Old Community Dilapidated Building Assessment Device and Assessment Method

Abstract

The present invention relates to an evaluation device and method for dangerous old buildings in old residential areas, namely, an evaluation device for dangerous old buildings in old residential areas. It includes a detection vehicle, a drone, a detection terminal and a control center; the detection vehicle includes a first vehicle body and a second vehicle body that are hinged to each other. Both the first vehicle body and the second vehicle body include an upper frame and a lower frame that are distributed up and down. Linear guide rails are respectively arranged on the upper frames of the first vehicle body and the second vehicle body, and inclination detection components are arranged on the linear guide rails; at least two drones are placed on the lower frames of the first vehicle body and the second vehicle body, and a crack width measuring instrument, a laser scanner and an ultrasonic crack detector are arranged on the drones. The evaluation method for dangerous old buildings in old residential areas is carried out based on the above-mentioned device. The present invention can effectively improve the detection efficiency, quickly obtain the evaluation results, effectively assist in the construction, maintenance and data update of the housing monitoring system, and minimize the accident hazards and economic losses.

Description

Technical Field

[0001] The present invention relates to a building safety detection and evaluation technology, specifically an evaluation device and method for dangerous buildings in old residential areas. Background Art

[0002] With the aging of urban infrastructure such as buildings, the collapse of old buildings occurs frequently, causing very serious consequences and significant losses to people's lives and property. In order to avoid the hazards brought by the collapse of old buildings, it is necessary to evaluate old buildings and define buildings that do not meet the evaluation standards as dangerous buildings. However, due to limitations in human and material resources, etc., most old residential areas defined as dangerous buildings based on building age and other factors have not been actually detected and evaluated on the spot, which is prone to misjudgment and missed judgment. In addition, most old residential areas are of brick-concrete structure, with different building materials and construction standards, making it difficult to set a unified evaluation standard. Therefore, the detection and evaluation of current dangerous buildings are basically blank.

[0003] Chinese Patent with application number 201810185487.3 proposes a monitoring system and method for dangerous and old buildings based on Beidou positioning technology, which monitors the inclination characteristic quantity, crack width, etc. of building structures in real time through devices, and issues an alarm in a timely manner when the inclination, deformation level and damage degree of the detected dangerous and old buildings exceed the safety values, so as to realize the safety warning of dangerous and old buildings. However, when setting up this system, it is first necessary to conduct an overall investigation and evaluation of the existing basic conditions of the building structures in each old residential area. Therefore, how to quickly obtain the existing basic conditions of the building structures in existing old residential areas is also a major problem. And each monitoring device needs to be maintained regularly to avoid excessive errors in monitoring data caused by equipment damage, etc.

[0004] Moreover, most old residential areas are of brick-concrete structure, etc., with different building materials and construction standards. Therefore, even if the risk of the building structure after data modeling in the monitoring system is predicted, the prediction result is not very accurate, and regular on-site detection and correction of prediction data are still required to avoid unnecessary dangerous situations such as building collapse.

[0005] Therefore, it is necessary to provide a low-cost evaluation technology for dangerous buildings in old residential areas to effectively assist in the construction, maintenance and data update of the building monitoring system, so as to minimize accident hazards and economic losses. Summary of the Invention

[0006] The purpose of the present invention is to provide an evaluation device and method for dangerous buildings in old residential areas to solve the problem that the evaluation results of dangerous buildings in old residential areas cannot be quickly detected and obtained at present.

[0007] The present invention is implemented as follows: An evaluation device for dilapidated buildings in old residential areas includes a detection vehicle, an unmanned aerial vehicle (UAV), a detection terminal, and a control center; the detection vehicle includes a first vehicle body and a second vehicle body that are hinged to each other, and both the first vehicle body and the second vehicle body include an upper frame and a lower frame that are distributed vertically. Linear guide rails are respectively provided on the upper frames of the first vehicle body and the second vehicle body, and an inclination detection component is provided on the linear guide rails; at least two UAVs are placed on the lower frames of the first vehicle body and the second vehicle body, a crack width measuring instrument is provided on at least one UAV, a laser scanner is provided on at least one UAV, and an ultrasonic crack detector is provided on at least one UAV; the detection terminal is arranged on the detection vehicle, and the detection terminal is wirelessly data-connected to at least two UAVs, the laser scanner, the inclination detection component, and the crack width measuring instrument, and the control center is wirelessly data-connected to the detection terminal.

