Building and structure disease inspection device and system

Abstract

The present invention discloses a building defect inspection device and system, wherein the building defect inspection device comprises a rotating support column, a suspension rod mechanism, a length-adjustable camera support frame, and an inspection vehicle placed on a target building, wherein the rotating support column is installed on the inspection vehicle, one end of the suspension rod mechanism is connected to the rotating support column, and the other end is connected to one end of the camera support frame; a plurality of compound eye cameras are installed on the camera support frame, and the plurality of compound eye cameras are arranged at intervals along the length direction of the camera support frame, and the shooting areas of two adjacent compound eye cameras partially overlap. The building defect inspection device has the advantages of high efficiency, low risk, wide applicability, and strong operability.

Description

Technical Field

[0001] The invention belongs to the technical field of building structure detection, and in particular relates to a building disease inspection device and system. Background Art

[0002] With the rapid development of China's economy, my country's bridge construction is developing at a speed that attracts worldwide attention. The status of bridges in modern society is also constantly improving. Whether it is a cross-sea or cross-river bridge or an elevated bridge or flyover, it is closely related to the national economy and people's daily life. However, as people and the country become more and more dependent on bridges, the frequency of bridge use is also increasing significantly, resulting in the gradual exposure of structural defects in bridges in service. Therefore, bridge defect inspection plays an important role in bridge safety. Among them, the part of the bridge that is most prone to deformation and cracking under load is the bottom of the beam. The surface inspection of the bottom of the beam is an extremely important item in bridge inspection.

[0003] At present, most bridge inspections are carried out manually with the help of auxiliary equipment. However, this manual inspection method has many problems such as low efficiency and high safety risks. In order to replace the traditional manual inspection method, the use of drones for inspection has been gradually tried in recent years and has achieved relatively good results. However, there are still some shortcomings in the use of drones for bridge inspections:

[0004] 1. The GPS navigation signal of the drone will be unstable in special weather conditions, and the operator's technical requirements are extremely high, so the operability is poor;

[0005] 2. It is difficult for drones to fly into the bottom of bridges with special structures, so their scope of use has certain limitations and it is difficult to meet the inspection needs of bridges with various structures.

[0006] Therefore, seeking a bridge inspection method with high efficiency, low risk, wide applicability and strong operability is a technical problem that needs to be solved urgently by technical personnel in this field. Summary of the invention

[0007] In order to overcome the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a building disease inspection device with high efficiency, low risk, wide applicability and strong operability.

[0008] In order to achieve the purpose, the technical solution adopted by the present invention is as follows:

[0009] A building defect inspection device comprises a rotating support column, a suspension rod mechanism, a camera support frame with adjustable length, and an inspection vehicle placed on a target building, wherein the rotating support column is installed on the inspection vehicle, one end of the suspension rod mechanism is connected to the rotating support column, and the other end is connected to one end of the camera support frame; a plurality of compound-eye cameras are installed on the camera support frame, and the plurality of compound-eye cameras are arranged at intervals along the length direction of the camera support frame, and the shooting areas of two adjacent compound-eye cameras partially overlap.

[0010] Further, the camera support frame includes a first support frame, a second support frame, a third support frame, a first rotation joint and a second rotation joint, the first end of the first support frame is connected to the other end of the suspension mechanism, the second end of the first support frame is rotationally connected to the first end of the second support frame through the first rotation joint, and the second end of the second support frame is rotationally connected to one end of the third support frame through the second rotation joint.

[0011] Furthermore, the first rotary joint includes a rotary convex joint, a rotary concave joint, and a drive shaft and a drive motor installed on the rotary concave joint, the rotary concave joint is fixed to the first end of the second support frame, the output shaft of the drive motor is connected to one end of the drive shaft, the first end of the rotary convex joint is fixed to the second end of the first support frame, the second end of the rotary convex joint is sleeved on the drive shaft and is rotatably connected to the rotary concave joint through the drive shaft.

