CN109584318B - Method and device for detecting and marking firmness degree of outer wall bricks - Google Patents
Method and device for detecting and marking firmness degree of outer wall bricks Download PDFInfo
- Publication number
- CN109584318B CN109584318B CN201910071171.6A CN201910071171A CN109584318B CN 109584318 B CN109584318 B CN 109584318B CN 201910071171 A CN201910071171 A CN 201910071171A CN 109584318 B CN109584318 B CN 109584318B
- Authority
- CN
- China
- Prior art keywords
- wall
- marking
- image
- wall brick
- detecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000011449 brick Substances 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 230000001133 acceleration Effects 0.000 claims abstract description 25
- 230000007547 defect Effects 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims abstract description 17
- 238000012806 monitoring device Methods 0.000 claims abstract description 12
- 238000004458 analytical method Methods 0.000 claims abstract description 11
- 230000008859 change Effects 0.000 claims abstract description 11
- 238000002834 transmittance Methods 0.000 claims description 10
- 238000002211 ultraviolet spectrum Methods 0.000 claims description 7
- 239000003086 colorant Substances 0.000 claims description 6
- 239000003973 paint Substances 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000002950 deficient Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 7
- 239000011159 matrix material Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/30—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring roughness or irregularity of surfaces
-
- 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
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/33—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using ultraviolet light
-
- 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
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
-
- 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
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
- G01N25/20—Investigating or analyzing materials by the use of thermal means by investigating the development of heat, i.e. calorimetry, e.g. by measuring specific heat, by measuring thermal conductivity
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
-
- G06T5/70—
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
-
- 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
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
Abstract
The invention discloses a method for detecting and marking the firmness of an outer wall brick, which comprises the following steps: collecting visible light images, infrared images and ultraviolet images of the outer wall surface, and collecting acceleration changes of the travelling mechanism travelling on the outer wall surface; judging whether cracks exist on the surface of the wall brick according to the visible light image, judging whether a cavity exists under the wall brick according to the infrared image, judging whether the wall brick is broken according to the ultraviolet image, and judging the flatness and defect of the wall brick according to the acceleration change condition; if cracks, cavities, breaks, defects or irregularities are present, marking is performed. The invention also discloses a device adopting the method, which comprises a running gear and an analysis processing module; the running device comprises an image detection module, a running route condition monitoring device, a marking device, a running mechanism and a movement auxiliary device. The method and the device can mark the wall bricks with potential loosening and falling signs, are convenient to overhaul and maintain, and avoid the safety problem caused by falling of the wall bricks.
Description
Technical Field
The invention relates to a detection device, in particular to a method and a device for detecting and marking the firmness of an outer wall brick.
Background
The existing building outer wall body is provided with wall brick decoration, and after a period of use, the wall brick can loose and fall off due to the influence of various factors. The wall brick that comes loose has very big potential safety hazard, and current detection mode mostly detects by the manual work, and danger coefficient is big and work efficiency is low.
The Chinese patent document with publication number of CN206787782U describes a wall detection device based on infrared technology. The utility model discloses a portable infrared detection wall body device, belongs to wall body detection device technical field, aims at providing a portable infrared detection wall body device, has the advantage that the fracture department that can seek the wall fast reduces intensity of labour, and its technical scheme main points are including setting up on the wall body and follow the track one that the wall body direction of height extends on the track one slide and be connected with the infrared thermometer, the wall body upper end is equipped with horizontal track two, slide and be connected with the fixed block on the track two, track one fixed connection is on the fixed block, be equipped with motor one on the fixed block, infrared thermometer upper end fixedly connected with stay cord, the one end fixed connection that the infrared thermometer was kept away from to the stay cord is in motor one's pivot, when motor one just reverses the stay cord will pull infrared thermometer round trip movement on track one. The detection process disclosed in the above document is too complex, the movement track is required to be paved, the flexibility is low, and the cost is high; the infrared detection device is not suitable for detecting objects with small surface temperature differences, such as an outer wall surface.
