CN112557511A - Nondestructive testing method, device and system for building exterior wall - Google Patents
Nondestructive testing method, device and system for building exterior wall Download PDFInfo
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- G01N29/045—Analysing solids by imparting shocks to the workpiece and detecting the vibrations or the acoustic waves caused by the shocks
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Abstract
The invention discloses a nondestructive detection method, a nondestructive detection device and a nondestructive detection system for an exterior wall of a building, wherein the method comprises the following steps: receiving a sound signal collected by a knocking detection device, and processing the sound signal; judging the mortar bonding condition of each knocking point according to the processing result; calculating the position coordinate of each knocking point according to the preset knocking interval duration and the moving speed of the unmanned aerial vehicle, and corresponding the position coordinate of each knocking point to the mortar bonding condition; according to the scheme, the nondestructive testing of the bonding mortar of the heat-insulating layer in the building outer wall can be realized, the overall bonding force condition is evaluated, and an evaluation basis is provided for outer wall maintenance.
Description
Technical Field
The invention relates to the technical field of building detection, in particular to a nondestructive detection method, a nondestructive detection device and a nondestructive detection system for an outer wall of a building.
Background
In recent years, with the rapid development of social economy and the continuous acceleration of urbanization progress in China, the reservation quantity of various buildings is greatly improved. Since the last 90 s, along with the development of building energy-saving technology, external thermal insulation of building external walls becomes a main measure for building energy saving, and various thermal insulation boards are mainly used for adhering, anchoring and thin plastering systems and thermal insulation mortar thin plastering systems. Due to the comprehensive action of multiple factors such as material quality factors, construction factors and aging in service periods in different construction periods, the problems of cracks, hollowing, insufficient cohesive force and the like of the outer wall external insulation layer of some buildings occur to different degrees, particularly, the problems of falling and falling occur under the extreme weather conditions, and the phenomena of pedestrian injury, property damage and the like caused by falling of a plurality of outer wall external insulation layers and ceramic tiles occur, so that an efficient testing means is required for detecting the outer wall, particularly nondestructive detection, and an evaluation basis is provided for prevention and maintenance.
At present, the detection means aiming at the external thermal insulation system of the existing building external wall mainly comprises visible light image observation, infrared thermal imaging image observation and core drilling method detection, wherein: the visible light image is mainly used for observing external visible cracking, falling, chalking and the like; the infrared thermal imaging image is mainly used for observing the large-area thermotechnical effect defect of the external thermal insulation system; the core drilling method is mainly used for detecting the cohesive force index of a core drilling part.
The bonding condition of the external thermal insulation system cannot be effectively judged by visible light and infrared thermal imaging, and the core drilling method can only judge the bonding force of the core drilling part and cannot judge the bonding force condition of the whole system.
Disclosure of Invention
The invention provides a nondestructive testing method, a nondestructive testing device and a nondestructive testing system for an outer wall of a building, which can effectively detect the adhesive force of insulation board adhesive mortar of the outer wall of the building.
A nondestructive testing method for an external wall of a building is characterized in that an unmanned aerial vehicle carries a knocking detection device and is attached to a detected wall surface to fly according to a preset track, the knocking detection device collects sound signals in the flying process, and the wall body is knocked when each preset knocking interval duration is over;
the method comprises the following steps:
receiving a sound signal collected by a knocking detection device, and processing the sound signal;
judging the mortar bonding condition of each knocking point according to the processing result;
and calculating the position coordinate of each knocking point according to the preset knocking interval duration and the unmanned aerial vehicle moving speed, and corresponding the position coordinate of each knocking point to the mortar bonding condition.
Further, processing the sound signal includes:
obtaining the amplitude of the knocking sound wave according to the sound signal;
according to the peak value of the amplitude of the knocking sound wave, the sound signal is segmented to obtain the audio signal of each knocking point;
and carrying out short-time Fourier transform on the audio signal to obtain a corresponding frequency spectrum.
Further, the step of judging the mortar bonding condition of each knocking point according to the processing result comprises the following steps:
and comparing the frequency spectrum corresponding to each knocking point with pre-stored mortar bonding standard frequency spectrum data, and determining the mortar bonding condition of each knocking point according to the comparison result.