[0012] Further, the boom mechanism includes a first boom, a second boom, a first hydraulic rod, a second hydraulic rod, a third hydraulic rod and a rotating connecting head, a sliding sleeve is installed on the first boom, a first end of the second boom is hinged to the rotating support column, and a second end of the second boom is hinged to the sliding sleeve; the first end of the first boom is hinged to the first end of the first hydraulic rod, the second end of the first boom is hinged to the rotating connecting head, and the second end of the first hydraulic rod is hinged to the second boom; the first end of the second hydraulic rod is hinged to the second boom, and the second end of the second hydraulic rod is hinged to the rotating support column; the third hydraulic rod is arranged close to the second end of the first boom, and the first end of the third hydraulic rod is hinged to the first boom, the second end of the third hydraulic rod is hinged to the first end of the rotating connecting head, and the second end of the rotating connecting head is fixedly connected to one end of the first support frame.

[0013] Furthermore, the rotating support column includes a supporting column, a columnar base and a rotary reducer installed on the inspection vehicle, the bottom end of the supporting column is fixed to the top of the columnar base, the columnar base is installed in the inner ring of the rotary reducer, the first end of the second suspension rod is hinged to the top of the supporting column, and the second end of the second hydraulic rod is hinged to the top of the columnar base.

[0014] Furthermore, the aforementioned building defect inspection device also includes a controller, and the controller is respectively connected to the inspection vehicle and each of the compound eye cameras by signal.

[0015] Furthermore, the aforementioned building disease inspection device also includes a plurality of fill lights arranged at intervals along the length direction of the camera support frame, and each of the compound eye cameras has a built-in ambient light sensor, wherein each of the fill lights and ambient light sensors are connected to the controller by signal.

[0016] Furthermore, the aforementioned building defect inspection device also includes a controller and a laser alarm installed on the camera support frame, wherein the laser alarm, the first rotating joint, the second rotating joint, and the third hydraulic rod are all connected to the controller by signals.

[0017] Furthermore, the aforementioned building defect inspection device also includes a wireless remote control and a real-time camera installed on the camera support frame, and the real-time camera, the first hydraulic rod, the second hydraulic rod, and the third hydraulic rod are all communicatively connected to the wireless remote control.

[0018] Correspondingly, the present invention also proposes a building defect inspection system, comprising a remote computer, a cloud server and the aforementioned building defect inspection device, wherein the remote computer and each of the compound eye cameras are communicatively connected to the cloud server.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The structure disease inspection device proposed in the present invention can extend the camera support frame into the bottom of the bridge by rotating the support column and the suspension rod mechanism when in use, so that the length direction of the camera support frame is consistent with the width direction of the bridge. Since the shooting areas of the two adjacent compound eye cameras on the camera support frame partially overlap, all parts of the bottom of the bridge along the width direction can be covered by the compound eye camera, ensuring the consistency and integrity of the captured bridge bottom image information. At the same time, since the length of the camera support frame is adjustable, it can adapt to bridge structures of different widths, thereby meeting the inspection needs of various structural bridges and having wide applicability. Moreover, when inspecting the appearance of the bottom of the bridge, it is only necessary to control the inspection vehicle to travel along the length direction of the bridge. During the driving of the inspection vehicle, the compound eye camera can replace the naked eye to photograph and inspect the bottom of the bridge. Therefore, not only is the operability strong and the inspection efficiency high, but there is also no need for special personnel to go to the bottom of the bridge for inspection, and the safety risk is low.

[0021] The building defect inspection system proposed in the present invention can upload the bridge bottom image information collected by the compound eye camera to the cloud server, and then the remote computer can obtain the bridge bottom image information uploaded by the compound eye camera by logging into the cloud server and perform automatic detection and identification of bridge defect types. In this way, on the one hand, compared with the general drone detection method, the efficiency of bridge defect detection can be improved in the link of image information collection. On the other hand, compared with the traditional manual detection method, the efficiency and accuracy of bridge defect detection can be improved in the link of bridge defect type identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0023] Figure 1 It is a schematic diagram of the state of the building disease inspection device before use in one embodiment of the present invention;

[0024] Figure 2 It is a schematic diagram of the state of a building disease inspection device in one embodiment of the present invention when performing inspection work;

[0025] Figure 3 Schematic diagram of the position state of the camera support frame before extending under the bottom of the bridge in one embodiment of the present invention (the third hydraulic rod is removed);

[0026] Figure 4 It is a schematic diagram of the position state of the camera support frame after extending under the bottom of the bridge in one embodiment of the present invention;

[0027] Figure 5 A schematic diagram of the extension process of a camera support frame according to an embodiment of the present invention;

[0028] Figure 6 A schematic diagram of the structural principle of a first rotary joint in an embodiment of the present invention;

[0029] Figure 7 A schematic diagram of the structure of a compound eye camera in one embodiment of the present invention;

[0030] Figure 8 for Figure 7 A top view of

[0031] Fig. 9 It is a structural schematic diagram of a building disease inspection system in one embodiment of the present invention.