The Chinese patent document with publication number of CN208012578U describes a portable wall surface detection device, and relates to the field of building standard test auxiliary devices. This wall detection device who conveniently carries, the power distribution box comprises a box body, the bottom four corners of box all is provided with the lift push rod, the bottom fixed mounting of lift push rod has the universal wheel, baffle fixed connection is passed through on the inner wall both sides of box, the top fixed mounting of baffle has the motor, the output fixed mounting of motor has first gear, the both sides of motor all are provided with the threaded rod, the equal fixed mounting in both ends of threaded rod has the bearing frame. This wall detection device who conveniently carries, the cooperation of lifter and universal wheel is used, reaches and removes convenient effect, is provided with the braces through the front of box, through the connecting rod, reaches the effect that can fold, conveniently packs up the wall flattening degree detector for wall detection device carries more conveniently, saves time and physical power, improves work efficiency. The detection mode of the device provided by the patent is too single, and the condition of the outer wall bricks can not be screened accurately.
The chinese patent document with publication number CN108955637a discloses a portable's wall body inspection device for building a wall, which comprises a base, the top fixedly connected with of base is first articulated seat, the top of first articulated seat articulates there is the frame, the spout has been seted up to the inner wall of frame, the inner wall sliding connection of spout has detection component, the inner wall bottom fixed mounting of frame has first hydraulic stem, first hydraulic stem and detection component fixed connection, the mounting groove has been seted up at the top of base, the inner wall rotation of mounting groove is connected with the threaded rod, one side of base is provided with first motor. The invention solves the potential safety hazard of the ascending operation in the wall surface detection process, and the volume of the detection device is generally larger because the wall body is generally higher when the device is used for detection, which causes great trouble to operators when the detection device is carried or moved, and is inconvenient for users to use. The equipment provided by the patent has a larger base, and the detection mode is single, so that the equipment cannot be conveniently installed and used.
Disclosure of Invention
The invention aims to provide a method and a device for detecting and marking the firmness of wall bricks of an outer wall body, which are used for marking the wall bricks with potential loosening and falling signs, are convenient to overhaul and maintain, avoid the safety problem caused by falling of the wall bricks, and are small in mass, small in volume, simple to operate and flexible to install.
A method for detecting and marking the firmness of an exterior wall tile comprising the steps of:
(1) Collecting visible light images, infrared images and ultraviolet images of the outer wall surface, and simultaneously collecting acceleration changes of walking mechanisms walking on the outer wall surface;
(2) Judging whether cracks exist on the surface of the wall brick according to the visible light image of the outer wall surface, judging whether a cavity exists under the wall brick according to the infrared image, judging whether the wall brick is broken according to the ultraviolet image, and judging the flatness and defect condition of the wall brick according to the acceleration change condition; if cracks, cavities, breaks, defects or unevenness exist, performing the step (3);
(3) Wall tiles with cracks, cavities, breaks, defects or irregularities are marked.
In the step (2), the method for judging whether the wall brick has cracks according to the visible light image comprises the following steps: carrying out gray level processing and noise reduction on the visible light image to obtain a gray level image; and then carrying out gradient calculation on the gray value of the pixel point group of the gray image, and judging that cracks exist on the surface of the wall brick if abrupt changes occur.
Specifically, since the points of the pixels corresponding to the cracks are black, the pixels corresponding to the normal wall bricks are white or light gray (the gray values are larger than 155), and the black pixel dense area and the white pixel area in the image after noise reduction treatment have obvious boundaries, whether the cracks exist on the surface of the wall bricks can be judged according to whether the gradient of the gray values of the image information is suddenly changed.
In the step (2), the method for judging whether the cavity exists under the wall brick according to the infrared image comprises the following steps: and obtaining corresponding temperature according to the pixel value of the infrared image, and judging that a cavity exists under the corresponding wall brick if the value of the temperature is obviously lower than the surrounding area.