Further, the mortar bonding condition comprises a mortar virtual bonding condition and a mortar solid bonding condition.
Further, the track of the preset track in the vertical direction or the horizontal direction is a survey line;
the ground control station calculates the position coordinate of each knocking point according to the preset knocking interval duration and the unmanned aerial vehicle moving speed, and the method comprises the following steps:
calculating a knocking interval according to the preset knocking interval duration and the unmanned aerial vehicle moving speed under each measuring line;
and calculating the position coordinate of each knocking point according to the knocking distance, the preset height of the measuring line and the preset distance of the measuring line.
A nondestructive detection device for an external wall of a building is characterized in that an unmanned aerial vehicle carries a knocking detection device and is attached to a detected wall surface to fly according to a preset track, the knocking detection device collects sound signals in the flying process, and the wall body is knocked when the preset knocking interval duration is over;
the device comprises:
the sound processing module is used for receiving the sound signal collected by the knocking detection device and processing the sound signal;
the judging module is used for judging the mortar bonding condition of each knocking point according to the processing result;
and the position corresponding module is used for calculating the position coordinate of each knocking point according to the preset knocking interval duration and the unmanned aerial vehicle moving speed, and corresponding the position coordinate of each knocking point with the mortar bonding condition.
A building outer wall nondestructive testing system comprises an unmanned aerial vehicle and a knocking detection device carried on the unmanned aerial vehicle, wherein the unmanned aerial vehicle carries the knocking detection device to be attached to a detected wall surface to fly according to a preset track, the knocking detection device collects sound signals in the flying process, and the wall body is knocked when each preset knocking interval duration is over;
the system further comprises a data processor and a storage device, wherein the storage device stores a plurality of instructions, and the data processor is used for reading the instructions and executing:
receiving a sound signal collected by a knocking detection device, and processing the sound signal;
judging the mortar bonding condition of each knocking point according to the processing result;
and calculating the position coordinate of each knocking point according to the preset knocking interval duration and the unmanned aerial vehicle moving speed, and corresponding the position coordinate of each knocking point to the mortar bonding condition.
Further, the knocking detection device comprises a shell, a driving motor, a knocking hammer, a transmission cam and a sound collection device, wherein the driving motor, the knocking hammer, the transmission cam and the sound collection device are arranged in the shell, the driving motor is connected with the transmission cam in a matched mode, the transmission cam is arranged in a matched mode with the knocking hammer, the driving motor drives the transmission cam to drive the knocking hammer to knock, and the sound collection device is close to the knocking hammer.
Further, a sound insulation material is arranged in the shell.
A computer readable storage medium storing a plurality of instructions readable by a data processor and performing the method for nondestructive inspection of an exterior wall of a building as described above.
The building outer wall nondestructive testing method, device and system provided by the invention at least have the following beneficial effects:
(1) the nondestructive detection of the bonding mortar of the heat-insulating layer in the building outer wall can be realized, the mortar bonding condition under the specific position of the detected wall surface can be obtained, the overall bonding force condition is further evaluated, and an evaluation basis is provided for the maintenance of the outer wall;
(2) the detection method is reliable and has high accuracy.
Drawings
Fig. 1 is a flowchart of an embodiment of a nondestructive testing method for an exterior wall of a building provided by the invention.
Fig. 2 is a schematic diagram of a preset track in an embodiment of the nondestructive testing method for the exterior wall of the building provided by the invention.
FIG. 3 is a schematic diagram of a preset track in another embodiment of the nondestructive inspection method for the exterior wall of the building provided by the invention.
Fig. 4 is a schematic structural diagram of an embodiment of the nondestructive testing device for the exterior wall of the building provided by the invention.
Fig. 5 and 6 are block diagrams of the nondestructive testing system for the exterior wall of the building according to an embodiment of the present invention.
Fig. 7 is a structural block diagram of an embodiment of a knocking detection device in a nondestructive testing system for an exterior wall of a building provided by the invention.
Fig. 8 is a structural block diagram of an embodiment of an unmanned aerial vehicle in the building exterior wall nondestructive testing system provided by the invention.
Fig. 9 is a schematic structural diagram of an embodiment of an unmanned aerial vehicle in the nondestructive testing system for the exterior wall of the building provided by the invention.
