CN106053599B - A kind of detection method and detection device in exterior walls of buildings cavity - Google Patents
A kind of detection method and detection device in exterior walls of buildings cavity Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 123
- 238000012360 testing method Methods 0.000 claims abstract description 54
- 238000010079 rubber tapping Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 14
- 239000011468 face brick Substances 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 5
- 238000007689 inspection Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 6
- 239000011449 brick Substances 0.000 description 5
- 230000007547 defect Effects 0.000 description 5
- 238000009527 percussion Methods 0.000 description 5
- 238000009659 non-destructive testing Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
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- 239000011229 interlayer Substances 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011505 plaster Substances 0.000 description 1
- 238000007586 pull-out test Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 238000010183 spectrum analysis Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/0289—Internal structure, e.g. defects, grain size, texture
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/26—Scanned objects
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Abstract
The present invention is suitable for technical field of buildings, provides the detection method and detection device in a kind of exterior walls of buildings cavity.Detection method includes the following steps for this: receiving detection instruction；Preset detection route is obtained, and is walked along the detection route, the detection route includes several test points of exterior wall to be measured；Tap each test point；It collects the knock of each test point and is sent to ground control station.The detection method avoids the need for personnel and carries out the case where tapping detection in External Wall, has not only prevented the appearance of personnel safety problem, has also achieved automatic detection, and the accuracy for improving work efficiency and detecting.
Description
Technical field
The invention belongs to technical field of buildings more particularly to the detection methods and detection dress in a kind of exterior walls of buildings cavity
It sets.
Background technique
The exterior wall of building can be divided into these three basic layers of wall body structure layer, screed-coat and finish coat.Exist by defect
The defect of the finish coat of exterior walls of buildings can be divided into two classes: the first kind, decorating surface brick and levelling interlayer by exterior wall appearance position
Unsticking hollowing；The unsticking hollowing of second class, coat of plaster and exterior wall host matrix.Compared with first kind hollowing, the second class hollowing
Weight is big and hidden, bigger to the harm of people when falling.Therefore, it is necessary to find that first kind hollowing and the second class are empty in time
Drum, especially the second class hollowing.
The reason of causing facing tile hollowing is more, caused by having single factors, also there is the coefficient knot of several factors
Fruit.The reason of by investigating, generating hollowing is probably divided into following several: natural cause, construction reason, material cause, management are not
When etc. reasons.Construction wall by its own and extraneous various factors due to being influenced usually generate hollowing phenomenon, to building
Bearing capacity and durability cause to seriously endanger.External wall of high-rise building hollowing will lead to exterior wall and fall off, and thereby result in personal injury
And the report of economic loss is commonplace.
Currently, the detection of the bond quality to the decoration of exterior wall object of building, mainly there is three categories method: the first kind both at home and abroad
Detection method using electromagnetic wave as medium, such as: pulse radar method etc..Second class detection method using mechanical wave as medium, such as: it is super
Acoustic pulse echo method, hammering method etc..Third class detection method using visible light or infrared ray as medium, such as ocular estimate and
IRNDT (infrared nondestructive testing, Infrared Nondestructive Testing).
Existing hammering method be tapped using tool hammer exterior wall finish whether can peel off judging exterior wall finish and whether
There are hollowings.This method is directly simple, but haves the shortcomings that obvious: the experience for such as relying primarily on testing staff is examined
It surveys, so be affected by subjective factor, the limitation of examined condition, due to can not once be examined to very big area
It surveys, large labor intensity, low efficiency so as to cause detection, and risk is bigger.In addition, in city noise to percussion sound
Interference under, often cannot get accurate detection result.Therefore traditional hammering method can no longer meet detection demand.
Summary of the invention
Technical problem to be solved by the present invention lies in provide the detection method and detection dress in a kind of exterior walls of buildings cavity
It sets, it is intended to which solution must not detect exterior wall with the presence or absence of the problem in cavity automatically.
