CN109358060B - System and method for detecting and marking loosening condition of road floor tile - Google Patents
System and method for detecting and marking loosening condition of road floor tile Download PDFInfo
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- CN109358060B CN109358060B CN201811352580.5A CN201811352580A CN109358060B CN 109358060 B CN109358060 B CN 109358060B CN 201811352580 A CN201811352580 A CN 201811352580A CN 109358060 B CN109358060 B CN 109358060B
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- G—PHYSICS
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- 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
Abstract
The utility model discloses a system for detecting and marking loosening conditions of road floor tiles, which comprises: the machine vision module is used for collecting images of ground floor tiles and judging the loosening position of the floor tiles as a first position; the infrared module is used for synchronously collecting infrared images of the ground floor tiles with the machine vision module, judging the loosening position of the floor tiles as a second position and sending the second position to the balance detection module; the balance detection module is used for carrying out balance detection on the floor tiles at the first position or the second position, and finally judging the position of the loose floor tile as a third position and sending a third position and a marking instruction to the marking module; the marking module is used for marking the loose floor tiles; the walking mechanism is provided with a machine vision module, an infrared module, a balance detection module and a marking module. The utility model also provides a method for detecting and marking the loosening condition of the road floor tile. The system and the method provided by the utility model are rapid and quick, and can be used for detecting and determining the loosening position of the large-area floor tile and marking the loosening position.
Description
Technical Field
The utility model relates to a detection device, in particular to a system and a method for detecting and marking loosening conditions of road floor tiles.
Background
Current sidewalks are often paved with tiles, which are affected and loosened after a period of use. The utility model aims to solve the problem that in the rainy day, accumulated water is formed at the bottom of the floor tile at the loose position of the floor tile, and the accumulated water splashes when pedestrians pass through the loose position of the floor tile, so that inconvenience is caused to the pedestrians.
Chinese patent publication No. CN206892038U describes a hand-held detection device comprising a steel ball and a U-shaped connector; a plurality of welding spots are uniformly distributed on the outer surface of the steel ball, and iron shafts are respectively arranged on two symmetrical sides along the diameter of the steel ball; the two ends of the U-shaped connecting piece are respectively provided with a rolling bearing fixed with the U-shaped connecting piece, the U-shaped connecting piece and the steel ball are movably connected into a whole through the static fit of the inner ring of the rolling bearing and the iron shaft, and the bottom end of the U-shaped connecting piece is welded with a handle. The utility model has the advantages that: the structure is simple, the manufacture is convenient, the operation is facilitated, and the detection of the same construction area is convenient for the empty condition of the wall brick or the floor tile; compared with the prior art, the method not only reduces the possibility of damaging the surface of the wall brick or the floor tile, but also shortens the time for detecting the hollowing condition of the wall brick or the floor tile with the same construction area, and can be reused, thereby avoiding waste. However, the patent consists of a steel ball and a handle for detection, and the rolling steel ball is used for detecting the surface flatness of the wall brick or the floor tile to determine whether the wall brick or the floor tile is loosened or damaged.
The hand-held detection device disclosed in the above document does not save labor and cannot rapidly detect and mark large-area floor tiles.
The Chinese patent document with the publication number of CN206479175U describes an indoor building floor tile flatness detection device, which comprises a shell, the bottom of a shell inner cavity is movably connected with a movable plate through a lifting device which is fixedly arranged, four corners of the upper surface of the movable plate are respectively connected with a supporting plate through a leveling device which is fixedly arranged in a telescopic manner, the upper surface of the supporting plate is fixedly provided with a fixed block, the side surface of the fixed block is fixedly provided with a pull buckle, and the lower surface of the supporting plate is suspended with a detection device. This indoor building engineering ceramic tile roughness verifying attachment, when infrared receiver can not receive the information that infrared transmitter sent, master controller control hydraulic stem adjusts, simple operation, and convenient to use saves time, reduces the error, improves the accuracy, can be used to the higher indoor laying of roughness requirement, and the cooperation is pulled out again, with the fine rule cover on pulling out can, the specialty is weaker, can be applicable to most staff.
The detection device disclosed in the above document utilizes the infrared transmitting and receiving device to detect whether the indoor floor tile is flat or not, has weaker professional and does not save manpower, and is only suitable for detecting the indoor flat ground and is not suitable for detecting the outdoor large-area floor tile.
