CN211577010U - Building structure disease inspection device and system - Google Patents
Building structure disease inspection device and system Download PDFInfo
- Publication number
- CN211577010U CN211577010U CN202020137403.1U CN202020137403U CN211577010U CN 211577010 U CN211577010 U CN 211577010U CN 202020137403 U CN202020137403 U CN 202020137403U CN 211577010 U CN211577010 U CN 211577010U
- Authority
- CN
- China
- Prior art keywords
- support frame
- rotary
- camera
- hydraulic rod
- inspection device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 87
- 201000010099 disease Diseases 0.000 title claims abstract description 68
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 title claims abstract description 68
- 150000001875 compounds Chemical class 0.000 claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims description 10
- 239000000725 suspension Substances 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 239000013589 supplement Substances 0.000 claims description 8
- 238000001514 detection method Methods 0.000 description 19
- 238000004458 analytical method Methods 0.000 description 15
- 238000000034 method Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 11
- 238000012549 training Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000000887 face Anatomy 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003062 neural network model Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Landscapes
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The utility model discloses a building and structure disease inspection device and system, wherein, the building and structure disease inspection device comprises a rotary support column, a suspender mechanism, a camera support frame with adjustable length and an inspection vehicle arranged on a target building, the rotary support column is arranged on the inspection vehicle, one end of the suspender mechanism is connected on the rotary support column, and the other end is connected with one end of the camera support frame; the camera support frame is provided with a plurality of compound eye cameras which are arranged at intervals along the length direction of the camera support frame, and the shooting areas of two adjacent compound eye cameras are partially overlapped. The building disease inspection device has the advantages of high efficiency, low risk, wide applicability and strong operability.
Description
Technical Field
The utility model belongs to the technical field of building structure detects, concretely relates to building structure disease inspection device and system.
Background
With the rapid development of Chinese economy, the bridge construction in China is developing at a rapid speed making world attention, the status of the bridge in the modern society is continuously improved, no matter the bridge is a sea-crossing bridge, a river-crossing bridge, a viaduct or an overpass, which is closely related to national economy and people's daily life, however, with the increasing dependence of people and countries on the bridge, the frequency of use of the bridge is greatly increased, which leads to the gradual exposure of the problem of structural diseases of the bridge in service, so that the bridge disease inspection plays an important role in bridge safety, wherein the part of the bridge which is most prone to deformation and cracking under the load action is the bottom of the bridge, and the apparent inspection of the bottom of the bridge is an important item in bridge inspection.
At present, most of bridge inspection work adopts a method of manual detection by means of auxiliary equipment, but the manual detection method has the problems of low efficiency, high safety risk and the like, and in order to replace the traditional manual detection mode, in recent years, the unmanned aerial vehicle is gradually tried to be adopted for detection to obtain a better effect, but the unmanned aerial vehicle is still used for bridge inspection work, and the defects exist:
1. the GPS navigation signal of the unmanned aerial vehicle has the phenomenon of unstable signal in special weather, and has extremely high technical requirements on operators, so the operability is poor;
2. unmanned aerial vehicle is difficult to fly into the special bridge bottom of structure, therefore application range has certain limitation, is difficult to satisfy various structural bridge's detection demand.
Therefore, the technical problem to be solved urgently by technical personnel in the field is to find a bridge inspection mode with high efficiency, low risk, wide applicability and strong operability.
SUMMERY OF THE UTILITY MODEL
In order to overcome the above-mentioned shortcoming of prior art, the utility model aims to provide a building structure disease inspection device that high efficiency, low risk, extensive applicability and maneuverability are strong.
The utility model discloses a reach its purpose, the technical scheme who adopts as follows:
a building structure disease inspection device comprises a rotary supporting column, a suspender mechanism, a camera supporting frame with adjustable length and an inspection vehicle arranged on a target building structure, wherein the rotary supporting column is arranged on the inspection vehicle, one end of the suspender mechanism is connected to the rotary supporting column, and the other end of the suspender mechanism is connected with one end of the camera supporting frame; the compound eye camera support comprises a camera support frame and is characterized in that a plurality of compound eye cameras are mounted on the camera support frame, the compound eye cameras are arranged at intervals along the length direction of the camera support frame, and shooting areas of two adjacent compound eye cameras are partially overlapped.
Furthermore, the camera support frame comprises a first support frame, a second support frame, a third support frame, a first rotary joint and a second rotary joint, wherein the first end of the first support frame is connected with the other end of the suspender mechanism, the second end of the first support frame is rotatably connected with the first end of the second support frame through the first rotary joint, and the second end of the second support frame is rotatably connected with one end of the third support frame through the second rotary joint.
Furthermore, the first rotary joint comprises a rotary convex joint, a rotary concave joint, and a driving shaft and a driving motor which are arranged on the rotary concave joint, the rotary concave joint is fixed on the first end of the second support frame, an output shaft of the driving motor is connected with one end of the driving shaft, the first end of the rotary convex joint is fixed on the second end of the first support frame, and the second end of the rotary convex joint is sleeved on the driving shaft and is rotationally connected with the rotary concave joint through the driving shaft.
