CN213633220U - Unmanned aerial vehicle detection device for high-rise concrete cracks - Google Patents
Unmanned aerial vehicle detection device for high-rise concrete cracks Download PDFInfo
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- CN213633220U CN213633220U CN202022443526.0U CN202022443526U CN213633220U CN 213633220 U CN213633220 U CN 213633220U CN 202022443526 U CN202022443526 U CN 202022443526U CN 213633220 U CN213633220 U CN 213633220U
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Abstract
The utility model relates to an unmanned aerial vehicle detection device in high-rise concrete crack belongs to engineering detection technical field. The device includes: the system comprises an unmanned aerial vehicle, an image acquisition device and a module integration device; the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a rectangular frame fixed at the top of the unmanned aerial vehicle and rectangular frames on the side surfaces of the unmanned aerial vehicle, wherein four corners of the rectangular frame at the top are respectively fixed with a roller I-a roller IV; the connecting positions of the rectangular frames on the side surfaces and the rectangular frame on the top share a roller I and a roller II, and the other two corners are respectively fixed with a roller V and a roller VI; a side rotor fan is arranged in the rectangular frame on the side surface to provide a force for adhering to a wall; the module integration device is fixed inside the unmanned aerial vehicle body; the data acquisition device is fixed in unmanned aerial vehicle fuselage top, acquires and waits to detect the concrete image. The utility model discloses the device has improved the image definition who gathers, has improved the precision that high-rise concrete detected greatly.
Description
Technical Field
The utility model belongs to the technical field of the engineering detects, a high-rise concrete crack detects unmanned aerial vehicle device is related to.
Background
The crack of concrete is the root cause of harm to the whole building, and from the mechanics perspective, the crack disease can indirectly influence the bearing capacity of concrete building to can construct the potential safety hazard for concrete building structure, let its development will destroy concrete structure's service function finally, shorten the life-span. Therefore, it is necessary to detect cracks in a concrete structure. At present, the detection method of the concrete cracks is more prone to visual inspection by inspection personnel. The manual inspection mode needs manpower and material resources with high cost, is not suitable for high-rise concrete positions which cannot be observed and reached by some personnel, and is not wide enough in the whole crack inspection coverage range of the concrete.
In the prior art, although the crack state of high-rise concrete is detected by an unmanned aerial vehicle, the conventional unmanned aerial vehicle can cause unstable flight jitter under the action of high-rise gust, so that the crack cannot be identified. In addition, the bottom of some high-rise concrete bridges has a plurality of problems such as weak GPS signals and insufficient light, and the crack detection precision is also influenced.
Therefore, a novel unmanned aerial vehicle flying device is needed to improve the precision of high-rise concrete detection.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a high-rise concrete crack unmanned aerial vehicle detection device has overcome shortcoming and the unmanned aerial vehicle of current concrete crack detection mode and has detected the problem in the application in high-rise concrete crack. The detection device can be vertically or horizontally attached to a concrete wall for real-time detection when the posture is unstable under the action of high-rise wind power, and the precision of high-rise concrete detection is greatly improved.
In order to achieve the above purpose, the utility model provides a following technical scheme:
an unmanned aerial vehicle detection device of high-rise concrete crack includes: the system comprises an unmanned aerial vehicle, an image acquisition device 8 and a module integration device 9;
the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a flying device fixed on the unmanned aerial vehicle body, wherein the flying device is L-shaped and comprises a top rectangular frame and side rectangular frames, the top rectangular frame is fixed below a rotor wing 7 of the unmanned aerial vehicle, and four corners of the rectangular frame are respectively fixed with rollers I to IV (1-4); the connecting positions of the rectangular frames on the side surfaces and the rectangular frame on the top share a roller I1 and a roller II 2, and the other two corners are respectively fixed with a roller V5 and a roller VI 6; a side rotor fan 12 is arranged in the rectangular frame on the side face to provide a force for adhering to a wall;
the module integration device 9 is fixed inside the unmanned aerial vehicle body; and the data acquisition device 8 is fixed above the unmanned aerial vehicle body to acquire a concrete image to be detected.
Further, the module integration device 9 comprises a positioning module, a crack detection module, a data storage module and a wireless communication module; the image acquisition module 8, the data storage module and the wireless communication module are respectively connected with the crack detection module, and the positioning module is connected with the data storage module.
Further, the image acquisition device 8 comprises a camera, an LED light supplement lamp and a camera anti-shake holder; LED light filling lamp and camera are all installed on camera anti-shake cloud platform, and camera anti-shake cloud platform is fixed on the unmanned aerial vehicle fuselage.
Further, the camera is a rotary camera.
Furthermore, a heat dissipation device is installed on the LED light supplement lamp.
Further, the positioning module of the module integration device 9 further includes an inertia detection unit connected to the data storage module.