[0032] Description of reference numerals:

[0033] 1-inspection vehicle, 2-rotating support column, 21-support column, 22-columnar base, 23-rotary reducer, 3-suspender mechanism, 31-first suspension rod, 311-side arm, 3111-first hinged portion, 32-second suspension rod, 33-first hydraulic rod, 34-second hydraulic rod, 35-sliding sleeve, 36-third hydraulic rod, 37-rotating connector, 371-support frame fixing portion, 372-second hinged portion, 373-third hinged portion, 4-camera support frame, 41-first support frame, 42-second support frame Support frame, 43-third support frame, 44-first rotation joint, 441-rotation convex joint, 442-rotation concave joint, 443-drive shaft, 444-drive motor, 445-connecting key, 446-bearing, 45-second rotation joint, 5-compound eye camera, 51-camera housing, 511-support outer surface, 52-camera, 6-controller, 7-fill light, 8-real-time camera, 9-laser alarm, 10-bridge, 20-wireless remote control, 30-remote computer, 40-cloud server. DETAILED DESCRIPTION

[0034] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present invention, and the embodiments described are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0036] Reference Figure 1 and Figure 2 An embodiment of the present invention provides a building disease inspection device, comprising a rotating support column 2, a suspension rod mechanism 3, a camera support frame 4 with adjustable length, and an inspection vehicle 1 placed on a target building, wherein the rotating support column 2 is installed on the inspection vehicle 1, one end of the suspension rod mechanism 3 is connected to the rotating support column 2, and the other end is connected to one end of the camera support frame 4; a plurality of compound eye cameras 5 are installed on the camera support frame 4, and the plurality of 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 partially overlap.

[0037] For ease of understanding, the target building structure is taken as a bridge 10 for example for explanation and description. In this embodiment, when the structure disease inspection device is in use, the camera support frame 4 can be extended into the bottom of the bridge 10 by rotating the support column 2 and the suspension rod mechanism 3, so that the length direction of the camera support frame 4 is consistent with the width direction of the bridge 10. Since the shooting areas of the two adjacent compound eye cameras 5 on the camera support frame 4 partially overlap, all parts of the bottom of the bridge 10 along the width direction can be covered by the compound eye camera 5, ensuring the consistency and integrity of the captured image information of the bottom of the bridge 10. At the same time, since the length of the camera support frame 4 is adjustable, it can adapt to the bridge 10 structure of different widths, thereby meeting the inspection needs of various structural bridges 10, and has wide applicability; moreover, when inspecting the appearance of the bottom of the bridge 10, it is only necessary to control the inspection vehicle 1 to travel along the length direction of the bridge 10, and during the driving of the inspection vehicle 1, the compound eye camera 5 can replace the naked eye to shoot and inspect the bottom of the bridge 10. Therefore, it is not only highly operable and efficient, but also does not require a special person to go to the bottom of the bridge for inspection, and the safety risk is low. In the specific implementation, a general transport truck can be used as the inspection vehicle 1.

[0038] In this embodiment, compared with the traditional single-lens camera, the compound eye camera 5 not only has a wider shooting range, but also can achieve a three-dimensional shooting effect, meeting the demand for image information for three-dimensional bridge 10 bottom disease detection. Figure 7 and Figure 8As shown, 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 hemispherical surface. The number of cameras 52 is odd, wherein one camera 52 is located at the top of the hemispherical surface, and the remaining cameras 52 are evenly distributed on the hemispherical surface with the top of the hemispherical surface as the center. There are intervals between the cameras 52 to cover different shooting areas, and the shooting areas of two adjacent cameras 52 partially overlap. In this way, when the compound eye camera 5 takes pictures, the cameras 52 distributed on the supporting outer surface 511 can jointly shoot the target position area at the bottom of the bridge 10 from different shooting angles, so that a wide range of shooting scenes can be obtained. At the same time, the shooting areas of two adjacent cameras 52 partially overlap, which ensures the continuity and integrity of the image information, so that the compound eye camera 5 can achieve a three-dimensional shooting effect. In particular, during specific implementation, the number of 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 camera 5 and the width of the bridge 10. As long as it can be ensured that all parts of the bottom of the bridge 10 along its width direction can be fully covered by the compound eye camera 5, no specific limitation is made.