Furthermore, the suspender mechanism comprises a first suspender, a second suspender, a first hydraulic rod, a second hydraulic rod, a third hydraulic rod and a rotary connector, wherein the first suspender is provided with a sliding sleeve, the first end of the second suspender is hinged on the rotary support column, and the second end of the second suspender is hinged with the sliding sleeve; the first end of the first suspender is hinged with the first end of the first hydraulic rod, the second end of the first suspender is hinged on the rotary connecting head, and the second end of the first hydraulic rod is hinged on the second suspender; the first end of the second hydraulic rod is hinged to the second suspender, and the second end of the second hydraulic rod is hinged to the rotary supporting column; the third hydraulic stem is close to the second end setting of first jib, just the first end of third hydraulic stem articulate in on the first jib, the second end of third hydraulic stem with the first end of rotating the connector is articulated mutually, the second end of rotating the connector with the one end fixed connection of first support frame.
Further, the rotation support post includes support post, column base and install in rotation reduction gear on the inspection car, the bottom mounting of support post is in on the top of column base, the column base install in rotation reduction gear's inner circle, the first end of second jib with the top of support post is articulated mutually, the second end of second hydraulic stem articulate in on the top of column base.
Further, the building structure disease inspection device further comprises a controller, and the controller is in signal connection with the inspection vehicle and the compound eye cameras respectively.
Further, aforementioned structure disease inspection device is built, still include a plurality of edges the light filling lamp of camera support frame's length direction interval arrangement, each compound eye camera all embeds there is ambient light sensor, wherein, each light filling lamp, the equal signal connection of ambient light sensor to the controller.
Further, aforementioned structure disease inspection device is built still includes the controller and installs in laser alarm on the camera support frame, wherein, laser alarm, first revolute joint, second revolute joint, the equal signal connection of third hydraulic stem are to the controller.
Further, aforementioned structure disease inspection device is built still includes wireless remote controller and installs in real-time camera on the camera support frame, real-time camera, first hydraulic stem, second hydraulic stem, third hydraulic stem all with wireless remote controller communication connection.
Correspondingly, the utility model discloses still provide a building structure disease system of patrolling and examining, including remote computer, high in the clouds server and aforementioned building structure disease inspection device, wherein, remote computer, each compound eye camera all with high in the clouds server communication connection.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model provides a building structure disease inspection device, when using, accessible rotation support post and jib mechanism stretch into the bottom of bridge with the camera support frame, make the length direction of camera support frame keep unanimous with the width direction of bridge, because the shooting regional part of two compound eye cameras adjacent on the camera support frame overlaps, consequently, each position along the width direction of bridge bottom can all be covered by compound eye camera, guaranteed the continuity and the integrality of the bridge bottom picture information of shooing, simultaneously, because the length of camera support frame is adjustable, therefore the bridge construction of adaptable different width degree, thereby can satisfy the detection demand of various structure bridges, therefore extensive applicability; moreover, when the appearance of the bottom of the bridge is checked, the inspection vehicle is only required to be controlled to run along the length direction of the bridge, and in the running process of the inspection vehicle, the compound-eye camera can replace naked eyes to shoot and detect the bottom of the bridge, so that the operability is high, the inspection efficiency is high, a special person does not need to go to the bottom of the bridge to detect, and the safety risk is low.
The utility model provides a building structure disease system of patrolling and examining, can upload the bridge bottom picture information that compound eye camera gathered to the high in the clouds server, and then remote computer accessible logs in the high in the clouds server and acquires the bridge bottom picture information that compound eye camera uploaded and carry out automated inspection and the discernment of bridge disease type, so, on the one hand, compare with the mode that general unmanned aerial vehicle detected, can improve the efficiency that bridge disease detected in the link of picture information acquisition, on the other hand, compare with the mode that traditional manual work detected, can be on the link of bridge disease type discernment, improve the efficiency and the accuracy that bridge disease detected.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without any creative effort.
Fig. 1 is a schematic view of a state of a building damage inspection device before use in an embodiment of the present invention;
fig. 2 is a schematic diagram of a state of the inspection device for inspecting the disease of the building in an embodiment of the present invention;
fig. 3 is a schematic view showing a position state of the camera support before the camera support is extended below the bottom of the bridge according to an embodiment of the present invention (the third hydraulic rod is removed);
fig. 4 is a schematic view illustrating a position state of the camera support after extending below the bottom of the bridge according to an embodiment of the present invention;
fig. 5 is a schematic view illustrating an extending process of a camera supporting frame according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a first rotary joint according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a compound eye camera according to an embodiment of the present invention;
FIG. 8 is a top view of FIG. 7;
fig. 9 is a schematic structural diagram of a system for inspecting a disease of a building according to an embodiment of the present invention.