Specifically, through collecting the wall brick surface temperature distribution image, the high temperature and the low temperature are respectively presented through different colors (the color is presented in red relatively higher temperature and the color is presented in blue relatively lower temperature in general), the colors in the image are in one-to-one correspondence with the temperature values, a matrix composed of the temperature values is obtained, the magnitude relation between the temperature values corresponding to each point in the matrix and the surrounding temperature values can be judged through simple algorithm processing, and if the temperature values are obviously lower than the surrounding areas, the existence of a cavity is judged under the wall brick.
In the step (2), the method for judging whether the wall brick is broken or not according to the ultraviolet image comprises the following steps: gray processing is carried out on the collected ultraviolet images to obtain gray images, and then the transmissivity distribution of the wall bricks is obtained according to the gray value distribution of the gray images, wherein defects exist in the wall brick areas corresponding to the ultraviolet images with the transmissivity of more than 80%; wherein, black in the gray image represents transmittance of 0, and white represents transmittance of 100%.
Specifically, an image obtained by irradiating a wall brick with ultraviolet rays (electromagnetic waves between 100 and 400 nm) or shorter wavelength bands (electromagnetic waves between 0.001 and 10nm, for example) is a gray image, wherein black represents no electromagnetic waves passing therethrough, white represents electromagnetic waves passing therethrough, and transmittance distribution data of the wall brick (transmittance at a white pixel point distribution concentration position with a smaller gray value is higher and transmittance at a distribution sparsity position is lower) can be obtained by analyzing the gray value distribution of the gray image, and a slit exists inside the wall brick at the high transmittance position, and an image information analysis program judges whether or not a fracture exists inside the wall brick.
In the step (2), the method for judging whether the wall brick is flat and defective according to the acceleration change condition comprises the following steps: if the travelling mechanism has acceleration change towards the outer wall surface direction, judging that the corresponding wall brick is missing; if the running mechanism has acceleration change along the vertical direction of the outer wall surface, the corresponding wall bricks are judged to be uneven.
The invention also provides a device for detecting and marking the firmness of the outer wall bricks, which comprises a travelling device and an analysis processing module; the walking device comprises:
the image detection module comprises a video camera, a thermal infrared imager and an ultraviolet spectrum camera, and is used for respectively acquiring a visible light image, an infrared image and an ultraviolet image, wherein the visible light image, the infrared image and the ultraviolet image are respectively used for judging whether cracks exist on the surface of the wall brick, whether cavities exist below the wall brick and whether cracks exist on the wall brick;
the travel route condition monitoring device comprises a motion sensor, a travel route detection device and a travel route control device, wherein the motion sensor is used for collecting acceleration of a travelling mechanism and judging flatness of a wall brick and missing conditions of the wall brick;
marking means for marking wall tiles having cracks, cavities, breaks, defects or irregularities;
the travelling mechanism is provided with an image detection module, a travelling route condition monitoring device and a marking device;
and the movement auxiliary device is used for driving the travelling mechanism to move along the horizontal and vertical directions of the outer wall.
The analysis processing module is in communication connection with the image detection module, the travelling route condition monitoring device and the marking device, and respectively judges whether cracks exist on the surface of the wall brick, whether a cavity exists below the wall brick and whether the wall brick is broken or not according to the visible light image, the infrared image and the ultraviolet image acquired by the image detection module; if the crack, the cavity or the fracture exists, sending a command to the marking device; judging the flatness of the wall bricks and the missing condition of the wall bricks according to the acceleration of the travelling mechanism acquired by the travelling route condition monitoring device, and sending a command to the marking device if the wall bricks are uneven or missing; the marking device marks the wall bricks with cracks, cavities, breaks, defects or unevenness according to the instruction sent by the analysis processing module.
