CN206804544U - A kind of unmanned plane device for crane surface defects detection - Google Patents
A kind of unmanned plane device for crane surface defects detection Download PDFInfo
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- CN206804544U CN206804544U CN201720490332.1U CN201720490332U CN206804544U CN 206804544 U CN206804544 U CN 206804544U CN 201720490332 U CN201720490332 U CN 201720490332U CN 206804544 U CN206804544 U CN 206804544U
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- unmanned plane
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Abstract
The utility model discloses a kind of unmanned plane device for crane surface defects detection, including unmanned plane body and floor-treating device；Unmanned plane body upper part is provided with controller, the first wireless communication module and the camera set by head；Floor-treating device includes no-manned machine distant control control button, head remote operation button, display screen, the second wireless communication module and control device；No-manned machine distant control control button, head remote operation button, display screen, the second wireless communication module electrically connect between control device；Radio communication is carried out by the first wireless communication module, the second wireless communication module.Utilize the work high above the ground advantage of unmanned plane, solves the detection problem of goliath key position, not only increase detection efficiency, the Detection task that conventional Traditional Man mode is difficult to complete can more be completed, it is effectively reduced accident potential, reduce human cost and security risk, meet the active demand of industry development.
Description
Technical field
It the utility model is related to vibrative mechanism non-destructive tests field, and in particular to one kind lacks for crane surface
Fall into the unmanned plane device of detection.
Background technology
Vibrative mechanism is lacked during long-term use by frequent alternate load effect, fretting wear, welding
Sunken, fatigue influences with factors such as corrosion effect, material agings, and the adverse circumstances such as live high temperature, strong wind, dust, radiation, no
Can produce with can avoiding damage accumulation, drag decline, and then cracked, corrosion, wear, deformation, connecting portion damage and
Easily extension causes structural fragility fracture or fatigue for the fault of construction of other forms, metal structure microcrack and fatigue damage
Fracture, and then trigger calamitous security incident.Therefore, detection and localization is carried out to vibrative mechanism defect, can be effectively pre-
Prevent and control the generation of crane accidents, reduce the loss of personnel and equipment property, it is important to promoting enterprise safety operation to have
Meaning.
At present, lifting machinery metal structure inspection relies primarily on desk checking mode and carried out, by manually carrying related inspection
Survey instrument and climb operation to main stress members position, then pass through detecting instrument or visual inspection body structure surface, connection
The defects of commissure whether there is obvious crackle and corrosion, and bolt and bearing pin etc. are connected with without obvious Short Item and damaged, inspection personnel
Need to take considerable time and shuttled under the adverse circumstances such as high temperature, dust, strong wind at the scene, crane main body structure is carried out
Climbing, time cost is high, and security risk is big, and labor intensity is big, requires high to personnel's subjective experience, particularly with goliath
For tool, the girder lower cover of some significant points such as gantry crane and supporting leg top, the trunk beam of high pedestal jib crane and
At the top of A-frame, tower crown end and arm support end of derrick crane etc., inspection personnel are difficult often to reach, or by sky after arrival
Between position limitation, it is difficult to carry out inspection work using instrument at leisure, but these positions are important force part again, are structures
The emphasis of inspection.Therefore, easy to operate there is an urgent need to find a kind of high efficient and reliable, safe mode transports detecting instrument
Accordingly detected to tested position.
Multi-rotor unmanned aerial vehicle is a kind of common unmanned vehicle, has flight stability, can be hovered in high precision in the air
The advantages that.At present, UAS obtains a certain degree of application in fields such as bridge machinery, power-line patrollings, but in crane
The application of detection field almost blank.The patent No. 201510215371.6 discloses a kind of bridge matter based on UAS
Measure device for fast detecting, including Transporting equipment, unmanned plane detection platform and bridge quality detection apparatus.The patent No.