The Chinese patent document with publication number of CN104502384A describes a method for detecting ground hollowness based on a radar, an intelligent trolley is started, and the intelligent trolley starts the radar to send out electromagnetic waves to the ground and walk in a room; comparing the received waveform returned by the radar with a standard waveform to judge the empty area; the intelligent trolley control marking unit marks in the empty area; after the detection is finished and the marking is finished, the intelligent trolley sounds an alarm. The utility model also provides a device for detecting the ground hollowing based on the radar, which comprises an intelligent trolley, a radar detection module and a marking unit, wherein the intelligent trolley automatically walks in a room and receives the ground waveform information detected by the radar detection module, and the marking module is driven to mark the hollowing area of the ground. When the construction is completed and the room is tested, or after the floor tiles and the floor boards are paved, the trolley can automatically detect the condition of the ground of the room and the paving effect of the floor tiles and the floor boards, and simultaneously one person can control a plurality of trolleys, so that a large amount of manpower and material resources can be saved, and the detection speed and accuracy are improved.
However, the detection process disclosed in the above document is complex, repeated detection of suspicious points is required, rapid detection is inconvenient, and the trolley route is not easy to edit.
Disclosure of Invention
The utility model aims to disclose a system and a method for detecting and marking the loosening situation of a road floor tile, which are rapid and quick, can detect the floor tile with a large area, accurately determine the loosening position of the floor tile and mark the loosening position.
A system for detecting and marking loosening of road tiles, comprising:
the machine vision module is used for collecting images of ground tiles, primarily judging the loosening position of the tiles as a first position, and sending the first position to the infrared module or the balance detection module;
the infrared module is used for synchronously collecting infrared images of the ground floor tiles with the machine vision module, judging the loosening position of the floor tiles as a second position and sending the second position to the balance detection module;
the balance detection module is used for receiving the first position or the second position, carrying out balance detection on the floor tiles at the first position or the second position, finally judging the position of the loose floor tile as a third position, and sending the third position and a marking instruction to the marking module;
the marking module is used for receiving the marking instruction of the balance detection module and marking the loosened floor tiles;
the walking mechanism is provided with a machine vision module, an infrared module, a balance detection module and a marking module.
The walking mechanism comprises a first walking mechanism and a second walking mechanism, wherein the first walking mechanism is provided with a machine vision module and an infrared module, and the second walking mechanism is provided with a balance detection module and a marking module.
Preferably, the first travelling mechanism is an unmanned aerial vehicle, and the second travelling mechanism is a trolley.
The machine vision module comprises a camera for collecting tile images and an image analysis unit, wherein the image analysis unit judges whether the tile is loose or not by analyzing whether tile gaps, tile breaks or tile lifts exist in the tile images, takes the position of the loose tile as a first position and sends the position of the loose tile to the infrared module or the balance detection module.
The camera is connected to the bottom of the unmanned aerial vehicle through the cradle head.
The cradle head is a single-phase cradle head, and the single-phase cradle head is selected from a single-phase fixed cradle head or a single-phase motor driven cradle head.
When the cradle head is fixed by the single-camera, the inclination angle of the camera is 90 degrees, the ground image is vertically collected, the camera is suitable for the road surface with narrower ground, and the complete ground image can be collected by the single-camera.
When the camera is used for moving the cradle head, the camera can be rotated to enable the inclination angle of the camera to be 0 degree and the inclination angles of the four directions to be 45 degrees to acquire the ground image, the machine vision program is suitable for acquiring the ground image of a wider road surface, and the machine vision program can splice the ground images with different inclination angles to serve as a complete ground image.
The multi-camera cradle head is characterized in that the cradle head is a multi-camera cradle head, 5 cameras fixed on the multi-camera cradle head are respectively used for collecting front, rear, left, right and lower ground images, and multi-angle collection is carried out on the ground images. By arranging the multi-angle camera, a complete ground image can be acquired for a wider road surface.
The inclination angles of the cameras facing the front, the back, the left and the right are 30-60 degrees.
Preferably, the inclination angle of the camera for capturing front, rear, left and right ground images is 45 degrees. The overlapping area of the acquired images at different angles after splicing can be reduced, the complexity is reduced, and the spliced ground image can be obtained rapidly.