In the invention, the analysis processing module can be arranged on the travelling mechanism or in an external device, such as a computer, and the computer is in communication connection with the image detection module, the travelling route condition monitoring device and the marking device.
The cameras, the thermal infrared imaging instrument and the ultraviolet spectrum camera face the outer wall surface and form 45-90 degrees with the outer wall surface.
The motion sensor is selected from a gyroscope, an acceleration sensor, an angular velocity sensor or an inclination sensor.
Preferably, the motion sensor is arranged in the middle of the travelling mechanism.
The marking device comprises a self-spraying paint tank body and an electromagnetic valve, and the marking device is used for controlling the self-spraying paint tank body to mark the wall bricks through the electromagnetic valve. The marking device marks cracks, cavities, breaks, defects or unevenness with different colors.
The movement auxiliary device comprises an elastic clamping device, wherein the elastic clamping device comprises a vertical component and a horizontal component, the vertical component is clamped on the outer wall surfaces on two sides of the eave through traveling wheels, and the horizontal component is attached to the upper surface of the eave through driving wheels; the horizontal component is provided with a pulley which is connected with the travelling mechanism.
The driving wheels are driven by a built-in hub motor to drive the travelling mechanism to travel along the horizontal direction of the outer wall surface.
The pulley is connected with the travelling mechanism through a cable, and the pulley drives the travelling mechanism to travel in the vertical direction along the outer wall surface under the drive of a motor in transmission connection with the pulley.
Compared with the prior art, the method and the device for detecting and marking the firmness of the wall bricks of the outer wall body, provided by the invention, are used for marking the wall bricks with potential loosening and falling signs, are convenient to overhaul and maintain, avoid the safety problem caused by falling of the wall bricks, and are small in mass, small in volume, simple to operate and flexible to install; the method can detect and mark large-area and high-height buildings without paving tracks.
Drawings
FIG. 1 is a front view of a motion assist device provided by the present invention;
FIG. 2 is a side view of the exercise assisting device provided by the present invention;
FIG. 3 is a top view of the exercise assisting device provided by the present invention;
fig. 4 is a top view of the walking device provided by the invention;
FIG. 5 is a top view of the apparatus for detecting and marking exterior wall tile firmness according to the present invention;
FIG. 6 is a schematic diagram of a visible light image acquired by an embodiment;
FIG. 7 is a schematic illustration of an infrared image acquired by an embodiment;
fig. 8 is a schematic diagram of an ultraviolet image acquired by an embodiment.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description is presented by way of example only and is not intended to limit the scope of the invention.
As shown in fig. 1 to 5, the device for detecting and marking the firmness of an outer wall according to the present invention comprises:
the walking device 2 comprises a walking mechanism 21, an image detection module 211 is carried on the walking mechanism 21, the image detection module 211 comprises a camera, a thermal infrared imager and an ultraviolet spectrum camera which face the outer wall surface, the angles between the camera and the outer wall surface are 90 degrees, and the image detection module 211 is in communication connection with an analysis processing module; the traveling mechanism 21 is mounted with a traveling route condition monitoring device 212, and the traveling route condition monitoring device 212 includes an acceleration sensor and is connected in communication with the analysis processing module; the travelling mechanism 21 is provided with a marking device 213, the marking device 213 comprises an electromagnetic valve, a self-spraying paint tank body and an electromagnetic valve, and the marking device 213 is in communication connection with the analysis processing module.
The exercise assisting device 1 includes an elastic clamping device 11, a traveling wheel 12, a driving wheel 13, and a pulley 14, the elastic clamping device 11 being a frame mechanism including a vertical member 111 and a horizontal member 112. The lower part of the vertical member 111 is provided with a travelling wheel 12, and the vertical member 111 is clamped on the outer wall surfaces at two sides of the eave through the travelling wheel 12; the driving wheel 13 is connected below the horizontal member 112, and the driving wheel 13 drives the horizontal member 112 to walk on the upper surface of the eave in the horizontal direction under the drive of the built-in hub motor, and simultaneously drives the walking wheel 12 to walk, so that the motion auxiliary device walks in the horizontal direction; the horizontal member 112 is provided with a pulley 14, the pulley 14 is connected with the running gear 2 through a cable, and the running gear 2 connected with the pulley 14 is driven by a motor to run along the vertical direction of the outer wall surface.