[0008] The inclination detection component includes a slider installed on the linear guide rail, a support rod is hinged to the slider, a vertical correction frame is hinged to the end of the support rod, an embedding plate is arranged in the vertical correction frame, the embedding plate is connected to the vertical correction frame through an elastic telescopic member, and an inclinometer is arranged on the side wall of the embedding plate.

[0009] The elastic telescopic member includes a support frame arranged on the vertical correction frame, a tension spring and a telescopic rod are arranged on the support frame, and the embedding plate is arranged at the ends of the tension spring and the telescopic rod.

[0010] An adapter frame is arranged on the detection vehicle, and an arc-shaped guide rail is arranged on the adapter frame. When the first vehicle body rotates a specific angle relative to the second vehicle body around the hinge point, the adapter frame is connected between the upper frame of the first vehicle body and the upper frame of the second vehicle body, and the arc-shaped guide rail is connected to the linear guide rails at both ends.

[0011] A first telescopic frame body is telescopically arranged at the end of the first vehicle body, a second telescopic frame body is telescopically arranged at the end of the second vehicle body, and end guide rails are respectively arranged on the first telescopic frame body and the second telescopic frame body.

[0012] An extension rod is arranged between the first telescopic frame body and the first vehicle body, an extension rod is arranged between the second telescopic frame body and the second vehicle body, legs are respectively arranged below the first telescopic frame and the second telescopic frame, and rollers are arranged at the lower ends of the legs.

[0013] The control center includes: a database for pre-storing the original construction data of the building to be detected; a data modeling module for obtaining the original construction data of the building to be detected from the database and constructing an original visualized building model, and for receiving in real time the spatial point cloud data, images and video data obtained by the control center through the wireless transmission module and constructing a measured visualized building model; an analysis and positioning module for comparing the original visualized building model with the measured visualized building model, obtaining a comparison result, performing three-dimensional positioning on each difference point of the visualized building model corresponding to the comparison result, and returning the positioning information to the mobile terminal; an evaluation module for receiving in real time the detection data uploaded by the mobile terminal through the wireless transmission module, comparing the detection data with the original construction data corresponding to the original visualized building model again, and obtaining a comparison result, and evaluating the building safety level of the building to be detected according to the comparison result, wherein the detection data includes the inclination angle of the building to be detected, the number of cracks, the crack width and the crack length at each difference point.

[0014] The present invention also discloses an evaluation method for dangerous buildings in old communities, which is implemented based on the above-mentioned evaluation device for dangerous buildings in old communities and includes the following steps.

[0015] a. Pre-store the original construction data of the building to be detected in the database.

[0016] b. The data modeling module obtains the original construction data of the building from the database and constructs an original visualized building model.

[0017] c. The drone equipped with a laser scanner performs laser scanning on the building to be detected to obtain the spatial point cloud data of the building to be detected, and the crack measurement probe synchronously collects images and video data.

[0018] d. The control center obtains the spatial point cloud data, images and video data in real time and sends them to the data modeling module.

[0019] e. The data modeling module constructs a measured visualized building model from the received spatial point cloud data, images and video data, and compares the original visualized building model with the measured visualized building model to obtain the difference points and their corresponding positioning information.

[0020] f. The control center obtains the difference points and their corresponding positioning information in real time, and then sends the positioning information to the detection terminal.

[0021] g. The detection terminal controls the inspection vehicle and the drone equipped with a crack width measuring instrument and an ultrasonic crack detector to perform specific inspections on each difference point according to the positioning information. The detection data includes the inclination angle of the wall to be detected, the number of cracks, the crack width and the crack length at each difference point, and the obtained detection data is wirelessly transmitted to the control center.

[0022] h. The control center receives the detection data in real time and evaluates the building safety level of the building to be detected through the evaluation module to obtain an evaluation result. The evaluation results are that the building structure is basically safe, partially dangerous, and completely dangerous.