Fig. 10 is a structural block diagram of another embodiment of the unmanned aerial vehicle in the nondestructive inspection system for the exterior wall of the building provided by the invention.
Fig. 11 is a schematic structural diagram of another embodiment of the unmanned aerial vehicle in the nondestructive inspection system for the exterior wall of the building provided by the invention.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example one
Referring to fig. 1, in the present embodiment, a nondestructive testing method for an external wall of a building is provided, where an unmanned aerial vehicle carries a knocking detection device to fly along a preset trajectory in conformity with a detected wall surface, and the knocking detection device collects a sound signal during the flight process and knocks the wall body when each preset knocking interval duration is over;
the method comprises the following steps:
s1, receiving the sound signal collected by the knocking detection device, and processing the sound signal;
s2, judging the mortar bonding condition of each knocking point according to the processing result;
s3, calculating the position coordinate of each knocking point according to the preset knocking interval duration and the unmanned aerial vehicle moving speed, and enabling the position coordinate of each knocking point to correspond to the mortar bonding condition.
Specifically, in some embodiments, the predetermined trajectory is "S" shaped as shown in fig. 2, and there are more tapping points in the vertical direction than in the horizontal direction.
In some embodiments, the preset trajectory may also be an "S" shape as shown in fig. 3, and there are more tapping points in the horizontal direction than in the vertical direction.
Further, in S1, after receiving the sound signal, obtaining a tapping sound wave amplitude from the sound signal; according to the peak value of the amplitude of the knocking sound wave, the sound signal is segmented to obtain the audio signal of each knocking point; and carrying out short-time Fourier transform on the audio signal to obtain a corresponding frequency spectrum.
The sound signal comprises noise and knocking sound, the knocking sound can be identified by identifying the amplitude peak value of the sound wave, the sound signal is segmented, the signal of the peak value part is segmented, and the audio signal of each knocking point can be obtained.
Further, in S2, the frequency spectrum corresponding to each tapping point is compared with pre-stored mortar bonding standard frequency spectrum data, and the mortar bonding condition of each tapping point is determined according to the comparison result.
The mortar bonding condition comprises a mortar virtual bonding condition and a mortar solid bonding condition.
Further, pre-establishing mortar bonding standard spectrum data, which comprises the following steps: independent knocking audio files are generated through the knocking detection device in a laboratory environment according to different construction processes and construction materials and are recorded one by one. According to the audio file, performing short-time Fourier transform on the audio file to obtain frequency spectrum analysis of the knocking audio, and obtaining mortar bonding standard frequency spectrum data under a standard condition according to the frequency spectrum analysis. The standard spectrum data of the mortar bonding comprises the condition of virtual bonding or real bonding of cement mortar under various processes.
Further in S3, calculating the position coordinates of each tapping point according to the preset tapping interval duration and the unmanned aerial vehicle moving speed, including:
calculating a knocking interval according to the preset knocking interval duration and the unmanned aerial vehicle moving speed under each measuring line;
and calculating the position coordinate of each knocking point according to the knocking distance, the preset height of the measuring line and the preset distance of the measuring line.
Specifically, in some embodiments, the preset trajectory of the drone is as shown in fig. 2, and the preset trajectory is an "S" shaped trajectory, where the vertical trajectory is a survey line, that is, all the tapping points are on the vertical trajectory. Starting to time at the starting point of every survey line, horizontal orbit does not do the detection to strike the wall body when every preset strikes the long end of interval duration, according to unmanned aerial vehicle' S translation rate, can calculate out and strike interval S:
wherein, v is unmanned aerial vehicle moving speed, and t is the preset and strikes interval duration.
The height H and the distance W of the measuring lines are preset and known, and the coordinate of the detection starting point of the first measuring line is set as
The odd number of lines are measured from bottom to top, i.e. the coordinate of the first striking point on the first line is
The second knock point coordinate is
The coordinate of the nth detection point on the first measuring line is
(ii) a Therefore, the position coordinates of the nth tap point of the mth line in the odd-numbered lines are as follows:
（（m-1）W，nS）；（2）
wherein m is an odd number of survey line marks, W is a survey line spacing, H is a survey line height, and S is a tapping spacing.
The even number of lines are detected from top to bottom, i.e. the n-th tap point on the second line has the coordinate
Therefore, the position coordinates of the nth tap point of the mth line in the even-numbered lines are as follows:
（（M-1）W，H-nS）；（3）
wherein M is an even number of the survey lines, W is the survey line spacing, H is the survey line height, and S is the tapping spacing.
After the position coordinates of each knocking point are obtained, the position coordinates of each knocking point can be corresponded to the mortar bonding condition according to a time axis. Further, a bonding situation map of the detection area can be generated.
Specifically, in some embodiments, the preset trajectory of the drone is as shown in fig. 3, and the preset trajectory is an "S" type trajectory, where the horizontal trajectory is a survey line, that is, all the tapping points are on the horizontal trajectory. The starting point at every survey line begins the timing, and vertical orbit does not do the detection to strike the wall body when every preset strikes the long end of interval, according to unmanned aerial vehicle' S translation rate, can calculate out and strike interval S:
wherein, v is unmanned aerial vehicle moving speed, and t is the preset and strikes interval duration.
The length L of the measuring lines and the distance W of the measuring lines are preset and known, and the detection is carried out from bottom to top,
setting the coordinate of the detection starting point of the first measuring line as
I.e. the coordinate of the first tapping point on the first line is
The second knock point coordinate is
The coordinate of the nth detection point on the first measuring line is
The coordinates of the first knocking point on the second measuring line are (L, W), and so on,
the position coordinates of the nth tapping point of the mth measuring line in the odd measuring lines are as follows:
（nS， （m-1）W）；（4）
wherein m is an odd number of survey line marks, W is a survey line spacing, L is a survey line length, and S is a tapping spacing.
The position coordinates of the nth tapping point of the mth measuring line in the even measuring lines are as follows:
wherein M is an even number of the survey lines, W is a survey line interval, L is a survey line length, and S is a tapping interval.
The method provided by the embodiment can realize the nondestructive detection of the bonding mortar of the heat-insulating layer in the outer wall of the building, can obtain the condition of the bonding mortar at a specific position on the detected wall surface, further evaluates the overall bonding force condition, and provides an evaluation basis for the maintenance of the outer wall.
Example two
Referring to fig. 4, in the present embodiment, a nondestructive testing device for an external wall of a building is provided, where an unmanned aerial vehicle carries a knocking detection device to fly along a preset trajectory in a manner of attaching to a detected wall surface, and the knocking detection device collects a sound signal during a flight process and knocks the wall body when each preset knocking interval duration is over;
the device comprises:
the sound processing module 301 is used for receiving the sound signal collected by the knocking detection device and processing the sound signal;
the judging module 302 is used for judging the mortar bonding condition of each knocking point according to the processing result;
and the position corresponding module 303 is used for calculating the position coordinate of each knocking point according to the preset knocking interval duration and the unmanned aerial vehicle moving speed, and corresponding the position coordinate of each knocking point with the mortar bonding condition.
Specifically, the sound processing module 301 obtains the amplitude of the tapping sound wave according to the sound signal; according to the peak value of the amplitude of the knocking sound wave, the sound signal is segmented to obtain the audio signal of each knocking point; and carrying out short-time Fourier transform on the audio signal to obtain a corresponding frequency spectrum.
The judging module 302 judges the mortar bonding condition of each knocking point according to the processing result, and includes: and comparing the frequency spectrum corresponding to each knocking point with pre-stored mortar bonding standard frequency spectrum data, and determining the mortar bonding condition of each knocking point according to the comparison result.
The mortar bonding condition comprises a mortar virtual bonding condition and a mortar solid bonding condition.
The track of the preset track in the vertical direction or the horizontal direction is a measuring line, and the preset track is shown in fig. 2 and 3.
The position correspondence module 303 calculates the position coordinates of each knocking point according to the preset knocking interval duration and the unmanned aerial vehicle moving speed, and includes: calculating a knocking interval according to the preset knocking interval duration and the unmanned aerial vehicle moving speed under each measuring line; and calculating the position coordinate of each knocking point according to the knocking distance, the preset height of the measuring line and the preset distance of the measuring line.
