CN117141766B - Unmanned aerial vehicle mounting device for building detection - Google Patents
Unmanned aerial vehicle mounting device for building detection Download PDFInfo
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- CN117141766B CN117141766B CN202311417093.3A CN202311417093A CN117141766B CN 117141766 B CN117141766 B CN 117141766B CN 202311417093 A CN202311417093 A CN 202311417093A CN 117141766 B CN117141766 B CN 117141766B
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- 238000001514 detection method Methods 0.000 title claims abstract description 142
- 230000005540 biological transmission Effects 0.000 claims description 22
- 239000004519 grease Substances 0.000 claims description 11
- 239000000758 substrate Substances 0.000 claims description 10
- 238000005461 lubrication Methods 0.000 claims description 3
- 238000010030 laminating Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 18
- 230000008569 process Effects 0.000 abstract description 13
- 230000008859 change Effects 0.000 abstract description 12
- 230000000694 effects Effects 0.000 description 10
- 230000009471 action Effects 0.000 description 8
- 230000005484 gravity Effects 0.000 description 8
- 238000003384 imaging method Methods 0.000 description 7
- 230000001050 lubricating effect Effects 0.000 description 4
- 206010034719 Personality change Diseases 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
- B64U2101/26—UAVs specially adapted for particular uses or applications for manufacturing or servicing for manufacturing, inspections or repairs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
The invention discloses an unmanned aerial vehicle mounting device for building detection. The invention belongs to the technical field of building detection, and particularly relates to an unmanned aerial vehicle mounting device for building detection, which comprises a mounting detection assembly and a bearing unmanned aerial vehicle, wherein the bearing unmanned aerial vehicle is controlled to realize comprehensive infrared thermal image detection of a high-rise building, the infrared thermal image detection assembly is arranged on an inner movable hemisphere, and the inner movable hemisphere and a spherical shell-shaped mounting cabin are separated, so that the infrared thermal image detection assembly and the inner movable hemisphere can concentrically rotate relative to the spherical shell-shaped mounting cabin, the infrared thermal image detection assembly on the inner movable hemisphere always keeps a fixed position, the stability of a detection process is ensured, and the problems that infrared signals are interfered by the influence of unmanned aerial vehicle gesture change on the detection process caused by the far distance existing in the infrared thermal image detection of the high-rise building at present are solved.
Description
Technical Field
The invention belongs to the technical field of building detection, and particularly relates to an unmanned aerial vehicle mounting device for building detection.
Background
The infrared thermal image detection of the building outer wall is also called thermal image non-destructive detection (TNDT), which is a non-contact detection means, and the infrared thermal image is utilized to detect the detection part in a large area, and can be directly seen in the form of a thermal image, and is recorded and displayed; the thermal image can be analyzed to obtain a detection conclusion, and the method is widely applied to the detection of empty drum of the outer wall facing layer, the detection of leakage of a roof and a wall, the detection of leakage of a pipeline and the quality detection of energy-saving engineering at present.
In practical use, the more common detection device is a handheld portable infrared thermal image detector, and aims at a building to be detected to collect thermal infrared signals and image the thermal infrared signals, but the detection method is far enough for a high-rise building, the collected thermal infrared signals are interfered, so that the detection effect is greatly reduced, and therefore, a detection method is needed, so that the detection device can detect the infrared thermal images of the outer wall of the high-rise building in a stable posture at a relatively close proper distance.
Disclosure of Invention
Aiming at the situation, the invention provides an unmanned aerial vehicle mounting device for building detection, which comprises a mounting detection component and a bearing unmanned aerial vehicle, wherein the bearing unmanned aerial vehicle is controlled to realize comprehensive infrared thermal image detection on a high-rise building, the infrared thermal image detection component is arranged on an inner movable hemisphere, and the inner movable hemisphere and a spherical shell-shaped mounting cabin are separated, so that the infrared thermal image detection component and the inner movable hemisphere can concentrically rotate relative to the spherical shell-shaped mounting cabin, the infrared thermal image detection component on the inner movable hemisphere always keeps a fixed position, the stability of a detection process is ensured, and the problems that infrared signal interference is caused by too far distance in the infrared thermal image detection on the high-rise building at present, the detection process is influenced by the posture change of the unmanned aerial vehicle and the like are solved.