The invention is realized in this way a kind of detection method in exterior walls of buildings cavity, comprising the following steps:
Receive detection instruction；
Preset detection route is obtained, and is walked along the detection route, the detection route includes exterior wall to be measured
Several test points；
Tap each test point；
It collects the knock of each test point and is sent to ground control station.
Further, the detection method further include:
Control the distance between knocking device and the exterior wall to be measured are kept constant.
The present invention also provides a kind of detection methods in exterior walls of buildings cavity, comprising the following steps:
Plan that air-robot to the detection route of exterior wall to be measured, and sends the detection route to the aerial machine
People has several test points in the detection route；
The air-robot is received and stored to the knock of exterior wall to be measured；
According to the relation table of preset knock and pulling capacity, the face brick for obtaining the corresponding exterior wall of each test point is drawn
Pull out force.
Further, the planning air-robot is to the detection route of exterior wall to be measured, and send the detection route to
The air-robot there are several test points to specifically include in the detection route:
Receive the integrally-built image that can reflect exterior wall to be measured；
Described image is subjected to rasterizing processing, and combine obtained needs detect after rasterizing processing whole metopes into
Professional etiquette draws detection route, sets several test points on detection route；
The detection route is sent to air-robot.
Further, the relation table according to the preset knock and pulling capacity, obtains each test point
The face brick pulling capacity of corresponding exterior wall specifically includes:
According to the knock and the size pair for the pulling capacity that the face brick of exterior walls of buildings can be pulled up to exterior walls of buildings
It should be related to, establish the relation table of the knock and pulling capacity；
The knock received is filtered denoising；
The relation table is inquired according to filtering and noise reduction treated knock, obtains the face of the corresponding exterior wall of each test point
Brick pulling capacity.
The present invention also provides a kind of detection device in exterior walls of buildings cavity, including air-robot and it is fixedly arranged on described
Knocking device on air-robot；
The air-robot obtains preset detection route, walks along the detection route, and in each test point
The stop of preset time period is carried out, the detection route includes several test points of exterior wall to be measured；
The knocking device taps a test point of exterior wall to be measured within a preset time period, successively collects
The knock of each test point is simultaneously sent to ground control station.
Further, the knocking device include motor, knocker, convert the rotary motion of the motor to make it is described
The transmission mechanism and sound transducer that knocker moves in a straight line；
The rotation axis of the motor is rotatably connected with the transmission mechanism；
The knocker is in contact with the transmission mechanism, for tapping exterior wall to be measured；
The sound transducer is fixedly arranged on the knocker, for the knocker to be tapped striking for exterior wall sending to be measured
It hits sound and is sent to ground control station.
Further, the transmission mechanism includes shaft coupling and cam, and the shaft coupling is rotationally fixedly arranged on the electricity
In the rotation axis of machine；
The cam is rotationally sheathed on the shaft coupling.
Further, the knocker includes sleeve, spring and stamp,
The sleeve is sheathed on the stamp, and the stamp can be moved along the length extending direction of the sleeve
It is dynamic.There is the gap for accommodating the spring between the inner wall and part stamp of the sleeve；
The spring is set on the stamp, is located in the gap.
Further, the knocking device further includes box, ultrasonic sensor and camera；
The box is fixedly arranged on the air-robot, for accommodating the motor, knocker, transmission mechanism and sound
Sound sensor；
The ultrasonic sensor is placed in the box, for control the air-robot from exterior wall to be measured away from
From；
Camera is placed in the box, the image for captured in real-time exterior wall to be measured.
Compared with prior art, the present invention beneficial effect is: the detection method in the exterior wall cavity uses aerial machine
The empty situation of device people's External Wall detects, after air-robot receives the detection route of detection instruction and exterior wall to be measured,
It can walk along the detection route and each test point is tapped, detect each test point with the presence or absence of the situation in cavity.