201010223164.2 disclosing a kind of bridge detection robot based on four-axle aircraft, controlled by wireless camera, be high-precision
Degree rangefinder realizes the automatic sensing and line walking of bridge machinery position.The patent No. 201620755006.4 discloses a kind of aerial electricity
Line detecting system, the bottom of unmanned plane are provided with clamping device and failure detector, and clamping device can clamp high voltage overhead and lead
Line, unmanned plane realize the orderly detection in high-voltage overhead conductor direction while being rolled along high-voltage overhead conductor.
Machine vision intelligent testing technology using image processing techniques as core is examined in PCB defects detections, print quality
The industrial circle such as survey using more, but report is had no in crane structure non-destructive tests.Lifting machinery metal structure type
Complicated with surface condition, defect kind is more (such as crackle, corrode, abrasion, plastic deformation etc.), and form is changeable, the operation field back of the body
Scape is complicated, is related to multiple features, more planes and various dimensions plane, and these cause greatly tired to vibrative mechanism defects detection
It is difficult.
The content of the invention
The purpose of this utility model is to provide a kind of unmanned plane device for crane surface defects detection solve existing
There is in technology manually low to vibrative mechanism surface defects detection efficiency, not easy-operating technical problem.
In order to solve the above-mentioned technical problem the utility model, adopts the following technical scheme that：
A kind of unmanned plane device for crane surface defects detection, including unmanned plane body and floor-treating device；
Controller, the first wireless communication module and the camera set by head, camera, the first nothing are provided with the unmanned plane body
Electrically connected between line communication module and controller；The floor-treating device includes no-manned machine distant control control button, head is remotely controlled
Control button, display screen, the second wireless communication module and control device；No-manned machine distant control control button, head remote operation are pressed
Button, display screen, the second wireless communication module electrically connect between control device；Controller passes through first with floor-treating device
Wireless communication module, the second wireless communication module carry out radio communication.The floor-treating device can be operated by ground staff,
The flight of remotely pilotless machine, cloud platform rotation, camera zoom motion etc., and can be with the extraction of operation image defect characteristic and Classification and Identification
Deng detection algorithm, automatic detection the defects of to vibrative mechanism face crack, corrosion, wear is realized.
Unmanned plane flies to the near sites to be detected of crane, image shot by camera, and crosses the first wireless communication module, the
Two wireless communication modules carry out radio communication, and captured image is passed into floor-treating device, the control of floor-treating device
Device to the image of shooting and the different defect images and corresponding position of the crane different parts that are gathered in advance in database just
Image under normal situation is contrasted, and automatic judgement crane institute detection position whether there is defect, and the class of defect
Type, and the image of shooting, and the structure of detection are shown on a display screen.Defect inspection is carried out to crane using the device
Survey, intelligence degree is high, and accuracy in detection is high, does not climb manually to being detected on crane, improves efficiency high, drop simultaneously
Low security risk.
The floor-treating device can be operated by ground staff, the flight of remotely pilotless machine, cloud platform rotation, camera zoom fortune
Move, and can be realized with detection algorithms such as the extraction of operation image defect characteristic and Classification and Identifications to vibrative mechanism table
The automatic detection of the defects of facial cleft line, corrosion, wear.
Using the work high above the ground advantage of unmanned plane, solves the detection problem of some significant points of goliath, not only
Detection efficiency is improved, the Detection task that conventional Traditional Man mode is difficult to complete can be more completed, be effectively reduced accident potential,
Reduce human cost and security risk, meet the active demand of industry development.Fundamentally change the dangerous inspection of goliath
Environment, the desk checking mode of important detection position are surveyed, improves intellectuality, digitlization, automation that special equipment examines detection
Level, new technology, new method is promoted to examine the good application of detection field in special equipment, to improving public safety service quality
With important strategic importance.
Further improve, the unmanned plane body includes undercarriage, annular protective cover and center plectane, center plectane position
Connected between the center of annular protective cover, center plectane and annular protective cover by multiple spokes, multiple spokes
Radially it is uniformly arranged, a motor is fixed with each spoke, rotor, motor and control is provided with the output shaft of motor
Electrically connected between device；Undercarriage is fixed on the bottom of center plectane, and camera passes through the top of the centrally disposed plectane of head, control
On the centrally disposed plectane of device.By setting annular protective cover, the rotor of rotation at a high speed can be avoided to operating personnel and set
It is standby to damage, the security performance and wind loading rating of body are improved, this scheme for the single flight of each rotor installing with protecting
Shield is compared, and be enormously simplify the structure of protective cover, is reduced weight of equipment and volume, improves the endurance of unmanned plane.
