 7, the side surface and the top surface of the fixing shell 8 form a counterforce structure, the top surface of the fixing shell 8 is fixedly provided with a top air chamber 9, the side surface is fixedly provided with a side air chamber 10, the top end of the top air chamber 9 is fixedly provided with a pressure air chamber 30, the top end of the pressure air chamber 30 is connected with a flexible pressure air conveying pipe 2 through a first connecting pipe 11, the side surface of the pressure air chamber 30 is respectively connected with each side air chamber 10 through a second connecting pipe 12, the bottom end of the pressure air chamber 30 is connected with the top air chamber 9 through a third connecting pipe (not shown in the drawings), the first connecting pipe 11, the second connecting pipe 12 and the third connecting pipe are respectively provided with an electromagnetic flow regulating valve (not shown), one end of the top gas chamber 9 facing the fixed shell is provided with a first pressure sensor (not shown), one end of the side gas chamber 10 facing the fixed shell is provided with a second pressure sensor (not shown), the top gas chamber and the side gas chamber are respectively provided with an exhaust pipe 24, the exhaust pipes 24 are respectively provided with an electromagnetic exhaust regulating valve (not shown), the controller is arranged in the fixed shell 8, a storage battery (not shown) electrically connected with the controller is also arranged in the fixed shell 8, the outer surface of the bottom plate 7 is provided with an inclination sensor for detecting the inclination angle of the outer surface of the bottom plate along the horizontal X, Y axis direction, the X axis is perpendicular to the outer surface of the bottom plate, the Y axis is parallel to the outer surface of the bottom plate (namely, the inclination angle along the X axis is the included angle of the outer surface of the bottom plate relative to the horizontal X axis in the vertical plane of the X axis, and the inclination angle of the Y axis is the inclination angle measured by the outer surface of the bottom plate relative to the horizontal Y axis in the vertical plane of the Y axis), and the electromagnetic flow regulating valve, the first pressure sensor, the second pressure sensor, the electromagnetic exhaust regulating valve and the inclination angle sensor 18 are respectively and electrically connected with the controller through wires.
In this embodiment, the side surface and the top surface of the fixed shell 8 both form a counterforce structure and bear pneumatic thrust or pressure, so that the attitude control of the robot body is realized, and meanwhile, the pressure gas is limited in the flexible pressure air conveying pipe, the first connecting pipe, the second connecting pipe, the third connecting pipe, the top gas bin and the side gas bin, so that the robot body is positioned without noise interference, and the environmental factor control of the knocking device in the detection of empty drum is realized. The flexible pressure air conveying pipe has no effective acting force against the thrust and the pressure of the gas, so the gesture of the robot body can be regulated and controlled through the thrust or the pressure of the gas.
Example 3:
on the basis of the embodiment 2, this embodiment is further modified as follows:
as shown in fig. 1, 2 and 3, the inner surface of the bottom plate 7 is rectangular and provided with 4 cube-shaped mounting blocks 26, one end, which is longitudinally far away from the bottom plate 7, of each mounting block 26 is fixedly provided with a first servo cylinder 19, one end, which is transversely far away from the bottom plate 7, of each mounting block is provided with a second servo cylinder 27, the fixed end of each first servo cylinder or each second servo cylinder is fixedly connected with the outer surface of each mounting block 26, the telescopic end extends outwards, the telescopic end is coaxially and fixedly connected with a leg rod 20, the end part of each leg rod 20 is connected with a friction block 22 through a 2-block connecting plate, one end of each 2-block connecting plate 21 is clamped at the end part of each leg rod 20 and is rotationally connected with the leg rod through a rotating shaft penetrating through the connecting plate and the leg rod, the outer side end of each rotating shaft is provided with a servo motor 28, the output shaft of each servo motor is fixedly connected with the end part of the rotating shaft through an L-shaped mounting seat 29, the other end of each servo motor is clamped at two sides of the friction blocks 22 and is fixedly connected with the side surfaces of the friction blocks 22 through connecting rods, the outer surface of the bottom plate 7 is further provided with a wireless signal transceiving module (in the figure), and the first servo cylinder, the wireless signal transceiving module and the wireless signal transceiver are connected with the wireless servo cylinders respectively through the wireless signal transceiving modules.