Description of reference numerals:
1-inspection vehicle, 2-rotary supporting column, 21-supporting column, 22-columnar base, 23-rotary speed reducer, 3-suspension rod mechanism, 31-first suspension rod, 311-side arm, 3111-first hinge part, 32-second suspension rod, 33-first hydraulic rod, 34-second hydraulic rod, 35-sliding sleeve, 36-third hydraulic rod, 37-rotary connector, 371-support frame fixing part, 372-second hinge part, 373-third hinge part, 4-camera support frame, 41-first support frame, 42-second support frame, 43-third support frame, 44-first rotary joint, 441-rotary convex joint, 442-rotary concave joint, 443-driving shaft and 444-driving motor, 445-connecting key, 446-bearing, 45-second rotary joint, 5-compound eye camera, 51-camera shell, 511-supporting outer surface, 52-camera, 6-controller, 7-light supplement lamp, 8-real-time camera, 9-laser alarm, 10-bridge, 20-wireless remote controller, 30-remote computer and 40-cloud server.
Detailed Description
In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in detail with reference to the accompanying drawings and detailed description. In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, and the described embodiments are merely some embodiments, rather than all embodiments, of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work all belong to the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1 and 2, an embodiment of the present invention provides a building structure disease inspection device, which includes a rotation support column 2, a boom mechanism 3, a camera support frame 4 with adjustable length, and an inspection vehicle 1 disposed on a target building structure, wherein the rotation support column 2 is mounted on the inspection vehicle 1, one end of the boom mechanism 3 is connected to the rotation support column 2, and the other end is connected to one end of the camera support frame 4; the camera support frame 4 is provided with a plurality of compound eye cameras 5, the compound eye cameras 5 are arranged at intervals along the length direction of the camera support frame 4, and the shooting areas of two adjacent compound eye cameras 5 are partially overlapped.
For ease of understanding, the target structure is illustrated and described as a bridge 10. In the embodiment, when the building structure disease inspection device is used, the camera support frame 4 can be extended into the bottom of the bridge 10 through the rotary support column 2 and the suspender mechanism 3, so that the length direction of the camera support frame 4 is consistent with the width direction of the bridge 10, and because the shooting areas of two adjacent compound-eye cameras 5 on the camera support frame 4 are partially overlapped, all parts of the bottom of the bridge 10 along the width direction can be covered by the compound-eye cameras 5, thereby ensuring the continuity and integrity of the shot picture information of the bottom of the bridge 10, and meanwhile, because the length of the camera support frame 4 is adjustable, the device can adapt to bridge 10 structures with different widths, thereby meeting the detection requirements of bridges 10 with various structures and having wide applicability; moreover, when the appearance of the bottom of the bridge 10 is checked, the inspection vehicle 1 is only required to be controlled to run along the length direction of the bridge 10, and the compound-eye camera 5 can replace naked eyes to shoot and detect the bottom of the bridge 10 in the running process of the inspection vehicle 1, so that the operability is high, the inspection efficiency is high, a person does not need to go to the bottom of the bridge to detect, and the safety risk is low. In particular, a general transport truck may be used as the inspection vehicle 1.
In this embodiment, compared with a conventional single-lens camera, the compound-eye camera 5 has a wide shooting range, can achieve a three-dimensional shooting effect, and meets the requirement of the bottom defect detection of the three-dimensional bridge 10 on picture information. In some exemplary embodiments, as shown in fig. 7 and 8, the compound eye camera 5 includes a camera housing 51 and a plurality of cameras 52, the camera housing 51 has a supporting outer surface 511, the supporting outer surface 511 is a hemisphere, the number of the cameras 52 is singular, one camera 52 is located at the top of the hemisphere, the rest cameras 52 are uniformly distributed on the hemisphere with the top of the hemisphere as a center, there is a space between the cameras 52 to cover different shooting areas, and the shooting areas of two adjacent cameras 52 partially overlap. Thus, when the compound-eye camera 5 shoots, the cameras 52 distributed on the outer supporting surface 511 can shoot the target position area at the bottom of the bridge 10 from different shooting angles, so that a large-range shooting scene can be obtained, and meanwhile, the shooting areas of two adjacent cameras 52 are partially overlapped, so that the continuity and integrity of picture information are ensured, and the compound-eye camera 5 can achieve a three-dimensional shooting effect. In specific implementation, the number of the compound-eye cameras 5 and the interval between two adjacent compound-eye cameras 5 can be flexibly set according to the shooting range of the compound-eye cameras 5 and the width of the bridge 10, as long as it is ensured that each part of the bottom of the bridge 10 along the width direction thereof can be completely covered by the compound-eye cameras 5, which is not specifically limited.
Referring to fig. 1, 2 and 5, in an exemplary embodiment, the camera support frame 4 includes a first support frame 41, a second support frame 42, a third support frame 43, a first rotating joint 44 and a second rotating joint 45, a first end of the first support frame 41 is connected to the other end of the boom mechanism 3, a second end of the first support frame 41 is rotatably connected to a first end of the second support frame 42 through the first rotating joint 44, and a second end of the second support frame 42 is rotatably connected to an end of the third support frame 43 through the second rotating joint 45.