The machine vision module is used for primarily screening loose floor tiles on the ground.
The infrared detection module comprises a receiving unit for receiving the first position, an infrared imager for collecting the infrared image of the ground tile, and an infrared image analysis unit for analyzing the infrared image of the ground tile or the infrared image of the tile at the first position, judging whether the tile is loose or not, and sending the position of the loose tile as the second position to the balance detection module.
The infrared imager is connected to the bottom of the unmanned aerial vehicle through the cradle head. The cradle head is a single-axis dynamic camera, and the inclination angle of the infrared thermal imager is 0-45 degrees. Through rotation of the cradle head, the ground thermal image can be collected in multiple directions by the infrared thermal imager. Preferably, the inclination angle of the infrared thermal imager is 0 degree, and the inclination angles of the cameras facing the front, the back, the left and the right are 45 degrees, so that the ground thermal image is completely acquired.
In the utility model, the infrared detection module has two processing modes for the collected infrared images, one mode is that the first position is not received, the collected infrared images of the ground floor tiles are directly analyzed, and the second position is generated and sent to the balance detection module; another way is to receive the first location, analyze the infrared effect corresponding to the first location, and generate the second location. The infrared detection module has a high recognition degree relative to the visual detection module, so that the second position can be obtained by accurately obtaining the first position.
And further detecting the loose floor tiles judged by the machine vision module, so that the range is narrowed.
The infrared image analysis unit is used for comparing the collected infrared images of the floor tiles with the infrared temperature database of the floor tiles to judge whether the floor tiles are loose or not, and the floor tiles which are judged to be loose are used as second positions to be sent to the balance detection module.
The balance detection module comprises a balance detector and a control module connected with the balance detector, wherein the control module receives the first position or the second position, controls the balance detector to detect the balance degree of the floor tile, generates a third position if unbalance occurs, and sends the third position and a marking instruction to the marking module.
The balance detector is selected from one of an acceleration sensor, a six-axis sensor or a nine-axis sensor. The balance detector can be located at any position of the second travelling mechanism. Preferably, the balance detector is positioned in the middle of the second travelling mechanism, so that the balance detection result is more accurate. .
The marking module comprises a control unit, an electromagnetic valve and a self-spraying paint tank body, wherein the electromagnetic valve is opened after the control unit receives the third position and the marking instruction, and the self-spraying paint tank body marks the third position.
The utility model also provides a method for detecting and marking the loosening condition of the road floor tile, which comprises the following steps:
(1) The machine vision module carried by the first travelling mechanism collects images of the ground floor tiles, and preliminarily judges the loosening position of the ground floor tiles, and sends the images to the infrared module or the balance detection module as a first position;
(2) The infrared module carried by the first travelling mechanism collects the infrared images of the floor tiles on the ground or at the first position, further judges the loosening position of the floor tiles, and sends the loosening position of the floor tiles to the balance detection module as the second position;
(3) The balance detection module carried by the second travelling mechanism receives the first position or the second position, carries out balance detection on the floor tile at the first position or the second position, finally judges the loose floor tile as a third position, sends the third position to the marking module, and simultaneously sends a marking instruction;
(4) The marking module carried by the second travelling mechanism receives the marking instruction of the balance detection module and marks the loose floor tiles.
In the present utility model: the machine vision module collects ground images to analyze and preliminarily judge the loosening method of the floor tile comprises the following steps: the loose positions of the tiles are mostly large gaps of the tiles, the tiles are broken and lifted. And acquiring ground floor tile images by using a machine vision module, analyzing the overlarge gap position, the breakage position and the tilting position of the floor tile, and primarily judging that the floor tile is loose to generate a first position.
The method for judging the loosening of the floor tile by collecting the ground infrared image through the infrared module comprises the following steps: because air exists under the floor tile at the loose position of the floor tile, and the floor tile and underground heat conduction process is slowed down, the temperature at the loose position of the floor tile is different from that at the non-loose position, an infrared temperature database of the floor tile is established through experiments in different environments in the earlier stage, the loose position of the floor tile is judged through comparing the infrared images of the loose floor tile obtained in the last step with the database acquired by the infrared module, and a second position is generated. The temperature of the loose part of the floor tile is 0.5-1 ℃ lower than that of the non-loose part of the floor tile.