In this embodiment, when walking longitudinally, the upper or lower 2 first servo cylinders drive the friction blocks to extend and then retract, and the lower or upper first servo cylinders drive the friction blocks to extend at the same time, so as to realize the longitudinal walking of the robot body, the transverse walking principle and the like. The friction block has certain friction force with the wall surface, when walking, the servo motor can temporarily separate from the wall surface through rotating and adjusting the friction block, and when the robot body is pushed or pulled by the friction force, the servo motor is contacted with the wall surface. The controller records every step of walking, and the data analysis and processing module can calculate the walking distance corresponding to each step, so as to calculate the coordinate position of the robot body on the wall surface.
Example 4:
on the basis of the embodiment 3, this embodiment is further modified as follows:
as shown in fig. 1-4, the inner surface of the bottom plate 7 is also fixedly connected with a mounting plate 13, the front end of the inner surface of the mounting plate 13 is transversely provided with 1 row of a plurality of laser ranging sensors 16, the rear end of the inner surface of the mounting plate 13 is transversely provided with 1 row of a plurality of vision sensors 17, a knocking device is further arranged between the laser ranging sensors 16 and the vision sensors 17, the inner surface of the mounting plate is also provided with a sound sensor (not labeled in the drawings), the knocking device comprises an electric push rod 14, a fixed end of the electric push rod is fixedly connected with the inner surface of the mounting plate 13, a telescopic end extends inwards along the direction perpendicular to the outer surface of the bottom plate, and the end part of the telescopic end is fixedly connected with a knocking hammer 15, and the electric push rod 14, the vision sensors, the sound sensor and the laser ranging sensors are respectively and electrically connected with a controller through wires.
As shown in fig. 1, 2 and 3, the inner surface of the mounting block 26 is fixedly connected with inner surfaces of the cubic stoppers 25,4 and the inner surfaces of the stoppers 25 are coplanar and parallel to the outer surface of the bottom plate 7.
In this embodiment, the front end of the inner surface of the mounting plate 13 is transversely provided with 1 row of a plurality of laser ranging sensors 16, which can detect the flatness information of the wall surface in a larger range; similarly, 1 row of a plurality of vision sensors 17 can collect crack information in a larger area of the wall surface; because the inner surface of the limiting block is parallel to the outer surface of the bottom plate, when the 4 limiting blocks are attached to the wall surface, the inclination angle information detected by the inclination angle sensor is the inclination angle information of the wall surface.
Example 5:
on the basis of the embodiment 4, this embodiment is further modified as follows:
as shown in fig. 1, the auxiliary device at least comprises a pressure air supply device 3, a winding roller 5 for winding the flexible pressure air conveying pipe 2, and a base 4 for fixing the winding roller, wherein the output end of the pressure air supply device 3 is connected with the input end of the flexible pressure air conveying pipe 2, the tail end of the flexible pressure air conveying pipe 2 is connected with the top end of the first connecting pipe, and the pressure air supply device 3 is electrically connected with the control mechanism through a wire.
In this embodiment, the winding roller bears the weight of the sagging portion of the flexible pressure air conveying pipe 2, and in practice, the sagging amplitude is controlled manually, so that the robot body is prevented from being dragged downwards.
Example 6:
on the basis of the embodiment 5, this embodiment is further modified as follows:
as shown in fig. 1-4, the control mechanism is provided with a data analysis and processing module and a storage module, and the data analysis and processing module is used for drawing the information detected by the inclination sensor into an inclination line graph of the wall surface and marking the inclination data of each part of line; the motion information of the first servo cylinder and the second servo cylinder is converted into the position information of the robot body on the wall surface through a data analysis and processing module, and the position information is combined with the inclination angle data, the hollowing information and the crack information at the position; converting the detection signal of the sound sensor into hollowing information through a data analysis and processing module, and drawing a hollowing distribution diagram of the wall surface; drawing distribution diagrams of cracks, pits and bulges of the wall surface through information of a laser ranging sensor; and drawing a total graph of wall crack distribution through picture information acquired by the visual sensor.
The present embodiment gives the principle of use of the present invention, and the detailed principle of use is shown in the following embodiments.