In this embodiment, the rotary joints are disposed between the ends of the two adjacent camera supporting frames 4, so that the camera supporting frames 4 can be adjusted in length by extending and folding, and thus the length of the camera supporting frame 4 can be flexibly adjusted according to the actual width of the bridge 10 to meet different requirements. In specific implementation, preferably, the truss made of high-strength aluminum alloy can be used as each section of the support frame, so that the overall quality of the camera support frame 4 can be reduced, the strength of the camera support frame 4 can be improved, and the camera support frame 4 can be safely operated in various severe weathers.
Referring to fig. 1, 2, 5 and 6, in an exemplary embodiment, the first rotary joint 44 includes a rotary male joint 441, a rotary female joint 442, and a driving shaft 443 and a driving motor 444 mounted on the rotary female joint 442, the rotary female joint 442 is fixed to a first end of the second support frame 42, an output shaft of the driving motor 444 is connected to one end of the driving shaft 443, a first end of the rotary male joint 441 is fixed to a second end of the first support frame 41, and a second end of the rotary male joint 441 is sleeved on the driving shaft 443 and rotatably connected to the rotary female joint 442 through the driving shaft 443. Illustratively, bearings 446 are mounted at two ends of the driving shaft 443, transmission is realized between the driving shaft 443 and the rotary convex joint 441 through a connecting key 445, and the driving motor 444 is preferably a speed reducing motor or a speed regulating motor.
In the present embodiment, based on the above-mentioned structural design, the extension and the folding between the first supporting frame 41 and the second supporting frame 42 can be realized by controlling the forward and backward rotation of the driving motor 444, so that the length of the camera supporting frame 4 can be adjusted. Similarly, the second rotating joint 45 may adopt the same structural design as the first rotating joint 44, so that the second supporting frame 42 and the third supporting frame 43 can be extended and folded.
Referring to fig. 1 to 4, in an exemplary embodiment, the boom mechanism 3 includes a first boom 31, a second boom 32, a first hydraulic rod 33, a second hydraulic rod 34, a third hydraulic rod 36, and a rotary connector 37, the first boom 31 is mounted with a sliding sleeve 35, the second boom 32 is hinged to the rotary support column 2 at a first end, and the second boom 32 is hinged to the sliding sleeve 35 at a second end; the first end of the first suspender 31 is hinged with the first end of the first hydraulic rod 33, the second end of the first suspender 31 is hinged on the rotary connector 37, and the second end of the first hydraulic rod 33 is hinged on the second suspender 32; a first end of the second hydraulic rod 34 is hinged on the second suspension rod 32, and a second end of the second hydraulic rod 34 is hinged on the rotary supporting column 2; the third hydraulic rod 36 is disposed near the second end of the first suspension rod 31, the first end of the third hydraulic rod 36 is hinged to the first suspension rod 31, the second end of the third hydraulic rod 36 is hinged to the first end of the rotary connector 37, and the second end of the rotary connector 37 is fixedly connected to one end of the first support frame 41. Illustratively, a second end of the first hydraulic rod 33 is hinged on top of the second boom 32, and a first end of the second hydraulic rod 34 is hinged on top of the second boom 32; illustratively, the first suspension rod 31 has a side arm 311 near the second end thereof, the end of the side arm 311 has a first hinge 3111, the rotary connector 37 has a support frame fixing portion 371, a second hinge 372 and a third hinge 373, wherein the support frame fixing portion 371 and the third hinge 373 are respectively located at two ends of the rotary connector 37, the second hinge 372 is located at a middle position of the rotary connector 37, the support frame fixing portion 371 is fixedly connected with one end of the first support frame 41, the second hinge 372 is hinged to the second end of the first suspension rod 31, the first end of the third hydraulic rod 36 is hinged to the first hinge 3111, and the second end of the third hydraulic rod 36 is hinged to the third hinge 373.
In this embodiment, based on the above structural design, the camera support frame 4 can be hung from above the bridge deck to below the bottom of the bridge 10 by controlling the telescopic states of the first hydraulic rod 33, the second hydraulic rod 34 and the third hydraulic rod 36, and the inspection work can be completed to realize resetting, so that the operation is very convenient.
Referring to fig. 1 and 2, in an exemplary embodiment, the rotating support column 2 includes a support column 21, a cylindrical base 22, and a rotary speed reducer 23 mounted on the inspection vehicle 1, wherein a bottom end of the support column 21 is fixed on a top of the cylindrical base 22, the cylindrical base 22 is mounted in an inner ring of the rotary speed reducer 23, a first end of a second boom 32 is hinged to a top end of the support column 21, and a second end of a second hydraulic rod 34 is hinged to the top of the cylindrical base 22.