The motion auxiliary device 1 provided in this embodiment drives the running gear 2 to move along the horizontal and vertical direction walking process of the outer wall surface: the traveling device 2 is driven to travel along the horizontal direction of the outer wall surface by controlling the driving wheels 13, and the traveling device 2 is driven to travel along the vertical direction of the outer wall surface by controlling the cable.
The method for detecting and marking the firmness degree of the wall bricks of the outer wall body by the device provided by the embodiment comprises the following steps:
(1) The video camera, the thermal infrared imager and the ultraviolet spectrum camera in the image detection module 211 collect visible light images, infrared images and ultraviolet images of the outer wall surface; the acceleration sensor in the travel route condition monitoring device 212 collects the acceleration change of the travelling mechanism travelling on the outer wall surface;
(2) The analysis processing module in communication connection with the image detection module 211 judges whether cracks exist on the surface of the wall brick according to the visible light image of the outer wall surface, judges whether a cavity exists under the wall brick according to the infrared image, and judges whether the wall brick is broken according to the ultraviolet image; the analysis processing module is in communication connection with the travel route condition monitoring device 212 and judges the flatness and defect condition of the wall bricks according to the acceleration change condition; if a crack, cavity, fracture, defect or unevenness is present, a command is sent to the marking device 213.
Specifically, as shown in fig. 6, the image at the crack is black as shown in fig. 6, which is a visible light image collected by the camera and a gray image after gray processing and noise reduction, and the image analysis module determines that the crack occurs at the non-crack and the crack by performing gradient calculation on the image, that is, from white to black; as shown in fig. 7, for an infrared image collected by a thermal infrared imager, a red color is generally displayed at a relatively high temperature, a blue color is generally displayed at a relatively low temperature, colors in the image are in one-to-one correspondence with temperature values, a matrix composed of the temperature values is obtained, the magnitude relation between the temperature value corresponding to each point in the matrix and the surrounding temperature values is judged, and if a region with the temperature value significantly lower than the surrounding temperature values appears, a cavity is judged to exist under a wall brick; as shown in fig. 8, an ultraviolet image collected by an ultraviolet spectrum camera is white, which indicates that electromagnetic waves pass through, i.e. relatively high transmittance, indicating that the wall brick has defects; black indicates no electromagnetic wave passing, i.e. no transmittance, indicating no defects in the wall tile.
Specifically, the acceleration sensor collects acceleration changes of the travelling mechanism 21 along the vertical direction of the outer wall surface and the direction towards the outer wall surface, if the acceleration changes along the vertical direction of the outer wall surface, the wall bricks are uneven, and if the acceleration changes towards the direction of the outer wall surface, the wall bricks are defective.
(3) The marking device 213, upon receiving the instruction, marks the wall bricks having cracks, cavities, breaks, defects or unevenness by controlling the solenoid valve, and adopts different colors such as black, red, yellow, green and purple, respectively.
The foregoing detailed description of the preferred embodiments and advantages of the invention will be appreciated that the foregoing description is merely illustrative of the presently preferred embodiments of the invention, and that no changes, additions, substitutions and equivalents of those embodiments are intended to be included within the scope of the invention.