[0023] When measuring the inclination angle of the wall, after moving the detection vehicle to the designated position and fixing it, check whether the inclinometer on the vertical support plate is in a zero-angle state and perform calibration. Then, under the action of the elastic telescopic member, press the embedded plate against the wall to be detected for inclination angle detection. The inclination angle detection component moves smoothly on the detection vehicle to detect the inclination angles of multiple points.

[0024] For two adjacent perpendicular walls, or two adjacent walls at a certain angle, after the detection vehicle moves to the designated position, the first vehicle body rotates relative to the second vehicle body around the hinge point, and the first vehicle body and the second vehicle body are respectively attached to the two walls at the corner. Connect the connecting frame between the upper frame body of the first vehicle body and the upper frame body of the second vehicle body, and connect the arc-shaped guide rail with the linear guide rails at both ends. The inclination angle detection component sequentially detects the inclination angles of the two walls at the corner.

[0025] The detection vehicle of the old community dangerous building evaluation device of the present invention is used in cooperation with a drone. The drone is loaded with a laser scanner to scan the building to be detected to obtain the spatial point cloud data of the building, and a crack width measuring instrument is carried by the drone to collect image and video data. At the same time, the detection vehicle is used to detect the inclination angle of the wall. The inclination angle detection component of the detection vehicle can quickly detect the inclination angle of the wall, and the safety level of the building can be evaluated according to the detected data.

[0026] The inclination angle detection component can perform multi-point detection on the wall to ensure the detection accuracy. At the same time, the detection vehicle can sequentially detect the two walls at the corner after one-time fixing and calibration, and there is no need to calibrate the inclinometer again in the middle, thereby improving the speed of wall inclination angle detection.

[0027] The method for evaluating dilapidated buildings in old communities of the present invention collects spatial point cloud data, images and video data respectively through a drone equipped with a laser scanner and a crack width measuring instrument to construct a visual building model of inspection and measurement. Then, it is compared with the original visual building model to find the difference points on the surfaces of the two visual building models. For example, there are large-area damages, multiple cracks, etc., and these difference points are located and the positioning information is output to quickly find the parts that need obvious detection and then further detection to obtain detection data, including detecting the wall inclination angle, the number of cracks, the crack width and the crack length of each difference point, and wirelessly transmitting the detection data to the control center for analysis and evaluation, effectively improving the detection efficiency to quickly obtain the evaluation result, effectively assisting the construction, maintenance and data update of the housing monitoring system, and minimizing the accident hazards and economic losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic structural diagram of the dilapidated building evaluation device in old communities of the present invention.

[0029] Figure 2 is a top view of the inspection vehicle of the present invention.

[0030] Figure 3 is a top view of the inspection vehicle when the first vehicle body and the second vehicle body rotate 90°.

[0031] Figure 4 is a side view structural diagram of the inclination angle detection component of the present invention.

[0032] Figure 5 is a front view schematic diagram of the vertical correction frame and the embedded plate of the present invention.

[0033] Figure 6 is a schematic diagram of the telescopic rod of the inclination angle detection component of the present invention in a contracted state.

[0034] Figure 7 is a schematic diagram of the telescopic rod of the inclination angle detection component of the present invention in an extended state.

[0035] Figure 8 is a schematic diagram after the first telescopic frame body and the second telescopic frame body of the present invention are extended.

[0036] In the figure: 1. Detection vehicle; 2. UAV; 3. Detection terminal; 4. Control center; 1-1. First vehicle body; 1-2. Second vehicle body; 1-3. Linear guide rail; 1-4. Inclination detection component; 1-5. Connecting frame; 1-6. Arc guide rail; 1-7. First telescopic frame; 1-8. Second telescopic frame; 1-9. End guide rail; 1-10. Leg; 1-11. Roller; 1-12. Extension rod; 1-4-1. Slide block; 1-4-2. Support rod; 1-4-3. Vertical correction frame; 1-4-4. Embedded plate; 1-4-5. Inclinometer; 1-4-6. Support frame; 1-4-7. Tension spring; 1-4-8. Telescopic rod. Detailed implementation manners

[0037] As Figure 1 shown, the dilapidated building assessment device of the present invention includes a detection vehicle 1, a UAV 2, a detection terminal 3 and a control center 4.