In practical application, in order to facilitate the utility model discloses building and structure disease inspection device of embodiment arrives the detection scene, before using, the length direction of camera support frame 4 needs to be put along the length direction of inspection car 1, exemplarily, before using, camera support frame 4 is located above the inspection car 1 locomotive and is put along the length direction of inspection car 1; when arriving the detection scene and carrying out the testing work, for the convenience with camera support frame 4 hang and put to bridge 10 bottom and carry out the work of patrolling and examining of bridge 10, then need put camera support frame 4 along the width direction who patrols and examines car 1, in this embodiment, based on above-mentioned structural design, it is rotatory to drive column base 22 through rotation reduction gear 23, can change camera support frame 4's mounted position, and is very convenient, so, both can guarantee not super wide in the camera support frame 4 transportation, can make things convenient for the follow-up below of hanging and putting to bridge 10 bottom with camera support frame 4 again.
Referring to fig. 1 and 2, in an exemplary embodiment, the aforementioned building structure disease inspection device further includes a controller 6, and the controller 6 is in signal connection with the inspection vehicle 1 and each compound eye camera 5 respectively. Illustratively, the controller 6 is disposed on the first support frame 41, and in practical implementation, the controller 6 may be in signal connection with the inspection vehicle 1 and each compound eye camera 5 in a wired (e.g., wires, etc.) or wireless (e.g., wifi, bluetooth, etc.) manner, respectively.
In this embodiment, in the process of inspecting the bottom of the bridge 10 by using the compound-eye cameras 5, the controller 6 may control the shooting intervals of the compound-eye cameras 5 by obtaining the traveling distance of the inspection vehicle 1, for example, if the coverage of a single compound-eye camera 5 is 1.5 meters in the length direction of the bridge 10 × 1.5 meters in the width direction of the bridge 10, when the inspection vehicle 1 travels a suitable distance (e.g., 1.5 meters, 1.4 meters, 1.3 meters, etc.), the controller 6 may control each compound-eye camera 5 to shoot once, so that the inspection work at the bottom of the bridge 10 is very intelligent, which can ensure that the acquisition of the picture information at the bottom of the bridge 10 is not missed and the inspection efficiency.
Referring to fig. 1 and 2, in an exemplary embodiment, the inspection device for the disease of the building structure further includes a plurality of light supplement lamps 7 arranged at intervals along the length direction of the camera support frame 4, each compound-eye camera 5 is provided with an ambient light sensor (not shown in the figure), and each light supplement lamp 7 and each ambient light sensor are in signal connection with the controller 6. Wherein, each light filling lamp 7, ambient light sensor accessible wired (like the wire etc.) or wireless (like wifi, bluetooth etc.) mode signal connection to controller 6.
In this embodiment, the light brightness of the shooting scene corresponding to the compound-eye camera 5 can be detected in real time by using the ambient light sensor, and then when the light of the environment where the compound-eye camera 5 is detected is too dark, the corresponding light supplement lamp 7 is turned on through the controller 6 to supplement light, and the brightness of the light supplement lamp 7 is adjusted, so that the ambient light conditions to which each compound-eye camera 5 faces can be basically kept consistent, and further each compound-eye camera 5 can obtain a picture with better definition, and the definition of each shot picture can be basically kept consistent, so that the quality of the picture shot by the compound-eye camera 5 can be ensured, and the influence of ambient light factors on the accuracy of the subsequent disease detection result is avoided.
Referring to fig. 1 and 2, in an exemplary embodiment, the aforementioned building damage inspection device further includes a laser alarm 9 mounted on the camera support frame 4, wherein the laser alarm 9, the first rotary joint 44, the second rotary joint 45, and the third hydraulic rod 36 are all connected to the controller 6 through signals. The laser alarm 9, the first rotary joint 44 and the second rotary joint 45 may be connected to the controller 6 through signals in a wired (such as a wire) or wireless (such as wifi, bluetooth, etc.). In some exemplary embodiments, an infrared distance sensor may be used as the laser alarm 9, and in particular, one laser alarm 9 may be disposed on each of the first support frame 41, the second support frame 42, and the third support frame 43, and for example, one laser alarm 9 is disposed on the first support frame 41.
In this embodiment, through setting up laser alarm 9, can be in the in-process real-time detection place ahead whether have the barrier (if meet the pier) at camera support frame 4 removal, and then when detecting the barrier, accessible controller 6 control first rotary joint 44, second rotary joint 45 folds camera support frame 4, and then control third hydraulic stem 36 with camera support frame 4 by horizontal position adjustment to the longitudinal position that is parallel with first jib 31, in order to avoid the barrier, treat to avoid behind the barrier, resume camera support frame 4 to required detection position again, thereby, can ensure that the work of patrolling and examining of compound eye camera 5 can go on safely.
Referring to fig. 1, 2 and 9, in an exemplary embodiment, the aforementioned inspection device for building damage further includes a wireless remote controller 20 and a real-time camera 8 mounted on the camera support frame 4, and the real-time camera 8, the first hydraulic rod 33, the second hydraulic rod 34, the third hydraulic rod 36, the first rotary joint 44, the second rotary joint 45, and each compound eye camera 5 are all in communication connection with the wireless remote controller 20. When the method is specifically implemented, the wireless remote controller 20 may be in communication connection with the real-time camera 8, the first hydraulic rod 33, the second hydraulic rod 34, the third hydraulic rod 36, the first rotary joint 44, the second rotary joint 45, and each compound eye camera 5 through existing methods such as the cloud server 40. Illustratively, the live camera 8 is disposed on the first support frame 41.