The technical scheme adopted by the invention is as follows: the invention provides an unmanned aerial vehicle mounting device for building detection, which comprises a mounting detection component and a bearing unmanned aerial vehicle, wherein the mounting detection component is fixed on the bearing unmanned aerial vehicle, the mounting detection component comprises a machine body binding component, an infrared thermal image detection component, an inner movable hemisphere and a spherical shell-shaped mounting cabin, the infrared thermal image detection component is fixedly connected to the inner movable hemisphere, the inner movable hemisphere is arranged in the spherical shell-shaped mounting cabin, the diameter of the inner movable hemisphere is equal to that of the spherical shell-shaped mounting cabin, the arc surface of the inner movable hemisphere is always in contact with the inner surface of the spherical shell-shaped mounting cabin, the spherical shell-shaped mounting cabin is detachably arranged on the machine body binding component, and the machine body binding component is arranged on the bearing unmanned aerial vehicle; the spherical shell-shaped mounting cabin is provided with a vertical through groove, the inner movable hemisphere is provided with a side clamping support, the side clamping support is slidably arranged in the vertical through groove, the width of the side clamping support is equal to that of the vertical through groove, the side clamping support is provided with a camera clamping groove, the infrared thermal image detection assembly comprises an infrared camera, and the infrared camera is clamped in the camera clamping groove; the infrared thermal image detection assembly, the inner movable hemisphere and the spherical shell-shaped mounting cabin are fixed on the bearing unmanned aerial vehicle through the machine body binding assembly, the bearing unmanned aerial vehicle is controlled to move to the vicinity of a building, the infrared thermal image detection is carried out on the building through the infrared thermal image detection assembly, the comprehensive infrared thermal image detection on a high-rise building can be realized through controlling the bearing unmanned aerial vehicle, the detection effect and accuracy are improved, and infrared signal interference caused by too far distance is avoided; the infrared thermal image detection assembly is arranged on the inner movable hemisphere, the inner movable hemisphere and the spherical shell-shaped mounting cabin are separated, the diameter of the inner movable hemisphere is ensured to be equal to the diameter of the inner part of the spherical shell-shaped mounting cabin, so that the infrared thermal image detection assembly and the inner movable hemisphere can make concentric rotation relative to the spherical shell-shaped mounting cabin, when the unmanned aerial vehicle is borne for flight attitude adjustment, the attitude of the fuselage binding assembly and the spherical shell-shaped mounting cabin changes along with the unmanned aerial vehicle, at the moment, the inner movable hemisphere rotates relative to the spherical shell-shaped mounting cabin in the spherical shell-shaped mounting cabin due to the action of gravity, and the side clamping support and the infrared camera move in the vertical through groove, therefore, the inner movable hemisphere can be kept at the bottom position of the inner movable hemisphere, the infrared thermal image detection assembly on the inner movable hemisphere always keeps a fixed position, the influence of the unmanned aerial vehicle bearing attitude change is avoided, and the stability of the detection process is ensured; when the posture of the unmanned aerial vehicle is changed, the side clamping support and the vertical through groove limit the position of the inner movable hemisphere, and meanwhile, the infrared camera is clamped in the camera clamping groove, so that the influence on the detection result and the damage of the infrared camera caused by the collision between the infrared camera and the spherical shell-shaped mounting cabin in the posture changing process are avoided.
Further, the inner movable hemisphere is a hemisphere with one side being a plane and the other side being a sphere, a horizontal groove is arranged on the plane of the inner movable hemisphere, a bottom counterweight is arranged in the sphere of the inner movable hemisphere, the infrared thermal image detection assembly is arranged on the horizontal groove, the direction of the infrared camera is parallel to the horizontal groove, and a threaded hole is arranged on the horizontal groove; the bottom counterweight is arranged in the spherical surface of the inner movable hemisphere, so that the inner movable hemisphere can be kept at the bottom position inside the spherical shell-shaped mounting cabin, the gravity center of the inner movable hemisphere is moved downwards, the lever effect is reduced, the inner movable hemisphere is prevented from being biased by friction force generated when the spherical shell-shaped mounting cabin is subjected to rapid posture change, and the inner movable hemisphere and the infrared thermal image detection assembly are ensured to be stable; the horizontal groove is formed in the inner movable hemisphere, the infrared camera is enabled to point parallel to the horizontal groove, the infrared camera is enabled to point to a tested building horizontally all the time, the imaging angle of the infrared signal is limited, and the detection accuracy is ensured.
Further, the infrared thermal image detection assembly further comprises a wireless transmission module, a battery module, a fastening bolt and an assembly substrate, wherein the infrared camera, the wireless transmission module and the battery module are fixedly connected to the assembly substrate, the assembly substrate is bolted on the horizontal groove through the fastening bolt and the threaded hole, the infrared camera, the wireless transmission module and the battery module are electrically connected, and the battery module provides power for the infrared camera and the wireless transmission module; by arranging the wireless transmission module, the thermal infrared signals acquired by the infrared camera can be transmitted to a detection instrument on the ground for imaging, so that the volume of the infrared thermal image detection assembly is reduced, the weight of the mounting detection assembly is further reduced, and the endurance of the unmanned aerial vehicle is improved; through locating infrared camera, wireless transmission module and battery module on the assembly base plate, improved the integrated level of component, be convenient for the installation and the change of components and parts have realized modular technological effect, infrared camera and wireless transmission module select for use from the infrared thermal imaging appearance for building of Testo-872 model.