Further improve, the spoke is four, the concyclic setting of central point of four motors, and the central point of four motors
Institute is concyclic to be arranged concentrically with annular protective cover.Unmanned plane body is circular, and the concyclic and annulus of central point of four motors
Shape protective cover is arranged concentrically, then improves the resistance to overturning of unmanned plane.More rotor designs, it is easy to flying for accurate control unmanned plane
Walking along the street line, flying speed and direction.
Further improving, the head is three axle heads, is arranged in above unmanned plane body, and head drives camera to rotate,
It is directed at goliath detected part and carries out multi-faceted shooting, its pitch range for moving vertically direction reaches ± 90 °, level
Direction azimuth motion scope reaches ± 180 °, can overlook imaging downwards, and and can looks up imaging upwards, can be to goliath
Various key positions carry out multi-faceted shooting without visual field dead angle, camera rotation platform pedestal installing damping spring vibration-reducing apparatus, tool
Having reduces the vibration of unmanned plane body, reduces its caused flating interference, realizes frame stabilization function.
Further improve, the camera is Visible Light Camera or thermal infrared imager, gathers the high-resolution at position to be detected
Visible images or thermal infrared images, when camera overlooks downwards shooting, it can subtract viewing field of camera angle by adjusting lens focus
It is small, so as to avoid interference of the rotor to image f iotaeld-of-view.Camera can be controlled to carry out zoom, to adjust the big of image enlargement ratio
It is small, can both carry out global outline observation to crane overall structure, local emphasis detection position can be amplified again and
Details is observed.
The method detected using unmanned plane device to crane, is comprised the following steps：
Step 1: checking unmanned plane, confirmation being capable of normal work；
Step 2: taken off by the no-manned machine distant control control button remotely pilotless machine body of floor-treating device, fly to rising
Floating state after heavy-duty machine near sites to be detected, make the position to be detected of the alignment lenses crane of camera, be remotely controlled by head
Control button regulation head is treated detection position and shot, the image of shooting is transmitted to controller, it is then wireless by first
Communication module, the second wireless communication module carry out radio communication and send image to floor-treating device；
Step 3: after floor-treating device receives image, control device is carried out just using Preprocessing Technique to it
Step processing, improves its geometric accuracy and contrast, then using the image characteristics extraction side based on multi-scale geometric analysis (MGA)
Image feature vector of the method extraction by pretreatment, core guarantor office projection (KLPP) algorithm is recycled to enter the characteristic vector extracted
Row dimensionality reduction, obtain the characteristic vector after dimensionality reduction；By the feature of the advance collection image in the characteristic vector and database after dimensionality reduction
Vector is compared, and determines that position captured by this detection whether there is defect, and the type of determination defect, and by shooting
Image, and the result of detection are shown on a display screen；
The defects of crane different parts gathered in advance are stored in the database of control device image and correspondingly
Image under the normal condition of position, and gathered in advance using the feature extracting method based on multi-scale geometric analysis (MGA)
The characteristic vector of image, project (KLPP) algorithm using core guarantor office and dimensionality reduction is carried out to the characteristic vector extracted, it is pre- to obtain extraction
The characteristic vector of image is first gathered, this feature vector is input to progress defect classification in SVMs, is divided into crackle, corruption
Four kinds of erosion, abrasion and deformation defects, every kind of defect correspond to different characteristic vectors；
Step 4: detection terminates, dropped by the no-manned machine distant control control button remotely pilotless machine body of floor-treating device
Fall.
Further improve, the control device of the floor-treating device detects captured image by each, and should
The characteristic vector of image is stored in database, and database is expanded, the figure as the advance collection of detection contrast next time
Characteristic vector after picture and in advance collection image dimensionality reduction.The process that then detection every time to crane namely gathers in advance, no
It is disconnected that information in database is supplemented, make advance collection image feature information in database increasingly abundanter.