[0038] As Figure 1 , Figure 2 and Figure 3 shown, the detection vehicle 1 includes a first vehicle body 1-1 and a second vehicle body 1-2 which are hinged to each other. The first vehicle body 1-1 and the second vehicle body 1-2 can rotate a certain angle around the hinge point on a plane. Both the first vehicle body 1-1 and the second vehicle body 1-2 include an upper frame body and a lower frame body which are distributed up and down. Linear guide rails 1-3 are respectively arranged on the upper frame bodies of the first vehicle body 1-1 and the second vehicle body 1-2. An inclination detection component 1-4 is arranged on the linear guide rail 1-3, and the inclination detection component 1-4 can move horizontally along the linear guide rail 1-3. At least two UAVs 2 are placed on the lower frame bodies of the first vehicle body 1-1 and the second vehicle body 1-2. A crack width measuring instrument is arranged on at least one UAV 2, a laser scanner is arranged on at least one UAV 2, and an ultrasonic crack detector is arranged on at least one UAV 2.

[0039] The laser scanner can be a 360 laser scanner, which can perform three-dimensional laser scanning on the building to be detected and obtain the spatial point cloud data of the building to be detected; a camera (probe) with a scale is arranged on the crack width measuring instrument, which can not only detect the crack width, but also collect the two-dimensional image data and three-dimensional video image data of the building, so as to provide visual data for the data modeling module. And the above detection process is not limited by the height of the building and the distribution position of the cracks; the ultrasonic crack detector is used to detect the crack depth and internal cracks of the component.

[0040] The detection terminal 3 is installed on the detection vehicle 1, and there is a wireless data connection between the detection terminal 3 and at least two drones 2, a laser scanner, an inclination detection component 1-4, and a crack width detector. The detection terminal 3 is also used to control the opening and closing and positioning operations of at least two drones 2, the 360 laser scanner inclination detection component 1-4, the inclination detection component 1-4, and the crack width detector.

[0041] There is a wireless data connection between the control center 4 and the detection terminal 3. The control center 4 includes: a database for pre-storing the original construction data of the building to be detected; a data modeling module for obtaining the original construction data of the building to be detected from the database and constructing an original visual building model, and for receiving in real time the spatial point cloud data, images, and video data obtained by the control center 4 through the wireless transmission module and constructing a measured visual building model; an analysis and positioning module for comparing the original visual building model with the measured visual building model and obtaining a comparison result, performing three-dimensional positioning based on the different points of the visual building model corresponding to the comparison result, and returning the positioning information to the mobile terminal; an evaluation module for receiving in real time the detection data uploaded by the mobile terminal through the wireless transmission module, comparing the detection data with the original construction data corresponding to the original visual building model again, and obtaining a comparison result, and evaluating the building safety level of the building to be detected according to the comparison result, where the detection data includes the inclination angle of the building to be detected, the number of cracks at each different point, the crack width, and the crack length.

[0042] As Figure 4 、 Figure 5 As shown, the inclination detection component 1-4 includes a slider 1-4-1 installed on a linear guide rail 1-3. The slider 1-4-1 can move horizontally along the linear guide rail 1-3. A support rod 1-4-2 is hinged on the slider 1-4-1, and a vertical correction frame 1-4-3 is hinged at the end of the support rod 1-4-2. The perpendicularity of the vertical correction frame 1-4-3 is adjusted through the support rod 1-4-2. An embedding plate 1-4-4 is arranged inside the vertical correction frame 1-4-3. The embedding plate 1-4-4 is connected to the vertical correction frame 1-4-3 through an elastic telescopic member. An inclinometer 1-4-5 is arranged on the side wall of the embedding plate 1-4-4. When the vertical correction frame 1-4-3 is in a vertical state, the embedding plate 1-4-4 with the inclinometer 1-4-5 is moved towards the wall through the elastic telescopic member, so that the embedding plate 1-4-4 abuts against the wall to be detected, so that the inclination degree of the embedding plate 1-4-4 is the same as that of the wall, and the inclination angle of the wall can be obtained through the inclinometer 1-4-5. Since the inclination detection component 1-4 can move along the linear guide rail 1-3, multi-point detection of the wall can be performed.