In the using process, the related operator can realize the related remote control operation through the wireless remote controller 20 according to the real-time picture transmitted back by the real-time camera 8, for example, the detection position of the camera support frame 4 can be adjusted by remotely controlling the first hydraulic rod 33, the second hydraulic rod 34, the third hydraulic rod 36, the first rotary joint 44 and the second rotary joint 45 according to the real-time picture transmitted back by the real-time camera 8.
Referring to fig. 1, fig. 2 and fig. 9, correspondingly, the embodiment of the utility model provides a still provide a building disease inspection system, including remote computer 30, high in the clouds server 40 and the building disease inspection device in any above-mentioned embodiment, wherein, remote computer 30, each compound eye camera 5 all with high in the clouds server 40 communication connection. In some exemplary embodiments, the wireless remote controller 20 may be in communication connection with the rotating support column 2, the boom mechanism 3, and the compound eye camera 5, respectively, through the cloud server 40; in some more specific embodiments, the wireless remote controller 20 may be respectively connected to the rotary speed reducer 23, the live camera 8, the first hydraulic rod 33, the second hydraulic rod 34, the third hydraulic rod 36, the first rotary joint 44, the second rotary joint 45, each compound eye camera 5, and each fill-in light 7 through the cloud server 40. The communication connection with the cloud server 40 may be established in a Wi-Fi, LTE, LoRa, or other existing wireless communication modes.
In this embodiment, this building structure disease inspection system can upload the bottom picture information of bridge 10 that compound eye camera 5 gathered to cloud server 40 in, and then remote computer 30 accessible logs on cloud server 40 and acquires the bottom picture information of bridge 10 that compound eye camera 5 uploaded and carries out bridge 10 disease type's automated inspection and discernment, so, on the one hand, compare with general unmanned aerial vehicle detection's mode, can improve bridge 10 disease detection's efficiency in the link of picture information acquisition, on the other hand, compare with traditional manual detection's mode, can improve bridge 10 disease detection's efficiency and accuracy in the link of bridge 10 disease type discernment.
For better understanding, the construction disease inspection system according to the embodiment of the present invention refers to fig. 1 to 9, and the working process thereof is described in more detail:
when a driver drives the inspection vehicle 1 to a bridge floor position to be detected, another operator controls the rotary speed reducer 23 to act by operating the wireless remote controller 20, and the rotary speed reducer 23 drives the columnar base 22 and the supporting upright column 21 to rotate 90 degrees, so that the folded camera supporting frame 4 is changed from being placed at an angle of 0 degrees with the length direction of the inspection vehicle 1 to being placed at an angle of 90 degrees with the length direction of the inspection vehicle 1; then, the third hydraulic rod 36 is controlled to contract through the wireless remote controller 20, and the hydraulic rod pulls the rotary connector 37 to rotate 90 degrees, so that the camera support frame 4 is perpendicular to the first hanging rod 31; then, the first hydraulic rod 33 is controlled to extend and the second hydraulic rod 34 is controlled to contract through the wireless remote controller 20, so that the camera support frame 4 extends into the lower part of the bottom of the bridge 10, at the moment, the first suspension rod 31 is in a vertical state, and the camera support frame 4 is in a horizontal state; then, the wireless remote controller 20 controls the first rotary joint 44 and the second rotary joint 45 to move, so that the camera support frame 4 is in a fully extended state; then, the real-time camera 8 is controlled to be opened through the wireless remote controller 20, and the camera support frame 4 is adjusted to a proper height by controlling the telescopic state of the first hydraulic rod 33 according to a real-time picture (the wireless remote controller 20 is provided with a display screen) transmitted back by the real-time camera 8, wherein when an operator can clearly know the structure of the bottom of the bridge 10 through the real-time picture (if light is dark, light can be supplemented by opening the light supplementing lamp 7), the camera support frame 4 can be determined to be adjusted to the proper height; at this time, the operator may control each compound eye camera 5 to turn on and perform one-time shooting through the wireless remote controller 20, and notify the driver that the vehicle is ready to drive the inspection vehicle 1 to move forward to inspect the apparent defect at the bottom of the bridge 10, wherein, in the moving process of the inspection vehicle 1, the controller 6 may obtain the driving state information of the inspection vehicle 1 in real time, such as the driving distance of the inspection vehicle 1, and each time the inspection vehicle 1 drives for a distance, the controller 6 controls each compound eye camera 5 to perform one-time shooting, for example, if the coverage range of each compound eye camera 5 is 1.5 meters in the length direction of the bridge 10 × 1.5 meters in the width direction of the bridge 10, when the inspection vehicle 1 drives for an appropriate distance (such as each driving 1.5 meters, 1.4 meters, 1.3 meters, and the like), each compound eye camera 5 may be controlled by the controller 6 to perform one-time shooting.