The detection of personnel is substituted using air-robot detection, realizes the automatic detection to exterior wall to be measured, and detection efficiency is high,
Simultaneously, it is thus also avoided that personnel detect existing security risk.
Detailed description of the invention
Fig. 1 is the flow diagram of the detection method in the exterior walls of buildings cavity that first embodiment of the invention provides；
Fig. 2 is the flow diagram of the detection method in the exterior walls of buildings cavity that second embodiment of the invention provides；
Fig. 3 is the detection route schematic diagram of exterior wall to be measured in the detection method in exterior walls of buildings cavity of the present invention；
Fig. 4 is the structural schematic diagram of the detection device in exterior walls of buildings cavity in the present invention；
Fig. 5 is the positive structure diagram of Fig. 4；
Fig. 6 is the diagrammatic cross-section in the direction A-A along Fig. 5；
Fig. 7 is the part-structure diagrammatic cross-section in the direction B-B along Fig. 6.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In conjunction with shown in Fig. 1 and Fig. 3, Fig. 1 is the detection method in the exterior walls of buildings cavity that first embodiment of the invention provides
Flow diagram, should detection method includes the following steps:
S101, detection instruction is received.
Detection instruction can be issued by ground control station, can also be issued by operator by manual controller.Detection
Instruction goes to execute Detection task for controlling air-robot starting.
S102, preset detection route 301 is obtained, and walked along detection route 301, detection route 301 includes to be measured
Several test points 302 of exterior wall.
S103, each test point 302 is tapped.
The detection route 301 can be planned by ground control station according to the structure of exterior wall, and the general edge of route 301 is detected
Brick face, metope etc. laid, the detection route 301 planned then is sent to air-robot again.Air-robot
It can walk along detection route 301 after receiving detection route 301.
Test point 302 is distributed on detection route 301, and each test point 302 is generally evenly distributed, to detect
To all wall faces.Air-robot is walked along the arrow direction in detection route 301, and after row takes a round, energy will be each
Test point 302 all taps once.In order to improve detection efficiency, when planning detects route 301, make to detect route 301 to be measured
The no duplicate paths of distribution on exterior wall, i.e. air-robot do not need away overlapping route.
S104, the knock for collecting each test point 302 are simultaneously sent to ground control station.
Air-robot one test point 302 of every percussion, needs to collect the knock of the test point 302, and by the percussion
Sound is sent to ground control station.All corresponding knocks of test point 302 are analyzed by ground control station, to obtain
The empty situation of exterior wall to be measured.
On the basis of the above embodiments, which further includes following steps:
Control the distance between knocking device and exterior wall to be measured are kept constant.
At a distance from knocking device is kept constant between exterior wall to be measured, that is, air-robot is along detection route 301
It is constant that the distance between exterior wall to be measured is controlled when walking, which can be set according to actual exterior wall to be measured
It is fixed.
When robot flight in the sky, in order not to deviation detection route 301, and with exterior wall to be measured keep constant away from
From, it needs to establish rectangular coordinate system in space and is controlled, specific as follows:
Establish rectangular coordinate system in space, respectively X, Y, Z axis.
Air-robot when being detected to exterior wall to be measured, need to maintain with building one it is closer at a distance from,
Therefore it needs to establish rectangular coordinate system in space, air-robot is accurately positioned with facilitating.
Air-robot is positioned on rectangular coordinate system in space, controls air-robot at a distance from exterior wall to be measured
It is maintained in the range of pre-determined distance.
It is positioned on longitudinal direction (i.e. Z axis), specifically:
It is positioned by the GPS module on air-robot, when GPS module close to exterior wall to be measured due to being interfered
When, it is positioned using light stream module.The natural switching that light stream module and GPS module may be implemented in positioning, is effectively tied
The advantages of having closed light stream positioning and GPS positioning increases the reliability of positioning.