[0043] As Figure 6 、 Figure 7As shown in the figure, the elastic telescopic member includes a support frame 1-4-6 provided on the vertical correction frame 1-4-3. A tension spring 1-4-7 and a telescopic rod 1-4-8 are provided on the support frame 1-4-6. The embedded plate 1-4-4 is provided at the ends of the tension spring 1-4-7 and the telescopic rod 1-4-8. The telescopic rod 1-4-8 drives the embedded plate 1-4-4 to extend or retract. The telescopic rod 1-4-8 is located in the middle of the embedded plate 1-4-4. The telescopic rod 1-4-8 is hinged to the embedded plate 1-4-4. Tension springs 1-4-7 are respectively provided on the upper and lower sides of the telescopic rod 1-4-8. When the embedded plate 1-4-4 extends, the tension springs 1-4-7 on both sides are in a tension state. Since the two tension springs 1-4-7 have the same specifications and lengths, the embedded plate 1-4-4 is in a vertical state. When the embedded plate 1-4-4 abuts against the wall and the wall has a certain inclination angle, the embedded plate 1-4-4 tilts. At this time, the inclinometer 1-4-5 detects the inclination data. When detecting the next point, the telescopic rod 1-4-8 retracts the embedded plate 1-4-4 and then moves it to this point, and then extends the embedded plate 1-4-4 again. Since as long as the embedded plate 1-4-4 leaves the wall surface, it will return to the vertical state under the action of the tension spring 1-4-7, no verticality correction is required during continuous point detection.

[0044] As Figure 3 shown in the figure, a connecting frame 1-5 is provided on the inspection vehicle 1. An arc-shaped guide rail 1-6 is provided on the connecting frame 1-5. When the first vehicle body 1-1 rotates a specific angle relative to the second vehicle body 1-2 around the hinge point, the connecting frame 1-5 is connected between the upper frame body of the first vehicle body 1-1 and the upper frame body of the second vehicle body 1-2, and the arc-shaped guide rail 1-6 is connected to the linear guide rails 1-3 at both ends.

[0045] When detecting the corner of a building, the first vehicle body 1-1 is rotated relative to the second vehicle body 1-2 around the hinge point, and the sides of the first vehicle body 1-1 and the second vehicle body 1-2 are respectively abutted against two walls. The gap formed between the first vehicle body 1-1 and the second vehicle body 1-2 after rotation is filled by the connecting frame 1-5. The connecting frame 1-5 is detachably connected to the first vehicle body 1-1 and the second vehicle body 1-2. Different connecting frames 1-5 with different angles can be prepared in advance. When the first vehicle body 1-1 rotates relative to the second vehicle body 1-2 around the hinge point at different angles, different connecting frames 1-5 are selected for filling. After filling, the arc-shaped guide rail 1-6 connects the two linear guide rails 1-3 to each other. The inclination detection assembly 1-4 can slide horizontally on the two linear guide rails 1-3 and the arc-shaped guide rail 1-6, so as to realize the detection of the two walls.

[0046] As Figure 1 、 Figure 2 、and Figure 3As shown, in order to expand the detection range of the inclination detection component 1-4, a first telescopic frame body 1-7 is telescopically arranged at the end of the first vehicle body 1-1, and a second telescopic frame body 1-8 is telescopically arranged at the end of the second vehicle body 1-2. End rails 1-9 are respectively arranged on the first telescopic frame body 1-7 and the second telescopic frame body 1-8. When the first telescopic frame body 1-7 and the second telescopic frame body 1-8 extend out, the end rail 1-9 is connected to the linear guide rail 1-3.

