CN-122017009-A - Outer wall hollowing detection robot and positioning detection method

CN122017009ACN 122017009 ACN122017009 ACN 122017009ACN-122017009-A

Abstract

The invention discloses an outer wall hollowing detection robot which comprises a robot main body unit, a guide unit, a traction unit, a detection unit and a positioning unit, wherein the guide unit is configured to be fixedly arranged on a rigid guide frame structure of an outer wall of a building, the robot main body unit is configured to be movably arranged on the guide unit, the traction unit is configured to drive the robot main body unit to lift along the guide unit through manual operation or motor driving, the detection unit is arranged on the robot main body unit and is used for exciting and collecting an acoustic wave signal of the outer wall through knocking, the positioning unit is configured to determine the real-time position of the robot main body unit on the guide unit and correlate the position information with the acoustic wave signal, and the technical problems that in the prior art, the safety of high-altitude detection operation is poor, the detection data are inaccurate due to shaking of a machine body, the hollowing defect position cannot be accurately positioned, the deployment of detection equipment is difficult and the like are solved.

Inventors

WAN LI
HE JIA
YE YILONG
LI WENBO
XIE JIANLONG
ZHAO YIZHOU
Yu Yeyun
CHEN NUO
FU LINFENG

Assignees

浙江浙建工程设计有限公司
浙江省建设投资集团股份有限公司

Dates

Publication Date: 20260512
Application Date: 20251215

Claims (11)