Example 7:
on the basis of the above embodiments, this embodiment is further improved as follows:
a method for standardized comprehensive detection of a high-rise building wall surface is shown in fig. 1, and comprises the following steps:
step 1, installing a base and a winding roller at the top of a high-rise building structure or at a proper height, connecting the tail end of a flexible pressure air conveying pipe with the top end of a first connecting pipe of a robot body, connecting the head end of the flexible pressure air conveying pipe with the output end of a pressure air supply device, attaching the robot body to a wall surface, starting the pressure air supply device by a control mechanism, opening an electromagnetic flow regulating valve of the first connecting pipe by a controller, and starting the electromagnetic flow regulating valves of a second connecting pipe and a third connecting pipe by the controller according to a detection signal of an inclination sensor, wherein the specific starting mode is as follows: firstly starting an electromagnetic flow regulating valve of a third connecting pipe, pressing a robot body against a wall surface through gas pressure, then starting an electromagnetic flow regulating valve of a second connecting pipe positioned at the bottom, carrying the weight of the robot body through the thrust of gas, starting the electromagnetic flow regulating valve of the second connecting pipe at one inclined side when the robot body is inclined to one side, righting the robot body through gas thrust, and finely adjusting the posture of the robot body through starting the electromagnetic flow regulating valve of the second connecting pipe at the opposite inclined side until the numerical value detected by an inclination sensor meets the specified standard, namely, the bottom plate has no inclination angle along the Y-axis direction; in the process, the controller adjusts the corresponding electromagnetic flow regulating valve and electromagnetic exhaust regulating valve according to the values of the first pressure sensor and the second pressure sensor, and the final adjusting result is as follows: the detection value of the first pressure sensor is adjusted to enable the robot body to lean against the wall surface under the pressure suitable for walking, so that the robot body is positioned towards the wall surface; the pressure value of the second pressure sensor at the bottom accords with the weight of the robot body, and the robot body is supported, so that the longitudinal positioning of the robot body is realized; the pressure values of the second pressure sensors positioned at the two sides are finally equal, so that the robot body is clamped from the two sides, and the lateral positioning of the robot body is realized; during this time, the weight of the flexible pressurized air delivery tube is borne by the wind roller;
step 2, the robot body walks from top to bottom or from left to right or from top to bottom, back to left or right after crossing one step along a set track under the control of the controller, then walks from bottom to top along an arcuate shape, and when the robot body stops walking at 1 set step distance, the servo motor rotates to drive the friction block to move to one side far away from the wall surface, and the electromagnetic flow regulating valve of the third connecting pipe increases the air inflow, and the inner surfaces of the 4 limiting blocks are attached to the wall surface by increasing the pressure, so that the numerical value detected by the inclination sensor arranged on the outer surface of the bottom plate is the inclination information of the wall surface as the inner surfaces of the 4 limiting blocks are coplanar and parallel to the outer surface of the bottom plate; when the robot body is stopped, the electric push rod pushes out a knocking hammer to knock the wall surface, and the sound sensor collects knocking sound information;
and 3, repeating the step 2 until all preset positions of the wall surface are detected, and outputting an inclination angle line drawing, a hollowing distribution drawing, a crack, a dent and bulge distribution drawing and a wall crack distribution summary drawing of the wall surface by the control mechanism through the data analysis and processing module.
In this embodiment, the laser ranging sensor continuously detects distance information with the wall surface, and when the vision sensor continuously detects vision information of the wall surface, the data analysis and processing module can automatically process distance difference caused by the inner surface of the friction block and the inner surface of the limiting block, so that continuous collection can not influence reliability of measurement data or images.
Claims (7)
1. A standardized construction detection system is characterized in that: the wall climbing robot comprises a control mechanism, an auxiliary device and a wall climbing robot, wherein the control mechanism is in signal connection with the wall climbing robot, the auxiliary device is used for assisting the wall climbing robot to act on a wall surface, the wall climbing robot comprises a robot body and a pneumatic claw assembly used for controlling the posture of the robot body on the wall surface, and the robot body is provided with an inclination angle sensor used for detecting the perpendicularity of the wall surface, a laser ranging sensor used for detecting the flatness of the wall surface, a knocking device used for detecting the empty drum of the wall surface and a vision sensor used for detecting cracks of the wall surface;
the utility model provides a robot body include bottom plate, controller, pneumatic jack catch subassembly including coaxial fixed connection in the cube fixed shell of bottom plate surface, the side and the top surface of fixed shell all constitute counterforce structure, the top surface of fixed shell be fixed and be equipped with top gas storehouse, the side be fixed and be equipped with the side gas storehouse, the top of top gas storehouse be fixed and be equipped with the pressure gas storehouse, the top of pressure gas storehouse be connected with flexible pressure air conveying pipe through first takeover, the side of pressure gas storehouse is connected with every side gas storehouse through the second takeover respectively, pressure gas storehouse bottom be connected with top gas storehouse through the third takeover, first takeover, second takeover, third takeover all be equipped with electromagnetic flow control valve, the one end of top gas storehouse orientation fixed shell be equipped with first pressure sensor, the one end of side gas storehouse orientation fixed shell be equipped with second pressure sensor, top gas storehouse and side gas storehouse all be equipped with the blast pipe, the controller locate in the fixed shell, the fixed shell in be equipped with the controller and be equipped with the electrical tilt angle sensor with the electrical sensor, the electrical tilt angle sensor is equipped with the electrical sensor in the bottom plate, the electrical sensor is connected with the bottom plate, the electrical sensor is equipped with the electrical sensor along the outer surface of a horizontal surface, the bottom plate, the electrical sensor is used for measuring the bottom plate, the electrical sensor is connected with the electrical sensor, the electrical sensor is parallel to the bottom plate, the outer surface.