In some embodiments, the image information obtained by each compound eye camera 5 during each shooting can be directly uploaded to the cloud server 40, and the cloud server 40 sends the received image information to the remote computer 30 for disease analysis, in other embodiments, the image information obtained by each compound eye camera 5 during each shooting can be stored in a built-in memory card first, and then is manually taken out and then is input to the remote computer 30 for disease analysis; in addition, in some embodiments, the picture information acquired by the remote computer 30 may be two-dimensional picture information or three-dimensional picture information, and when the acquired picture information is two-dimensional picture information, the remote computer 30 performs three-dimensional processing on the two-dimensional picture information through built-in dedicated software: separating two-dimensional pictures shot by each camera 52 on the compound-eye camera 5, removing shadows and compensating distortion, repeating the pictures in a single two-dimensional picture, finding different positions in the two-dimensional pictures obtained by each camera 52 in the repeating measurement process, accumulating the operation, and extracting the distance, color and shape of an object, so as to obtain a reconstructed three-dimensional image, and then inputting the obtained three-dimensional image into a pre-trained disease analysis model for disease analysis, so as to obtain a disease detection result corresponding to the three-dimensional image, wherein the training process of the disease analysis model is as follows: preparing a large number of three-dimensional images representing different disease types in advance, wherein one part of the three-dimensional images is used as a training set (accounting for 70%), the other part of the three-dimensional images is used as a verification set (accounting for 30%), the disease analysis model is trained by using part of the training set, then the trained disease analysis model is verified by using part of the verification set so as to check whether the recognition precision of the disease analysis model reaches the preset precision, if the recognition precision reaches the preset precision, the training is stopped, otherwise, the training set is repeatedly used for training the disease analysis model until the recognition precision of the disease analysis model reaches the preset precision, and thus the disease analysis model with the disease analysis function is obtained, wherein the disease analysis model can adopt a convolutional neural network model or other neural network models with deep learning functions, and is not specifically limited; when the image information acquired by the remote computer 30 is three-dimensional image information, the acquired three-dimensional image information can be directly input into a pre-trained disease analysis model for disease analysis, so that a disease detection result corresponding to the three-dimensional image information can be acquired; that is, the process of three-dimensionally processing the two-dimensional picture information obtained by each camera 52 in the compound-eye camera 5 can be completed in the compound-eye camera 5 or in the remote computer 30, and in practical applications, the process of three-dimensionally processing the two-dimensional picture information is generally completed by the remote computer 30 in consideration of the problems of more picture information collected by the compound-eye camera 5, and great difficulty in processing the picture information (such as hardware requirements).
It should be noted that the other contents of the structure disease inspection device and system disclosed in the present invention can be referred to the prior art, and are not described herein again.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made by the technical spirit of the present invention to the above embodiments do not depart from the technical solution of the present invention, and still fall within the scope of the technical solution of the present invention.
Claims (10)
1. A building structure disease inspection device is characterized by comprising a rotary supporting column, a suspender mechanism, a camera supporting frame with adjustable length and an inspection vehicle arranged on a target building structure, wherein the rotary supporting column is arranged on the inspection vehicle, one end of the suspender mechanism is connected to the rotary supporting column, and the other end of the suspender mechanism is connected with one end of the camera supporting frame; the compound eye camera support comprises a camera support frame and is characterized in that a plurality of compound eye cameras are mounted on the camera support frame, the compound eye cameras are arranged at intervals along the length direction of the camera support frame, and shooting areas of two adjacent compound eye cameras are partially overlapped.
2. The building structure disease inspection device according to claim 1, wherein the camera support frame includes a first support frame, a second support frame, a third support frame, a first rotary joint and a second rotary joint, a first end of the first support frame is connected with the other end of the boom mechanism, a second end of the first support frame is rotatably connected with a first end of the second support frame through the first rotary joint, and a second end of the second support frame is rotatably connected with one end of the third support frame through the second rotary joint.
3. The building and structure disease inspection device of claim 2, wherein the first rotary joint comprises a rotary convex joint, a rotary concave joint, and a driving shaft and a driving motor which are installed on the rotary concave joint, the rotary concave joint is fixed on the first end of the second support frame, an output shaft of the driving motor is connected with one end of the driving shaft, the first end of the rotary convex joint is fixed on the second end of the first support frame, and the second end of the rotary convex joint is sleeved on the driving shaft and is rotationally connected with the rotary concave joint through the driving shaft.