1. The outer wall hollowing detection robot is characterized by comprising a robot main body unit, a guiding unit, a traction unit, a detection unit and a positioning unit; the guide unit is configured as a rigid guide frame structure capable of being fixedly mounted to an exterior wall of a building; The robot body unit is configured to be movably mounted on the guide unit; The traction unit is configured to drive the robot main body unit to lift along the guide unit through manual operation or motor driving; the detection unit is arranged on the robot main body unit, and is excited by knocking and acquires sound wave signals of the outer wall; the positioning unit is configured to determine a real-time position of the robot body unit on the guiding unit and to correlate this position information with the acoustic signal.
2. The exterior wall hollowing detection robot according to claim 1, wherein the guide unit comprises two parallel vertical guide rails, the vertical guide rails are of a sectional structure, and a plurality of guide rail units are detachably connected; The track embedded groove of the robot main body unit is a T-shaped groove matched with the cross section of the T-shaped vertical guide rail; The T-shaped groove is provided with rubber banding towards the opening both sides in the guide rail outside, and when robot main part unit was installed in the guide rail, rubber banding can produce elastic deformation in order to realize closely laminating and auxiliary guide.
3. The robot for detecting the hollowness of the outer wall according to claim 1, wherein the traction unit comprises a traction rope arranged on the robot main body unit, a fixed end of the traction rope is fixedly connected with the robot main body unit, and a free end of the traction rope extends to a building roof and is retracted and released by a manual or traction motor to achieve lifting.
4. The exterior wall hollowing detection robot according to claim 1, wherein the detection unit comprises a rotating arm driving and controlling device, a rotating arm, a knocking rod, a knocking head and an acoustic sensor, wherein the knocking rod is made of elastic materials, the middle of the knocking rod is fixedly arranged at the front end of the rotating arm, the knocking head is made of rigid materials and is arranged at the end part of the knocking rod, the driving and controlling device drives the rotating arm and the knocking rod to rotate, the knocking head knocks an exterior wall, and the acoustic sensor is used for collecting generated acoustic signals.
5. When the rotary arm driving and controlling device respectively drives the rotary arms to rotate together with the knocking rod, so that the rigid knocking heads at the two ends circularly and alternately hammer the surface of the outer wall; the rotating arm driving and controlling device comprises a rotating arm rotating motor and a rotating speed controller, wherein the rotating speed controller is used for adjusting the rotating speed of the motor to control the knocking frequency and is in signal connection with the positioning unit to coordinate the knocking frequency and the moving speed of the robot.
6. The exterior wall hollowing detection robot according to claim 2, wherein the positioning unit comprises an optical sensor arranged on the robot main body unit and a plurality of transverse identification tracks arranged between two parallel vertical guide rails, the plurality of transverse identification tracks are arranged at equal intervals, and position marks are arranged on the transverse identification tracks for optical sensor identification.
7. The exterior wall hollowing detection robot according to claim 1, further comprising a detachable data storage device provided on the robot body unit for storing the acoustic wave signals and associated positional information thereof.
8. The robot for detecting the hollowness of the outer wall according to claim 2 is characterized by further comprising an adsorption mechanism, wherein the adsorption mechanism adopts a negative pressure adsorption device and/or an electromagnetic adsorption device, the negative pressure adsorption device comprises a negative pressure fan arranged on a main body unit of the robot and used for generating negative pressure to enable the robot to be attached to a wall surface, and the electromagnetic adsorption device comprises an electromagnet arranged on the main body unit of the robot and used for being attached and fixed with any position of a vertical guide rail.
9. An exterior wall hollowing detection robot according to claim 1, wherein a detachable battery is provided on the robot body unit for supplying power to the power-consuming parts.
10. The positioning detection method for the empty drum of the outer wall is characterized by comprising the following steps of: Step 1) assembling a guide unit on a building roof, lowering the assembled guide unit from top to bottom along the outer wall of the building under the action of gravity, and fixing the top and the bottom of the guide unit at corresponding positions of the building; step 2) installing the traction unit on the robot main body unit and installing the robot main body unit on the guiding unit; Step 3) controlling the traction unit to move the robot main body unit along the guide unit, and controlling the excitation mechanism of the detection unit to perform periodic mechanical excitation on the surface of the outer wall in the moving process of the robot main body unit; step 4) synchronously executing the following operations: 4.1 Collecting an acoustic wave response signal generated by the mechanical excitation through an acoustic sensor; 4.2 A positioning unit acquires real-time position information of the robot main body unit on the guide unit by reading an absolute position reference mark preset on the guide unit; Step 5) binding the acoustic wave response signals with the corresponding real-time position information, namely aligning and storing the acoustic wave response signals with the position information through a unified timestamp to generate a time-space association data set; and 6) analyzing and positioning the empty drum defect of the outer wall based on the space-time correlation data set.
11. The method for detecting the positioning of the empty drum of the outer wall according to claim 9, wherein the step 6) specifically comprises the following steps: 6.1 Analog electrical signal conversion, converting the acoustic signal into an electrical signal in the continuous time domain, the electrical signal satisfying the relationship: wherein: Representing an electrical signal, A representing amplitude, f representing frequency, and Φ representing phase; 6.2 Sampling, filtering and quantizing according to preset sampling frequency Sampling the continuous electric signal to determine a sampling period And meet the sampling frequency ≥2 Wherein Filtering the frequency higher than the Nyquist frequency by a low-pass filter Mapping the discrete signal value obtained by sampling into a digital quantity with limited precision for quantization processing to finish the conversion from an analog signal to a digital signal; 6.3 Carrying out framing treatment on the quantized discrete digital signals, dividing continuous data into a plurality of short-time frames, wherein each frame comprises a preset number of sampling points; Windowing the signal of each frame, and window function The Hamming window is adopted, and the relation is satisfied: Wherein, the Representing discrete time signals obtained after analog-to-digital conversion and adoption, wherein N represents frame length; the windowed signal is: to reduce spectral leakage due to signal truncation; fractional Fourier transform FRFT processing is carried out on each frame of signals after windowing, and gradual change characteristics of the signals from a time domain to a frequency domain are obtained by adjusting transformation order parameters between 0 and 1 so as to assist main frequency calibration; Calculating the discrete fourier transform of each frame of signal to obtain a frequency domain representation: ,k=0,1,2...,N-1; Combining frequency resolution: determining the dominant frequency of the signal ; Squaring the frequency domain representation to obtain a power value, performing amplitude spectrum calculation, and extracting amplitude data of each frame of signal; The signal is denoised by wavelet transformation, the wavelet coefficient with the amplitude higher than beta is reserved by selecting the optimal threshold beta, and the wavelet coefficient with the amplitude lower than beta is set to zero, so that the purpose of signal-to-noise separation is achieved, and the threshold meets the relation: Wherein, the To adjust the coefficient to be 0 to less than or equal to ≤ 1, Representing wavelet coefficients; Finally, discrete amplitude sequences and signal main frequencies are extracted from the processed signals The signal amplitude attenuation trend data of each frame of signal between the start time interval and the stop time interval; 6.4 Based on the characteristic parameters extracted in the step 6.3), combining the single-pulse sound wave echo signal model to perform cross analysis; the pulse sound wave echo signal model expression is: Wherein, the Representing an amplitude parameter of the signal, corresponding to a peak value of the discrete amplitude sequence; representing attenuation coefficients, and obtaining the attenuation coefficients through amplitude attenuation trend fitting; a variable of the time is represented and, Representing a delay parameter corresponding to the propagation time of the sound wave; representing the signal frequency, consistent with the extracted dominant frequency; performing anomaly judgment on the amplitude of the detection point: In the formula, The average value of the amplitude is represented, When the two formulas meet the conditions, judging that the amplitude is abnormal; Performing abnormality judgment on the slope of the detection point: wherein: And (3) with The acoustic wave propagation times of the i-th and i-1 th detection points are respectively represented, And (3) with Respectively representing the depths of the points i and i-1; Judging that the slope is abnormal when the slope change exceeds a preset range; when a certain area meets the condition of amplitude abnormality and slope abnormality at the same time, the area is judged to be a wall empty area.