[0039] Reference Figure 1 , Figure 2 and Figure 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 rotation joint 44 and a second rotation joint 45. The first end of the first support frame 41 is connected to the other end of the suspension mechanism 3, the second end of the first support frame 41 is rotatably connected to the first end of the second support frame 42 through the first rotation joint 44, and the second end of the second support frame 42 is rotatably connected to one end of the third support frame 43 through the second rotation joint 45.

[0040] In this embodiment, by setting a rotating joint between the ends of two adjacent camera support frames 4, the camera support frame 4 can be adjusted in length by stretching and folding. In this way, the length of the camera support frame 4 can be flexibly adjusted according to the actual width of the bridge 10 to meet different usage requirements. Of course, based on the inventive concept of the above structural design, in some other embodiments, the camera support frame 4 can be designed as a three-stage type, a two-stage type, a four-stage type, etc. In the specific implementation, preferably, a truss made of high-strength aluminum alloy can be used as each section of the support frame. In this way, the overall mass of the camera support frame 4 can be reduced and the strength of the camera support frame 4 can be improved, so that the camera support frame 4 can be safely operated in various bad weather conditions.

[0041] Reference Figure 1 , Figure 2 , Figure 5 and Figure 6In an exemplary embodiment, the first rotary joint 44 includes a rotary convex joint 441, a rotary concave joint 442, and a drive shaft 443 and a drive motor 444 mounted on the rotary concave joint 442. The rotary concave joint 442 is fixed to the first end of the second support frame 42, and the output shaft of the drive motor 444 is connected to one end of the drive shaft 443. The first end of the rotary convex joint 441 is fixed to the second end of the first support frame 41, and the second end of the rotary convex joint 441 is sleeved on the drive shaft 443 and is rotatably connected to the rotary concave joint 442 through the drive shaft 443. Exemplarily, bearings 446 are installed at both ends of the drive shaft 443, and transmission is realized between the drive shaft 443 and the rotary convex joint 441 through a connecting key 445. The drive motor 444 is preferably a reduction motor or a speed regulating motor.

[0042] In this embodiment, based on the above structural design, the first support frame 41 and the second support frame 42 can be extended and folded by controlling the forward and reverse rotation of the driving motor 444, so that the length of the camera support frame 4 can be adjusted. Similarly, the second rotary joint 45 can adopt the same structural design as the first rotary joint 44, so that the second support frame 42 and the third support frame 43 can be extended and folded.

[0043] Reference Figures 1 to 4In 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 rotating connector 37. A sleeve 35 is installed on the first boom 31. The first end of the second boom 32 is hinged to the rotating support column 2, and the second end of the second boom 32 is hinged to the sleeve 35. The first end of the first boom 31 is hinged to the first end of the first hydraulic rod 33, and the second end of the first boom 31 is hinged to the rotating connector 37. The second end of the first hydraulic rod 33 is hinged to the second suspension rod 32; the first end of the second hydraulic rod 34 is hinged to the second suspension rod 32, and the second end of the second hydraulic rod 34 is hinged to the rotating support column 2; the third hydraulic rod 36 is arranged close to the second end of the first suspension rod 31, and 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 rotating connecting head 37, and the second end of the rotating connecting head 37 is fixedly connected to one end of the first support frame 41. Exemplarily, the second end of the first hydraulic rod 33 is hinged on the top of the second boom 32, and the first end of the second hydraulic rod 34 is hinged on the top of the second boom 32; exemplarily, the first boom 31 has a side arm 311 at a position close to its second end, and the end of the side arm 311 has a first hinge portion 3111, and the rotating connecting head 37 has a support frame fixing portion 371, a second hinge portion 372 and a third hinge portion 373, wherein the support frame fixing portion 371 and the third hinge portion 373 are respectively located at the two end positions of the rotating connecting head 37, and the second hinge portion 372 is located in the middle position of the rotating connecting head 37, the support frame fixing portion 371 is fixedly connected to one end of the first support frame 41, the second hinge portion 372 is hinged to the second end of the first boom 31, the first end of the third hydraulic rod 36 is hinged to the first hinge portion 3111, and the second end of the third hydraulic rod 36 is hinged to the third hinge portion 373.