The tile loosening judging method by detecting the tile balance by the balance detecting module comprises the following steps: if air exists under the floor tile at the loose position of the floor tile, the floor tile is unbalanced, a balance detection carrier is placed at the loose position obtained in the last step, a balance detection module detects balance of the first running mechanism, if unbalance of the first running mechanism is detected, the floor tile is judged to be loose, and a third position is generated.
The utility model carries out preliminary screening on loose floor tiles on the ground by using a machine vision module or an infrared detection module, obtains the preliminary judgment of the loose positions of the floor tiles and sends the preliminary judgment to a balance detection module; or the infrared detection module analyzes the tile infrared image of the first position generated by the machine vision module, obtains the further judged loosening position of the tile and sends the further judged loosening position of the tile to the balance detection module. The two modes can reduce the detection range of the balance detector, and the ground information with large area can be processed in a short time because the mode of influence of image analysis is quicker and more effective; if the ground is balanced by only using the balance detector, the speed is low, and large-area detection and marking cannot be completed in a short time. Therefore, the system and the method provided by the utility model are rapid and quick, can detect the floor tiles with large areas, accurately determine the loosening positions of the floor tiles and mark the floor tiles.
Drawings
FIG. 1 is a block diagram of a system for detecting and marking loosening of road tiles in accordance with the present utility model;
FIG. 2 is a flow chart of a method for detecting and marking loosening of road tiles according to the present utility model;
fig. 3 is a schematic diagram of a system for detecting and marking loosening of road tiles according to the present utility model.
Detailed Description
The system and method provided by the utility model are described below with reference to the drawings and examples.
As shown in fig. 1 to 3, a system for detecting and marking loosening of road tiles, comprising:
unmanned aerial vehicle 1, unmanned aerial vehicle 1's below carries on machine vision module 3 and infrared module 4: the machine vision module 3 is provided with a camera and an image analysis unit; the infrared detection module 4 is provided with a receiving unit, an infrared imager and an infrared image analysis unit.
The machine vision module 3 and the infrared module 4 are respectively used for acquiring ground images to obtain a first position and a second position.
Specifically, the cameras are connected to the bottom of the unmanned aerial vehicle through a plurality of camera holders, and the inclination angles of the 5 cameras are respectively 45 degrees, 45 degrees and 0 degrees, and are respectively used for acquiring front, rear, left, right and lower ground images. The infrared imager is connected to the bottom of the unmanned aerial vehicle through the single-axis cradle head, and the dip angle is 0-45 degrees adjustable.
The trajectory of the unmanned aerial vehicle is controlled by a flight trajectory control program integrated on a computer or APP.
The trolley 2 is provided with a balance detection module 5 and a marking module 6 on the trolley 2: the balance detection module 5 is provided with an acceleration sensor and a control module; the marking module 6 is provided with a control unit, an electromagnetic valve and a self-spraying paint tank body.
The method for detecting and marking the loosening condition of the road floor tile by using the system comprises the following steps:
s1, synchronously acquiring ground images and infrared images of ground tiles by a camera in a machine vision module 3 and an infrared imager in an infrared module 4 which are carried on an unmanned aerial vehicle 1;
s2, the image analysis unit analyzes the ground image, if a tile gap, tile breakage or tile tilting exists, the tile is judged to be loose, a first position is generated, and a receiving list in the infrared detection module 4 is sent;
s3, after the receiving unit receives the first position, the infrared image analysis unit extracts an infrared image of the first position, and further judges whether the floor tile in the first position is a loose floor tile or not through comparison with a stored floor tile infrared temperature database, generates a second position and sends the second position to the control module in the balance detection module 5;
s4, the control module receives the second position, controls the trolley to move to the floor tile at the second position, and the acceleration sensor detects the balance of the trolley on the floor tile, if the trolley is detected to be unbalanced, a third position is generated and sent to the control unit of the marking module 6;
s5, the control unit receives the third position, opens the electromagnetic valve and marks the loose floor tile from the paint spraying tank body.
The above embodiments are only for illustrating the inventive concept of the present utility model and not for limiting the protection of the claims of the present utility model, and any simple modification, equivalent variation and modification of the above embodiments according to the technical and method substance of the present utility model still fall within the scope of the technical and method aspects of the present utility model.