4. The building and structure disease inspection device according to claim 2, wherein the boom mechanism comprises a first boom, a second boom, a first hydraulic rod, a second hydraulic rod, a third hydraulic rod and a rotary connector, wherein a sliding sleeve is mounted on the first boom, a first end of the second boom is hinged to the rotary support column, and a second end of the second boom is hinged to the sliding sleeve; the first end of the first suspender is hinged with the first end of the first hydraulic rod, the second end of the first suspender is hinged on the rotary connecting head, and the second end of the first hydraulic rod is hinged on the second suspender; the first end of the second hydraulic rod is hinged to the second suspender, and the second end of the second hydraulic rod is hinged to the rotary supporting column; the third hydraulic stem is close to the second end setting of first jib, just the first end of third hydraulic stem articulate in on the first jib, the second end of third hydraulic stem with the first end of rotating the connector is articulated mutually, the second end of rotating the connector with the one end fixed connection of first support frame.
5. The building and structure disease inspection device according to claim 4, wherein the rotating support column comprises a support column, a cylindrical base and a rotary speed reducer installed on the inspection vehicle, the bottom end of the support column is fixed on the top of the cylindrical base, the cylindrical base is installed in an inner ring of the rotary speed reducer, a first end of the second suspension rod is hinged to the top end of the support column, and a second end of the second hydraulic rod is hinged to the top of the cylindrical base.
6. The building structure disease inspection device according to claim 1, further comprising a controller, wherein the controller is in signal connection with the inspection vehicle and each compound eye camera respectively.
7. The building structure disease inspection device according to claim 6, further comprising a plurality of light supplement lamps arranged at intervals along the length direction of the camera support frame, wherein an ambient light sensor is arranged in each compound eye camera, and each light supplement lamp and the ambient light sensor are in signal connection with the controller.
8. The building structure disease inspection device according to claim 4, further comprising a controller and a laser alarm mounted on the camera support frame, wherein the laser alarm, the first rotary joint, the second rotary joint and the third hydraulic rod are all in signal connection with the controller.
9. The building structure disease inspection device according to claim 5, further comprising a wireless remote controller and a real-time camera mounted on the camera support frame, wherein the real-time camera, the first hydraulic rod, the second hydraulic rod and the third hydraulic rod are all in communication connection with the wireless remote controller.
10. A building disease inspection system, characterized by comprising a remote computer, a cloud server and the building disease inspection device according to any one of claims 1 to 9, wherein the remote computer, each compound eye camera and the cloud server are connected in communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020137403.1U CN211577010U (en) | 2020-01-19 | 2020-01-19 | Building structure disease inspection device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020137403.1U CN211577010U (en) | 2020-01-19 | 2020-01-19 | Building structure disease inspection device and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211577010U true CN211577010U (en) | 2020-09-25 |
Family
ID=72525466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020137403.1U Expired - Fee Related CN211577010U (en) | 2020-01-19 | 2020-01-19 | Building structure disease inspection device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211577010U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111141756A (en) * | 2020-01-19 | 2020-05-12 | 韶关市涵润信息科技有限公司 | Building structure disease inspection device and system |
-
2020
- 2020-01-19 CN CN202020137403.1U patent/CN211577010U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111141756A (en) * | 2020-01-19 | 2020-05-12 | 韶关市涵润信息科技有限公司 | Building structure disease inspection device and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021068846A1 (en) | Multi-arm robot for tunnel lining detection and disease diagnosis in operating period | |
| WO2021068848A1 (en) | Tunnel structure disease multi-scale measurement and intelligent diagnosis system and method | |
| CN107910806B (en) | Cable tunnel inspection robot and navigation method | |
| CN206157568U (en) | Image of bridge structures disease device of shooing | |
| CN206409819U (en) | A kind of pipe video detects robot | |
| CN211577010U (en) | Building structure disease inspection device and system | |
| CN111537524A (en) | Intelligent subway tunnel disease monitoring device and using method | |
| CN115452723A (en) | Bridge defect detection equipment and defect identification method for bridge engineering | |
| CN203117363U (en) | Image collection system and contact system detection system | |
| CN114092473B (en) | Large-scale product vision inspection device and system | |
| CN106742005A (en) | A kind of power-line patrolling photoelectric nacelle and depopulated helicopter | |
| CN110395398A (en) | A kind of ground connection assembly system and its earthing method based on multi-rotor unmanned aerial vehicle | |
| CN110617801A (en) | Building disease inspection device, building disease detection system and detection method thereof | |
| CN214670726U (en) | Bridge anticollision wall disease data acquisition modeling system | |
| CN210741478U (en) | Building disease inspection device | |
| CN215629369U (en) | Bridge inspection vehicle | |
| CN111141756A (en) | Building structure disease inspection device and system | |
| CN107449786B (en) | Device for finely observing surface of object | |
| CN207106924U (en) | A kind of police unmanned plane | |
| CN211815580U (en) | Rising and falling type detection vehicle for avoiding side obstacle of bridge | |
| CN210440866U (en) | Clear three-dimensional panorama collection system of superelevation | |
| CN210258865U (en) | Unmanned aerial vehicle with panorama function | |
| CN219361351U (en) | Integrated unmanned aerial vehicle bridge detection device | |
| CN208841396U (en) | A kind of indoor crusing robot and indoor cruising inspection system | |
| CN109061621B (en) | Novel photoelectric detection method and detection system for foreign objects on airfield runway |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200925 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |