CN110617801A - Building disease inspection device, building disease detection system and detection method thereof - Google Patents
Building disease inspection device, building disease detection system and detection method thereof Download PDFInfo
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- CN110617801A CN110617801A CN201910875463.5A CN201910875463A CN110617801A CN 110617801 A CN110617801 A CN 110617801A CN 201910875463 A CN201910875463 A CN 201910875463A CN 110617801 A CN110617801 A CN 110617801A
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- mobile robot
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
Abstract
The application provides a building disease inspection device, a building disease detection system and a detection method thereof, the building disease inspection device comprises a mobile robot, the compound eye camera comprises a camera shell and a plurality of cameras, wherein the camera shell is provided with a supporting outer surface which is an arc surface, the cameras are distributed and arranged on the supporting outer surface, intervals exist between the cameras to cover different shooting areas, and the shooting areas of two adjacent cameras are partially overlapped. The method and the device are high in detection efficiency, and accuracy of a disease detection result can be improved.
Description
Technical Field
The application belongs to the technical field of building disease detection, and particularly relates to a building disease inspection device, a building disease detection system and a building disease detection method.
Background
With the rapid development of Chinese economy, the bridge construction in China is developing at a rapid speed which makes the world attract attention, the status of the bridge in the modern society is continuously improved, no matter the bridge is a cross-sea bridge, a river bridge, a viaduct or an overpass, which is closely related to national economy and people's daily life, however, with the increasing dependence of people and the country on the bridge, the use frequency of the bridge is greatly increased, which leads to the gradual exposure of the bridge in service to the problem of structural diseases, so that the bridge disease detection plays an important role in bridge safety, and generally takes the detection of the disease characteristics of the bottom of the bridge as the main part, including the detection of the disease characteristics of leaking ribs, stripping, falling corners, settlement, cracks, water seepage and the like of the bridge.
At present, the known bridge bottom defect detection mostly adopts a single-lens camera to rotatably shoot the bridge bottom, however, the shooting mode adopted to detect the bridge bottom defect has the following defects:
1. the shooting range is narrow, so that the detection efficiency is low;
2. the method can only generate the picture information with the plane effect, the obtained picture information can generate perspective distortion, and even if the distortion is corrected by using a digital image processing technology, the problem of low resolution exists, so that the requirement of the three-dimensional bridge bottom defect detection on the picture information cannot be met, and the accuracy of a defect detection result is easily influenced.
Disclosure of Invention
In order to overcome the defects in the prior art, the application aims to provide a building disease inspection device, a building disease detection system and a detection method thereof, and aims to solve the technical problems that the existing disease detection technology is low in detection efficiency and is prone to causing inaccurate disease detection results.
The technical scheme adopted by the application for solving the technical problem is as follows:
the utility model provides a building disease inspection device, including mobile robot, compound eye camera and hoist and mount the removal truss on the target building, remove the truss along the length direction and the target building sliding connection of target building, mobile robot installs on removing the truss and along the width direction and the removal truss sliding connection of target building, mobile robot has robotic arm, robotic arm has the camera installation department, compound eye camera installs on the camera installation department, compound eye camera includes camera casing and a plurality of camera, wherein, camera casing has the support surface, the support surface is the cambered surface, each camera distributes and sets up on supporting the surface, there is the interval between each camera and covers different shooting areas, and the shooting area part of two adjacent cameras overlaps.
Preferably, the outer surface of the support is a hemispherical surface, the number of the cameras is odd, one camera is located at the top of the hemispherical surface, and the rest cameras are uniformly distributed on the hemispherical surface by taking the top of the hemispherical surface as a circle center.
Preferably, the outer surface of the support is an arc surface with a central angle smaller than 180 degrees, and the number of the cameras is even, wherein the cameras are arranged side by side along the arc direction of the arc surface.
Preferably, the mobile truss comprises a horizontal truss, a first vertical suspension cage and a second vertical suspension cage, the mobile robot is connected to the horizontal truss in a sliding mode, two ends of the horizontal truss are fixedly connected with the first vertical suspension cage and the second vertical suspension cage respectively, a first walking mechanism and a first guide rail are arranged at one end, away from the horizontal truss, of the first vertical suspension cage, a second walking mechanism and a second guide rail are arranged at one end, away from the horizontal truss, of the second vertical suspension cage, the first guide rail and the second guide rail are fixedly connected with a target building along the length direction of the target building, the first walking mechanism and the second walking mechanism run synchronously, the first walking mechanism is used for driving the first vertical suspension cage to move along the first guide rail, and the second walking mechanism is used for driving the second vertical suspension cage to move along the second guide rail.
Preferably, the mobile robot further comprises a mobile base, one end of the mechanical arm is provided with a camera mounting part, and the other end of the mechanical arm is mounted on the top of the mobile base; the bottom of the movable base is provided with a pulley, the horizontal truss is provided with a slide rail matched with the pulley along the length direction of the horizontal truss, and the movable base is connected on the horizontal truss in a sliding manner through the matching between the pulley and the slide rail.
Preferably, the robot further comprises a wireless remote controller, the mobile robot further comprises a central control computer, the first walking mechanism comprises a control box, a motor, a U-shaped connecting piece and rollers, the central control computer is arranged in the mobile base and is in wireless communication connection with the wireless remote controller, the control box and the compound eye camera respectively, the control box is electrically connected with the motor, the bottom of the U-shaped connecting piece is fixed on the end face of the first vertical suspension cage, the inner surfaces of the two side parts of the U-shaped connecting piece are rotatably connected with the rollers respectively, the motor is fixed on the end face of the first vertical suspension cage, an output shaft of the motor is fixedly connected with one of the rollers, the cross section of the first guide rail is I-shaped, the first guide rail is positioned between the two side parts of the U-shaped connecting piece, the U-shaped connecting piece is hung on the first guide rail through the rollers, wherein the rollers on one side part of the U, the roller on the other side part of the U-shaped connecting piece is arranged on the other sliding groove of the first guide rail.
Preferably, the side part of the movable base is provided with an anti-rollover hook, the anti-rollover hook is in contact with the side part of the slide rail or has a gap, and the anti-rollover hook is in contact with the bottom part of the slide rail or has a gap.
As preferred, compound eye camera is still including setting up the control panel in the camera casing and distributing and setting up in a plurality of light filling lamps and a plurality of light sensor that support the surface, and wherein, each light sensor sets up with each camera one-to-one, and every camera corresponds two light filling lamps at least, and each light filling lamp, light sensor electric connection are to the control panel.