Further, the fuselage binding assembly comprises a mounting platform, the bearing unmanned aerial vehicle comprises an unmanned aerial vehicle main body, the upper surface of an organism and the lower surface of the organism on the unmanned aerial vehicle main body are respectively attached to the lower surface of the organism, the bottom end of the mounting platform is provided with bottom external threads, the top end of the spherical shell-shaped mounting cabin is provided with top internal threads, and the bottom external threads are meshed with the top internal threads; the spherical shell-shaped mounting cabin is connected with the mounting platform through the external threads at the bottom and the internal threads at the top, so that the spherical shell-shaped mounting cabin is convenient to mount and dismount, and when the spherical shell-shaped mounting cabin is used, the inner movable hemisphere provided with the infrared thermal image detection assembly is only required to be placed in the spherical shell-shaped mounting cabin, and then the spherical shell-shaped mounting cabin is screwed onto the mounting platform through the internal threads at the top, so that the assembly of the mounting detection assembly can be realized.
Further, a rotating framework is further arranged on the inner-layer movable hemisphere, a universal rotating joint is arranged at the top end of the rotating framework, the position of the universal rotating joint coincides with the position of the circle center of the spherical surface of the inner-layer movable hemisphere, a universal base is arranged on the bottom surface of the mounting platform, and the universal rotating joint is rotationally arranged in the universal base; through setting up and rotating skeleton and universal rotation joint for relative rotation between inlayer movable hemisphere and the spherical shell shape mount cabin uses universal rotation joint as the centre of a circle, through the supporting role who rotates the skeleton, forces inlayer movable hemisphere to remain the contact throughout with between the spherical shell shape mount cabin, has avoided bearing unmanned aerial vehicle and has produced the upset that the weightlessness leads to inlayer movable hemisphere in the maneuver in-process.
Further, the mounting detection assembly further comprises a binding limiting assembly, the binding limiting assembly is arranged on the unmanned aerial vehicle main body, the binding limiting assembly is connected with the machine body binding assembly, the binding limiting assembly comprises a positioning vacuum chuck, the positioning vacuum chuck is adsorbed on the upper surface of the machine body, and a normally closed interface is arranged at the top of the positioning vacuum chuck.
Further, the machine body binding assembly further comprises a clamping ring and a machine body binding belt, the clamping ring is clamped on the positioning vacuum chuck, the mounting platform is provided with an extension connecting arm, and two ends of the machine body binding belt are respectively connected to the extension connecting arm and the clamping ring; bind the subassembly with the fuselage through the fuselage bandage and bind on bearing unmanned aerial vehicle, simple structure, low in manufacturing cost can be applicable to the unmanned aerial vehicle of multiple different models simultaneously, skid on unmanned aerial vehicle host computer body in order to avoid the fuselage to bind the subassembly, set up location vacuum chuck and adsorb on unmanned aerial vehicle host computer body to be connected fuselage bandage and location vacuum chuck through the snap ring, inject the degree of freedom of fuselage bandage, prevent that the fuselage bandage from slipping on the unmanned aerial vehicle host computer body.
Further, a self-locking winch is arranged on the clamping ring, the machine body binding belt is wound on the self-locking winch, a winch knob is arranged on the self-locking winch, and the self-locking winch is controlled to retract and release the machine body binding belt when the winch knob rotates; through setting up auto-lock capstan winch and capstan winch knob, receive and release the fuselage bandage more conveniently, the fuselage of being convenient for binds the binding and the dismantlement of subassembly, because receive and release the change of fuselage bandage length of fuselage bandage is stepless, enlarged the application scope of fuselage binding the subassembly, make and mount detection assembly and can mount on the unmanned aerial vehicle of different models, improved the commonality of mount detection assembly.
Further, the carrying unmanned aerial vehicle further comprises a horn and a propeller, wherein the horn is arranged around the unmanned aerial vehicle main body, and the propeller is rotationally arranged on the horn; the unmanned aerial vehicle main body is driven to fly through the propeller and the horn, so that the maneuvering and posture adjustment can be conveniently carried out while the flying power is ensured.
Further, grease lubrication is adopted between the spherical shell-shaped mounting cabin and the inner movable hemisphere; the spherical shell-shaped mounting cabin and the inner movable hemisphere are lubricated through the lubricating grease, friction force on a contact surface is reduced, the lubricating grease is difficult to flow out, drop and splash are less, the spherical shell-shaped mounting cabin is suitable for long-time continuous use, meanwhile, the lubricating grease has a sealing effect, and foreign matters such as dust can be prevented from being mixed.