Claims (9)
1. A method for detecting and marking the firmness of an exterior wall tile comprising the steps of:
(1) Collecting visible light images, infrared images and ultraviolet images of the outer wall surface, and simultaneously collecting acceleration changes of walking mechanisms walking on the outer wall surface;
(2) Judging whether cracks exist on the surface of the wall brick according to the visible light image of the outer wall surface, judging whether a cavity exists under the wall brick according to the infrared image, judging whether the wall brick is broken according to the ultraviolet image, and judging the flatness and defect condition of the wall brick according to the acceleration change condition; if cracks, cavities, breaks, defects or unevenness exist, performing the step (3);
(3) Marking wall bricks with cracks, cavities, breaks, defects or unevenness;
in the step (2), the method for judging whether the wall brick is broken or not according to the ultraviolet image comprises the following steps: gray processing is carried out on the collected ultraviolet images to obtain gray images, and then the transmissivity distribution of the wall bricks is obtained according to the gray value distribution of the gray images, wherein defects exist in the wall brick areas corresponding to the ultraviolet images with the transmissivity of more than 80%; wherein, black in the gray image represents transmittance of 0, and white represents transmittance of 100%.
2. The method for detecting and marking the firmness of an exterior wall tile according to claim 1, wherein in step (2), the method for judging whether the wall tile has a crack or not based on the visible light image comprises: carrying out gray level processing and noise reduction on the visible light image to obtain a gray level image; and then carrying out gradient calculation on the gray value of the pixel point group of the gray image, and judging that cracks exist on the surface of the wall brick if abrupt changes occur.
3. The method for detecting and marking the firmness of an exterior wall tile according to claim 1, wherein in step (2), the method for determining whether a cavity exists under the wall tile based on the infrared image is as follows: and obtaining corresponding temperature according to the pixel value of the infrared image, and judging that a cavity exists under the corresponding wall brick if the value of the temperature is obviously lower than the surrounding area.
4. The method for detecting and marking the firmness of an exterior wall tile according to claim 1, wherein in step (2), the method for judging whether the wall tile is flat and defective according to the acceleration change condition is as follows: if the travelling mechanism has acceleration change towards the outer wall surface direction, judging that the corresponding wall brick is missing; if the running mechanism has acceleration change along the vertical direction of the outer wall surface, the corresponding wall bricks are judged to be uneven.
5. A device for detecting and marking the firmness of an outer wall brick, which is characterized in that the device adopts the method for detecting and marking the firmness of the outer wall brick according to any one of claims 1-4, and comprises a travelling device and an analysis and processing module; the walking device comprises:
the image detection module comprises a video camera, a thermal infrared imager and an ultraviolet spectrum camera, and is used for respectively acquiring a visible light image, an infrared image and an ultraviolet image, wherein the visible light image, the infrared image and the ultraviolet image are respectively used for judging whether cracks exist on the surface of the wall brick, whether cavities exist below the wall brick and whether cracks exist on the wall brick;
the travel route condition monitoring device comprises a motion sensor, a travel route detection device and a travel route control device, wherein the motion sensor is used for collecting acceleration of a travelling mechanism and judging flatness of a wall brick and missing conditions of the wall brick;
marking means for marking wall tiles having cracks, cavities, breaks, defects or irregularities;
the travelling mechanism is provided with an image detection module, a travelling route condition monitoring device and a marking device;
and the movement auxiliary device is used for driving the travelling mechanism to move along the horizontal and vertical directions of the outer wall.
6. The apparatus for detecting and marking the firmness of an exterior wall tile according to claim 5, wherein said video camera, thermal infrared imager and ultraviolet spectrum camera are oriented toward the exterior wall surface at 45 ° to 90 ° to the exterior wall surface.
7. The apparatus for detecting and marking the firmness of an exterior wall tile according to claim 5, wherein said motion sensor is selected from the group consisting of gyroscopes, acceleration sensors, angular rate sensors, and tilt angle sensors.
8. The apparatus for detecting and marking the firmness of an exterior wall tile according to claim 5, wherein said marking means comprises a self-spraying paint can and a solenoid valve, wherein cracks, cavities, breaks, defects or irregularities are marked with different colors, respectively.