[0044] In this embodiment, based on the above structural design, the camera support frame 4 can be suspended from above the bridge deck to below the bottom of the bridge 10 by controlling the telescopic state of the first hydraulic rod 33, the second hydraulic rod 34 and the third hydraulic rod 36, and can be reset after the inspection work is completed, which is very convenient to operate.

[0045] Reference Figure 1 and Figure 2 In an exemplary embodiment, the rotating support column 2 includes a supporting column 21, a columnar base 22 and a rotary reducer 23 installed on the inspection vehicle 1, the bottom end of the supporting column 21 is fixed to the top of the columnar base 22, the columnar base 22 is installed in the inner ring of the rotary reducer 23, the first end of the second suspension rod 32 is hinged to the top of the supporting column 21, and the second end of the second hydraulic rod 34 is hinged to the top of the columnar base 22.

[0046] In actual applications, in order to facilitate the building disease inspection device of the embodiment of the present invention to arrive at the inspection site, before use, the length direction of the camera support frame 4 needs to be placed along the length direction of the inspection vehicle 1. For example, before use, the camera support frame 4 is located above the front of the inspection vehicle 1 and is placed along the length direction of the inspection vehicle 1; when arriving at the inspection site for inspection, in order to facilitate the camera support frame 4 to be hoisted to the bottom of the bridge 10 for inspection of the bridge 10, it is necessary to place the camera support frame 4 along the width direction of the inspection vehicle 1. In this embodiment, based on the above-mentioned structural design, the columnar base 22 is driven to rotate by the rotary reducer 23, so that the placement position of the camera support frame 4 can be changed, which is very convenient. In this way, it can ensure that the camera support frame 4 does not exceed the width during transportation, and it can also facilitate the subsequent hoisting of the camera support frame 4 to the bottom of the bridge 10.

[0047] Reference Figure 1 and Figure 2 In an exemplary embodiment, the aforementioned building disease inspection device further includes a controller 6, which is respectively connected to the inspection vehicle 1 and each compound eye camera 5 by signal. Exemplarily, the controller 6 is disposed on the first support frame 41. In a specific implementation, the controller 6 can be respectively connected to the inspection vehicle 1 and each compound eye camera 5 by signal via a wired (such as a wire, etc.) or wireless (such as wifi, Bluetooth, etc.) method.

[0048] In this embodiment, in the process of inspecting the bottom of the bridge 10 using the compound eye camera 5, the controller 6 can control the shooting interval of each compound eye camera 5 by obtaining the driving distance of the inspection vehicle 1. For example, assuming that the coverage range 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, then when the inspection vehicle 1 travels a suitable distance (such as every 1.5 meters, 1.4 meters, 1.3 meters, etc.), the controller 6 can control each compound eye camera 5 to take a picture. In this way, the inspection work at the bottom of the bridge 10 is extremely intelligent, which can ensure that the collection of image information at the bottom of the bridge 10 will not be missed, and the efficiency of the inspection can be guaranteed.

[0049] Reference Figure 1 and Figure 2 In an exemplary embodiment, the aforementioned building disease inspection device further includes a plurality of fill lights 7 arranged at intervals along the length direction of the camera support frame 4, and each compound eye camera 5 is equipped with an ambient light sensor (not shown in the figure), wherein each fill light 7 and ambient light sensor are connected to the controller 6 by signal. Each fill light 7 and ambient light sensor can be connected to the controller 6 by wire (such as wire, etc.) or wireless (such as wifi, Bluetooth, etc.).

[0050] In this embodiment, the ambient light sensor can be used to detect the light brightness of the shooting scene corresponding to the corresponding compound eye camera 5 in real time. When it is detected that the light in the environment where the compound eye camera 5 is located is too dark, the corresponding fill light 7 is turned on by the controller 6 for fill light, and the brightness of the fill light 7 is adjusted so that the ambient light conditions faced by each compound eye camera 5 can be basically consistent, so that each compound eye camera 5 can obtain a picture with better clarity and the clarity of each picture taken can be basically consistent. In this way, the quality of the picture taken by the compound eye camera 5 can be guaranteed, and the accuracy of the subsequent disease detection results affected by the ambient light factors can be avoided.

[0051] Reference Figure 1 and Figure 2 In an exemplary embodiment, the aforementioned building disease inspection device further includes a laser alarm 9 installed 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 by signal. The laser alarm 9, the first rotary joint 44, and the second rotary joint 45 can be connected to the controller 6 by signal via wire (such as wires, etc.) or wireless (such as wifi, Bluetooth, etc.). In some exemplary embodiments, an infrared distance sensor can be selected as the laser alarm 9. In specific implementation, a laser alarm 9 can be set on the first support frame 41, the second support frame 42, and the third support frame 43. For example, a laser alarm 9 is set on the first support frame 41.

[0052] In this embodiment, by setting up a laser alarm 9, it is possible to detect in real time whether there are obstacles in front (such as encountering bridge piers) during the movement of the camera support frame 4. When an obstacle is detected, the first rotating joint 44 and the second rotating joint 45 can be controlled by the controller 6 to fold the camera support frame 4, and then the third hydraulic rod 36 can be controlled to adjust the camera support frame 4 from a horizontal position to a longitudinal position parallel to the first suspension rod 31 to bypass the obstacle. After bypassing the obstacle, the camera support frame 4 is restored to the required detection position, thereby ensuring that the inspection work of the compound eye camera 5 can be carried out safely.

[0053] Reference Figure 1 , Figure 2 and Fig. 9In an exemplary embodiment, the aforementioned building disease inspection device further includes a wireless remote controller 20 and a real-time camera 8 mounted on a 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 rotating joint 44, the second rotating joint 45, and each compound eye camera 5 are all connected to the wireless remote controller 20 for communication. In the specific implementation, the wireless remote controller 20 can be connected to the real-time camera 8, the first hydraulic rod 33, the second hydraulic rod 34, the third hydraulic rod 36, the first rotating joint 44, the second rotating joint 45, and each compound eye camera 5 through existing methods such as the cloud server 40. Exemplarily, the real-time camera 8 is arranged on the first support frame 41.

[0054] During use, the relevant operator can perform relevant remote control operations through the wireless remote controller 20 according to the real-time image 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 rotating joint 44 and the second rotating joint 45 according to the real-time image transmitted back by the real-time camera 8.

[0055] Reference Figure 1 , Figure 2 and Fig. 9 Correspondingly, the embodiment of the present invention further provides a building disease inspection system, comprising a remote computer 30, a cloud server 40 and a building disease inspection device in any of the above embodiments, wherein the remote computer 30 and each compound eye camera 5 are connected to the cloud server 40 for communication. In some exemplary embodiments, the wireless remote controller 20 can be connected to the rotating support column 2, the suspension rod mechanism 3, and the compound eye camera 5 through the cloud server 40 for communication; in some more specific embodiments, the wireless remote controller 20 can be connected to the rotary reducer 23, the real-time camera 8, the first hydraulic rod 33, the second hydraulic rod 34, the third hydraulic rod 36, the first rotating joint 44, the second rotating joint 45, each compound eye camera 5, and each fill light 7 through the cloud server 40 for communication. The communication connection with the cloud server 40 can be established by existing wireless communication methods such as Wi-Fi, LTE, and LoRa.

[0056] In this embodiment, the building defect inspection system can upload the bottom image information of the bridge 10 collected by the compound eye camera 5 to the cloud server 40, and then the remote computer 30 can obtain the bottom image information of the bridge 10 uploaded by the compound eye camera 5 by logging into the cloud server 40 and automatically detect and identify the type of bridge 10 defects. In this way, on the one hand, compared with the general drone detection method, the efficiency of bridge 10 defect detection can be improved in the link of image information collection. On the other hand, compared with the traditional manual detection method, the efficiency and accuracy of bridge 10 defect detection can be improved in the link of bridge 10 defect type identification.