Further, detection device still includes bearing diagonal pole 10 and vertical support pole 11, 10 both ends of bearing diagonal pole respectively with top frame and side frame attach, 11 one end and top frame attach of vertical support pole, the other end is perpendicular with top frame place plane for support unmanned aerial vehicle steadily falls to the ground.
The beneficial effects of the utility model reside in that: the utility model discloses the device has improved the stability of unmanned aerial vehicle gesture when flight detection through increase L type frame on unmanned aerial vehicle to improve the image definition of gathering, improved the precision that high-rise concrete detected greatly. Additionally, the utility model discloses the device has still increased positioning system, has guaranteed the real-time continuity of testing data.
Compare in ordinary wall climbing robot, the utility model discloses the device does not have high to the surface requirement of concrete, can both accomplish the operation under special circumstances such as some hollow sections or large-scale obstacle. And adopt flight mode can arrive some high-rise detection stations more rapidly, and is higher than wall climbing robot efficiency, and the operation is faster.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and/or combinations particularly pointed out in the appended claims.
Drawings
For the purposes of promoting a better understanding of the objects, features and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic structural view of the detecting device of the present invention;
fig. 2 is a schematic diagram of an internal structure of the module integrated device.
Reference numerals: 1-6-unmanned aerial vehicle roller I-roller VI, 7-unmanned aerial vehicle rotor wing, 8-image acquisition device, 9-module integration device, 10-inclined support rod, 11-vertical support rod and 12-unmanned aerial vehicle side rotor fan.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in any way limiting the scope of the invention; for a better understanding of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc., indicating directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limiting the present invention, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
Referring to fig. 1-2, fig. 1 shows that the present invention prefers an unmanned detection device for high-rise concrete cracks, which includes: unmanned aerial vehicle, image acquisition device 8 and module integrated device 9. The module integration device 9 is fixed inside the unmanned aerial vehicle body; data acquisition device 8 fixes in unmanned aerial vehicle fuselage top, acquires and waits to detect the concrete image. The unmanned aerial vehicle comprises an unmanned aerial vehicle body and a flying device fixed on the unmanned aerial vehicle body, wherein the flying device is L-shaped and comprises a rectangular frame at the top and sides, the rectangular frame at the top is fixed below a rotor wing 7 of the unmanned aerial vehicle, and four corners of the rectangular frame are respectively fixed with rollers I-IV (1-4); the square frame of side and the rectangle frame junction of top share gyro wheel I1 and gyro wheel II 2, and gyro wheel V5 and gyro wheel VI 6 are fixed respectively to two other angles. The side square frame has side rotary wing fans 12 mounted inside to provide a force to conform to the wall.
The module integration device 9 comprises a positioning module, a crack detection module, a data storage module and a wireless communication module. The image acquisition module 8, the data storage module and the wireless communication module are respectively connected with the crack detection module; the positioning module is connected with the data storage module. Wherein crack detection module, orientation module, data storage module are integrated as crack detection device and carry inside unmanned aerial vehicle, and concrete position distribution can adjust according to actual conditions, the utility model discloses do not specifically restrict.
The image acquisition device 8 comprises a camera and a camera anti-shake cradle head. The camera all installs on camera anti-shake cloud platform, and camera anti-shake cloud platform is fixed on the unmanned aerial vehicle fuselage.
The detecting device further comprises a diagonal support bar 10 and a vertical support bar 11. The both ends of the inclined supporting rod 10 are respectively connected with the top frame and the side frame, one end of the vertical supporting rod 11 is connected with the top frame, and the other end of the vertical supporting rod is perpendicular to the plane where the top frame is located, so that the unmanned aerial vehicle can be supported to stably fall to the ground.
Wherein unmanned aerial vehicle's control system and driving system etc. are similar with ordinary unmanned aerial vehicle, and the essential element can be in the same place with crack detection device installation.
As a preferred embodiment, the image capturing device 8 is further equipped with an LED light supplement device, which can still work when the detection task is heavy or the night operation is required under special conditions.
As a preferred embodiment, the camera may optionally be a rotating camera. The camera can be in the free adjustment direction in top plane, and when unmanned aerial vehicle was in the bottom data of gathering the concrete, the camera can adopt certain inclination in order to enlarge the collection area to move the in-process and rotate the scanning and gather image data.
As a preferred embodiment, a heat dissipation device is installed on the LED light supplement lamp.
As a preferred embodiment, under special conditions such as bridge bottom where GPS signals are not strong, the positioning module of the module integration device 9 is further equipped with an inertial detection unit (IMU) to assist positioning. The inertial detection unit is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of an object. The three-axis accelerometer and the three-axis gyroscope are included, the accelerometer detects acceleration signals of three independent axes of an object in a carrier coordinate system, and the gyroscope detects angular velocity signals of the carrier relative to a navigation coordinate system, measures the angular velocity and the acceleration of the object in a three-dimensional space, and calculates the posture of the object according to the angular velocity and the acceleration. And accurately positioning the position of the unmanned aerial vehicle according to the position where the GPS signal disappears.