Further improve, described image preconditioning technique includes the geometric correction of imagery, image denoising and image enhaucament.
Further improve, it is described to be passed through using the image characteristic extracting method extraction based on multi-scale geometric analysis (MGA)
The image feature vector of pretreatment, including using profile ripple (Contourlet)) convert and shearing wave (Shearlet)) conversion point
It is other that image is decomposed, and extract decompose after image statistical value as characteristic vector.
Compared with prior art, the beneficial effects of the utility model are：
Using the work high above the ground advantage of unmanned plane, solves the detection problem of some significant points of goliath, not only
Detection efficiency is improved, the Detection task that conventional Traditional Man mode is difficult to complete can be more completed, be effectively reduced accident potential,
Reduce human cost and security risk, meet the active demand of industry development.Fundamentally change the dangerous inspection of goliath
Environment, the desk checking mode of important detection position are surveyed, improves intellectuality, digitlization, automation that special equipment examines detection
Level, new technology, new method is promoted to examine the good application of detection field in special equipment, to improving public safety service quality
With important strategic importance.
Brief description of the drawings
Fig. 1 is the structural representation of unmanned plane described in the utility model.
Fig. 2 is the unmanned plane apparatus structure schematic diagram described in the utility model for crane structure surface defects detection.
Embodiment
To make the purpose of this utility model and technical scheme clearer, below in conjunction with the utility model embodiment to this
The technical scheme of utility model is clearly and completely described.
As shown in Figure 1, 2, a kind of unmanned plane device for crane surface defects detection, including unmanned plane body and ground
Face processing unit 9；Controller, the first wireless communication module and the phase set by head 2 are provided with the unmanned plane body
Machine 3, electrically connected between camera, the first wireless communication module and controller；The floor-treating device is grasped including no-manned machine distant control
Vertical button, head remote operation button, display screen, the second wireless communication module and control device；No-manned machine distant control control button,
Head remote operation button, display screen, the second wireless communication module electrically connect between control device；At controller and ground
Manage device and radio communication is carried out by the first wireless communication module, the second wireless communication module.
Unmanned plane flies to the near sites to be detected of crane, image shot by camera, and crosses the first wireless communication module, the
Two wireless communication modules carry out radio communication, and captured image is passed into floor-treating device, the control of floor-treating device
Device to the image of shooting and the different defect images and corresponding position of the crane different parts that are gathered in advance in database just
Image under normal situation is contrasted, and determines that crane institute detection position whether there is defect, and the type of defect, and
The result of the image of shooting, and detection is shown on a display screen.Defects detection, intelligence are carried out to crane using the device
Change degree is high, and accuracy in detection is high, does not climb manually to being detected on crane, improves efficiency high, while reduce peace
Full blast danger.
Using the work high above the ground advantage of unmanned plane, solves the detection problem of some significant points of goliath, not only
Detection efficiency is improved, the Detection task that conventional Traditional Man mode is difficult to complete can be more completed, be effectively reduced accident potential,
Reduce human cost and security risk, meet the active demand of industry development.Fundamentally change the dangerous inspection of goliath
Environment, the desk checking mode of important detection position are surveyed, improves intellectuality, digitlization, automation that special equipment examines detection
Level, new technology, new method is promoted to examine the good application of detection field in special equipment, to improving public safety service quality
With important strategic importance.
In the present embodiment, the unmanned plane body includes undercarriage 4, annular protective cover 8 and center plectane 1, center
Plectane 1 is located at the center of annular protective cover 8, is connected between center plectane 1 and annular protective cover 8 by multiple spokes 6
Connect, multiple spokes 6 are radially uniformly arranged, and a motor 7 is fixed with each spoke, is provided with the output shaft of motor 7
Rotor 5, electrically connected between motor 7 and controller；Undercarriage is fixed on the bottom of center plectane, during camera is arranged on by head
The top of heart plectane, on the centrally disposed plectane of controller.By setting annular protective cover, the rotation rotated at a high speed can be avoided
The wing damages to operating personnel and equipment, improves the security performance and wind loading rating of body, this scheme is with being each rotor
Install single flight protective cover to compare, enormously simplify the structure of protective cover, reduce weight of equipment and volume, improve nothing
Man-machine endurance.