[0057] To better understand the building and structure disease inspection system of the embodiment of the present invention, refer to Figures 1 to 9 , a more detailed description of its working process is given below:

[0058] When the driver drives the inspection vehicle 1 to the bridge deck position that needs to be inspected, another operator controls the rotary reducer 23 by operating the wireless remote controller 20. The rotary reducer 23 drives the columnar base 22 and the supporting column 21 to rotate 90°, so that the camera support frame 4 in the folded state is changed from being placed at 0° with the length direction of the inspection vehicle 1 to being placed at 90° with the length direction of the inspection vehicle 1; then, the third hydraulic rod 36 is controlled to retract by the wireless remote controller 20, and the hydraulic rod pulls the rotating connector 37 to rotate 90°, so that the camera support frame 4 and the first suspension rod are aligned. 31 is vertical; then, the wireless remote controller 20 is used to control the first hydraulic rod 33 to extend and the second hydraulic rod 34 to contract, so as to extend the camera support frame 4 below the bottom of the bridge 10. At this time, 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 is used to control the first rotating joint 44 and the second rotating joint 45 to move, so that the camera support frame 4 is in a fully extended state; then, the wireless remote controller 20 is used to control the real-time camera 8 to turn on, and according to the real-time picture sent back by the real-time camera 8 (the wireless remote controller 20 The camera support frame 4 is adjusted to a suitable height by controlling the telescopic state of the first hydraulic rod 33. When the operator can clearly know the structure of the bottom of the bridge 10 through the real-time picture (if the light is dim, the fill light 7 can be turned on for fill light), it can be determined that the camera support frame 4 has been adjusted to a suitable height. At this time, the operator can control each compound eye camera 5 to turn on and take a picture through the wireless remote controller 20, and notify the driver that it is ready to drive the inspection vehicle 1 forward to inspect the apparent defects at the bottom of the bridge 10. Among them, during the movement of the inspection vehicle 1, the controller 6 can obtain the driving status information of the inspection vehicle 1 in real time, such as the driving distance of the inspection vehicle 1, and every time the inspection vehicle 1 travels a certain distance, the controller 6 controls each compound eye camera 5 to take a picture. For example, assuming that 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, then when the inspection vehicle 1 travels a suitable distance (such as every 1.5 meters, 1.4 meters, 1.3 meters, etc.), the controller 6 can control each compound eye camera 5 to take a picture.

[0059] In some embodiments, the image information obtained by each compound eye camera 5 each time it takes a picture can be directly uploaded to the cloud server 40, and the cloud server 40 then 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 each time it takes a picture can be first stored in a built-in memory card, and then manually retrieved and input into the remote computer 30 for disease analysis. In addition, in some embodiments, the image information obtained by the remote computer 30 can be two-dimensional image information or three-dimensional image information. When the image information obtained is two-dimensional image information, the remote computer 30 uses a built-in dedicated software The software performs three-dimensional processing on the two-dimensional image information: separates the two-dimensional images taken by each camera 52 on the compound eye camera 5, removes shadows and compensates for distortion, re-measures the image in a separate two-dimensional picture, and in the process of re-measurement, finds differences in the two-dimensional pictures obtained by each camera 52 and accumulates operations to extract the distance, color and shape of the object, thereby obtaining a reconstructed three-dimensional image, and then inputs the obtained three-dimensional image into a pre-trained disease analysis model for disease analysis, thereby obtaining a disease detection result corresponding to the three-dimensional image, wherein the training process of the disease analysis model is as follows: prepare a large number of three-dimensional images representing different disease types in advance, and use some of them as training images. A training set (accounting for 70%) and a part of it as a validation set (accounting for 30%) are used to train the disease analysis model using part of the training set, and then part of the validation set is used to validate the trained disease analysis model to check whether the recognition accuracy of the disease analysis model reaches the preset accuracy. If the recognition accuracy reaches the preset accuracy, the training is stopped. Otherwise, the training set is repeatedly used to train the disease analysis model until the recognition accuracy of the disease analysis model reaches the preset accuracy, thereby obtaining a disease analysis model with disease analysis function, wherein the disease analysis model can adopt a convolutional neural network model or other neural network models with deep learning function, and there is no specific restriction on this; and when the remote If the image information acquired by the 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, thereby obtaining the disease detection result corresponding to the three-dimensional image information; that is, the process of performing three-dimensional processing on the two-dimensional image 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. In actual applications, considering the amount of image information collected by the compound eye camera 5 and the difficulty of processing the image information (such as hardware requirements), the process of performing three-dimensional processing on the two-dimensional image information is generally completed by the remote computer 30.

[0060] It should be noted that other contents of the building disease inspection device and system disclosed in the present invention can be found in the prior art and will not be described in detail here.