The beneficial effects obtained by the invention by adopting the structure are as follows:
(1) The invention provides an unmanned aerial vehicle mounting device for building detection, which is characterized in that an infrared thermal image detection assembly, an inner movable hemisphere and a spherical shell-shaped mounting cabin are fixed on a bearing unmanned aerial vehicle through a fuselage binding assembly, the bearing unmanned aerial vehicle is controlled to move to the vicinity of a building, the infrared thermal image detection assembly is used for detecting the infrared thermal image of the building, the bearing unmanned aerial vehicle is controlled to realize comprehensive infrared thermal image detection of a high-rise building, the detection effect and accuracy are improved, and infrared signal interference caused by too far distance is avoided;
(2) The invention provides an unmanned aerial vehicle mounting device for building detection, wherein an infrared thermal image detection component is arranged on an inner movable hemisphere, the inner movable hemisphere is separated from a spherical shell-shaped mounting cabin, the diameter of the inner movable hemisphere is ensured to be equal to that of the inside of the spherical shell-shaped mounting cabin, so that the infrared thermal image detection component and the inner movable hemisphere can make concentric rotation relative to the spherical shell-shaped mounting cabin, when a bearing unmanned aerial vehicle carries out flight attitude adjustment, the attitudes of a fuselage binding component and the spherical shell-shaped mounting cabin change along with the bearing unmanned aerial vehicle, at the moment, the inner movable hemisphere rotates relative to the spherical shell-shaped mounting cabin in the spherical shell-shaped mounting cabin due to the action of gravity, and a side clamping support and an infrared camera move in a vertical through groove, so that the inner movable hemisphere can be kept at the bottom position of the inside of the spherical shell-shaped mounting cabin, the infrared thermal image detection component on the inner movable hemisphere can be kept at a fixed position all the time, the influence of the attitude change of the bearing unmanned aerial vehicle is avoided, and the stability of the detection process is ensured;
(3) The invention provides an unmanned aerial vehicle mounting device for building detection, when the posture of a bearing unmanned aerial vehicle changes, a side clamping support and a vertical through groove limit the position of an inner movable hemisphere, and meanwhile, an infrared camera is clamped in a camera clamping groove, so that the influence on a detection result and the damage of the infrared camera caused by the collision between the infrared camera and a spherical shell-shaped mounting cabin in the posture change process is avoided;
(4) The invention provides an unmanned aerial vehicle mounting device for building detection, which is characterized in that a bottom counterweight is arranged in the spherical surface of an inner movable hemisphere, so that the inner movable hemisphere can be kept at the bottom position inside a spherical shell-shaped mounting cabin, the gravity center of the inner movable hemisphere is moved downwards, the lever effect is reduced, the inner movable hemisphere is prevented from being biased by friction force generated when the spherical shell-shaped mounting cabin is subjected to rapid posture change, and the stability of an inner movable hemisphere and an infrared thermal image detection assembly is ensured;
(5) The invention provides an unmanned aerial vehicle mounting device for building detection, which can transmit thermal infrared signals acquired by an infrared camera to a detection instrument on the ground for imaging by arranging a wireless transmission module, so that the volume of an infrared thermal image detection assembly is reduced, the weight of the mounting detection assembly is further reduced, and the endurance of a bearing unmanned aerial vehicle is improved;
(6) The invention provides an unmanned aerial vehicle mounting device for building detection, which improves the integration level of elements by arranging an infrared camera, a wireless transmission module and a battery module on an assembly substrate, is convenient for mounting and replacing components and realizes the modularized technical effect;
(7) The invention provides an unmanned aerial vehicle mounting device for building detection, which is characterized in that a rotating framework and a universal rotating joint are arranged, so that relative rotation between an inner movable hemisphere and a spherical shell-shaped mounting cabin takes the universal rotating joint as a circle center, and the inner movable hemisphere is forced to always keep contact with the spherical shell-shaped mounting cabin through the supporting function of the rotating framework, so that the phenomenon that the bearing unmanned aerial vehicle is in a tilting state due to weight loss in the maneuvering process is avoided;
(8) The invention provides an unmanned aerial vehicle mounting device for building detection, which is characterized in that a positioning vacuum chuck is arranged to be adsorbed on an unmanned aerial vehicle main body in order to prevent a fuselage binding component from slipping on the unmanned aerial vehicle main body, and a fuselage binding band is connected with the positioning vacuum chuck through a clamping ring to limit the degree of freedom of the fuselage binding band and prevent the fuselage binding band from slipping off the unmanned aerial vehicle main body;
(9) The invention provides an unmanned aerial vehicle mounting device for building detection, which is characterized in that a self-locking winch and a winch knob are arranged, so that a machine body binding belt is more conveniently folded and unfolded, and the binding and the dismounting of a machine body binding assembly are facilitated;
(10) The invention provides an unmanned aerial vehicle mounting device for building detection, which is characterized in that a spherical shell-shaped mounting cabin and an inner movable hemisphere are lubricated by grease, friction force on a contact surface is reduced, the grease is difficult to flow out, drop and splash are less, the unmanned aerial vehicle mounting device is suitable for long-time continuous use, and meanwhile, the grease has a sealing effect and can prevent foreign matters such as dust from being mixed.
Drawings
Fig. 1 is a top perspective view of an unmanned aerial vehicle mounting device for building detection according to the present invention;
fig. 2 is a right side view of an unmanned aerial vehicle mounting device for building detection according to the present invention;
fig. 3 is a front view of an unmanned aerial vehicle mounting device for building detection according to the present invention;
FIG. 4 is a cross-sectional view taken along the line A-A in FIG. 2;
FIG. 5 is an enlarged view of the portion I of FIG. 4;
fig. 6 is a top view of an unmanned aerial vehicle mounting device for building detection according to the present invention;
fig. 7 is a bottom perspective view of an unmanned aerial vehicle mounting device for building detection according to the present invention;
FIG. 8 is an enlarged view of the portion II of FIG. 7;
fig. 9 is a perspective view of an inner movable hemisphere of an unmanned aerial vehicle mounting device for building detection according to the present invention;
fig. 10 is an exploded view of a mounting detection assembly of an unmanned aerial vehicle mounting device for building detection according to the present invention.