It is positioned in (i.e. Y-axis) in the axial direction, specifically:
Transversely and horizontally positioning mainly takes GPS module and a pair of of ultrasonic transmitter-receiver to be positioned, ultrasonic transmitter-receiver master
It is used for auxiliary positioning, prevents the collision of air-robot, so that air-robot and wall face keep certain distance.It is empty
When the distance between middle robot and exterior wall are too close, air-robot is easy to bump against with exterior wall, builds so as to cause crashing and damaging
Build the wall face of object.
To air-robot write-in program, it is made to keep pre-determined distance with wall face to be measured.For example, air-robot with to
The control of the distance between wall face is surveyed in a range of 1m ± 0.5m.When the distance between air-robot and exterior wall are greater than 1m
When, air-robot can be controlled in program and increases a distance slightly offset towards inner flight, so that distance reaches 1m；Work as air-robot
When the distance between exterior wall is less than 1m, then air-robot can be made to increase a distance slightly offset towards outer flight, so that distance reaches
To 1m.
It is positioned in transverse direction (i.e. X-axis), specifically:
Air-robot flies in the sky, and positioning along the x axis mainly passes through GPS module, and GPS module can make sky
The middle horizontal flight precision of robot reaches 1 to 2m.It is similar with axially position, before robot takes off in the sky, have been written into journey
Sequence.The data of GPS module can be read by flying control plate in flight course, and be exported according to the program adjustment motor pre-entered, from
And control itself state of flight.
The detection method in exterior wall cavity detecting to exterior wall to be measured using air-robot, and collect exterior wall to be measured
The knock of upper each test point.Exterior wall can be judged with the presence or absence of defect by analyzing knock.The detection method avoids
It needs personnel's External Wall to carry out the case where tapping detection, has not only prevented the appearance of personnel safety problem, also improve work effect
The accuracy of rate and detection.
In conjunction with shown in Fig. 2 and Fig. 3, Fig. 2 is the detection method in the exterior walls of buildings cavity that second embodiment of the invention provides
Flow diagram, should detection method includes the following steps:
S201, planning air-robot send detection route 301 to aerial machine to the detection route 301 of exterior wall to be measured
Device people, detecting has several test points 302 in route 301.
Ground control station plans the detection route 301 of exterior wall to be measured.In general, being controlled to the ground by air-robot
System station provides the image of the exterior wall to be measured of an entirety, then carries out planning detection route according to the image by ground control station
301, detection route 301 planning when follow track route not repeat and track route principle shortest as far as possible.
S202, air-robot is received and stored to the knock of exterior wall to be measured.
Knock is received by receiver, and knock is stored sequentially in time, to facilitate each knock
It is mapped with each test point 302.
S203, according to the relation table of preset knock and pulling capacity, obtain the face of the corresponding exterior wall of each test point 302
Brick pulling capacity.
Simply, the internal structure of the face brick of exterior wall to be measured and exterior wall to be measured is just separated used drawing by pulling capacity
Power.Facing tile pull-out test is that the detection method for testing face brick pulling capacity size, to face brick adhesion strength is to draw to dial examination
It tests, detection means and test method are: according to the requirement of JGJ110-97, drawing the detecting instrument for dialling and testing and using for bonding
Intensity detector should meet the regulation of the existing professional standard " binding strength detecting instrument " of country.Size of sample should be 95mm ×
45mm (being suitable for tapestry brick sample) or 40mm × 40mm (being suitable for mosaic sample).
When the finishing material of exterior wall to be measured is there are when hollowing, it seems one piece that there are gaps between finishing material and binding material
Hollow thin plate, equivalent thickness of finishing material of exterior wall is smaller than the equivalent thickness of normal wall facing material at this, rigidity
It significantly reduces.In this way when tapping hollowing position, tap hammer first kinetic energy be converted into the ratio of wall flexing vibrational energy will be big
It is higher than normal metope greatly, the Oscillation Amplitude at such hollowing position will obviously increase.Wall facing hollowing part and normal portions
Rigidity is significantly different with absorption energy, will have specific performance in tapping sound.Namely normal wall because of rigidity relatively
Greatly, vibration frequency is higher, and hollowing wall, because rigidity is relatively small, vibration frequency is low, but when hollowing metope absorb it is more
Energy is tapped, the Oscillation Amplitude of hollowing metope will increase, and show as sound height.Therefore pass through the percussion to generating during tapping
The acoustical signal feature of sound is analyzed, and can determine whether in wall body structure with the presence or absence of hollowing.