2. A standardized construction testing system according to claim 1, characterized in that: the utility model provides a motor, including bottom plate, bottom plate internal surface, the bottom plate internal surface become the rectangle and distribute 4 cube shaped installation pieces, every installation piece is along the one end fixed mounting who vertically keeps away from the bottom plate has first servo jar, along the one end that transversely keeps away from the bottom plate installs the second servo jar, the stiff end and the surface fixed connection of installation piece of first servo jar or second servo jar, the flexible end outwards extends, the coaxial fixedly connected with leg pole of flexible end, the tip of leg pole be connected with the friction block through 2 connecting plates, the one end centre gripping of 2 connecting plates is at the tip of leg pole to rotate with the leg pole through the pivot that runs through connecting plates and leg pole to be connected, the outside end of pivot be equipped with servo motor, servo motor pass through L shape mount pad and leg pole fixed connection, the output shaft and pivot tip fixed connection of servo motor, the other end centre gripping of 2 connecting plates in the side fixed connection of friction block to bottom plate surface still be equipped with wireless signal transceiver module, first servo jar, second servo jar, servo motor, wireless signal transceiver module respectively through wire and controller electricity connection.
3. A standardized construction testing system according to claim 2, characterized in that: the utility model provides a bottom plate internal surface just be located the inboard fixedly connected with mounting panel of 4 installation pieces, the internal surface front end of mounting panel along transversely being equipped with 1 row of a plurality of laser rangefinder sensors, the rear end is equipped with 1 row of a plurality of vision sensors along transversely, still be equipped with the knocking device between laser rangefinder sensor and vision sensor, still be equipped with sound sensor at the internal surface of mounting panel, the knocking device include electric putter, electric putter's stiff end and mounting panel internal surface fixed connection, the extension end inwards extends along the direction of perpendicular to bottom plate surface, the tip fixedly connected with of extension end strikes the hammer, electric putter, vision sensor, sound sensor, laser rangefinder sensor be connected with the controller electricity through the wire respectively.
4. A standardized construction testing system according to claim 3, wherein: the inner surface of the installation block is fixedly connected with cube-shaped limiting blocks, and the inner surfaces of the 4 limiting blocks are coplanar and parallel to the outer surface of the bottom plate.
5. A standardized construction testing system according to claim 4, wherein: the auxiliary device at least comprises a pressure air supply device, a winding roller used for winding a flexible pressure air conveying pipe and a base used for fixing the winding roller, wherein the output end of the pressure air supply device is connected with the input end of the flexible pressure air conveying pipe, the tail end of the flexible pressure air conveying pipe is connected with the top end of the first connecting pipe, and the pressure air supply device is electrically connected with the control mechanism through a wire.
6. A standardized construction testing system according to claim 5, wherein: the control mechanism is provided with a data analysis and processing module and a storage module, and the data analysis and processing module is used for drawing information detected by the inclination sensor into an inclination line drawing of the wall surface and marking inclination data of each part of lines; the motion information of the first servo cylinder and the second servo cylinder is converted into the position information of the robot body on the wall surface through a data analysis and processing module, and the position information is combined with the inclination angle data, the hollowing information and the crack information at the position; converting the detection signal of the sound sensor into hollowing information through a data analysis and processing module, and drawing a hollowing distribution diagram of the wall surface; drawing distribution diagrams of cracks, pits and bulges of the wall surface through information of a laser ranging sensor; and drawing a total graph of wall crack distribution through picture information acquired by the visual sensor.