In the present embodiment, the spoke 6 is four, the concyclic setting of central point of four motors 7, and in four motors
Heart point institute is concyclic to be arranged concentrically with annular protective cover.Unmanned plane body is circle, and four motors 7 central point institute it is concyclic with
Annular protective cover 8 is arranged concentrically, then improves the resistance to overturning of unmanned plane.More rotor designs, it is easy to accurately control nobody
Flight path, flying speed and the direction of machine.In other embodiments, unmanned plane body can be six rotors, eight rotors.
In the present embodiment, the head 2 is three axle heads.Head drives camera to rotate, and alignment goliath is to be measured
Position carries out multi-faceted shooting, and its pitch range for moving vertically direction reaches ± 90 °, and horizontal direction azimuth motion scope reaches
To ± 180 °, imaging can be overlooked downwards, and and can looks up imaging upwards, the various key positions of goliath can be carried out more
Orientation shooting is without visual field dead angle, and camera rotation platform pedestal installing damping spring vibration-reducing apparatus, having, which reduces unmanned plane body, shakes
It is dynamic, reduce its caused flating interference, realize frame stabilization function.
In the present embodiment, the camera is Visible Light Camera or thermal infrared imager, gathers the high-resolution at position to be detected
Rate visible images or thermal infrared images, when camera overlooks downwards shooting, viewing field of camera angle can be made by adjusting lens focus
Reduce, so as to avoid interference of the rotor to image f iotaeld-of-view.Camera can be controlled to carry out zoom, to adjust the big of image enlargement ratio
It is small, can both carry out global outline observation to crane overall structure, local emphasis detection position can be amplified again and
Details is observed.
The method detected using unmanned plane device to crane, is comprised the following steps：
Step 1: checking unmanned plane, confirmation being capable of normal work；
Step 2: taken off by the no-manned machine distant control control button remotely pilotless machine body of floor-treating device, fly to rising
Floating state after heavy-duty machine near sites to be detected, make the position to be detected of the alignment lenses crane of camera, be remotely controlled by head
Control button regulation head is treated detection position and shot, and the image of shooting is transmitted into controller, then wireless by first
Communication module, the second wireless communication module carry out radio communication line and send image to floor-treating device；
Step 3: after floor-treating device receives image, control device is carried out using Preprocessing Technique to it
Preliminary treatment, its geometric accuracy and contrast are improved, then using the image characteristics extraction based on multi-scale geometric analysis (MGA)
Image feature vector of the method extraction by pretreatment, core guarantor office projection (KLPP) algorithm is recycled to the characteristic vector extracted
Dimensionality reduction is carried out, obtains the characteristic vector after dimensionality reduction；By the spy of the advance collection image in the characteristic vector and database after dimensionality reduction
Sign vector is compared, and determines that position captured by this detection whether there is defect, and determines the type of defect, and will shooting
Image, and detection result show on a display screen；
The defects of crane different parts gathered in advance are stored in the database of control device image and correspondingly
Image under the normal condition of position, and gathered in advance using the feature extracting method based on multi-scale geometric analysis (MGA)
The characteristic vector of image, project (KLPP) algorithm using core guarantor office and dimensionality reduction is carried out to the characteristic vector extracted, it is pre- to obtain extraction
The characteristic vector of image is first gathered, this feature vector is input to progress defect classification in SVMs, is divided into crackle, corruption
Four kinds of erosion, abrasion and deformation defects, every kind of defect correspond to different characteristic vectors；
Step 4: detection terminates, dropped by the no-manned machine distant control control button remotely pilotless machine body of floor-treating device
Fall.