Wherein 100 parts of the mounting detection assembly, 200 parts of the machine body binding assembly, 300 parts of the binding positioning assembly, 400 parts of the infrared thermal image detection assembly, 500 parts of the inner movable hemisphere, 600 parts of the spherical shell-shaped mounting cabin, 700 parts of the bearing unmanned aerial vehicle, 201 parts of the mounting platform, 202 parts of the extending connecting arm, 203 parts of the universal base, 204 parts of the external screw thread at the bottom, 205 parts of the universal base, the clamping ring, 206 parts of the self-locking winch, 207 parts of the winch knob, 208 parts of the machine body binding belt, 301 parts of the positioning vacuum chuck, 302 parts of the positioning vacuum chuck and the normally closed interface, 401, infrared camera, 402, wireless transmission module, 403, battery module, 404, fastening bolt, 405, assembly base plate, 501, bottom counterweight, 502, horizontal groove, 503, screw hole, 504, side clamping support, 505, camera draw-in groove, 506, rotating skeleton, 507, universal rotary joint, 601, vertical through groove, 602, top internal thread, 701, unmanned aerial vehicle main body, 702, horn, 703, screw, 704, organism upper surface, 705, organism lower surface.
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate orientation or positional relationships based on those shown in the drawings, merely to facilitate description of the invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
As shown in fig. 1 to 10, the invention provides an unmanned aerial vehicle mounting device for building detection, which comprises a mounting detection assembly 100 and a bearing unmanned aerial vehicle 700, wherein the mounting detection assembly 100 is fixed on the bearing unmanned aerial vehicle 700, the mounting detection assembly 100 comprises a body binding assembly 200, an infrared thermal image detection assembly 400, an inner movable hemisphere 500 and a spherical shell-shaped mounting cabin 600, the infrared thermal image detection assembly 400 is fixedly connected to the inner movable hemisphere 500, the inner movable hemisphere 500 is arranged in the spherical shell-shaped mounting cabin 600, the diameter of the inner movable hemisphere 500 is equal to the diameter of the inside of the spherical shell-shaped mounting cabin 600, the arc surface of the inner movable hemisphere 500 is always in contact with the inner surface of the spherical shell-shaped mounting cabin 600, the spherical shell-shaped mounting cabin 600 is detachably arranged on the body binding assembly 200, and the body binding assembly 200 is arranged on the bearing unmanned aerial vehicle 700; a vertical through groove 601 is formed in the spherical shell-shaped mounting cabin 600, a side clamping support 504 is arranged on the inner movable hemisphere 500, the side clamping support 504 is slidably arranged in the vertical through groove 601, the width of the side clamping support 504 is equal to that of the vertical through groove 601, a camera clamping groove 505 is formed in the side clamping support 504, the infrared thermal image detection assembly 400 comprises an infrared camera 401, and the infrared camera 401 is clamped in the camera clamping groove 505; the infrared thermal image detection assembly 400, the inner movable hemisphere 500 and the spherical shell-shaped mounting cabin 600 are fixed on the bearing unmanned aerial vehicle 700 through the fuselage binding assembly 200, the bearing unmanned aerial vehicle 700 is controlled to move to the vicinity of a building, the infrared thermal image detection assembly 400 is used for detecting the infrared thermal image of the building, and the bearing unmanned aerial vehicle 700 is controlled to realize comprehensive infrared thermal image detection of a high-rise building; the infrared thermal image detection assembly 400 is arranged on the inner movable hemisphere 500, the inner movable hemisphere 500 is separated from the spherical shell-shaped mounting cabin 600, meanwhile, the diameter of the inner movable hemisphere 500 is ensured to be equal to that of the inside of the spherical shell-shaped mounting cabin 600, so that the infrared thermal image detection assembly 400 and the inner movable hemisphere 500 can make concentric rotation relative to the spherical shell-shaped mounting cabin 600, when the carrying unmanned aerial vehicle 700 carries out flight attitude adjustment, the attitudes of the fuselage binding assembly 200 and the spherical shell-shaped mounting cabin 600 change along with the carrying unmanned aerial vehicle 700, at the moment, the inner movable hemisphere 500 rotates relative to the spherical shell-shaped mounting cabin 600 in the spherical shell-shaped mounting cabin 600 due to the action of gravity, and the side clamping support 504 and the infrared camera 401 move in the vertical through groove 601, therefore, the inner movable hemisphere 500 can be kept at the bottom position inside the spherical shell-shaped mounting cabin 600, the infrared thermal image detection assembly 400 on the inner movable hemisphere 500 always keeps a fixed position, and the influence of the attitude change of the carrying unmanned aerial vehicle 700 is avoided; when the carrying unmanned aerial vehicle 700 changes the posture, the side clamping support 504 and the vertical through groove 601 limit the position of the inner movable hemisphere 500, and meanwhile, the infrared camera 401 is clamped in the camera clamping groove 505, so that the influence on the detection result and the damage of the infrared camera 401 caused by the collision between the infrared camera 401 and the spherical shell-shaped mounting cabin 600 in the posture changing process are avoided.