A building disease detection system comprises a remote computer and the building disease inspection device, wherein a mobile robot is in communication connection with the remote computer, a compound eye camera and a mobile truss respectively.
A building disease detection method is applied to the building disease detection system, and comprises the following steps:
when the mobile robot stops at a specified initial position, adjusting the current coordinate parameter of the mechanical arm to a first preset value corresponding to the initial position coordinate of the mobile robot according to the pre-stored corresponding relation between the position coordinate of the robot and the coordinate parameter of the mechanical arm, wherein the coordinate parameter comprises an angle and a height, and the mobile truss is in a static state;
controlling the mobile robot to move on the mobile truss at a preset speed along the width direction of the target building, and controlling the compound eye camera to shoot the building structure of the target building at preset time intervals, wherein the moving distance of the mobile robot in the preset time does not exceed the coverage range of the compound eye camera;
when the mobile robot reaches different detection positions, controlling the mobile robot to stop moving, and adjusting the camera parameters of the compound eye camera to a second preset value corresponding to the current detection position coordinates of the mobile robot according to the corresponding relation between the robot position coordinates and the mechanical arm coordinate parameters, wherein the building structure corresponding to the detection position is different from the building structure corresponding to the initial position;
controlling the mobile robot to continue to move at a preset speed and controlling the compound eye camera to shoot at preset time intervals until the mobile robot reaches a specified tail end position;
when the mobile robot reaches the tail end position, controlling the mobile robot to stop moving, and controlling the mobile truss to move for a preset distance along the length direction of the target building, wherein the preset distance does not exceed the coverage range of the compound eye camera;
controlling the mobile robot to repeat the same moving process, controlling the compound eye camera to repeat the same shooting process and controlling the mobile truss to repeat the same moving process until the mobile robot reaches a specified termination detection position;
and sending the picture information acquired by the compound eye camera to a remote computer for disease analysis so as to obtain a disease detection result corresponding to each picture in the picture information.
Compared with the prior art, the beneficial effects of this application are:
the building disease inspection device provided by the application utilizes the compound eye camera to shoot the bottom of the target building, and can obtain the three-dimensional picture information of each position area at the bottom of the target building, wherein when the compound eye camera shoots, each camera distributed on the outer surface of the support can shoot the target position area at the bottom of the target building from different shooting visual angles, so that a large-range shooting scene can be obtained, meanwhile, the shooting areas of two adjacent cameras are partially overlapped, the continuity and the integrity of the picture information are ensured, the compound eye camera can realize the three-dimensional shooting effect, and the compound eye camera can gradually shoot the large-range scene along with the movement of the mobile robot and the mobile truss without rotating, so that the efficiency of detecting the disease at the bottom of the target building is effectively improved in the link of picture information acquisition, and the problem of low quality of the picture caused by rotation shooting is effectively avoided, so that the problem of inaccurate disease detection result caused by low quality picture information can be avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of an application of a building disease inspection device in an embodiment of the present application;
FIG. 2 is an enlarged schematic view at A in FIG. 1;
fig. 3 is a schematic structural diagram of a building disease inspection device in an embodiment of the present application;
FIG. 4 is a schematic view of a first running gear according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a compound eye camera according to an embodiment of the present application;
FIG. 6 is a top view of FIG. 5;
fig. 7 is a schematic structural diagram of a compound eye camera according to another embodiment of the present application;
FIG. 8 is a top view of FIG. 7;
fig. 9 is a schematic structural diagram of a building disease detection system in an embodiment of the present application.
Description of reference numerals:
1-bridge, 2-movable truss, 21-first vertical suspension cage, 22-second vertical suspension cage, 23-horizontal truss, 231-slide rail, 24-first guide rail, 25-second guide rail, 261-control box, 262-U-shaped connecting piece, 263-motor, 264-roller, 3-movable robot, 31-mechanical arm, 32-movable base, 33-anti-rollover hook, 34-safety sensor, 4-compound eye camera, 41-camera shell, 42-supporting outer surface, 43-camera, 44-light supplement lamp, 5-wireless remote controller and 6-remote computer.
Detailed Description
In order that the above objects, features and advantages of the present application can be more clearly understood, a detailed description of the present application will be given below with reference to the accompanying drawings and detailed description. In addition, the embodiments and features of the embodiments of the present application may be combined with each other without conflict. In the following description, numerous specific details are set forth to provide a thorough understanding of the present application, and the described embodiments are merely a subset of the embodiments of the present application, rather than all embodiments. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
Referring to fig. 1 to 5, the embodiment of the present application provides a building disease inspection device, including a mobile robot 3, a compound eye camera 4, and a mobile truss 2 suspended on a target building, where the mobile truss 2 is connected to the target building in a sliding manner along a length direction of the target building, the mobile robot 3 is mounted on the mobile truss 2 and connected to the mobile truss 2 in a sliding manner along a width direction of the target building, the mobile robot 3 has a robot arm, the robot arm has a camera mounting portion, the compound eye camera 4 is mounted on the camera mounting portion, the compound eye camera 4 includes a camera housing 41 and a plurality of cameras 43, the camera housing 41 has a supporting outer surface 42, the supporting outer surface 42 is a curved surface, the cameras 43 are distributed on the supporting outer surface 42, a gap exists between the cameras 43 to cover different shooting areas, and the shooting areas of two adjacent cameras 43 are partially overlapped.
For convenience of explanation, in the embodiment of the present application, the target building is the bridge 1, and assuming that a defect at the bottom of the bridge 1 needs to be detected, in the embodiment, the operation process of the building defect inspection device is as follows:
the power supply is switched on through a pedestrian detection platform (not shown in the figure) at the bottom of the bridge 1, the mobile robot 3 with the compound eye camera 4 is placed on the mobile truss 2, then, the movable truss 2, the movable robot 3 and the compound eye camera 4 are controlled and tested, if the movable truss 2, the movable robot 3 and the compound eye camera 4 can normally operate, the inspection work of the bottom of the bridge 1 may be started, and specifically, the moving girder 2 is adjusted to the initial position, the moving robot 3 is adjusted to the initial position, the compound eye camera 4 is adjusted to a proper photographing angle by controlling the robot arm of the mobile robot 3, and then controls the mobile robot 3 on the mobile girder 2 to move toward the width direction of the bridge 1, in the moving process of the mobile robot 3, the bottom of the bridge 1 is shot by using the compound eye camera 4, so that the picture information of the bottom of the bridge 1 is obtained; when the mobile robot 3 moves from the starting end of the mobile truss 2 to the ending end of the mobile truss 2, the mobile robot 3 is controlled to stop moving and the compound eye camera 4 is controlled to stop shooting, and then the mobile truss 2 is controlled to move forwards along the length direction of the bridge 1 for a specific distance and then stops shooting, wherein the specific distance can be flexibly controlled according to the shooting range of the compound eye camera 4, for example, the shooting range of the compound eye camera 4 is 1.5 meters in the length direction of the bridge 1 multiplied by 3 meters in the width direction of the bridge 1, and the specific distance can be 1 meter, 1.1 meter, 1.2 meters and the like, as long as the situation that the compound eye camera 4 does not generate missed shooting can be ensured; and then, controlling the mobile robot 3 to return to the original path, and shooting the bottom of the bridge 1 by using the compound eye camera 4 again in the process that the mobile robot 3 returns to the original path, so as to acquire picture information of other positions at the bottom of the bridge 1, and when the mobile robot 3 returns to the starting end of the mobile truss 2 from the ending end of the mobile truss 2, controlling the mobile robot 3 to stop moving and controlling the compound eye camera 4 to stop shooting, and then controlling the mobile truss 2 to move forwards for a certain distance along the length direction of the bridge 1 again and stop shooting, and repeating the steps in a cycle until the mobile robot 3 finishes the tour of the bottom of the bridge 1.
In the embodiment, the building disease inspection device utilizes the compound eye camera 4 to shoot the bottom of the target building, so as to obtain three-dimensional picture information of each position area of the bottom of the target building, wherein when the compound eye camera 4 shoots, each camera 43 distributed on the supporting outer surface 42 can shoot the target position area of the bottom of the target building from different shooting visual angles, so as to obtain a large-scale shooting scene, meanwhile, the shooting areas of two adjacent cameras 43 are partially overlapped, so as to ensure the continuity and integrity of the picture information, so that the compound eye camera 4 can realize the three-dimensional shooting effect, furthermore, the compound eye camera 4 can gradually shoot the large-scale scene along with the movement of the mobile robot 3 and the mobile truss 2 without rotating, so that the efficiency of detecting the disease of the bottom of the target building is effectively improved in the link of picture information acquisition, and the problem of low quality of the picture caused by rotation shooting is effectively avoided, so that the problem of inaccurate disease detection result caused by low quality picture information can be avoided.
Referring to fig. 5 and 6, in an alternative embodiment, the supporting outer surface 42 is a hemispherical surface, the number of the cameras 43 is singular, wherein one camera 43 is located at the top of the hemispherical surface, and the other cameras 43 are uniformly distributed on the hemispherical surface with the top of the hemispherical surface as a center of circle, so that the compound-eye camera 4 can be more compact and beautiful while meeting the use requirement, wherein the coverage area of the hemispherical surface and the specific number of the cameras 43 can be determined according to the actual use condition, and no specific limitation is imposed on the structure.
In this embodiment, the supporting outer surface 42 of the camera housing 41 is designed to be a hemispherical surface, so that the compound-eye camera 4 can obtain a shooting range as large as possible, and thus, when a bottom structure of a bridge 1 with a large area and small structural change needs to be detected for diseases, the detection efficiency is improved.
Referring to fig. 7 and 8, in an alternative embodiment, the supporting outer surface 42 is an arc surface with a central angle smaller than 180 °, and the number of the cameras 43 is a double number, wherein the cameras 43 are arranged side by side along the arc direction of the arc surface, so that the compound eye camera 4 can be more compact and beautiful while meeting the use requirement, wherein the coverage area of the arc surface and the specific number of the cameras 43 can be determined according to the actual use condition, and no specific limitation is imposed on the structure.
In this embodiment, for some bridge 1 bottom structures with small areas and large structural changes, the size of the compound eye camera 4 should not be too large, so as to prevent the compound eye camera 4 from being too large to extend into some special positions (such as special positions with structures of corners, grooves, and the like) to shoot, therefore, the supporting outer surface 42 of the camera housing 41 is designed into an arc surface with a central angle smaller than 180 °, and the cameras 43 are arranged side by side along the arc direction of the arc surface, so that the compound eye camera 4 can obtain a larger shooting range and can adapt to some bridge 1 bottom structures with small areas and large structural changes.
Referring to fig. 1 to 4, in an alternative embodiment, the mobile truss 2 includes a horizontal truss 23, a first vertical cage 21 and a second vertical cage 22, the mobile robot 3 is slidably connected to the horizontal truss 23 along a length direction of the horizontal truss 23, two ends of the horizontal truss 23 are fixedly connected to the first vertical cage 21 and the second vertical cage 22 respectively, one end of the first vertical cage 21 away from the horizontal truss 23 is provided with a first running mechanism and a first guide rail 24, one end of the second vertical cage 22 away from the horizontal truss 23 is provided with a second running mechanism and a second guide rail 25, the first guide rail 24 and the second guide rail 25 are fixedly connected to a target building along the length direction of the target building, the first running mechanism and the second running mechanism run synchronously, the first running mechanism is configured to drive the first vertical suspension cage 21 to move along the first guide rail 24, and the second running mechanism is configured to drive the second vertical suspension cage 22 to move along the second guide rail 25.
In the embodiment, specifically, by controlling the first running mechanism and the second running mechanism to run synchronously, the first vertical suspension cage 21 and the second vertical suspension cage 22 can jointly "stick" the whole horizontal truss 23 to move along the length direction of the target building, and meanwhile, the mobile robot 3 can slide on the horizontal truss 23 along the width direction of the target building, so that the mobile robot 3 can carry the compound eye camera 4 to tour the width direction of the target building back and forth along the length direction of the target building, and the bottom of the target building can be detected comprehensively and efficiently.
Referring to fig. 3, in an alternative embodiment, the mobile robot 3 further has a mobile base 32, one end of the robot arm having a camera mount and the other end mounted on top of the mobile base 32; the bottom of the movable base 32 is provided with a pulley (not shown), the horizontal truss 23 is provided with a slide rail 231 matched with the pulley along the length direction thereof, and the movable base 32 is slidably connected to the horizontal truss 23 through the matching between the pulley and the slide rail 231.
Referring to fig. 5 to 8, in an alternative embodiment, the compound-eye camera 4 further includes a control board disposed in the camera housing 41, and a plurality of fill-in lights 44 and a plurality of optical sensors (not shown in the drawings) disposed on the supporting outer surface 42, wherein each optical sensor is disposed in one-to-one correspondence with each camera 43, each camera 43 corresponds to at least two fill-in lights 44, each fill-in light 44 and each optical sensor are electrically connected to the control board, wherein, in some specific embodiments, the fill-in lights 44 are LED lights and are disposed around the periphery of the camera 43, and the specific number of the fill-in lights 44 and the interval between the fill-in lights 44 and the camera 43 can be determined by way of experimental debugging; the optical sensor is disposed close to the camera 43, and its specific position and interval from the camera 43 can be determined by means of experimental debugging.
In this embodiment, because the positions of the cameras 43 in the compound-eye camera 4 are different, in the using process, the ambient light conditions to which each camera 43 faces also differ, which may cause the difference in the definition of the picture taken by each camera 43 to be large, thereby affecting the accuracy of the disease detection result, in order to avoid this, each camera 43 is configured with a corresponding light supplement lamp 44 and a corresponding optical sensor, the optical sensor is used to detect the light brightness of the shooting scene corresponding to the corresponding camera 43 in real time, and when the light of the environment where the camera 43 is located is detected to be too dark, the control board is used to turn on the corresponding light supplement lamp 44 for light supplement, and by adjusting the brightness of the light supplement lamp 44, the ambient light conditions to which each camera 43 faces can be substantially consistent, thereby each camera 43 can obtain a picture with good definition, and the definition of each shot picture can be substantially maintained as one Therefore, the problem that the definition of the picture shot by each camera 43 is different greatly due to too dark ambient light facing the camera 43 and too large ambient light condition difference facing the camera 43 is solved, and the accuracy of the disease detection result is prevented from being influenced by ambient light factors.
Referring to fig. 1 to 9, in an optional embodiment, the mobile robot further includes a wireless remote controller 5, the mobile robot 3 further includes a central control computer (not shown in the drawings), the first traveling mechanism includes a control box 261, a motor 263, a U-shaped connector 262 and rollers 264, the central control computer is disposed in the mobile base 32 and is in wireless communication connection with the wireless remote controller 5, the control box 261 and the compound eye camera 4, in some specific embodiments, the wireless remote controller 5 may be in wireless communication connection with the central control computer in a manner of a cloud server or the like, the control box 261 may be in wireless communication connection with the central control computer in a manner of bluetooth or wifi, and the compound eye camera 4 may be in wireless communication connection with the central control computer in a manner of bluetooth or wifi; the control box 261 is electrically connected with a motor 263, the bottom of the U-shaped connecting member 262 is fixed on the end surface of the first vertical suspension cage 21, the inner surfaces of two side portions of the U-shaped connecting member 262 are respectively and rotatably connected with a roller 264, the motor 263 is fixed on the end surface of the first vertical suspension cage 21 and the output shaft thereof is fixedly connected with one of the rollers 264, the cross section of the first guide rail 24 is in an i shape, the first guide rail 24 is positioned between the two side portions of the U-shaped connecting member 262, the U-shaped connecting member 262 is hung on the first guide rail 24 through the roller 264, wherein the roller 264 on one side portion of the U-shaped connecting member is arranged on one sliding groove of the first guide rail 24, the roller 264 on the other side portion of the U-shaped connecting member 262 is arranged on the other sliding groove of the first guide rail 24, wherein one roller 264 connected with the output shaft of the motor 263 serves as a driving wheel, and the other roller 264, the second running mechanism has the same structural composition as the first running mechanism.
In this embodiment, the mobile robot 3, the compound eye camera 4 and the mobile truss 2 may be controlled by a manual remote control, in some specific embodiments, a worker performs a control test on the mobile truss 2, the mobile robot 3 and the compound eye camera 4 through the wireless remote controller 5, and if all the above units can operate normally, the detection work of the bottom of the bridge 1 may be started, specifically, the worker starts the compound eye camera 4 through the wireless remote controller 5, and sends a corresponding command through the wireless remote controller 5 according to a real-time picture returned by the compound eye camera 4, respectively adjusts the horizontal truss 23 to a start position and the mobile robot 3 to a start position, adjusts the compound eye camera 4 to a proper angle by controlling a mechanical arm of the mobile robot 3, and then remotely controls the mobile robot 3 on the horizontal truss 23 to move towards the width direction of the bridge 1, in the moving process of the mobile robot 3, the bottom of the bridge 1 is shot by using the compound eye camera 4, so that the picture information of the bottom of the bridge 1 is obtained; when the mobile robot 3 moves from the starting end of the horizontal truss 23 to the ending end of the mobile truss 2, the remote control mobile robot 3 stops moving and controls the compound eye camera 4 to stop shooting, and then the horizontal truss 23 is controlled to move forwards for a specific distance along the length direction of the bridge 1 and then stops; then, remotely controlling the mobile robot 3 to return to the original path, and shooting the bottom of the bridge 1 by using the compound eye camera 4 again in the process that the mobile robot 3 returns to the original path, thereby obtaining the picture information of other positions at the bottom of the bridge 1, when the mobile robot 3 returns to the starting end of the mobile truss 2 from the ending end of the horizontal truss 23, remotely controlling the mobile robot 3 to stop moving and controlling the compound eye camera 4 to stop shooting, then controlling the horizontal truss 23 to move forward along the length direction of the bridge 1 for a specific distance again and then stop, and repeating the steps until the mobile robot 3 finishes the inspection of the bottom of the bridge 1, wherein in the whole process that the mobile robot 3 carries the compound eye camera 4 to inspect the bottom of the bridge 1, when the wireless remote controller 5 remotely controls the compound eye camera 4 and the mobile truss 2, the wireless remote controller 5 sends corresponding instructions to a central control computer in the mobile robot 3, then, the central control computer sends corresponding instructions to the control panel of the compound eye camera 4 or the control box 261 of the movable truss 2, so that the compound eye camera 4 and the movable truss 2 are controlled; the moving principle of the movable truss 2 is as follows:
when the control box 261 in the first traveling mechanism receives a moving instruction from the central control computer, the control box 261 controls the motor 263 to rotate, so that the rollers 264 on the two side portions of the U-shaped connecting member 262 can roll along the sliding grooves of the first guide rail 24, and further the first vertical suspension cage 21 is driven to move along the first guide rail 24, and meanwhile, the second traveling mechanism performs the same action as the first traveling mechanism, so that the first vertical suspension cage 21 and the second vertical suspension cage 22 can jointly "rod" the whole horizontal truss 23 and move along the length direction of the target building.
Referring to fig. 3, in an alternative embodiment, two side portions of the moving base 32 parallel to the advancing direction of the mobile robot 3 are provided with "L" shaped anti-rollover hooks 33, the anti-rollover hooks 33 contact with or have a gap with the side portions of the sliding rail 231, and the anti-rollover hooks 33 contact with or have a gap with the bottom portion of the sliding rail 231.
In the embodiment, since the mobile robot 3 is in suspension operation, it is easily affected by external environments such as strong wind and the like to cause rollover, and the rollover prevention hooks 33 are arranged on the side portions of the mobile base 32, so that when the mobile robot 3 is subjected to a large lateral thrust, the horizontal truss 23 abuts against the rollover prevention hooks 33, and the mobile base 32 can be pulled, the mobile robot 3 is prevented from rollover, and the safety of high altitude operation is ensured.
Referring to fig. 3, in an alternative embodiment, safety sensors 34 are disposed on two side portions of the mobile base 32 perpendicular to the moving direction of the mobile robot 3, the safety sensors 34 can be infrared distance sensors, and the safety sensors 34 are electrically connected to the central control computer.
In the embodiment, by providing the safety sensor 34, it is possible to detect whether there is an obstacle (e.g., an obstacle falling from the bottom of the bridge 1) in front of the mobile base 32 while the mobile robot 3 is moving, and when the obstacle is detected, the mobile robot 3 is controlled by the central control computer to stop moving, so as to prevent the mobile robot 3 from being damaged due to collision.
Referring to fig. 1 to 9, an embodiment of the present application further provides a building disease detection system, including a remote computer 6 and the building disease inspection device in any of the above embodiments, where the mobile robot 3 is in communication connection with the remote computer 6, the compound eye camera 4, the mobile truss 2, and the wireless remote controller 5, exemplarily, the remote computer 6 can be in wireless communication connection with the mobile robot 3 in a cloud server manner, the wireless remote controller 5 can be in wireless communication connection with the mobile robot 3 in a cloud server manner, the mobile truss 2 can be in wireless communication connection with the mobile robot 3 in bluetooth manner, wifi manner, and the like, and the compound eye camera 4 can be in wireless communication connection with the mobile robot 3 in bluetooth manner, wifi manner, and the like.
In some specific embodiments, the disease detection of the target building can be realized through a manual remote control mode, for convenience of explanation, taking the target building as a bridge 1 as an example, assuming that the disease at the bottom of the bridge 1 needs to be detected, the structure at the bottom of the bridge 1 is a groove, and the middle position area is a plane, first, a worker performs a control test on the mobile truss 2, the mobile robot 3 and the compound-eye camera 4 through the wireless remote controller 5, and if all the units can normally operate, the detection work at the bottom of the bridge 1 can be started, and then, the worker starts the compound-eye camera 4 through the wireless remote controller 5, and according to a real-time picture returned by the compound-eye camera 4, the detection work at the bottom of the bridge 1 is started through the wireless remote controller 5The device 5 issues a corresponding instruction to adjust the horizontal truss 23 to the initial position and the mobile robot 3 to the initial position (generally, the head end of the horizontal truss 23), and controls the height and angle of the mechanical arm of the mobile robot 3 to make the shooting angle and shooting height of the compound eye camera 4 at appropriate positions (specifically, whether the current shooting angle and shooting height of the compound eye camera 4 are appropriate can be judged according to the definition of the real-time picture returned by the compound eye camera 4 to the wireless remote controller 5, if in the process of adjusting the shooting angle of the compound eye camera 4, the staff can clearly know the structure at the bottom of the bridge 1 through the real-time picture, it can be determined that the compound eye camera 4 has been adjusted to the appropriate shooting angle and shooting height), and at the same time, the mobile robot 3 is controlled to associate and store the position coordinate of the mobile robot and the coordinate parameter of the mechanical arm 31 to the central control computer, a robot position coordinate-robot arm coordinate parameter correspondence is formed (in some specific embodiments, the robot position coordinate-robot arm coordinate parameter correspondence may be stored in a table format), wherein, in some specific embodiments, the position coordinates of the mobile robot 3 itself can be obtained by a built-in GPS sensor (in this case, the position coordinates are geographical position coordinates), in other specific embodiments, the position coordinates of the mobile robot 3 itself can be obtained by calculating by combining the moving speed of itself, the moving time (i.e., the time when the mobile robot 3 is in a moving state), and the moving distance of the horizontal girder 23, for example, assuming that the length of the bridge 1 is the X axis, taking the width of the bridge 1 as an axis Y, the mobile robot 3 does uniform linear motion when moving, and the distance that the horizontal truss 23 moves forwards along the length direction of the bridge 1 every time is the same; when the horizontal truss 23 is at the initial position, the position coordinates when the mobile robot 3 is at the head end position of the horizontal truss 23 are set as default coordinates (0,0) by the wireless remote controller 5, and the position coordinates of the mobile robot 3 itself (the position coordinates at this time are relative position coordinates, that is, the position coordinates of the mobile robot 3 with respect to the target building) can be obtained by calculation using the following formula H:in the formula, RPC represents movementPosition coordinates of the robot 3; x represents the coordinates of the mobile robot 3 on the X axis; y represents the coordinates of the mobile robot 3 on the Y axis; d represents the distance that the horizontal girder 23 moves forward along the length direction of the bridge 1 each time after the horizontal girder 23 is adjusted to the initial position; f denotes the number of times the horizontal girder 23 moves forward in the longitudinal direction of the bridge 1 after the horizontal girder 23 is adjusted to the start position (F is a natural number, that is, F is 0, 1, 2, 3, 4, 5, and 6 … …), and S denotes the moving speed of the mobile robot 3; t isFRepresents the moving time taken for the mobile robot 3 to move from the head end of the horizontal girder 23 to the tail end of the horizontal girder 23 during the moving process; t is0Represents the moving time taken for the mobile robot 3 to move from the head end of the horizontal girder 23 to the tail end of the horizontal girder 23 for the first time; t isF+1Represents the moving time taken for the mobile robot 3 to move from the tail end of the horizontal girder 23 to the head end of the horizontal girder 23 during the moving process; for example, assuming that the mobile robot 3 first moves from the head end of the horizontal girder 23 to the tail end of the horizontal girder 23, S is 1 m/S, and D is 1 m/S, the position coordinates of the mobile robot after moving for 10 seconds may be represented by (0, 10; and assuming that the mobile robot 3 first moves from the tail end of the horizontal girder 23 to the head end of the horizontal girder 23, S is 1 m/S, T is 1 m/S, for example030 seconds, D is 1 m/time, the position coordinates of the mobile robot after moving for 10 seconds can be expressed by (1, 20;
then, the moving speed of the mobile robot 3 is adjusted to a predetermined speed and the photographing interval time of the compound eye camera 4 is adjusted to a predetermined time through the wireless remote controller 5, and the speed parameter and the photographing time parameter are stored in the central control computer, wherein the predetermined speed and the predetermined time can be determined according to the photographing range of the compound eye camera 4, for example, if the photographing range of the compound eye camera 4 is 1.5 m in the length direction of the bridge 1 × 3 m in the width direction of the bridge 1, the predetermined speed can be 1 m/s, and the predetermined time can be 2 s (that is, the moving speed of the mobile robot 3 is 2 m, and the compound eye camera 4 performs photographing once); after the related parameters are set, a worker controls the mobile robot 3 to move along the width direction of the bridge 1 through the wireless remote controller 5 and observes a real-time picture returned by the compound eye camera 4, when the fact that the mobile robot 3 reaches the groove in the middle position area of the bridge 1 is known through the real-time picture, the mobile robot 3 is controlled to stop moving through the wireless remote controller 5, the height and the angle of the mechanical arm 31 are adjusted through the wireless remote controller 5, the shooting angle and the shooting height of the compound eye camera 4 are made to be in proper positions, meanwhile, the mobile robot 3 is controlled to associate the position coordinate of the mobile robot 3 and the coordinate parameter of the mechanical arm 31 at the moment and add the position coordinate of the mobile robot and the coordinate parameter of the mechanical arm 31 to the corresponding relation of the robot position coordinate-mechanical arm coordinate parameter, in addition, when the mobile robot 3 reaches the groove in the middle position area of the bridge 1, the moving speed of the mobile robot 3 and the shooting interval time of The whole is stored in the central control computer, the adjusted parameters can be the same as the parameters previously stored or different from the parameters previously stored, wherein in other embodiments, when the parameters to be adjusted are the same as the parameters previously stored, the adjustment operation is not needed, so that when the mobile robot 3 moves again, the mobile robot 3 moves according to the previously stored speed parameters, and the compound-eye camera 4 shoots according to the previously stored time parameters; after the related parameters are set again, the worker controls the mobile robot 3 to continuously move along the width direction of the bridge 1 through the wireless remote controller 5, observes a real-time picture returned by the compound eye camera 4, controls the mobile robot 3 to stop moving through the wireless remote controller 5 after knowing that the mobile robot 3 walks out of a groove in the middle position area of the bridge 1 through the real-time picture, adjusts the height and the angle of the mechanical arm 31 through the wireless remote controller 5, enables the shooting angle and the shooting height of the compound eye camera 4 to be in proper positions, controls the mobile robot 3 to correlate the position coordinate of the mobile robot 3 and the coordinate parameter of the mechanical arm 31 at the moment and newly adds the position coordinate parameter and the coordinate parameter into the corresponding relation of the robot position coordinate and the mechanical arm coordinate parameter, and similarly can adjust the speed parameter of the mobile robot 3 and the time parameter of the compound eye camera 4 at the moment, or not to adjust; after the relevant parameters are set again, the worker controls the mobile robot 3 to continue moving along the width direction of the bridge 1 through the wireless remote controller 5, observes the real-time image sent back by the compound-eye camera 4, and controls the mobile robot 3 to stop moving through the wireless remote controller 5 when the real-time image shows that the mobile robot 3 walks to the tail end of the horizontal truss 23 (in other embodiments, the mobile robot 3 can automatically stop moving when the mobile robot 3 reaches the head end or the tail end of the horizontal truss 23 due to the safety sensor 34 arranged on the mobile base 32), and then controls the horizontal truss 23 to move forward a predetermined distance along the length direction of the bridge 1, and stores the distance parameters of the mobile truss 2 into the central control computer, wherein the predetermined distance can be flexibly controlled according to the shooting range of the compound-eye camera 4, for example, the shooting range of the compound eye camera 4 is 1.5 meters in the length direction of the bridge 1 and 3 meters in the width direction of the bridge 1, and the preset distance can be 1 meter, 1.1 meter, 1.2 meters and the like, as long as the compound eye camera 4 is ensured not to miss shooting; then, the mobile robot 3 is controlled to return to the original path through the wireless remote controller 5, and the same steps are repeated in the process of returning the original path of the mobile robot 3 until the mobile robot 3 finishes the inspection of the bottom of the bridge 1, so that the picture information and related control parameters (such as the moving speed of the mobile robot 3, the shooting time interval of the compound-eye camera 4, the shooting angle and the shooting height of the compound-eye camera 4 when the mobile robot 3 is at different positions, and the like) of the bottom of the whole bridge 1 can be obtained, and the obtained picture information can be sent to the remote computer 6 for disease analysis to obtain the disease detection results (namely, the position information, the existence of the disease and the disease type of each part of the bridge 1) of the bottom of the bridge 1, wherein the obtained picture information can be uploaded to a cloud server, the remote computer 6 obtains the disease detection results from the cloud server, or stored in a central control computer, and is manually taken out and input into a remote computer 6; in addition, in the whole process that the mobile robot 3 carries the compound eye camera 4 to patrol the bottom of the bridge 1, relevant control parameters are stored in the central control computer, so that when secondary detection is required to be carried out on the bottom of the bridge 1 subsequently, disease detection on a target building can be realized through the stored data and the central control computer in an automatic control mode.
The embodiment of the present application further provides a building disease detection method, which is applied to the building disease detection system, and is specifically applied to the central control computer, and the method includes:
s1, when the mobile robot 3 stops at the appointed initial position, the central control computer adjusts the current coordinate parameter of the mechanical arm 31 to a first preset value corresponding to the initial position coordinate of the mobile robot 3 according to the pre-stored corresponding relation of the robot position coordinate and the mechanical arm coordinate parameter, wherein the coordinate parameter comprises height and angle, and the mobile truss 2 is in a static state;
s2, controlling the mobile robot 3 to move on the mobile truss 2 along the width direction of the target building at a preset speed, and controlling the compound eye camera 4 to shoot the building structure of the target building at preset time intervals, wherein the moving distance of the mobile robot 3 in the preset time does not exceed the coverage range of the compound eye camera 4;
s3, when the mobile robot 3 reaches different detection positions (for example, for the bridge 1 whose bottom structure is a groove in the middle position area and other position areas are planes, the middle position area can be used as a detection position different from the other position areas), controlling the mobile robot 3 to stop moving, and adjusting the coordinate parameter of the robot arm 31 to a second predetermined value corresponding to the current detection position coordinate of the mobile robot 3 according to the robot position coordinate-robot arm coordinate parameter corresponding relationship, where the building structure corresponding to the detection position is different from the building structure corresponding to the starting position;
s4, controlling the mobile robot 3 to move continuously at a preset speed and controlling the compound eye camera 4 to shoot at preset time intervals until the mobile robot 3 reaches a specified end position;
s5, when the mobile robot 3 reaches the designated end position, controlling the mobile robot 3 to stop moving, and controlling the mobile truss 2 to move along the length direction of the target building by a predetermined distance, wherein the predetermined distance does not exceed the coverage of the compound eye camera 4;
s6, controlling the mobile robot 3 to repeat the same moving process, controlling the compound eye camera 4 to repeat the same shooting process, and controlling the mobile truss 2 to repeat the same moving process until the mobile robot 3 reaches the specified end detection position;
and S7, sending the picture information acquired by the compound eye camera 4 to the remote computer 6 for disease analysis to obtain a disease detection result corresponding to each picture in the picture information.
In S1, the mobile robot 3 may be remotely controlled by the wireless remote controller 5 to stop at a specified start position at the beginning, where the specified start position may be the head end position of the horizontal truss 23 or the tail end position of the horizontal truss 23, and this is not particularly limited; the pre-stored corresponding relationship between the robot position coordinates and the mechanical arm coordinate parameters comprises position coordinate information of a plurality of mobile robots 3 and mechanical arm 31 coordinate parameters which are in one-to-one correspondence with the position coordinate information; specifically, the mobile robot 3 may be controlled to enter the automatic detection mode by the wireless remote controller 5, then the central control computer obtains the initial position coordinate when the mobile robot 3 is at the initial position, and further finds out the corresponding mechanical arm 31 coordinate parameter (i.e. the first predetermined value) from the pre-stored correspondence between the robot position coordinate and the mechanical arm coordinate parameter according to the obtained initial position coordinate, and further adjusts the current coordinate parameter of the mechanical arm 31 to the first predetermined value (i.e. adjusts the current angle and height of the mechanical arm 31 to the predetermined angle and height, respectively), so that the shooting angle and shooting height of the compound-eye camera 4 may be at the predetermined angle and height values, wherein, in some embodiments, the central control computer may obtain the position coordinate (i.e. the geographic position coordinate) of the mobile robot 3 in real time by a GPS sensor built in the mobile robot 3, in other embodiments, the central control computer may obtain the position coordinates of the mobile robot 3 (i.e., the position coordinates of the mobile robot 3 relative to the target building) in real time through the above formula H, which is built in, and those skilled in the art can understand that the detailed description is omitted here.
In the above S2 to S6, the meaning and the control process of the related parameters are similar to the control of the mobile robot 3, the compound-eye camera 4, and the mobile truss 2 by the wireless remote controller 5, and reference may be made to the foregoing embodiment of detecting the disease of the target building by a manual remote control mode, which is not described herein again.
In S7, in some embodiments, the picture information obtained by each shooting by the compound eye camera 4 may be uploaded to the cloud server through the central control computer, and the cloud server sends the received picture information to the remote computer 6 for disease analysis, in other embodiments, the picture information obtained by each shooting by the compound eye camera 4 may be sent to the central control computer for storage, and then taken out manually and then input to the remote computer 6 for disease analysis; in addition, in some embodiments, the picture information acquired by the remote computer 6 may be two-dimensional picture information or three-dimensional picture information, and when the acquired picture information may be two-dimensional picture information, the remote computer 6 performs three-dimensional processing on the two-dimensional picture information through a built-in dedicated software: separating the two-dimensional pictures shot by each camera 43, removing shadows and compensating distortion, re-mapping the pictures in a single two-dimensional picture, finding different positions in the two-dimensional pictures obtained by each camera 43 in the re-mapping process, accumulating the operations, and extracting the distance, the color and the shape of an object so as to obtain a reconstructed three-dimensional image, and then inputting the obtained three-dimensional image into a pre-trained disease analysis model for disease analysis so as to obtain a disease detection result corresponding to the three-dimensional image, wherein the training process of the disease analysis model is as follows: preparing a large number of three-dimensional images representing different disease types in advance, wherein one part of the three-dimensional images is used as a training set (accounting for 70%), the other part of the three-dimensional images is used as a verification set (accounting for 30%), the disease analysis model is trained by using part of the training set, then the trained disease analysis model is verified by using part of the verification set so as to check whether the recognition precision of the disease analysis model reaches the preset precision, if the recognition precision reaches the preset precision, the training is stopped, otherwise, the training set is repeatedly used for training the disease analysis model until the recognition precision of the disease analysis model reaches the preset precision, and thus the disease analysis model with the disease analysis function is obtained, wherein the disease analysis model can adopt a convolutional neural network model or other neural network models with deep learning functions, and is not specifically limited; when the image information acquired by the remote computer 6 is three-dimensional image information, the acquired three-dimensional image information can be directly input into a pre-trained disease analysis model for disease analysis, so that a disease detection result corresponding to the three-dimensional image information can be acquired; that is, the process of three-dimensionally processing the two-dimensional picture information obtained by each camera 43 in the compound-eye camera 4 can be completed in the compound-eye camera 4, the central control computer, or the remote computer 6, and in practical applications, the process of three-dimensionally processing the two-dimensional picture information is generally completed by the remote computer 6 in consideration of the problems of more picture information collected by the compound-eye camera 4, and great difficulty in processing the picture information (such as hardware requirements).
In this embodiment, after the disease detection of the target building is realized in the manual remote control mode for the first time, the central control computer can record and store the relevant data, so that when the bottom of the bridge 1 needs to be detected for the second time, the central control computer can control the building disease inspection device to automatically complete the detection work on the bottom of the target building according to the stored data, thereby realizing the automation and the intellectualization of the disease detection, greatly improving the efficiency of the disease detection on the bottom of the target building, and simultaneously improving the user experience.
The foregoing is only a preferred embodiment of the present application and is not intended to limit the present application in any way, so that any modifications, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present application will still fall within the scope of the present application.
Claims (10)
1. The utility model provides a building disease inspection device which characterized in that, including mobile robot, compound eye camera and hoist and mount the removal truss on the target building, remove the truss along the length direction of target building with target building sliding connection, mobile robot install in on the removal truss and along the width direction of target building with remove truss sliding connection, mobile robot has robotic arm, robotic arm has the camera installation department, compound eye camera installs on the camera installation department, compound eye camera includes camera housing and a plurality of camera, wherein, camera housing has the support surface, the support surface is the cambered surface, each the camera distributes and sets up in on the support surface, each there is the interval between the camera and covers different shooting areas, and the shooting areas of two adjacent cameras are partially overlapped.
2. The building disease patrol device according to claim 1, wherein the outer surface of the support is a hemispherical surface, the number of the cameras is singular, one of the cameras is located at the top of the hemispherical surface, and the rest of the cameras are uniformly distributed on the hemispherical surface with the top of the hemispherical surface as a center.
3. The building disease patrol device according to claim 1, wherein the support outer surface is an arc surface having a central angle of less than 180 °, and the number of the cameras is a double number, wherein the cameras are arranged side by side along an arc direction of the arc surface.
4. The building disease inspection device according to claim 1, wherein the movable truss comprises a horizontal truss, a first vertical cage and a second vertical cage, the movable robot is slidably connected to the horizontal truss, two ends of the horizontal truss are respectively fixedly connected to the first vertical cage and the second vertical cage, one end of the first vertical cage, which is far away from the horizontal truss, is provided with a first running mechanism and a first guide rail, one end of the second vertical cage, which is far away from the horizontal truss, is provided with a second running mechanism and a second guide rail, the first guide rail and the second guide rail are fixedly connected to the target building along the length direction of the target building, the first running mechanism and the second running mechanism run synchronously, wherein the first running mechanism is used for driving the first vertical cage to move along the first guide rail, and the second walking mechanism is used for driving the second vertical suspension cage to move along the second guide rail.
5. The building disease patrol device according to claim 4, wherein the mobile robot further has a mobile base, one end of the robot arm has the camera mounting portion, and the other end is mounted on the top of the mobile base; the bottom of the movable base is provided with a pulley, the horizontal truss is provided with a sliding rail matched with the pulley along the length direction of the horizontal truss, and the movable base is connected to the horizontal truss in a sliding manner through the matching between the pulley and the sliding rail.
6. The building disease inspection device according to claim 5, further comprising a wireless remote controller, wherein the mobile robot further comprises a central control computer, the first traveling mechanism comprises a control box, a motor, a U-shaped connecting member and rollers, the central control computer is arranged in the mobile base and is in wireless communication with the wireless remote controller, the control box and the compound eye camera, respectively, the control box is electrically connected with the motor, the bottom of the U-shaped connecting member is fixed on the end surface of the first vertical suspension cage, the inner surfaces of the two side portions of the U-shaped connecting member are rotatably connected with the rollers, respectively, the motor is fixed on the end surface of the first vertical suspension cage, an output shaft of the motor is fixedly connected with one of the rollers, the cross section of the first guide rail is in an I shape, and the first guide rail is located between the two side portions of the U-shaped connecting member, the U-shaped connecting piece is hung on the first guide rail through the roller, wherein the roller on one side part of the U-shaped connecting piece is arranged on one sliding groove of the first guide rail, and the roller on the other side part of the U-shaped connecting piece is arranged on the other sliding groove of the first guide rail.
7. The building disease inspection tour device of claim 5, characterized in that the lateral part of the mobile base is provided with an anti-rollover hook, the anti-rollover hook is in contact with the lateral part of the slide rail or has a gap, and the anti-rollover hook is in contact with the bottom of the slide rail or has a gap.
8. The building disease inspection device according to any one of claims 1 to 7, wherein the compound-eye camera further comprises a control board disposed in the camera housing, and a plurality of fill-in lights and a plurality of optical sensors disposed on the outer surface of the support, wherein each of the optical sensors is disposed in one-to-one correspondence with each of the cameras, each of the cameras corresponds to at least two of the fill-in lights, and each of the fill-in lights and the optical sensors is electrically connected to the control board.
9. A building disease detection system comprising a remote computer and the building disease inspection apparatus according to any one of claims 1 to 8, wherein the mobile robot is in communication connection with the remote computer, the compound eye camera and the mobile truss respectively.
10. A building disease detection method applied to the building disease detection system according to claim 9, the method comprising:
when the mobile robot stops at a specified initial position, adjusting the current coordinate parameter of the mechanical arm to a first preset value corresponding to the initial position coordinate of the mobile robot according to the pre-stored corresponding relation between the robot position coordinate and the mechanical arm coordinate parameter, wherein the coordinate parameter comprises an angle and a height, and the mobile truss is in a static state;
controlling the mobile robot to move on the moving truss at a preset speed along the width direction of a target building, and controlling the compound eye camera to shoot the building structure of the target building at intervals of preset time, wherein the moving distance of the mobile robot in the preset time does not exceed the coverage range of the compound eye camera;
when the mobile robot reaches different detection positions, controlling the mobile robot to stop moving, and adjusting the camera parameters of the compound eye camera to a second preset value corresponding to the current detection position coordinate of the mobile robot according to the corresponding relation between the robot position coordinate and the mechanical arm coordinate parameter, wherein the building structure corresponding to the detection position is different from the building structure corresponding to the starting position;
controlling the mobile robot to continue to move at the preset speed, and controlling the compound eye camera to shoot at the preset time interval until the mobile robot reaches the appointed end position;
when the mobile robot reaches the end position, controlling the mobile robot to stop moving, and controlling the mobile truss to move for a preset distance along the length direction of the target building, wherein the preset distance does not exceed the coverage range of the compound eye camera;
controlling the mobile robot to repeat the same moving process, controlling the compound eye camera to repeat the same shooting process and controlling the mobile truss to repeat the same moving process until the mobile robot reaches a specified termination detection position;
and sending the picture information acquired by the compound eye camera to a remote computer for disease analysis so as to obtain a disease detection result corresponding to each picture in the picture information.
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