[0061] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Therefore, any modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A building disease inspection device, characterized in that: It comprises a rotating support column, a suspension rod mechanism, a camera support frame with adjustable length, and an inspection vehicle placed on a target structure, wherein the rotating support column is installed on the inspection vehicle, one end of the suspension rod mechanism is connected to the rotating support column, and the other end is connected to one end of the camera support frame; a plurality of compound eye cameras are installed on the camera support frame, and the plurality of compound eye cameras are arranged at intervals along the length direction of the camera support frame, and the shooting areas of two adjacent compound eye cameras partially overlap; The camera support frame includes a first support frame, a second support frame, a third support frame, a first rotation joint and a second rotation joint, wherein the first end of the first support frame is connected to the other end of the suspension rod mechanism, the second end of the first support frame is rotationally connected to the first end of the second support frame through the first rotation joint, and the second end of the second support frame is rotationally connected to one end of the third support frame through the second rotation joint; The boom mechanism includes a first boom, a second boom, a first hydraulic rod, a second hydraulic rod, a third hydraulic rod and a rotating connecting head, a sliding sleeve is installed on the first boom, a first end of the second boom is hinged to the rotating support column, and a second end of the second boom is hinged to the sliding sleeve; the first end of the first boom is hinged to the first end of the first hydraulic rod, the second end of the first boom is hinged to the rotating connecting head, and the second end of the first hydraulic rod is hinged to the second boom; the first end of the second hydraulic rod is hinged to the second boom, and the second end of the second hydraulic rod is hinged to the rotating support column; the third hydraulic rod is arranged close to the second end of the first boom, and the first end of the third hydraulic rod is hinged to the first boom, the second end of the third hydraulic rod is hinged to the first end of the rotating connecting head, and the second end of the rotating connecting head is fixedly connected to one end of the first support frame; When the first boom needs to be adjusted to a vertical state and the camera support frame is in a horizontal state, the rotating support column is driven to rotate 90°, so that the camera support frame in the folded state is changed from being placed at 0° to the length direction of the inspection vehicle to being placed at 90° to the length direction of the inspection vehicle; then, the third hydraulic rod is controlled to contract, and the third hydraulic rod pulls the rotating connector to rotate 90°, so that the camera support frame is perpendicular to the first boom; then, the first hydraulic rod is controlled to extend and the second hydraulic rod is controlled to contract, and at this time, the camera support frame can be extended to the bottom of the target structure under the inspection vehicle; It also includes a controller and a laser alarm installed on the camera support frame, wherein the laser alarm, the first rotary joint, the second rotary joint, and the third hydraulic rod are all connected to the controller by signals; The rotating support column includes a supporting column, a columnar base and a rotary reducer installed on the inspection vehicle, the bottom end of the supporting column is fixed to the top of the columnar base, the columnar base is installed in the inner ring of the rotary reducer, the first end of the second suspension rod is hinged to the top of the supporting column, and the second end of the second hydraulic rod is hinged to the top of the columnar base.

2. The building and structure disease inspection device according to claim 1, characterized in that: The first rotary joint includes a rotary convex joint, a rotary concave joint, and a drive shaft and a drive motor installed on the rotary concave joint, the rotary concave joint is fixed to the first end of the second support frame, the output shaft of the drive motor is connected to one end of the drive shaft, the first end of the rotary convex joint is fixed to the second end of the first support frame, the second end of the rotary convex joint is sleeved on the drive shaft and is rotatably connected to the rotary concave joint through the drive shaft.

3. The building and structure disease inspection device according to claim 1, characterized in that: The controller is respectively connected to the inspection vehicle and each of the compound eye cameras by signal.

4. The building and structure disease inspection device according to claim 3 is characterized in that: It also includes a plurality of fill lights arranged at intervals along the length direction of the camera support frame, and each of the compound eye cameras has a built-in ambient light sensor, wherein each of the fill lights and ambient light sensors is connected to the controller by signal.

5. The building and structure disease inspection device according to claim 1, characterized in that: It also includes a wireless remote controller and a real-time camera installed on the camera support frame. The real-time camera, the first hydraulic rod, the second hydraulic rod and the third hydraulic rod are all connected to the wireless remote controller for communication.

6. A building and structure disease inspection system, characterized in that: It comprises a remote computer, a cloud server and a building disease inspection device as described in any one of claims 1 to 5, wherein the remote computer and each of the compound eye cameras are communicatively connected to the cloud server.

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