The device that this embodiment provided can realize the non-destructive testing of the bonding mortar of the inside heat preservation of building outer wall, can obtain the condition of the bonding mortar of the concrete position on the wall of examining, and then assesses holistic adhesion force situation, provides the assessment basis for the outer wall maintenance.
EXAMPLE III
Referring to fig. 5 and 6, the embodiment provides a building outer wall nondestructive testing system, which includes a knocking detection device 1 and an unmanned aerial vehicle 2, wherein the unmanned aerial vehicle 2 is used for carrying the knocking detection device 1 to fly along a preset track in a manner of being attached to a detected wall surface, the knocking detection device 1 collects sound signals during the flight process, and the wall body is knocked when each preset knocking interval duration is over;
the system further comprises a data processor 3 and a storage device 4, the storage device storing a plurality of instructions, the data processor 3 being configured to read the instructions and perform:
receiving a sound signal collected by a knocking detection device, and processing the sound signal;
judging the mortar bonding condition of each knocking point according to the processing result;
and calculating the position coordinate of each knocking point according to the preset knocking interval duration and the unmanned aerial vehicle moving speed, and corresponding the position coordinate of each knocking point to the mortar bonding condition.
Wherein, the data processor 3 is an execution subject of the detection method, and the data processor 3 is further configured to: obtaining the amplitude of the knocking sound wave according to the sound signal; according to the peak value of the amplitude of the knocking sound wave, the sound signal is segmented to obtain the audio signal of each knocking point; and carrying out short-time Fourier transform on the audio signal to obtain a corresponding frequency spectrum.
Further, the data processor 3 is further configured to compare the frequency spectrum corresponding to each tapping point with pre-stored mortar bonding standard frequency spectrum data, and determine the mortar bonding condition of each tapping point according to the comparison result.
The mortar bonding condition comprises a mortar virtual bonding condition and a mortar solid bonding condition.
And the track of the preset track in the vertical direction or the horizontal direction is a survey line.
The data processor 3 is further configured to: calculating a knocking interval according to the preset knocking interval duration and the unmanned aerial vehicle moving speed under each measuring line; and calculating the position coordinate of each knocking point according to the knocking distance, the preset height of the measuring line and the preset distance of the measuring line.
In some embodiments, the system further comprises a ground control station 5 and a wireless communication module 6 disposed on the drone 2; the wireless communication module 6 is in communication connection with the ground control station 5, the data processor 3 and the storage device 4 are arranged on the ground control station 5, and the sound signal is sent to the ground control station 5 through the wireless communication module 6.
In some embodiments, the data processor 3 is provided on the drone 2.
Further, referring to fig. 7, in some embodiments, the knocking detection device 1 includes a housing 11, a driving motor 12, a knocking hammer 13, a transmission cam 14, and a sound collection device 15, where the driving motor 12, the knocking hammer 13, the transmission cam 14, and the sound collection device 15 are disposed in the housing 11, the driving motor 12 is connected to the transmission cam 14 in a matching manner, the transmission cam 14 is disposed in a matching manner to the knocking hammer 13, the driving motor 12 drives the transmission cam 14 to drive the knocking hammer 13 to perform knocking, and the sound collection device 15 is close to the knocking hammer.
Wherein a sound insulating material is provided in the housing 11.
The system that this embodiment provided can realize the non-destructive testing of the bonding mortar of the inside heat preservation of building outer wall, can obtain the condition of the bonding mortar of specific position on the wall of examining, and then assesses holistic adhesion force situation, provides the assessment basis for the outer wall maintenance.
Example four
The embodiment provides a nondestructive testing system for an outer wall of a building, which comprises a knocking detection device 1 and an unmanned aerial vehicle for carrying the knocking detection device; referring to fig. 8, wherein the drone includes a fuselage hangar 101, a pulley assembly 102, a fuselage 103, a rotor assembly 104, a first power plant 105, and a first flight control processor 106;
Specifically, referring to fig. 9, the pulley assembly 102 includes two pulley supports 1021 and four pulleys 1022;
two opposite sides of the body hanging frame 101 extend out of the same side to form support mounting ends 1011 respectively, and the middle points of the two pulley supports 1021 are connected with the two support mounting ends 1011 respectively; the four pulleys 1022 are respectively arranged at the end parts of the two pulley supports 1021, the two pulley supports 1021 are both vertical to the plane where the four edges of the machine body hanging frame 101 are located, and the four pulleys 1022 are attached to the detected wall surface during detection;
the body 103 comprises a connecting frame 1031 and a tail wing 1032, one end of the connecting frame 1031 is connected with the tail wing 1032, the other end is connected with the geometric center of one side of the body mount 101, and one side of the body mount 101 connected with the connecting frame 1031 is a side which is far away from the four pulleys 1022 and is perpendicular to two sides where the bracket mounting ends 1011 are located;
the middle point of one side of the body hanging bracket 101, which is close to the four pulleys 1022 and perpendicular to the two sides where the bracket mounting ends 1011 are located, is used for arranging the knocking detection device 1, namely, the knocking detection device 1 is arranged on one side of the body hanging bracket 101, which is parallel to the wall surface to be detected and is close to the wall surface to be detected.
Further, in some embodiments, the fuselage cradle 101 may be quadrilateral in shape, with two short sides extending out of the bracket mounting end 1011 towards the same side.
The design of organism 103 and fuselage string carrier 101 has lengthened unmanned aerial vehicle's overall structure for whole focus is more stable.
The both ends on one side of connecting this link 1031 on the fuselage string carrier 101 extend rotor installation end 1012 respectively, promptly, during the detection, on the fuselage string carrier 101 with be parallel and keep away from the both ends on one side of being examined the wall and extend rotor installation end 1012 respectively, wherein two rotors are connected with rotor installation end 1012, and two other rotors set up respectively in the both ends of fin 1032.
Further, in some embodiments, the fuselage horn 101 may be rectangular, with the rotor mounting ends 1012 located at both ends of the fuselage horn 101 near one long side of the tail 1032.
In some embodiments, rotor assembly 104 includes a first rotor 1041, a second rotor 1042, a third rotor 1043, and a fourth rotor 1044, wherein first rotor 1041 and second rotor 1042 are coupled to two rotor mounting ends 1012 of fuselage pylon 101, respectively, and third rotor 1043 and fourth rotor 1044 are disposed at two ends of empennage 1032, respectively.
The first power device 105 comprises four motors which are respectively matched and connected with the four rotors; the four motors are connected to a first flight control processor 106. First flight control processor 106 is used for controlling the rotational speed and the direction of four motors respectively to control four rotors, realize unmanned aerial vehicle's attitude control.
According to the system provided by the embodiment, the knock detection device is carried by the unmanned aerial vehicle, and the structural design of the body hanging frame of the unmanned aerial vehicle is convenient for carrying the knock detection device, so that the knock detection device can be closer to a detected wall surface, and the detection data obtained by knocking the detection device is more accurate; organism, fuselage string carrier and rotor subassembly's structural design for the whole focus of unmanned aerial vehicle is more stable, improves the stability of unmanned aerial vehicle flight, guarantees the fuselage overall balance.
EXAMPLE five
The embodiment provides a building outer wall detection system based on a knocking detection device, which comprises the knocking detection device and an unmanned aerial vehicle for carrying the knocking detection device; referring to fig. 10, the drone includes a first main body frame 201, a second main body frame 202, a cross-connect frame 203, a fan assembly 204, a second power device 205, a drive wheel assembly 206, and a second flight control processor 207;
the first main body frame 201 and the second main body frame 202 are matched and connected through a transverse connecting frame 203; the fan assembly 204 is connected with the first main body frame 201, the second main body frame 202 and the transverse connecting frame 203 in a matched mode, and the fan assembly 204 is used for providing thrust opposite to gravity and pressure facing a wall body for the unmanned aerial vehicle; the second power device 205 is connected with the fan assembly 204 in a matching way and used for providing power for the fan assembly 204; the second flight control processor 207 is connected with the second power device 205 and is used for controlling the second power device 205 to adjust the flight attitude of the unmanned aerial vehicle; the driving wheel assembly 206 is disposed on the first body frame 201 and the second body frame 202, and the driving wheel assembly 206 is attached to the detected wall body during detection.
Referring to fig. 11, the transversal attachment frame 203 includes a first transversal attachment frame 2031, a second transversal attachment frame 2032, a third transversal attachment frame 2033, and a fourth transversal attachment frame 2034;
one end of each of the first transverse connecting frame 2031, the second transverse connecting frame 2032, the third transverse connecting frame 2033 and the fourth transverse connecting frame 2034 is connected to the first body frame 201, and the other end is connected to the second body frame 202, and the first transverse connecting frame 2031 is used for mounting the knocking detection device 1.
Further, the fan assembly 204 includes a first fan 2041, a second fan 2042, a third fan 2043 and a fourth fan 2044, wherein the first fan 2041 and the second fan 2042 are respectively connected with the first main body frame 201 and the second main body frame 202 for providing pressure to the wall, and the third fan 2043 is connected with the third transverse connecting frame 2033 and the fourth transverse connecting frame 2034 for providing thrust against gravity; the fourth fan 2044 is connected to the second transversal attachment frame 2032 for providing thrust against gravity and pressure against the wall.
Specifically, the first fan 2041 and the second fan 2042 are used for providing pressure facing a wall, so that the robot can be attached to the wall, central axes of the first fan 2041 and the second fan 2042 are perpendicular to the detected wall, the third fan 2043 is used for providing thrust opposite to gravity, so that the robot can fly, the central axis of the third fan 2043 is parallel to the detected wall, an included angle between the fourth fan 2044 and a projection plane of the fourth fan 2044 is 0-90 °, the fourth fan 2044 provides both the thrust opposite to the gravity and the pressure facing the wall, and is used for assisting the first fan 2041, the second fan 2042 and the third fan 2043.
The setting and the cooperation of first fan, second fan, third fan and fourth fan can make unmanned aerial vehicle laminate steadily and be examined wall flight, keeps focus balanced, and first fan, second fan, fourth fan provide towards the pressure of wall body, avoid the uneven phenomenon of skidding that appears in the wall.
The second power device 205 includes four motors that respectively provide power to the first fan, the second fan, the third fan, and the fourth fan.
The driving wheel assembly 206 includes a first driving wheel 2061, a second driving wheel 2062, a third driving wheel 2063 and a fourth driving wheel 2064, the first driving wheel 2061 and the second driving wheel 2062 are respectively disposed at two ends of the first body frame 201, and the third driving wheel 2063 and the fourth driving wheel 2064 are respectively disposed at two ends of the second body frame 202.
When the unmanned aerial vehicle works, the first driving wheel 2061, the second driving wheel 2062, the third driving wheel 2063 and the fourth driving wheel 2064 are attached to the detected wall surface, so that the unmanned aerial vehicle can fly along the detected wall surface stably.
Further, unmanned aerial vehicle still includes steering mechanism and turns to drive arrangement, and steering mechanism is connected with the cooperation of drive wheel subassembly 206, turns to drive arrangement and is connected with the steering mechanism cooperation for provide to turn to drive power for steering mechanism.
The track that unmanned aerial vehicle carried out the detection to the wall of being examined is shown in fig. 2 and 3, and the detection device that strikes that unmanned aerial vehicle carried detects the wall, and when reaching the corner, turn to drive arrangement and provide the power that turns to for steering mechanism for first drive wheel 2061, second drive wheel 2062, third drive wheel 2063 and fourth drive wheel 2064 turn to 90, and rethread each turns to motor control each drive wheel and turns to 90 when reaching next corner, get into next direction and fly, continue to detect.
Through setting up steering mechanism, can realize unmanned aerial vehicle under the condition of irrotational fuselage, fly the smooth transition of horizontal direction flight from vertical direction, keep knocking the equilibrium of detection device gesture.