Description

Outer wall hollowing detection robot and positioning detection method Technical Field The invention relates to the technical field of nondestructive testing of building quality, in particular to an outer wall hollowing detection robot and a positioning detection method. Background The hollow defect is easy to generate between the building outer wall facing layer and the main body structure due to construction, materials or environmental factors. Such defects present the risk of causing the facing layer to fall off, constituting a serious threat to public safety. At present, the main detection method has obvious limitations: the manual knocking detection is low in efficiency, subjective in result and extremely high in risk of high-altitude operation. The unmanned aerial vehicle carries and detects that is disturbed by wind greatly, and positioning accuracy is poor, is difficult to stably and continuously work. The existing track type robot has the defects that a track system is complex and heavy, the installation is inconvenient, the robot body is easy to shake, and the detection data is inaccurate. Therefore, there is an urgent need in the art for an exterior wall hollowing detection solution that can compromise the safety of overhead operation, the stability of the detection process, the accuracy and reliability of data, and the convenience and high efficiency of deployment. Disclosure of Invention The invention aims to provide an outer wall hollowing detection robot which is used for solving the technical problems that in the prior art, the safety of high-altitude detection operation is poor, detection data are inaccurate due to shaking of a machine body, the hollowing defect position cannot be accurately positioned, the deployment of detection equipment is difficult and the like. In order to achieve the above purpose, the present invention adopts the following technical scheme: An outer wall hollowing detection robot comprises a robot main body unit, a guiding unit, a traction unit, a detection unit and a positioning unit; the guide unit is configured as a rigid guide frame structure capable of being fixedly mounted to an exterior wall of a building; The robot body unit is configured to be movably mounted on the guide unit; The traction unit is configured to drive the robot main body unit to lift along the guide unit through manual operation or motor driving; the detection unit is arranged on the robot main body unit, and is excited by knocking and acquires sound wave signals of the outer wall; the positioning unit is configured to determine a real-time position of the robot body unit on the guiding unit and to correlate this position information with the acoustic signal. Further, the guide unit comprises two parallel vertical guide rails, the vertical guide rails are of a sectional structure, and the plurality of guide rail units are connected in a detachable mode; the track embedded groove of the robot main body unit is a T-shaped groove matched with the section of the T-shaped guide rail; The T-shaped groove is provided with rubber banding towards the opening both sides in the guide rail outside, and when robot main part unit was installed in the guide rail, rubber banding can produce elastic deformation in order to realize closely laminating and auxiliary guide. Further, the traction unit comprises a traction rope arranged on the robot main body unit, the fixed end of the traction rope is fixedly connected with the robot main body unit, the free end of the traction rope extends to the building roof, and the traction rope is wound and unwound by a manual or traction motor to achieve lifting. The detection unit comprises a rotating arm driving and controlling device, a rotating arm, a knocking rod, a knocking head and an acoustic sensor, wherein the knocking rod is made of elastic materials, the middle of the knocking rod is fixedly arranged at the front end of the rotating arm, the knocking head is made of rigid materials and is arranged at the end part of the knocking rod, the driving and controlling device drives the rotating arm and the knocking rod to rotate, the knocking head knocks an outer wall, and the acoustic sensor is used for collecting generated acoustic signals. When the rotary arm driving and controlling device respectively drives the rotary arms to rotate together with the knocking rod, so that the rigid knocking heads at the two ends circularly and alternately hammer the surface of the outer wall; the rotating arm driving and controlling device comprises a rotating arm rotating motor and a rotating speed controller, wherein the rotating speed controller is used for adjusting the rotating speed of the motor to control the knocking frequency and is in signal connection with the positioning unit to coordinate the knocking frequency and the moving speed of the robot. Further, the positioning unit comprises an optical sensor arranged on the robot main body unit and a plurality of transvers