7. A method for standardized comprehensive detection of a wall surface of a high-rise building, which is characterized by adopting the standardized construction detection system as claimed in claim 6, comprising the following steps:
step 1, installing a base and a winding roller at the top of a high-rise building structure or at a proper height, connecting the tail end of a flexible pressure air conveying pipe with the top end of a first connecting pipe of a robot body, connecting the head end of the flexible pressure air conveying pipe with the output end of a pressure air supply device, attaching the robot body to a wall surface, starting the pressure air supply device by a control mechanism, opening an electromagnetic flow regulating valve of the first connecting pipe by a controller, and starting the electromagnetic flow regulating valves of a second connecting pipe and a third connecting pipe by the controller according to a detection signal of an inclination sensor, wherein the specific starting mode is as follows: firstly starting an electromagnetic flow regulating valve of a third connecting pipe, pressing a robot body against a wall surface through gas pressure, then starting an electromagnetic flow regulating valve of a second connecting pipe positioned at the bottom, carrying the weight of the robot body through the thrust of gas, starting the electromagnetic flow regulating valve of the second connecting pipe at one inclined side when the robot body is inclined to one side, righting the robot body through gas thrust, and finely adjusting the posture of the robot body through starting the electromagnetic flow regulating valve of the second connecting pipe at the opposite inclined side until the numerical value detected by an inclination sensor meets the specified standard, namely, the bottom plate has no inclination angle along the Y-axis direction; in the process, the controller adjusts the corresponding electromagnetic flow regulating valve and electromagnetic exhaust regulating valve according to the values of the first pressure sensor and the second pressure sensor, and the final adjusting result is as follows: the detection value of the first pressure sensor is adjusted to enable the robot body to lean against the wall surface under the pressure suitable for walking, so that the robot body is positioned towards the wall surface; the pressure value of the second pressure sensor at the bottom accords with the weight of the robot body, and the robot body is supported, so that the longitudinal positioning of the robot body is realized; the pressure values of the second pressure sensors positioned at the two sides are finally equal, so that the robot body is clamped from the two sides, and the lateral positioning of the robot body is realized; during this time, the weight of the flexible pressurized air delivery tube is borne by the wind roller;
step 2, the robot body walks from top to bottom or from left to right or from top to bottom, back to left or right after crossing one step along a set track under the control of the controller, then walks from bottom to top along an arcuate shape, and when the robot body stops walking at 1 set step distance, the servo motor rotates to drive the friction block to move to one side far away from the wall surface, and the electromagnetic flow regulating valve of the third connecting pipe increases the air inflow, and the inner surfaces of the 4 limiting blocks are attached to the wall surface by increasing the pressure, so that the numerical value detected by the inclination sensor arranged on the outer surface of the bottom plate is the inclination information of the wall surface as the inner surfaces of the 4 limiting blocks are coplanar and parallel to the outer surface of the bottom plate; when the robot body is stopped, the electric push rod pushes out a knocking hammer to knock the wall surface, and the sound sensor collects knocking sound information;
and 3, repeating the step 2 until all preset positions of the wall surface are detected, and outputting an inclination angle line drawing, a hollowing distribution drawing, a crack, a dent and bulge distribution drawing and a wall crack distribution summary drawing of the wall surface by the control mechanism through the data analysis and processing module.
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| CN205554355U (en) * | 2016-04-05 | 2016-09-07 | 浙江科技学院 | Hollowing is surveyed and is climbed wall robot |
| CN206382746U (en) * | 2016-12-15 | 2017-08-08 | 武汉科技大学 | A kind of welding robot |
| CN113665698A (en) * | 2021-09-30 | 2021-11-19 | 南昌航空大学 | Wall surface detection system and detection method based on mechanical arm |
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| WO2012037576A2 (en) * | 2010-09-17 | 2012-03-22 | Seer Technology, Inc. | Building perpendicularity testing and adjustment |
| CN114324585B (en) * | 2021-12-17 | 2024-06-14 | 黑龙江省六建建筑工程有限责任公司 | Wall quality safety detection device for building engineering |
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|---|---|---|---|---|
| CN205554355U (en) * | 2016-04-05 | 2016-09-07 | 浙江科技学院 | Hollowing is surveyed and is climbed wall robot |
| CN206382746U (en) * | 2016-12-15 | 2017-08-08 | 武汉科技大学 | A kind of welding robot |
| CN113665698A (en) * | 2021-09-30 | 2021-11-19 | 南昌航空大学 | Wall surface detection system and detection method based on mechanical arm |
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