[0047] As Figure 8 shown, in order to further expand the detection range, extension rods 1-12 are arranged between the first telescopic frame body 1-7 and the first vehicle body 1-1, and extension rods 1-12 are arranged between the second telescopic frame body 1-8 and the second vehicle body 1-2. Legs 1-10 are respectively arranged below the first telescopic frame 1-7 and the second telescopic frame 1-8, and rollers 1-11 are arranged at the lower ends of the legs 1-10. The first telescopic frame body 1-7 and the second telescopic frame body 1-8 can extend out a certain distance. First, the inclination detection component 1-4 is moved onto the end rail 1-9, and then the first telescopic frame body 1-7 or the second telescopic frame body 1-8 is extended outwards. The inclination detection component 1-4 can extend outwards with it to detect points at a long distance. The extended first telescopic frame 1-7 or second telescopic frame 1-8 is supported by the legs 1-10 and the rollers 1-11.

[0048] The inspection vehicle 1 of the old community dilapidated building assessment device of the present invention is used in cooperation with the unmanned aerial vehicle 2. The unmanned aerial vehicle 2 is loaded with a laser scanner to scan the building to be inspected to obtain the spatial point cloud data of the building, and the unmanned aerial vehicle 2 is used to carry a crack width measuring instrument to collect image and video data. At the same time, the inspection vehicle 1 is used to detect the inclination of the wall. The inclination detection component 1-4 of the inspection vehicle 1 can quickly detect the inclination of the wall, and the safety level of the building can be evaluated according to the detected data.

[0049] The inclination detection component 1-4 can perform multi-point detection on the wall to ensure the detection accuracy. At the same time, the inspection vehicle 1 can detect the two walls at the corner in sequence after being fixed and calibrated once, and there is no need to calibrate the inclinometer 1-4-5 again in the middle, thereby improving the detection speed of the wall inclination.

[0050] The old community dilapidated building assessment device of the present invention further includes a display screen and a control panel, which are arranged on the detection terminal 3. The display screen is used to display the visual building model, various image and video information, the returned positioning information, the detection information of each detection device, etc. The control panel is used to input data and control each device, etc.

[0051] The old community dilapidated building assessment method of the present invention is realized based on the above-mentioned old community dilapidated building assessment device, and includes the following steps.

[0052] a. Pre-store the original construction data of the building to be detected in the database.

[0053] b. The data modeling module obtains the original construction data of the building from the database and constructs the original visualized building model.

[0054] c. The drone 2 equipped with a laser scanner performs laser scanning on the building to be detected to obtain the spatial point cloud data of the building to be detected, and the crack measurement probe synchronously collects image and video data.

[0055] d. The control center 4 obtains the spatial point cloud data, image and video data in real time and sends them to the data modeling module.

[0056] e. The data modeling module constructs the measured visualized building model from the received spatial point cloud data, image and video data, and compares the original visualized building model with the measured visualized building model to obtain the difference points and their corresponding positioning information.

[0057] f. The control center 4 obtains the difference points and their corresponding positioning information in real time, and then sends the positioning information to the detection terminal 3.

[0058] g. The detection terminal 3 controls the detection vehicle 1 and the drone 2 equipped with a crack width measuring instrument and an ultrasonic crack detector to perform specific detection on each difference point according to the positioning information. The detection data includes the inclination angle of the wall to be detected, the number of cracks, crack width and crack length of each difference point, and wirelessly transmits the obtained detection data to the control center 4.

[0059] h. The control center 4 receives the detection data in real time and evaluates the building safety level of the building to be detected through the evaluation module to obtain the evaluation result. The evaluation results are that the building structure is basically safe, partially dangerous and completely dangerous.

[0060] When measuring the inclination angle of the wall, move the detection vehicle 1 to the specified position and fix it. Check whether the inclinometer 1-4-5 on the vertical support plate is in a zero-angle state and perform calibration. Then, under the action of the elastic telescopic member, press the embedded plate 1-4-4 against the wall to be detected for inclination angle detection. The inclination angle detection assembly 1-4 smoothly moves on the detection vehicle 1 to detect the inclination angles of multiple points.

[0061] For two adjacent perpendicular walls, or two adjacent walls at a certain angle, after the detection vehicle 1 moves to the specified position, rotate the first vehicle body 1-1 relative to the second vehicle body 1-2 around the hinge point, and the first vehicle body 1-1 and the second vehicle body 1-2 are respectively attached to the two walls at the corner. Connect the connecting frame 1-5 between the upper frame of the first vehicle body 1-1 and the upper frame of the second vehicle body 1-2, and connect the arc-shaped guide rail 1-6 with the linear guide rails 1-3 at both ends. The inclination angle detection assembly 1-4 sequentially detects the inclination angles of the two walls at the corner.