In the present embodiment, image of the control device of the floor-treating device captured by by each detection, and
The characteristic vector of the image is stored in database, and database is expanded, as the advance collection that next time, detection contrasted
Characteristic vector after image and in advance collection image dimensionality reduction.The process that then detection every time to crane namely gathers in advance,
Constantly the information in database is supplemented, makes advance collection image feature information in database increasingly abundanter.
In the present embodiment, described image preconditioning technique includes the geometric correction of imagery, image denoising and image enhaucament.
In the present embodiment, it is described using the image characteristic extracting method extraction warp based on multi-scale geometric analysis (MGA)
The image feature vector of pretreatment is crossed, including using profile ripple (Contourlet)) convert and shearing wave (Shearlet)) conversion
Image is decomposed respectively, and extract decompose after image statistical value as characteristic vector.
Do not done in the utility model illustrate be prior art or by prior art i.e. can be achieved, Er Qieben
It is only preferably case study on implementation of the present utility model that case is embodied described in utility model, is not used for limiting this practicality
New practical range.The equivalent changes and modifications that i.e. all contents according to present utility model application the scope of the claims are made, should all make
For technology category of the present utility model.
Claims (5)
1. a kind of unmanned plane device for crane surface defects detection, it is characterised in that including unmanned plane body and ground
Processing unit；
The unmanned plane body upper part be provided with controller, the first wireless communication module and by head set camera, camera,
Electrically connected between first wireless communication module and controller；
The floor-treating device includes no-manned machine distant control control button, head remote operation button, display screen, the second channel radio
Believe module and control device；No-manned machine distant control control button, head remote operation button, display screen, the second wireless communication module
Electrically connected between control device；
Controller carries out radio communication with floor-treating device by the first wireless communication module, the second wireless communication module.
2. the unmanned plane device according to claim 1 for crane surface defects detection, it is characterised in that the nothing
Man-machine body includes undercarriage, annular protective cover and center plectane, and center plectane is located at the center of annular protective cover,
Connected between center plectane and annular protective cover by multiple spokes, multiple spokes are radially uniformly arranged, each spoke
On be fixed with a motor, be provided with rotor on the output shaft of motor, electrically connected between motor and controller；Undercarriage is fixed on
The bottom of center plectane, camera is by the top of the centrally disposed plectane of head, on the centrally disposed plectane of controller.
3. the unmanned plane device according to claim 2 for crane surface defects detection, it is characterised in that the spoke
Bar is four, the concyclic setting of central point of four motors, and the central point institute of four motors is concyclic concentric with annular protective cover
Set.
4. the unmanned plane device according to claim 3 for crane surface defects detection, it is characterised in that the cloud
Platform is three axle heads.
5. the unmanned plane device according to claim 1 for crane surface defects detection, it is characterised in that the phase
Machine is Visible Light Camera or thermal infrared imager.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108802040A (en) * | 2017-05-04 | 2018-11-13 | 南京市特种设备安全监督检验研究院 | A kind of unmanned plane device and detection method for crane surface defects detection |
| CN110609038A (en) * | 2019-08-28 | 2019-12-24 | 广东工业大学 | Structural damage identification method and system based on unmanned aerial vehicle image |
| WO2020143136A1 (en) * | 2019-01-10 | 2020-07-16 | 华南理工大学 | Active infrared thermal detection method for damage in bonding structure of glass curtain wall and system for same |
-
2017
- 2017-05-04 CN CN201720490332.1U patent/CN206804544U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108802040A (en) * | 2017-05-04 | 2018-11-13 | 南京市特种设备安全监督检验研究院 | A kind of unmanned plane device and detection method for crane surface defects detection |
| WO2020143136A1 (en) * | 2019-01-10 | 2020-07-16 | 华南理工大学 | Active infrared thermal detection method for damage in bonding structure of glass curtain wall and system for same |
| CN110609038A (en) * | 2019-08-28 | 2019-12-24 | 广东工业大学 | Structural damage identification method and system based on unmanned aerial vehicle image |
| CN110609038B (en) * | 2019-08-28 | 2023-02-28 | 广东工业大学 | Structural damage identification method and system based on unmanned aerial vehicle image |
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