The inner movable hemisphere 500 is a hemisphere with one side being a plane and the other side being a sphere, a horizontal groove 502 is arranged on the plane of the inner movable hemisphere 500, a bottom counterweight 501 is arranged in the sphere of the inner movable hemisphere 500, the infrared thermal image detection assembly 400 is arranged on the horizontal groove 502, the direction of the infrared camera 401 is parallel to the horizontal groove 502, and a threaded hole 503 is arranged on the horizontal groove 502; the bottom counterweight 501 is arranged in the spherical surface of the inner movable hemisphere 500, so that the inner movable hemisphere 500 can be kept at the bottom position inside the spherical shell-shaped mounting cabin 600, and meanwhile, the gravity center of the inner movable hemisphere 500 is downwards moved, so that the lever effect is reduced, and the inner movable hemisphere 500 is prevented from being biased by friction force generated when the spherical shell-shaped mounting cabin 600 is subjected to rapid posture change; a horizontal groove 502 is arranged on the inner movable hemisphere 500, and the infrared camera 401 is enabled to point parallel to the horizontal groove 502, so that the infrared camera 401 always points horizontally to a tested building, and an infrared signal imaging angle is limited.
The infrared thermal image detection component 400 further comprises a wireless transmission module 402, a battery module 403, a fastening bolt 404 and an assembly substrate 405, wherein the infrared camera 401, the wireless transmission module 402 and the battery module 403 are fixedly connected to the assembly substrate 405, the assembly substrate 405 is bolted on the horizontal groove 502 through the fastening bolt 404 and the threaded hole 503, the infrared camera 401, the wireless transmission module 402 and the battery module 403 are electrically connected, and the battery module 403 provides power for the infrared camera 401 and the wireless transmission module 402; by arranging the wireless transmission module 402, the thermal infrared signals acquired by the infrared camera 401 can be transmitted to a detection instrument on the ground for imaging, so that the volume of the infrared thermal image detection assembly 400 is reduced, and the weight of the mounting detection assembly 100 is further reduced; the infrared camera 401 and the wireless transmission module 402 are selected from a building infrared thermal imager of Testo-872 model.
The fuselage binding assembly 200 comprises a mounting platform 201, the bearing unmanned aerial vehicle 700 comprises an unmanned aerial vehicle main body 701, an upper surface 704 and a lower surface 705 of the unmanned aerial vehicle main body 701 are respectively arranged on the unmanned aerial vehicle main body 701, the mounting platform 201 is attached to the lower surface 705 of the unmanned aerial vehicle main body, a bottom external thread 204 is arranged at the bottom end of the mounting platform 201, a top internal thread 602 is arranged at the top end of a spherical shell-shaped mounting cabin 600, and the bottom external thread 204 and the top internal thread 602 are meshed with each other; the spherical shell-shaped mounting cabin 600 is connected with the mounting platform 201 through the bottom external threads 204 and the top internal threads 602, so that the spherical shell-shaped mounting cabin 600 is convenient to mount and dismount, when the infrared thermal image detection assembly 400 is used, the inner movable hemisphere 500 provided with the infrared thermal image detection assembly 400 is only required to be placed in the spherical shell-shaped mounting cabin 600, and then the spherical shell-shaped mounting cabin 600 is screwed onto the mounting platform 201 by utilizing the top internal threads 602, so that the assembly of the mounting detection assembly 100 is realized.
The inner movable hemisphere 500 is also provided with a rotating skeleton 506, the top end of the rotating skeleton 506 is provided with a universal rotating joint 507, the position of the universal rotating joint 507 coincides with the position of the sphere center of the inner movable hemisphere 500, the bottom surface of the mounting platform 201 is provided with a universal base 203, and the universal rotating joint 507 is rotationally arranged in the universal base 203; through setting up rotation skeleton 506 and universal rotation joint 507 for the relative rotation between inlayer movable hemisphere 500 and the spherical shell shape mount cabin 600 uses universal rotation joint 507 as the centre of a circle, through the supporting role of rotation skeleton 506, forces between inlayer movable hemisphere 500 and the spherical shell shape mount cabin 600 to keep the contact all the time, has avoided bearing unmanned aerial vehicle 700 to produce the tilting of weightlessness in the maneuver in-process and lead to inlayer movable hemisphere 500.