[0062] First, according to the detection data including the inclination angle of the building to be detected, the number of cracks, crack width and crack length at each differential point, etc., the building to be detected is evaluated as basically safe in building structure, partially dangerous building and completely dangerous building. Then, according to the evaluation results, the component units of the building are subjected to refined detection in the order of refined detection of completely dangerous building, partially dangerous building and basically safe structure to obtain the final dangerous building grade: Grade A: The structural bearing capacity can meet the normal use requirements, there are no decayed dangerous points, and the building structure is safe. Grade B: The structural bearing capacity basically meets the normal use requirements. Individual structural components are in a dangerous state, but it does not affect the main structure and basically meets the normal use requirements. Grade C: The bearing capacity of some load-bearing structures cannot meet the normal use requirements, local danger appears, and it constitutes a partially dangerous building. Grade D: The bearing capacity of the load-bearing structure can no longer meet the normal use requirements, and the whole building is in danger, constituting a completely dangerous building. Risk removal detection is carried out on the completely dangerous building and the partially dangerous building.

[0063] The data modeling module brings the measurement data and wall inclination data received by the control center 4 in real time into the measured visual building model as important parameters of the building structure, and optimizes the measured visual building model to obtain the final visual building model.

[0064] The method for evaluating dangerous old buildings in this invention uses the drone 2 equipped with a laser scanner and a crack width gauge to collect spatial point cloud data, image and video data respectively to construct a measured visual building model. Then, it is compared with the original visual building model to find the differential points on the surfaces of the two visual building models, such as large-area damage, multiple cracks, etc., and these differential points are located and the location information is output to quickly find the parts that need obvious detection and then further detection is carried out to obtain detection data, including detecting the wall inclination angle, the number of cracks, crack width and crack length at each differential point, and wirelessly transmitting the detection data to the control center 4 for analysis and evaluation, effectively improving the detection efficiency to quickly obtain the evaluation result, effectively assisting in the construction, maintenance and data update of the building monitoring system, and minimizing the accident hazards and economic losses.

Claims

1. An evaluation device for dilapidated buildings in old communities, characterized in that, it includes a detection vehicle, a drone, a detection terminal and a control center; the detection vehicle includes a first vehicle body and a second vehicle body that are hinged to each other, and both the first vehicle body and the second vehicle body include an upper frame and a lower frame that are distributed up and down. Linear guide rails are respectively arranged on the upper frames of the first vehicle body and the second vehicle body, and inclination detection components are arranged on the linear guide rails; at least two drones are placed on the lower frames of the first vehicle body and the second vehicle body, and a crack width measuring instrument is arranged on at least one drone, a laser scanner is arranged on at least one drone, and an ultrasonic crack detector is arranged on at least one drone; the detection terminal is arranged on the detection vehicle, and the detection terminal is wirelessly data-connected to at least two drones, a laser scanner, an inclination detection component and a crack width measuring instrument, and the control center is wirelessly data-connected to the detection terminal; The control center includes: a database for pre-storing the original construction data of the building to be detected; a data modeling module for obtaining the original construction data of the building to be detected from the database and constructing an original visual building model, and for receiving in real time the spatial point cloud data, images and video data obtained by the control center through the wireless transmission module in real time and constructing a visual building model to obtain a measured visual building model; an analysis and positioning module for comparing the original visual building model and the measured visual building model, and obtaining a comparison result, and performing three-dimensional positioning based on the difference points of the visual building model corresponding to the comparison result and returning the positioning information to the mobile terminal; an evaluation module for receiving in real time the detection data uploaded by the mobile terminal through the wireless transmission module, comparing the detection data with the original construction data corresponding to the original visual building model again, and obtaining a comparison result, and evaluating the building safety level of the building to be detected according to the comparison result, wherein the detection data includes the inclination angle of the building to be detected, the number of cracks, the crack width and the crack length at each difference point.