As a preferred embodiment, the crack detection module employs a processor model number Mali-C71 AE. Mali-C71AE provides key visual information for a Computer Vision (CV) system, realizes clear and convenient viewing, is the first product in the Mali Camera series ISP, and has a built-in function of functional security application. An ultra wide dynamic range (UWDR: the difference in brightness between the darkest and brightest parts of the image) can be provided, which is detected within 4096x4096 pixels. The generated image has the functions of low delay, high-level error detection and the like, and can meet the requirements of computer vision application.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the scope of the claims of the present invention.
Claims (7)
1. The utility model provides a high-rise concrete crack unmanned aerial vehicle detection device which characterized in that, the device includes: the system comprises an unmanned aerial vehicle, an image acquisition device (8) and a module integration device (9);
the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a flying device fixed on the unmanned aerial vehicle body, wherein the flying device is L-shaped and comprises a top rectangular frame and side rectangular frames, the top rectangular frame is fixed below a rotor wing (7) of the unmanned aerial vehicle, and four corners of the rectangular frame are respectively fixed with a roller I to a roller IV (1-4); the connecting positions of the rectangular frames on the side surfaces and the rectangular frame on the top share a roller I (1) and a roller II (2), and a roller V (5) and a roller VI (6) are respectively fixed at the other two corners; a side rotary wing fan (12) is arranged in the rectangular frame on the side face to provide a force for adhering to a wall;
the module integration device (9) is fixed inside the unmanned aerial vehicle body; and the image acquisition device (8) is fixed above the unmanned aerial vehicle body to acquire the image of the concrete to be detected.
2. The high-rise concrete crack unmanned detection device as claimed in claim 1, wherein the module integration device (9) comprises a positioning module, a crack detection module, a data storage module and a wireless communication module; the image acquisition device (8), the data storage module and the wireless communication module are respectively connected with the crack detection module, and the positioning module is connected with the data storage module.
3. The high-rise concrete crack unmanned aerial vehicle detection device of claim 1, wherein the image acquisition device (8) comprises a camera, an LED light supplement lamp and a camera anti-shake cradle head; LED light filling lamp and camera are all installed on camera anti-shake cloud platform, and camera anti-shake cloud platform is fixed on the unmanned aerial vehicle fuselage.
4. The high-rise concrete crack unmanned aerial vehicle detection device of claim 3, wherein the camera is a rotary camera.
5. The unmanned aerial vehicle detection device for high-rise concrete cracks according to claim 3, wherein a heat dissipation device is mounted on the LED light supplement lamp.
6. The high-rise concrete crack unmanned detection device of claim 2, characterized in that the positioning module of the module integration device (9) further comprises an inertia detection unit connected with the data storage module.
7. The unmanned aerial vehicle detection device for high-rise concrete cracks according to claim 1, characterized in that the detection device further comprises a diagonal support rod (10) and a vertical support rod (11), wherein two ends of the diagonal support rod (10) are respectively connected with the top frame and the side frame, one end of the vertical support rod (11) is connected with the top frame, and the other end of the vertical support rod is perpendicular to the plane of the top frame, so that the unmanned aerial vehicle can be supported to land stably.
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| CN202022443526.0U CN213633220U (en) | 2020-10-27 | 2020-10-27 | Unmanned aerial vehicle detection device for high-rise concrete cracks |
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| CN202022443526.0U CN213633220U (en) | 2020-10-27 | 2020-10-27 | Unmanned aerial vehicle detection device for high-rise concrete cracks |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115184372A (en) * | 2022-07-13 | 2022-10-14 | 水利部交通运输部国家能源局南京水利科学研究院 | Intelligent detection device and method for micro-crack fluorescence permeation of inaccessible part of concrete structure |
| CN116500041A (en) * | 2023-05-08 | 2023-07-28 | 水利部交通运输部国家能源局南京水利科学研究院 | Flexible lamination layer carrying system and attachment method based on unmanned aerial vehicle ejection |
-
2020
- 2020-10-27 CN CN202022443526.0U patent/CN213633220U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115184372A (en) * | 2022-07-13 | 2022-10-14 | 水利部交通运输部国家能源局南京水利科学研究院 | Intelligent detection device and method for micro-crack fluorescence permeation of inaccessible part of concrete structure |
| CN115184372B (en) * | 2022-07-13 | 2023-04-18 | 水利部交通运输部国家能源局南京水利科学研究院 | Intelligent detection device and method for micro-crack fluorescence permeation of inaccessible part of concrete structure |
| CN116500041A (en) * | 2023-05-08 | 2023-07-28 | 水利部交通运输部国家能源局南京水利科学研究院 | Flexible lamination layer carrying system and attachment method based on unmanned aerial vehicle ejection |
| CN116500041B (en) * | 2023-05-08 | 2024-01-02 | 水利部交通运输部国家能源局南京水利科学研究院 | Flexible lamination layer carrying system and attachment method based on unmanned aerial vehicle ejection |
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