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A platform for research: civil engineering, architecture and urbanism
Floor tile hollowing detection robot and detection method thereof
The invention discloses a floor tile hollowing detection robot and a detection method. The floor tile hollowing detection robot comprises a shell, a walking unit, an image recognition unit, a knocking detection unit, a flatness detection unit and a mapping and obstacle avoidance unit. The walking units are symmetrically arranged at the bottom of the machine body and drive the shell to walk; the mapping and obstacle avoidance unit is distributed on the side wall of the shell and is used for planning a walking path of the robot and avoiding obstacles; the image recognition units are distributed at the bottom of the shell, and the walking path of the robot is corrected after images collected by the image recognition units are calculated; the flatness detection unit is arranged on the shell, and the ground flatness condition is obtained through the numerical value of the longitudinal displacement of the flatness detection unit relative to the ground; the knocking detection units are distributed at the bottom of the shell and knock the ground in the advancing process of the robot, and hollowing is detected by collecting sound generated by knocking the ground. According to the scheme, manual automatic knocking and detection can be replaced, and the working efficiency of personnel is greatly improved.
本发明公开了一种地砖空鼓检测机器人及检测方法，包括壳体，行走单元，图像识别单元，敲击检测单元，平整度检测单元，建图与避障单元；所述行走单元对称设置于机身底部并带动壳体进行行走；所述建图与避障单元分布于壳体侧壁并对机器人行走路径进行规划以及避障；所述图像识别单元分布于壳体底部，通过对所述图像识别单元采集的图像进行计算后对机器人行走路径进行修正；所述平整度检测单元设置于壳体上，通过平整度检测单元相对地面纵向位移的数值来获取地面平整度的情况；所述敲击检测单元分布于壳体底部并与在机器人行进过程中敲击地面，通过收集敲击地面的声音来对空鼓进行检测。本方案能够代替人工自动敲击和检测，大大提高人员工作的效率。
Floor tile hollowing detection robot and detection method thereof
The invention discloses a floor tile hollowing detection robot and a detection method. The floor tile hollowing detection robot comprises a shell, a walking unit, an image recognition unit, a knocking detection unit, a flatness detection unit and a mapping and obstacle avoidance unit. The walking units are symmetrically arranged at the bottom of the machine body and drive the shell to walk; the mapping and obstacle avoidance unit is distributed on the side wall of the shell and is used for planning a walking path of the robot and avoiding obstacles; the image recognition units are distributed at the bottom of the shell, and the walking path of the robot is corrected after images collected by the image recognition units are calculated; the flatness detection unit is arranged on the shell, and the ground flatness condition is obtained through the numerical value of the longitudinal displacement of the flatness detection unit relative to the ground; the knocking detection units are distributed at the bottom of the shell and knock the ground in the advancing process of the robot, and hollowing is detected by collecting sound generated by knocking the ground. According to the scheme, manual automatic knocking and detection can be replaced, and the working efficiency of personnel is greatly improved.
本发明公开了一种地砖空鼓检测机器人及检测方法，包括壳体，行走单元，图像识别单元，敲击检测单元，平整度检测单元，建图与避障单元；所述行走单元对称设置于机身底部并带动壳体进行行走；所述建图与避障单元分布于壳体侧壁并对机器人行走路径进行规划以及避障；所述图像识别单元分布于壳体底部，通过对所述图像识别单元采集的图像进行计算后对机器人行走路径进行修正；所述平整度检测单元设置于壳体上，通过平整度检测单元相对地面纵向位移的数值来获取地面平整度的情况；所述敲击检测单元分布于壳体底部并与在机器人行进过程中敲击地面，通过收集敲击地面的声音来对空鼓进行检测。本方案能够代替人工自动敲击和检测，大大提高人员工作的效率。
Floor tile hollowing detection robot and detection method thereof
一种地砖空鼓检测机器人及其检测方法
ZHANG FAN (author) / PENG JIAN (author) / OU ANTAO (author) / SUN WENBO (author) / JIANG QICHEN (author) / ZHANG LIN (author) / LI ZHUOMIN (author) / JI HAOWEI (author)
2023-06-23
Patent
Electronic Resource
Chinese
IPC:
G01N
Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften
,
INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
/
E01C
Bau von Straßen, Sportplätzen oder dgl., Decken dafür
,
CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE
/
G01C
Messen von Entfernungen, Höhen, Neigungen oder Richtungen
,
MEASURING DISTANCES, LEVELS OR BEARINGS
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