9. The device for detecting and marking the firmness of an exterior wall tile according to claim 5, wherein the motion assisting device comprises an elastic clamping device, the elastic clamping device comprises a vertical member and a horizontal member, the vertical member is clamped on the exterior wall surface at two sides of the eave through a traveling wheel, and the horizontal member is attached to the upper surface of the eave through a driving wheel; the horizontal component is provided with a pulley which is connected with the travelling mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910071171.6A CN109584318B (en) | 2019-01-25 | 2019-01-25 | Method and device for detecting and marking firmness degree of outer wall bricks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910071171.6A CN109584318B (en) | 2019-01-25 | 2019-01-25 | Method and device for detecting and marking firmness degree of outer wall bricks |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109584318A CN109584318A (en) | 2019-04-05 |
| CN109584318B true CN109584318B (en) | 2023-09-01 |
Family
ID=65917568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910071171.6A Active CN109584318B (en) | 2019-01-25 | 2019-01-25 | Method and device for detecting and marking firmness degree of outer wall bricks |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109584318B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110259065A (en) * | 2019-06-04 | 2019-09-20 | 广东博智林机器人有限公司 | Patch block equipment and its patch block method |
| CN110259066A (en) * | 2019-06-04 | 2019-09-20 | 广东博智林机器人有限公司 | Patch block device and its patch block method |
| CN110672728A (en) * | 2019-11-08 | 2020-01-10 | 上海理工大学 | Wall surface detection device |
| CN112258482A (en) * | 2020-10-23 | 2021-01-22 | 广东博智林机器人有限公司 | Building exterior wall mortar flow drop detection method and device |
| CN112435253B (en) * | 2020-12-08 | 2023-06-27 | 深圳创维数字技术有限公司 | Wall body falling detection method and device and readable storage medium |
| CN112881426A (en) * | 2021-01-09 | 2021-06-01 | 西南大学 | Transformer intracavity winding nondestructive testing device and control method thereof |
| CN113393486B (en) * | 2021-06-23 | 2023-02-03 | 英特灵达信息技术(深圳)有限公司 | Abnormal event monitoring method, intelligent monitoring terminal and system |
| CN113520207A (en) * | 2021-08-12 | 2021-10-22 | 同济大学 | Cleaning robot with curtain wall surface detection function and working method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002257761A (en) * | 2000-12-25 | 2002-09-11 | Sekisui Chem Co Ltd | Probing method for defect of outside wall material, repairing method for outside wall material, and coating material for surface finishing of outside wall material |
| JP2014006219A (en) * | 2012-06-27 | 2014-01-16 | Sumitomo Mitsui Construction Co Ltd | Crack detecting apparatus and crack detection method |
| WO2014146222A1 (en) * | 2013-03-21 | 2014-09-25 | 山东省计算中心 | Automatic detection method of building thermotechnical indicator based on infrared images |
| CN105823785A (en) * | 2016-05-06 | 2016-08-03 | 西安工业大学 | Conveying belt surface crack online detection device and detection method |
| WO2017029864A1 (en) * | 2015-08-18 | 2017-02-23 | 株式会社ナベル | Egg inspection device and egg differentiation system |
| CN107202793A (en) * | 2017-05-16 | 2017-09-26 | 镇江市建科工程质量检测中心有限公司 | A kind of detecting system and method for detecting external wall mass defect |
| CN108280820A (en) * | 2017-12-12 | 2018-07-13 | 深圳市智能机器人研究院 | A kind of automatic repair system of nuclear island factory building clear-water concrete metope and its implementation |
| CN108842579A (en) * | 2018-07-31 | 2018-11-20 | 浙江工业大学 | It is a kind of for detecting and marking the method and trolley of Route for pedestrians ground tile paving situation |
-
2019