According to the system provided by the embodiment, the unmanned aerial vehicle carries the knocking detection device, and the fan is adopted to provide thrust opposite to gravity and pressure facing a wall body for the unmanned aerial vehicle, so that the unmanned aerial vehicle can stably attach to the detected wall surface to fly, and the gravity center balance is kept; the independent wall climbing function is realized, external intervention is not needed, and the wall surface can be directly climbed from the ground; through setting up steering mechanism, can realize unmanned aerial vehicle under the condition of irrotational fuselage, fly the smooth transition of horizontal direction flight from vertical direction, keep knocking the equilibrium of detection device gesture.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A building outer wall nondestructive testing method is characterized in that an unmanned aerial vehicle carries a knocking detection device and is attached to a tested wall surface to fly according to a preset track, the knocking detection device collects sound signals in the flying process, and the wall body is knocked when the duration of each preset knocking interval is over;
the method comprises the following steps:
receiving a sound signal collected by a knocking detection device, and processing the sound signal;
judging the mortar bonding condition of each knocking point according to the processing result;
and calculating the position coordinate of each knocking point according to the preset knocking interval duration and the unmanned aerial vehicle moving speed, and corresponding the position coordinate of each knocking point to the mortar bonding condition.
2. The method of claim 1, wherein processing the sound signal comprises:
obtaining the amplitude of the knocking sound wave according to the sound signal;
according to the peak value of the amplitude of the knocking sound wave, the sound signal is segmented to obtain the audio signal of each knocking point;
and carrying out short-time Fourier transform on the audio signal to obtain a corresponding frequency spectrum.
3. The method of claim 2, wherein determining the mortar adhesion condition of each knocking point according to the processing result comprises:
and comparing the frequency spectrum corresponding to each knocking point with pre-stored mortar bonding standard frequency spectrum data, and determining the mortar bonding condition of each knocking point according to the comparison result.
4. The method of claim 2, wherein the mortar bond condition comprises a mortar weak bond condition and a mortar strong bond condition.
5. The method according to claim 2, wherein the track of the preset track in the vertical direction or the horizontal direction is a survey line;
calculating the position coordinate of each knocking point according to the preset knocking interval duration and the unmanned aerial vehicle moving speed, wherein the position coordinate comprises the following steps:
calculating a knocking interval according to the preset knocking interval duration and the unmanned aerial vehicle moving speed under each measuring line;
and calculating the position coordinate of each knocking point according to the knocking distance, the preset height of the measuring line and the preset distance of the measuring line.
6. A building outer wall nondestructive testing device is characterized in that an unmanned aerial vehicle carries a knocking detection device and is attached to a tested wall surface to fly according to a preset track, the knocking detection device collects sound signals in the flying process, and the wall body is knocked when the duration of each preset knocking interval is over;
the device comprises:
the sound processing module is used for receiving the sound signal collected by the knocking detection device and processing the sound signal;
the judging module is used for judging the mortar bonding condition of each knocking point according to the processing result;
and the position corresponding module is used for calculating the position coordinate of each knocking point according to the preset knocking interval duration and the unmanned aerial vehicle moving speed, and corresponding the position coordinate of each knocking point with the mortar bonding condition.
7. A building outer wall nondestructive testing system is characterized by comprising an unmanned aerial vehicle and a knocking detection device carried on the unmanned aerial vehicle, wherein the unmanned aerial vehicle carries the knocking detection device to be attached to a detected wall surface to fly according to a preset track, and the knocking detection device collects sound signals in the flying process and knocks the wall body when each preset knocking interval duration is over;
the system further comprises a data processor and a storage device, wherein the storage device stores a plurality of instructions, and the data processor is used for reading the instructions and executing:
receiving a sound signal collected by a knocking detection device, and processing the sound signal;
judging the mortar bonding condition of each knocking point according to the processing result;
and calculating the position coordinate of each knocking point according to the preset knocking interval duration and the unmanned aerial vehicle moving speed, and corresponding the position coordinate of each knocking point to the mortar bonding condition.
8. The system according to claim 7, wherein the knocking detection device comprises a housing, a driving motor, a knocking hammer, a transmission cam and a sound collection device, the driving motor, the knocking hammer, the transmission cam and the sound collection device are arranged in the housing, the driving motor is connected with the transmission cam in a matching manner, the transmission cam is arranged in a matching manner with the knocking hammer, the driving motor drives the transmission cam to drive the knocking hammer to knock, and the sound collection device is close to the knocking hammer.
9. The system of claim 8, wherein an acoustic barrier material is disposed within the housing.
10. A computer-readable storage medium storing instructions readable by a data processor for performing the method of nondestructive inspection of an exterior wall of a building according to any one of claims 1 to 5.
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