Visualization and Flatness Detection of Wall Surface Conditions Based on Time-of-Flight Ranging

In the context of the continuous development of the construction industry and the application of construction robots, realizing effective and rapid construction quality evaluation is an important research issue. Ensuring precise wall surface flatness in construction engineering projects is a pivotal aspect of quality inspection. Current methods, such as manual detection and three-dimensional laser scanning, present inherent limitations. We propose a time-of-flight ranging-based wall flatness evaluation detection and its visualization method to address the existing shortcomings and consider the integration of construction robots. Our approach capitalizes on the principle of depth data acquisition, employing ToF ranging for swift and accurate evaluation of wall concavity and convexity. Through meticulous data processing and insightful visualization, our method offers a quick and intuitive assessment of wall conditions. The plane fitting of the wall depth data is carried out by the least square method, and the wall's overall flatness and pass rate are calculated. Through the evaluation experiments on four wall surfaces, our method is effective in evaluating the wall surfaces and presenting the quantitative indexes in a non-contact state. Moreover, the experiments also visualize the differences in the quality effects of the wall surfaces. The method is expected to be integrated with construction robots for efficient and accurate wall construction inspection. The potential of this integration is vast, as it allows for automated, real-time monitoring of wall flatness, which can lead to immediate corrective actions. This could greatly reduce the reliance on manual inspections, improve safety, and increase construction efficiency and quality.