The mounting detection assembly 100 further comprises a binding limiting assembly 300, the binding limiting assembly 300 is arranged on the unmanned aerial vehicle main body 701, the binding limiting assembly 300 is connected with the body binding assembly 200, the binding limiting assembly 300 comprises a positioning vacuum chuck 301, the positioning vacuum chuck 301 is adsorbed on the upper surface 704 of the body, and a normally closed interface 302 is arranged at the top of the positioning vacuum chuck 301.
The machine body binding assembly 200 further comprises a clamping ring 205 and a machine body binding belt 208, wherein the clamping ring 205 is clamped on the positioning vacuum chuck 301, the mounting platform 201 is provided with an extension connecting arm 202, and two ends of the machine body binding belt 208 are respectively connected to the extension connecting arm 202 and the clamping ring 205; bind subassembly 200 through fuselage bandage 208 and bind on bearing unmanned aerial vehicle 700, in order to avoid fuselage to bind subassembly 200 to skid on unmanned aerial vehicle host computer body 701, set up location vacuum chuck 301 and adsorb on unmanned aerial vehicle host computer body 701 to be connected fuselage bandage 208 and location vacuum chuck 301 through snap ring 205, inject the degree of freedom of fuselage bandage 208, prevent that fuselage bandage 208 from slipping on unmanned aerial vehicle host computer body 701.
The self-locking winch 206 is arranged on the clamping ring 205, the machine body binding belt 208 is wound on the self-locking winch 206, the winch knob 207 is arranged on the self-locking winch 206, and the self-locking winch 206 is controlled to retract and release the machine body binding belt 208 when the winch knob 207 rotates.
The carrying unmanned aerial vehicle 700 further comprises a horn 702 and a propeller 703, wherein the horn 702 is arranged around the unmanned aerial vehicle main body 701, and the propeller 703 is rotationally arranged on the horn 702; the unmanned aerial vehicle body 701 is driven to fly by the propeller 703 and the horn 702.
Grease lubrication is adopted between the spherical shell-shaped mounting cabin 600 and the inner movable hemisphere 500; the spherical shell-shaped mounting cabin 600 and the inner movable hemisphere 500 are lubricated by grease, so that friction force on the contact surface is reduced.
In specific use, the mounting detection assembly 100 is assembled first: placing the positioning vacuum chuck 301 in the center of the upper surface 704 of the machine body, pumping out air in the positioning vacuum chuck 301 through the normally closed interface 302, enabling the positioning vacuum chuck 301 to be adsorbed on the upper surface 704 of the machine body, and then installing the clamping ring 205 on the positioning vacuum chuck 301 to finish positioning of the binding limiting component 300; then attaching the mounting platform 201 to the lower surface 705 of the machine body, rotating the winch knob 207 to control the self-locking winch 206 to tighten the machine body binding belt 208, attaching the mounting platform 201 to the lower surface 705 of the machine body through the extending connecting arm 202 by the machine body binding belt 208, bolting the assembly base plate 405 with the infrared camera 401, the wireless transmission module 402 and the battery module 403 to the horizontal groove 502 through the fastening bolt 404, clamping the infrared camera 401 in the camera clamping groove 505, smearing lubricating grease on the surface of the inner movable hemisphere 500 close to the bottom counterweight 501, placing the inner movable hemisphere 500 in the spherical shell-shaped mounting cabin 600, ensuring that the spherical surface of the inner movable hemisphere 500 is fully contacted with the spherical shell-shaped mounting cabin 600, simultaneously ensuring that the side clamping bracket 504 is positioned in the vertical through groove 601, and then screwing the spherical shell-shaped mounting cabin 600 to the mounting platform 201 through the top internal threads 602 and the bottom external threads 204;
then the carrying unmanned plane 700 is controlled to take off and move to a building to be detected with the mounting detection assembly 100, the infrared camera 401 collects thermal infrared information of the building after moving to a proper position, and the thermal infrared information is transmitted to a computer on the ground for imaging through the wireless transmission module 402, so that quality problems of the building can be judged according to imaging results;
when the position of the loading unmanned aerial vehicle 700 is changed, the gesture of the spherical shell-shaped loading cabin 600 is changed along with the change of the loading unmanned aerial vehicle 700, at the moment, the inner movable hemisphere 500 rotates relative to the spherical shell-shaped loading cabin 600 in the spherical shell-shaped loading cabin 600 due to the action of gravity, the side clamping support 504 and the infrared camera 401 move in the vertical through groove 601, the inner movable hemisphere 500 can be kept at the bottom position in the spherical shell-shaped loading cabin 600 due to the action of gravity, the horizontal groove 502 is kept on the horizontal plane, the influence of the gesture change of the loading unmanned aerial vehicle 700 on the infrared camera 401 is avoided, and the stability of the detection process is ensured.
The whole working flow of the invention is just the above, and the step is repeated when the invention is used next time.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
The invention and its embodiments have been described above with no limitation, and the actual construction is not limited to the embodiments of the invention as shown in the drawings. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the present invention.
Claims (8)
1. A unmanned aerial vehicle mounting device for building detects, its characterized in that: comprises a mounting detection assembly (100) and a bearing unmanned aerial vehicle (700);
the mounting detection assembly (100) is fixed on the bearing unmanned aerial vehicle (700), the mounting detection assembly (100) comprises a body binding assembly (200), an infrared thermal image detection assembly (400), an inner movable hemisphere (500) and a spherical shell-shaped mounting cabin (600), the infrared thermal image detection assembly (400) is fixedly connected to the inner movable hemisphere (500), the inner movable hemisphere (500) is arranged in the spherical shell-shaped mounting cabin (600), the diameter of the inner movable hemisphere (500) is equal to the diameter of the spherical shell-shaped mounting cabin (600), the arc surface of the inner movable hemisphere (500) is always in contact with the inner surface of the spherical shell-shaped mounting cabin (600), the spherical shell-shaped mounting cabin (600) is detachably arranged on the body binding assembly (200), and the body binding assembly (200) is arranged on the bearing unmanned aerial vehicle (700);
the infrared thermal image detection assembly (400) comprises an infrared camera (401), and the infrared camera (401) is clamped in the camera clamping groove (505);
the infrared camera comprises an inner movable hemisphere (500), a horizontal groove (502) and a bottom counterweight (501) arranged in the spherical surface of the inner movable hemisphere (500), wherein one side of the inner movable hemisphere is a plane, the other side of the inner movable hemisphere is a spherical surface, the horizontal groove (502) is arranged on the inner movable hemisphere, the infrared thermal image detection assembly (400) is arranged on the horizontal groove (502), the infrared camera (401) is parallel to the horizontal groove (502) in direction, and the horizontal groove (502) is provided with a threaded hole (503);
a rotating framework (506) is further arranged on the inner-layer movable hemisphere (500), a universal rotating joint (507) is arranged at the top end of the rotating framework (506), and the position of the universal rotating joint (507) coincides with the position of the center of the sphere of the inner-layer movable hemisphere (500);
the machine body binding assembly (200) comprises a mounting platform (201), a universal base (203) is arranged on the bottom surface of the mounting platform (201), and the universal rotary joint (507) is rotationally arranged in the universal base (203).
2. An unmanned aerial vehicle mounting device for building detection according to claim 1, wherein: the infrared thermal image detection component (400) further comprises a wireless transmission module (402), a battery module (403), a fastening bolt (404) and an assembly substrate (405), wherein the infrared camera (401), the wireless transmission module (402) and the battery module (403) are fixedly connected to the assembly substrate (405), the assembly substrate (405) is bolted to the horizontal groove (502) through the fastening bolt (404) and the threaded hole (503), the infrared camera (401), the wireless transmission module (402) and the battery module (403) are electrically connected, and the battery module (403) provides power for the infrared camera (401) and the wireless transmission module (402).
3. An unmanned aerial vehicle mounting device for building detection according to claim 2, wherein: bear unmanned aerial vehicle (700) including unmanned aerial vehicle host computer body (701), organism upper surface (704) and organism lower surface (705) on unmanned aerial vehicle host computer body (701) respectively, mount platform (201) laminating with organism lower surface (705), the bottom of mount platform (201) is equipped with bottom external screw thread (204), the top of spherical shell shape mount cabin (600) is equipped with top internal screw thread (602), bottom external screw thread (204) and top internal screw thread (602) intermeshing.
4. A drone mounting device for building detection according to claim 3, wherein: the mounting detection assembly (100) further comprises a binding limiting assembly (300), the binding limiting assembly (300) is arranged on the unmanned aerial vehicle main body (701), the binding limiting assembly (300) is connected with the machine body binding assembly (200), the binding limiting assembly (300) comprises a positioning vacuum chuck (301), the positioning vacuum chuck (301) is adsorbed on the upper surface (704) of the machine body, and a normally closed interface (302) is arranged at the top of the positioning vacuum chuck (301).
5. The unmanned aerial vehicle mounting device for building detection of claim 4, wherein: the machine body binding assembly (200) further comprises a clamping ring (205) and a machine body binding belt (208), the clamping ring (205) is clamped on the positioning vacuum chuck (301), the mounting platform (201) is provided with an extension connecting arm (202), and two ends of the machine body binding belt (208) are respectively connected to the extension connecting arm (202) and the clamping ring (205).
6. The unmanned aerial vehicle mounting device for building detection of claim 5, wherein: the self-locking winch (206) is arranged on the clamping ring (205), the machine body binding belt (208) is wound on the self-locking winch (206), the winch knob (207) is arranged on the self-locking winch (206), and the self-locking winch (206) is controlled to retract and release the machine body binding belt (208) when the winch knob (207) rotates.
7. The unmanned aerial vehicle mounting device for building detection of claim 6, wherein: the bearing unmanned aerial vehicle (700) further comprises a horn (702) and a propeller (703), wherein the horn (702) is arranged around the unmanned aerial vehicle main body (701), and the propeller (703) is rotationally arranged on the horn (702).
8. The unmanned aerial vehicle mounting device for building detection of claim 7, wherein: grease lubrication is adopted between the spherical shell-shaped mounting cabin (600) and the inner movable hemisphere (500).
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