2. The evaluation device for dilapidated buildings in old communities according to claim 1, characterized in that, the inclination detection component includes a slider installed on the linear guide rail, a support rod is hinged on the slider, a vertical correction frame is hinged at the end of the support rod, an embedding plate is arranged in the vertical correction frame, and the embedding plate and the vertical correction frame are connected by an elastic telescopic member, and an inclinometer is arranged on the side wall of the embedding plate.

3. The evaluation device for dilapidated buildings in old communities according to claim 2, characterized in that, the elastic telescopic member includes a support frame arranged on the vertical correction frame, a tension spring and a telescopic rod are arranged on the support frame, and the embedding plate is arranged at the ends of the tension spring and the telescopic rod.

4. The evaluation device for dilapidated buildings in old communities according to claim 1, characterized in that, An adapter frame is provided on the inspection vehicle, and an arc-shaped guide rail is provided on the adapter frame. After the first vehicle body rotates a specific angle relative to the second vehicle body around the hinge point, the adapter frame is connected between the upper frame body of the first vehicle body and the upper frame body of the second vehicle body, and the arc-shaped guide rail is connected to the linear guide rails at both ends.

5. The old community dangerous building assessment device according to claim 1, characterized in that, A first telescopic frame body is telescopically provided at the end of the first vehicle body, a second telescopic frame body is telescopically provided at the end of the second vehicle body, and end guide rails are respectively provided on the first telescopic frame body and the second telescopic frame body.

6. The old community dangerous building assessment device according to claim 5, characterized in that, Extension rods are provided between the first telescopic frame body and the first vehicle body, extension rods are provided between the second telescopic frame body and the second vehicle body, legs are respectively provided below the first telescopic frame and the second telescopic frame, and rollers are provided at the lower ends of the legs.

7. An old community dangerous building assessment method, characterized in that, It is realized based on the old community dangerous building assessment device according to any one of claims 1 to 6, and includes the following steps: a. Pre-store the original construction data of the building to be detected in the database; b. The data modeling module obtains the original construction data of the building from the database and constructs an original visual building model; c. The unmanned aerial vehicle equipped with a laser scanner performs laser scanning on the building to be detected to obtain the spatial point cloud data of the building to be detected, and the crack measurement probe synchronously collects image and video data; d. The control center obtains the spatial point cloud data, image and video data in real time and sends them to the data modeling module; e. The data modeling module constructs a measured visual building model from the received spatial point cloud data, image and video data, and compares the original visual building model with the measured visual building model to obtain the difference points and their corresponding positioning information; f. The control center obtains the difference points and their corresponding positioning information in real time, and then sends the positioning information to the detection terminal; g. The detection terminal controls the inspection vehicle and the unmanned aerial vehicle equipped with a crack width measuring instrument and an ultrasonic crack detector to specifically detect each difference point according to the positioning information. The detection data includes the inclination angle of the wall to be detected, the number of cracks, the crack width and the crack length of each difference point, and wirelessly transmits the obtained detection data to the control center; h. The control center receives the detection data in real time and evaluates the building safety level of the building to be detected through the evaluation module to obtain an evaluation result. The evaluation result is that the building structure is basically safe, partially dangerous, and completely dangerous.

8. The old community dangerous building assessment method according to claim 7, characterized in that, When measuring the inclination angle of the wall, after moving the inspection vehicle to a specified position and fixing it, check whether the inclinometer on the vertical support plate is in a non-angled state and perform calibration, and then, under the action of the elastic telescopic member, press the embedded plate against the wall to be detected for inclination angle detection, and smoothly move the inclination angle detection assembly on the inspection vehicle to detect the inclination angles of multiple points.

9. The method for evaluating dilapidated buildings in old communities according to claim 8, characterized in that, for two adjacent perpendicular walls or two adjacent walls at a certain angle, after the inspection vehicle moves to a designated position, the first vehicle body rotates relative to the second vehicle body around the hinge point, and the first vehicle body and the second vehicle body are respectively attached to the two walls at the corner. The connecting frame is connected between the upper frame body of the first vehicle body and the upper frame body of the second vehicle body, and the arc-shaped guide rail is connected to the linear guide rails at both ends. The inclination detection assembly sequentially performs inclination detection on the two walls at the corner.

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