In a particular application, sound can be will hit against to be mapped with pulling capacity, passes through the available different vibrations of experimental data
Then the knock of each vibration frequency is mapped by the corresponding pulling capacity of the knock of dynamic frequency with corresponding pulling capacity,
And establish mapping table.Then when detecting exterior wall to be measured, by the knock search relationship table of obtained each test point 301
The face brick pulling capacity of the corresponding exterior wall of each test point can be obtained.For example, when knock is X decibels, the corresponding knock
It needs the power of Y ox that could separate face brick and external wall structure for the exterior wall at X decibels, i.e., X decibels is mapped with Y ox,
When the knock of exterior wall to be measured is X decibels, searching the relation table be may know that, corresponding exterior wall pulling capacity is Y ox at this.Root
Need to establish different mapping tables according to different external wall structures.
Detection method includes the following steps in the wall face cavity that third embodiment of the invention provides:
S301, reception can reflect the integrally-built image of exterior wall to be measured.The image can be by aerial machine to be measured outer
Wall is taken pictures, and ground control station is then sent to.
S302, the whole metopes for image being carried out to rasterizing processing, and the needs obtained after rasterizing processing being combined to detect
Planning detection route 301 is carried out, sets several test points 302 on detection route 301.
S303, it will test route 301 and be sent to air-robot.
S304, air-robot is received and stored to the knock of exterior wall to be measured.
S305, according to the big of the knock of exterior walls of buildings and the pulling capacity that the face brick of exterior walls of buildings can be pulled up
Small corresponding relationship establishes the relation table of knock and pulling capacity.
S306, the knock received is filtered denoising.
Its spectrogram is found out using Fourier's variation after filtering and noise reduction processing, is determined according to the radio-frequency component in spectrogram
The frequency distribution section of knock, the frequency distribution section of knock are a number of segment groups, then by the number of segment group and exterior wall pulling capacity
Establish connection.
S307, relation table is inquired according to filtering and noise reduction treated knock, obtains the corresponding exterior wall of each test point
Face brick pulling capacity.
Not exhaustive place in the embodiment, please refers to the explanation of above-described embodiment, details are not described herein.
The detection method in exterior wall cavity by receiving air-robot to the knock of each test point in exterior wall to be measured,
And judge exterior wall with the presence or absence of defect by power spectrumanalysis the knock being collected into.The detection method avoids the need for people
Member's External Wall carries out the case where tapping detection, has not only prevented the appearance of personnel safety problem, has also improved working efficiency and inspection
The accuracy of survey.
Referring to Figure 4 together to Fig. 7, a kind of detection device in exterior walls of buildings cavity, including air-robot 40 and
The knocking device 50 being fixedly arranged on air-robot 40.
Air-robot 40 obtains preset detection route 301, walks along detection route 301, and in detection route 301
On each test point 302 carry out preset time period stop, stop preset time period after continue on detection 301 row of route
It walks.Air-robot 40 can be quadrotor drone or six rotor wing unmanned aerial vehicles etc..
Knocking device taps a test point of exterior wall to be measured within a preset time period, successively collects each detection
The knock of point is simultaneously sent to ground control station.
Please refer to Fig. 6, knocking device 50 includes motor 501, knocker 504, converts the rotary motion of motor 501 to and make
The transmission mechanism 502 and sound transducer 503 that knocker 504 moves in a straight line.The rotation axis 5011 and driver of motor 501
Structure 502 is rotatably connected.Knocker 504 is in contact with transmission mechanism 502, for tapping exterior wall to be measured.Sound transducer 503 is solid
On knocker 504, the knock that exterior wall sending to be measured is tapped for will hit against device 504 is sent to ground control station.
As one of embodiment, transmission mechanism 502 includes shaft coupling 5021 and cam 5022, and shaft coupling 5021 can turn
It is fixedly arranged in the rotation axis 5011 of motor 501 dynamicly.Cam 5022 is rotationally sheathed on shaft coupling 5021.
Knocker 504 includes sleeve 5042, spring 5043 and stamp 5041.Sleeve 5042 is sheathed on stamp 5041
On, and stamp 5041 can be moved along the length extending direction of sleeve 5042.The inner wall and part stamp 5041 of sleeve 5042
Between there is gap for accommodating spring 5043.Spring 5043 is set on stamp 5041, is located in gap.
Specifically, sleeve 5042 has one to be used to accommodate the cavity of stamp 5041, and make stamp 5041 from sleeve
The through-hole that 5042 one end is pierced by.Sleeve 5042 is sheathed on stamp 5041, and can be along the length extending direction of sleeve 5042
Do straight reciprocating motion.There is sleeve 5042 one end of through-hole to be equipped with a baffle, and the baffle is for blocking spring 5043, to prevent
Spring 5043 is popped up from the cavity in sleeve 5042.There is protrusion, the protrusion is for blocking spring 5043 on stamp 5041
The other end.I.e. on the both ends in gap, one end is the protrusion on stamp 5041, and the other end is the baffle on sleeve 5042, bullet
Spring 5043 is placed in gap, and between protrusion and baffle, and when spring 5043 compresses, the both ends of spring 5043 can enter to squeeze
To protrusion and baffle.
When stamp 5041 taps exterior wall to be measured, spring 5043 is in compressive state, and and then spring 5043, which restores, taps
Stick 5041 leaves exterior wall to be measured.Spring 5043 can make stamp 5041 be in contact always with cam 5022.
5022 work characteristics of cam is to become the straight reciprocating motion of knocker 504 by the rotation of cam 5022, structure letter
It is single, compact.Cam 5022 is a kind of device that rotary motion is changed into linear motion, and cam 5022 and motor 501 pass through connection
The connection of axis device 5021 makes rotating motion, and cam 5022 has cam ring curve shape, and follower is contacted with stamp 5041, sleeve
5042 are fixed on box, prevent follower from moving forward and backward up and down, can only move in one direction, therefore the rotation of revolving part
Movement is changed into the linear motion of follower.
Knocking device 50 further includes box 508, ultrasonic sensor 506 and camera 507.Box 508 is fixedly arranged in the air
In robot 40, for accommodating motor 501, knocker 504, transmission mechanism 502 and sound transducer 503.Supersonic sensing
Device 506 is placed in box 508, for controlling air-robot 40 with a distance from exterior wall to be measured, make air-robot 40 with it is to be measured
Exterior wall is maintained in preset distance range.Camera 507 is placed in box 508, the image for captured in real-time exterior wall to be measured.
There is the first fixing piece 5081 and the second fixing piece 5081, the first fixing piece 5081 and the on the inner wall of box 508
Two fixing pieces 5081 are fixedly arranged on respectively in two adjacent inner walls of box 508.First fixing piece 5081 is used for fixed motor 501,
Second fixing piece 5082 is used for fixed sleeve 5042, and makes the length extending direction horizontal direction of sleeve 5042.
The detection device in exterior wall cavity, which will hit against stick 5041 and tap the knock that exterior wall to be measured issues, passes through sound sensor
Device 503 is sent to ground control station, then receives knock by the receiver of ground control station, will hit against sound in ground control station
After filtering and noise reduction handles harmony signature analysis, hollow imperfection position and the defect situation of external wall structure are obtained, and
The pulling capacity examining report of entire exterior wall to be measured is obtained according to pulling capacity relation table.The detection device is replaced using air-robot
Manual work, dangerous situation may be met in high level detection by avoiding personnel, substantially increase engineering safety.Also,
Detect to collect using machine and knock and the acoustical signal of knock be analyzed, can avoid relying on the experience of testing staff into
Row detection, the problem of being affected by subjective factor.This technology application knock method carries out non-destructive testing wall hollow drum embedding
Embedded system judges the hollowing situation of wall by calculating percussion power sound spectrum and carrying out Parameter analysis, improves voice recognition
Accuracy, while there is low cost, good portability, it is easy to use the features such as.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (7)
1. a kind of detection method in exterior walls of buildings cavity, which comprises the following steps:
Plan that air-robot to the detection route of exterior wall to be measured, and sends the detection route to the air-robot, institute
Stating in detection route has several test points；
The air-robot is received and stored to the knock of exterior wall to be measured；
According to the relation table of the vibration frequency of preset knock and pulling capacity, the corresponding exterior wall of each test point is obtained
Face brick pulling capacity.
2. detection method according to claim 1, which is characterized in that inspection of the planning air-robot to exterior wall to be measured
Route is surveyed, and sends the detection route to the air-robot, is specifically wrapped in the detection route with several test points
It includes:
Receive the integrally-built image that can reflect exterior wall to be measured；
Described image is subjected to rasterizing processing, and the whole metopes for combining the needs obtained after rasterizing processing to detect are advised
Detection route is drawn, sets several test points on detection route；
The detection route is sent to air-robot.
3. detection method according to claim 1, which is characterized in that described according to the preset knock and pulling capacity
Relation table, the face brick pulling capacity for obtaining the corresponding exterior wall of each test point specifically includes:
It is closed according to the knock to exterior walls of buildings is corresponding with the size of pulling capacity that can pull up the face brick of exterior walls of buildings
System, establishes the relation table of the knock and pulling capacity；
The knock received is filtered denoising；
The relation table is inquired according to filtering and noise reduction treated knock, the face brick for obtaining the corresponding exterior wall of each test point is drawn
Pull out force.
4. a kind of detection device in exterior walls of buildings cavity, which is characterized in that including air-robot and be fixedly arranged on the sky
Knocking device in middle robot；
The air-robot obtains preset detection route, walks along the detection route, and carries out in each test point
The stop of preset time period, the detection route include several test points of exterior wall to be measured；
The knocking device taps a test point of exterior wall to be measured within a preset time period, wherein described to strike
Device is hit to include motor, knocker, convert the rotary motion of the motor to the transmission for moving in a straight line the knocker
Mechanism and sound transducer；
The rotation axis of the motor is rotatably connected with the transmission mechanism；
The knocker is in contact with the transmission mechanism, for tapping exterior wall to be measured；
The sound transducer is fixedly arranged on the knocker, for successively collecting the knock of each test point and being sent to ground
Face control station.
5. detection device according to claim 4, which is characterized in that the transmission mechanism includes shaft coupling and cam, institute
Shaft coupling is stated rotationally to be fixedly arranged in the rotation axis of the motor；
The cam is rotationally sheathed on the shaft coupling.
6. detection device according to claim 4, which is characterized in that the knocker includes sleeve, spring and stamp；
The sleeve is sheathed on the stamp, and the stamp can be moved along the length extending direction of the sleeve, institute
State the gap having between the inner wall of sleeve and part stamp for accommodating the spring；
The spring is set on the stamp, is located in the gap.
7. detection device according to claim 4, which is characterized in that the knocking device further includes box, ultrasonic wave biography
Sensor and camera；
The box is fixedly arranged on the air-robot, is passed for accommodating the motor, knocker, transmission mechanism and sound
Sensor；
The ultrasonic sensor is placed in the box, for controlling the air-robot with a distance from exterior wall to be measured；
Camera is placed in the box, the image for captured in real-time exterior wall to be measured.
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