Claims (8)
1. A system for detecting and marking loosening of road tiles, comprising:
the machine vision module is used for collecting images of ground tiles, judging the loosening position of the tiles as a first position and sending the first position to the infrared module or the balance detection module;
the infrared module is used for synchronously collecting infrared images of the ground floor tiles with the machine vision module, judging the loosening position of the floor tiles as a second position and sending the second position to the balance detection module;
the balance detection module is used for receiving the first position or the second position, carrying out balance detection on the floor tiles at the first position or the second position, finally judging the position of the loose floor tile as a third position, and sending the third position and a marking instruction to the marking module;
the marking module is used for receiving the marking instruction of the balance detection module and marking the loosened floor tiles;
the walking mechanism is provided with a machine vision module, an infrared module, a balance detection module and a marking module;
the infrared module comprises a receiving unit for receiving the first position, an infrared imager for collecting the infrared image of the ground tile, and an infrared image analysis unit for analyzing the infrared image of the ground tile or the infrared image of the ground tile at the first position, judging whether the tile is loose or not, and sending the position of the loose tile as the second position to the balance detection module;
the infrared image analysis unit is used for comparing the collected infrared images of the floor tiles with the infrared temperature database of the floor tiles to judge whether the floor tiles are loose or not, and sending the floor tiles which are judged to be loose to the balance detection module as a second position;
the balance detection module comprises a balance detector and a control module connected with the balance detector, wherein the control module receives the first position or the second position, controls the balance detector to detect the balance degree of the floor tile, generates a third position if unbalance occurs, and sends the third position and a marking instruction to the marking module.
2. The system for detecting and marking tile looseness according to claim 1, wherein the running gear comprises a first running gear and a second running gear, the first running gear is provided with a machine vision module and an infrared module, and the second running gear is provided with a balance detection module and a marking module.
3. The system for detecting and marking tile looseness according to claim 2, wherein the first travel mechanism is an unmanned aerial vehicle and the second travel mechanism is a trolley.
4. A system for detecting and marking loosening of tiles on roads according to any one of claims 1 to 3, wherein the machine vision module comprises a camera for capturing an image of the tiles, and an image analysis unit for determining whether the tiles are loose by analyzing whether there is a tile gap, tile breakage or tile lift in the tile image, and transmitting the location of the loose tiles as a first location to the infrared module or the balance detection module.
5. The system for detecting and marking tile looseness according to claim 4, wherein the camera is connected to the bottom of the unmanned aerial vehicle via a cradle head, the cradle head being a single-camera cradle head or a multi-camera cradle head.
6. The system for detecting and marking loosening of tiles of claim 5, wherein the head is a multi-camera head, and the number of cameras fixed to the multi-camera head is 5 for capturing front, rear, left, right and lower ground images, respectively.
7. The system for detecting and marking tile looseness according to claim 1, wherein the marking module comprises a control unit, an electromagnetic valve and a self-spraying paint can, wherein the control unit opens the electromagnetic valve after receiving the third position and the marking command, and the self-spraying paint can marks the third position.
8. A method employing the system of any of claims 1-7, comprising the steps of:
(1) The machine vision module carried by the first travelling mechanism collects images of the ground floor tiles, and preliminarily judges the loosening position of the ground floor tiles, and sends the images to the infrared module or the balance detection module as a first position;
(2) The infrared module carried by the first travelling mechanism synchronously collects infrared images of the ground tiles, judges the loose position of the ground tiles or the tiles in the first position, and sends the loose position as a second position to the balance detection module;
(3) The balance detection module carried by the second travelling mechanism receives the first position or the second position, carries out balance detection on the floor tile at the first position or the second position, finally judges the loose floor tile as a third position, sends the third position to the marking module, and simultaneously sends a marking instruction;
(4) The marking module carried by the second travelling mechanism receives the marking instruction of the balance detection module and marks the loose floor tiles.
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| CN201811352580.5A CN109358060B (en) | 2018-11-14 | 2018-11-14 | System and method for detecting and marking loosening condition of road floor tile |
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| CN201811352580.5A CN109358060B (en) | 2018-11-14 | 2018-11-14 | System and method for detecting and marking loosening condition of road floor tile |
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