- 2019-01-25 CN CN201910071171.6A patent/CN109584318B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002257761A (en) * | 2000-12-25 | 2002-09-11 | Sekisui Chem Co Ltd | Probing method for defect of outside wall material, repairing method for outside wall material, and coating material for surface finishing of outside wall material |
| JP2014006219A (en) * | 2012-06-27 | 2014-01-16 | Sumitomo Mitsui Construction Co Ltd | Crack detecting apparatus and crack detection method |
| WO2014146222A1 (en) * | 2013-03-21 | 2014-09-25 | 山东省计算中心 | Automatic detection method of building thermotechnical indicator based on infrared images |
| WO2017029864A1 (en) * | 2015-08-18 | 2017-02-23 | 株式会社ナベル | Egg inspection device and egg differentiation system |
| CN105823785A (en) * | 2016-05-06 | 2016-08-03 | 西安工业大学 | Conveying belt surface crack online detection device and detection method |
| CN107202793A (en) * | 2017-05-16 | 2017-09-26 | 镇江市建科工程质量检测中心有限公司 | A kind of detecting system and method for detecting external wall mass defect |
| CN108280820A (en) * | 2017-12-12 | 2018-07-13 | 深圳市智能机器人研究院 | A kind of automatic repair system of nuclear island factory building clear-water concrete metope and its implementation |
| CN108842579A (en) * | 2018-07-31 | 2018-11-20 | 浙江工业大学 | It is a kind of for detecting and marking the method and trolley of Route for pedestrians ground tile paving situation |
Non-Patent Citations (1)
| Title |
|---|
| 使用红外热像仪对外墙外保温系统的缺陷分析;吴世勇 等;安徽建筑;第24卷(第2期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109584318A (en) | 2019-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109584318B (en) | Method and device for detecting and marking firmness degree of outer wall bricks | |
| CN205691521U (en) | Tunnel lining concrete crack detection device | |
| CN106680290B (en) | Multifunctional detection vehicle in narrow space | |
| CN107064169B (en) | Bridge crack detection device and detection method | |
| CN102297660A (en) | Measuring method of shield tunnel lining segment seam open width and apparatus thereof | |
| CN111510640B (en) | Inspection system for vertical shaft of traffic tunnel | |
| CN104294759A (en) | Intelligent detection device for railway bridge | |
| CN111776243B (en) | Control method and device for boarding bridge | |
| CN209063080U (en) | A kind of intelligent inspection robot maked an inspection tour applied to eminence | |
| CN107092251A (en) | The automatic station-keeping system and method for the unmanned inspection car of railway based on image recognition | |
| CN112157642A (en) | A unmanned robot that patrols and examines for electricity distribution room | |
| CN106526646A (en) | Beidou-based automatic positioning system and method of overhead contact system (OCS) unmanned inspection vehicle | |
| JP3626461B2 (en) | Ground surface inspection method, ground surface inspection system, and ground surface inspection device | |
| CN111076061A (en) | Automatic detection equipment for rock mass structure | |
| CN106081907A (en) | A kind of contactless row hangs lifting rope swing angle monitoring device | |
| CN210850295U (en) | Water conservancy dam safety inspection robot | |
| CN211669095U (en) | Portable tunnel lining outward appearance disease detecting system | |
| CN205426855U (en) | Bridge detection device based on acoustic signals | |
| TWI662170B (en) | Detection apparatus for detecting bottom of bridge | |
| CN108842579B (en) | Method and trolley for detecting and marking pavement floor tile laying condition of pedestrian road | |
| KR100359386B1 (en) | Method and Apparatus for Inspecting Bridge Structure using Vision System | |
| KR20230059365A (en) | Articulated robot type bridge inspection apparatus | |
| CN110376923A (en) | Detection method for bridge lower surface health status | |
| Zhu et al. | Road crack acquisition and analysis system based on mobile robot and deep learning | |
| CN212771922U (en) | Appearance inspection device for main cable of suspension bridge |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |