CN115125806B

CN115125806B - Pedestrian road surface tile detection vehicle and detection method

Info

Publication number: CN115125806B
Application number: CN202210640865.9A
Authority: CN
Inventors: 郭振团
Original assignee: Beijing Run'an Construction Engineering Co ltd
Current assignee: Beijing Run'an Construction Engineering Co ltd
Priority date: 2022-06-08
Filing date: 2022-06-08
Publication date: 2024-05-14
Anticipated expiration: 2042-06-08
Also published as: CN115125806A

Abstract

The invention provides a pavement tile detection vehicle and a detection method thereof, wherein the detection vehicle comprises a vehicle frame, a carrier, an upper frame, a water tank, tiles, a spray head, a light source and a camera; the frame is used for bearing a carrier, is provided with a transverse shaft groove and is used for accommodating a carrier shaft, and the bottom surface of the frame is provided with an upward wheel groove and is used for accommodating carrier wheels; the carrier comprises a support frame for supporting the tiles, the frame of the support frame is connected with a shaft provided with wheels, a fine steel wire net is arranged in the middle of the carrier, and a plurality of tiles are arranged on the fine steel wire net according to the requirement; it is proposed for the first time to use a water spray to detect the quality of the laying of floor tiles, in particular tiles. The method is easy to construct and operate, high in detection precision and low in cost, does not need a higher level of operators, and is suitable for large-scale construction on complex municipal construction sites.

Description

Pedestrian road surface tile detection vehicle and detection method

Technical Field

The invention relates to the field of municipal road surface detection, in particular to the field of pavement tile alignment detection.

Background

Tiles are often paved on municipal roads, and for square tiles, the paving accuracy and normalization of the square tiles can be easily detected through tools such as a ruler. However, it is difficult to detect whether tiles with irregular shapes are aligned or not when they are laid, whether gaps are uniform or not, and the like.

In the prior art, the detection is usually carried out by using a visual method, but the detection is time-consuming, labor-consuming and influenced by large human factors.

In order to improve the detection precision, a machine vision mode is also proposed in the prior art, however, the camera shooting range is limited, the camera shooting range is difficult to be suitable for large-scale operation, the requirement on operators is high, and the equipment cost is high.

There are also methods employing mechanical probes, which are used for detection by scribing or touch sensing. However, the floor tiles need to be contacted, so that the floor tiles are extremely easy to damage under a complex construction environment, and are difficult to operate, and the floor tiles are unfavorable for construction sites with severe environments. In addition, the conventional ranging modes such as ultrasonic and electromagnetic waves are one of the detection means, but the requirements on operators are high, the equipment cost is high, and the method is not suitable for large-scale operation in severe environments.

In addition, most of the existing detection methods and equipment can only aim at one floor tile, and a plurality of floor tiles exist on a construction site, so that the requirements of site construction cannot be met.

Therefore, a tile detection device which is low in cost, easy to operate by workers, capable of meeting various construction occasions and high in detection accuracy is urgently needed.

Disclosure of Invention

In order to solve the above problems and many problems mentioned in the following embodiments, the present invention proposes the following solutions:

The invention provides a pavement tile detection vehicle for a pavement,

Comprises a frame, a carrier, an upper frame, a water tank, tiles, a spray head, a light source and a camera;

the frame is used for bearing a carrier, is provided with a transverse shaft groove and is used for accommodating a carrier shaft, and the bottom surface of the frame is provided with an upward wheel groove and is used for accommodating carrier wheels;

The carrier comprises a support frame for supporting the tiles, the frame of the support frame is connected with a shaft provided with wheels, a fine steel wire net is arranged in the middle of the carrier, and a plurality of tiles are arranged on the fine steel wire net according to the requirement;

the support frame moves in the wheel groove under the drive of the wheel, so that the carrier can be pulled out, the tiles are placed on the support frame, and then the carrier is pushed into the frame; in the process, the shaft is clamped in a shaft groove of the frame;

the frame of the carrier is provided with a water tank for containing water, and redundant water sprayed by the spray head is contained in the water tank and flows into the water tank through a connecting pipeline;

the upper frame is arranged above the frame, and a spray head and a light source are arranged on the bottom surface of the upper frame;

the spray head is used for spraying water to the spliced tiles on the carrier, and water flow is ejected out from gaps of the tiles, so that water mark patterns of the gaps of the tiles are formed on the ground;

The light source is used for projecting light to the spliced tiles on the carrier, and the light contour exposed from the gaps of the spliced tiles is aligned with one tile paved on the ground, so that the alignment of the detection vehicle and the ground tile to be detected is completed;

The camera is arranged on the bottom surface of the frame and used for shooting ground tile images.

In an alternative embodiment: the water tank is arranged at one end of the frame and is used for providing a water source for the spray head.

In an alternative embodiment: the water tank is provided with a gas storage device for maintaining the air pressure in the barrel.

In an alternative embodiment: the shaft groove is provided with a clamping shaft groove extending downwards, and after the carrier rack advances into the frame, the shaft of the carrier rack falls into the clamping shaft groove, so that the carrier rack can be limited from moving forwards and backwards.

In an alternative embodiment: the corresponding position of the wheel groove on the bottom surface of the frame, which is upward, is also provided with a wheel clamping groove.

In an alternative embodiment: an inclined plane is arranged between the shaft groove and the clamping shaft groove.

In an alternative embodiment: the spray head is arranged on the sliding rail on the bottom surface of the upper frame.

The invention also provides a pavement tile detection method, which is characterized in that the pavement tile detection vehicle for the pavement is used, and the method comprises the following steps:

Placing a plurality of tiles which are the same as the ground paving tiles on a carrier as standard tiles, and arranging the standard tiles according to the splicing mode and the gap size of the ground paving tiles;

Scanning and spraying water to the standard tiles by using a spray head, spraying water from gaps of the standard tiles, and spraying water on tiles paved on the ground;

observing water marks on the ground tiles, and if a certain tile appears: and if more water marks are arranged on two sides of the tile gap or the water marks are not uniformly distributed along the gap, the gap of the tile is considered to be unsatisfactory.

In an alternative embodiment, the method further comprises, prior to scanning the water spray to the standard tile with the spray head: the light source of the detection vehicle is started to uniformly emit light to the standard tiles on the carrier, the illumination light is emitted from gaps among the standard tiles and projected on the ground, and the projected outline of the standard tiles is aligned with the outline of the first tile on the ground.

In an alternative embodiment, a scanning water spray is used, with the spray head mounted for sliding water spray on the rail.

Inventive aspects and technical effects

1. It is proposed for the first time to use a water spray to detect the quality of the laying of floor tiles, in particular tiles. The method is easy to construct and operate, high in detection precision and low in cost, does not need a higher level of operators, and is suitable for large-scale construction on complex municipal construction sites.

2. Through the special design of recess on the frame for standard tile can conveniently load and unload, and can firmly fix on the car in the testing process, thereby improves measurement accuracy.

3. Through the design of shower nozzle motion mode and water spray mode, guaranteed the accuracy of water spray to avoid detecting the error.

The invention is not limited to the above, and the technical matters described in the embodiments are specific.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 is an overall schematic diagram of a test vehicle;

FIG. 2 is a side view of the carrier rack mated with the frame;

FIG. 3 is a schematic cross-sectional view of a frame tail groove;

FIG. 4 is a schematic illustration of a standard tile placed on a test vehicle;

The corresponding relation of each component in the drawings is as follows: the device comprises a frame 1, a carrier 2, an upper frame 3, a water tank 4, tiles 5, a spray head 6, a light source 7, a camera 8, an axle groove 1-1, a support frame 2-1, a carrier wheel 2-2 and a carrier axle 2-3.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Referring to fig. 1-4, fig. 1 is an overall schematic diagram of a test vehicle; FIG. 2 is a side view of the carrier rack mated with the frame; FIG. 3 is a schematic cross-sectional view of a frame tail groove; fig. 4 is a schematic view of a standard tile placed on a test vehicle.

System structure of detection vehicle

The detection vehicle comprises a frame 1, a carrier 2, an upper frame 3, a water tank 4, tiles 5, a spray head 6, a light source 7 and a camera 8.

Wherein the frame is used for bearing the object carrier. The carriage has an axle recess 1-1 for receiving a carrier axle 2-3. The bottom surface of the frame has an upwardly directed wheel recess for receiving a load carrier wheel 2-2. The carrier comprises a support frame 2-1 for supporting the tiles. The frame of the support frame is connected with the shaft, a thin steel wire net is arranged in the middle, and a plurality of tiles are arranged on the thin steel wire net according to the requirement. The support frame moves in the upward wheel groove of the frame under the drive of the wheels, so that a worker can pull out the carrier frame, place the tiles on the support frame, and push the carrier frame into the frame. In this process, the shaft is clamped in the shaft groove of the frame, so that the carrier is prevented from overturning after being loaded with tiles.

The transverse groove is provided with a clamping shaft groove extending downwards at the fixed position of the frame. Therefore, after the carrier frame is pushed into the frame, the shaft of the carrier frame falls into the clamping shaft groove, so that the carrier frame can be limited not to move back and forth, and the stability in the detection process is ensured. The setting position of the clamping shaft groove can be set according to the position of the carrier frame after the carrier frame is pushed into the frame, and a plurality of clamping shaft grooves are arranged, namely each shaft on the carrier frame corresponds to the clamping shaft groove, so that the whole carrier frame is ensured to fall down to be clamped after the carrier frame is pushed into the predetermined position of the frame. Of course, the corresponding position of the wheel groove on the bottom surface of the frame, which is upward, is also provided with a wheel clamping groove, thereby ensuring that the wheels synchronously fall and avoiding repeated description. Preferably, an inclined plane is arranged between the shaft groove and the clamping shaft groove, so that the carrier can be conveniently pulled out again after falling into the vertical groove, and the vertical groove is prevented from being damaged by repeated pulling, which is also one of the invention points.

The carrier frame has a water tank for holding water in which excess water from the spray heads is held and flows into the water tank through the connecting pipe.

The bottom surface of the upper frame is provided with a spray head and a light source. The upper spray head is used for spraying water to the spliced tiles on the carrier, and water flows are ejected out from gaps of the tiles, so that water mark patterns of the gaps of the tiles are formed on the ground. The spray head is arranged on the slide rail on the bottom surface of the upper frame, and can spray water in a moving manner according to a control method, so that misjudgment caused by different water spray amounts in different areas is avoided. The specific control method will be described in detail below.

The light source is used for projecting light to the spliced tiles on the carrier and aligning with a tile paved on the ground by utilizing the bright light outlines exposed from the gaps of the spliced tiles, so that the alignment of the detection vehicle and the ground tile to be detected is completed.

The camera is arranged on the bottom surface of the frame and used for shooting ground tile images. The method is used for collecting images of the bright outline and the ground tiles to realize alignment; and the method is also used for detecting the water mark image after water spraying and comparing the water mark image with the spliced image of the ground tile so as to judge the paving quality of the ground paved tile.

One end of the frame is provided with a water tank for providing water source for the spray head. The air storage equipment (high-pressure air is filled in advance when the vehicle is started) is arranged in the water tank and used for keeping the air pressure in the barrel, so that the water spraying of the spray head can be realized through the control of the electromagnetic valve, the water is not required to be pumped by the extra water pump, the huge noise brought by the water pump is avoided when the larger flow rate of the sprayed water is ensured, and the surrounding environment is influenced. Since municipal construction is typically in areas where personnel are intensive, noise is avoided by this means and is also one of the inventive aspects of the present invention.

Method of operation

As the common tiles absorb water after meeting water, deeper water marks are left, the quality of tile splicing, such as gap size, uniform gap, straight tiles and the like, can be detected by utilizing the water marks. The device and the method can be used for detecting while constructing, and are more rapid and direct.

1. And pulling out the detection vehicle carrier, and taking a plurality of tiles which are the same as the ground paving tiles as standard tiles to be placed on the carrier. And arranging the standard tiles according to the splicing mode of paving the tiles on the ground and the size of the gaps.

2. The carrier is pushed back and the shaft of the carrier is lowered into the shaft recess, clamping the carrier.

3. Paving tiles on the ground, pushing the detection vehicle to a region to be detected before filling gaps, starting a light source of the detection vehicle to uniformly emit light to standard tiles on the carrier, emitting illumination light from the gaps among the standard tiles, and projecting the illumination light on the ground. The contour of the standard tile is aligned with the contour of the first tile on the ground.

4. Starting the detection vehicle to advance forwards, wherein the distance of each advance is the sum of the standard tile and the standard gap width. After traveling the distance, the vehicle is stopped.

5. And starting the spray head after stopping, spraying water from front to back, and closing the spray head after spraying water.

6. And starting the vehicle to continue to travel after the water spraying is finished, and the like.

7. Visually observing water marks on the ground tiles, and if a certain tile appears: the gaps of the tiles are considered to be unsatisfactory if the gaps on both sides of the tile gaps are more watermarks (usually more than 1/4 of the gap width) or the watermarks are not evenly distributed along the gaps. Of course, the camera can be used for collecting the water mark image and comparing with the tile spliced image, so that whether the water mark is basically distributed along the gap is judged, and the tile laying quality is further judged. However, this function is not required for a simple inspection vehicle.

The detection method is simple and is suitable for various tiles. Whereas detection of general machine vision principles requires the creation of a tile model or standard map in a database, which requires a lot of time and labor costs and is difficult to adapt to each worksite. The invention can detect the tiles by taking a plurality of tiles on a construction site and placing the tiles on a detection vehicle as standard tiles, is simple and easy to operate, and can be operated by workers with low cultural degree. However, in the conventional mechanical stylus type detection vehicle, each gap needs to be stretched into for detection, if the pattern of the tile is complex, the time and the effort are consumed, and the stylus is easy to damage.

Spray head control method

The splicing quality of the ground tiles is judged through the water mark of the water spray, so whether the water spray is uniform is important.

In order to ensure uniform water spraying, scanning type water spraying is adopted, namely, a spray head slides on a track to spray water. However, because the spray head can shake uncontrollably due to inertia when starting and stopping, errors in the direction of spraying water can be caused, so that more water can be sprayed at certain positions, and undesirable accumulated water errors can be caused. For this reason, it is necessary to precisely control the movement of the sprinkler head.

V=a (sin ((t-1/2) ×pi) +1), when 0+.ltoreq.t < 1;

v= 2*a, when 1+.t < 3;

v=a (sin ((t-1/2) ×pi) +1), when 3+.ltoreq.t < 4;

v is the velocity of the spray head movement, t is time, and a is an empirical constant, typically 0.5. Therefore, shaking caused by the movement of the spray head can be avoided.

In addition, the sprinkler control should be coordinated with the motion. Even if the spray head moves at a uniform speed, the spray head can shake due to the residual shake caused by the previous acceleration or deceleration, and therefore, the spray head needs to be controlled to spray water.

When T is more than or equal to 0 and less than T1, the spray head is closed;

when T1 is less than or equal to T < T2, the spray head sprays water;

When T2 is less than or equal to T <4, the spray head is closed;

in general, t1=0.8 and t2=3.2 are used to cancel fluctuation of the water injection amount caused by water pressure instability at the start and end of water injection.

But the coefficient may be adjusted according to the water pressure. T1=0.9, t2=3.1 when the water pressure is greater than 2 atmospheres; t1=0.8, t2=3.2 when the water pressure is lower than 2 atmospheres.

Device self-checking method

3. Placing water absorbing paper on the ground, pushing the detection vehicle to the position above the water absorbing paper, and starting the spray head to scan and spray water.

4. Taking out the water absorbing paper, observing whether other areas except for water marks caused by gaps on the water absorbing paper also have water marks, if the other areas are dry and have no water marks, carrying out the next step, otherwise judging that the detection vehicle has faults;

5. The absorbent paper was placed on a standard tile and observed after alignment of the water mark with the gap. If the water mark is aligned with the gap, and the width of the water mark is not more than 1.2 times of the width of the gap, judging that the detection vehicle is normal, otherwise, judging that the detection vehicle has faults. And (5) completing self-checking.

It will be appreciated that in addition to the foregoing, some conventional structures and conventional methods are included, and as such are well known, they will not be described in detail. But this does not mean that the structures and methods do not exist in the present invention.

It will be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been shown and described herein in detail, many other variations or modifications which are in accordance with the principles of the invention may be directly ascertained or inferred from the present disclosure without departing from the spirit and scope of the invention. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with the present application are fully or partially produced. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line), or wireless (e.g., infrared, wireless, microwave, etc.). Computer readable storage media can be any available media that can be accessed by a computer or data storage devices, such as servers, data centers, etc., that contain an integration of one or more available media. Usable media may be magnetic media (e.g., floppy disk, hard disk, magnetic tape), optical media (e.g., DVD), or semiconductor media (e.g., solid state disk Solid STATE DISK), etc.

Claims

1. The utility model provides a pavement tile detection car which characterized in that:

2. The inspection vehicle of claim 1, wherein: the water tank is arranged at one end of the frame and is used for providing a water source for the spray head.

3. The inspection vehicle of claim 2, wherein: the water tank is provided with a gas storage device for maintaining the air pressure in the tank.

4. The inspection vehicle of claim 1, wherein: the shaft groove is provided with a clamping shaft groove extending downwards, and after the carrier rack advances into the frame, the shaft of the carrier rack falls into the clamping shaft groove, so that the carrier rack can be limited from moving forwards and backwards.

5. The inspection vehicle of claim 4, wherein: the corresponding position of the wheel groove on the bottom surface of the frame, which is upward, is also provided with a wheel clamping groove.

6. The inspection vehicle of claim 5, wherein: an inclined plane is arranged between the shaft groove and the clamping shaft groove.

7. The inspection vehicle of claim 1, wherein: the spray head is arranged on the sliding rail on the bottom surface of the upper frame.

8. A pavement tile detection method using the pavement tile detection vehicle of any one of claims 1-7, the method comprising:

Paving tiles on the ground, pushing the detection vehicle to a region to be detected before filling gaps, starting a light source of the detection vehicle to uniformly emit light to standard tiles on the carrier, emitting illumination light from the gaps among the standard tiles, projecting the illumination light on the ground, and aligning the projection contour of the standard tiles with the contour of a first tile on the ground;

Starting the detection vehicle to advance forwards, stopping after the distance is equal to the sum of the standard tile and the standard gap width, starting the spray head after stopping, spraying water from front to back, closing the spray head after spraying water, starting the vehicle to continue advancing after spraying water, and the like;

9. The method of claim 8, wherein the spray head is mounted on a rail to slide the spray water.