Building structure crack detection equipment and method

Abstract

The present invention provides a building structure crack detection device and method, and relates to the field of structural detection technology. The building structure crack detection device includes an unmanned aerial vehicle (UAV) body. The present invention is provided with a group of natural light cameras and thermal imager cameras, which can better identify the crack conditions on the structural surface. By driving the spherical shell to rotate by a servo motor, the purpose of shooting the side, directly above and directly below the UAV body can be achieved. After the new cracks are found, the paint is sprayed to the crack periphery on the structural surface through the nozzle, and the flight control of the UAV body is used to form a striking mark around the crack, which can provide great convenience for the subsequent manual crack repair operation. When spraying the mark, the compressed gas tank sprays air from the air outlet to form a wind curtain, which prevents the paint mist generated during the paint spraying process from splashing onto the lens of the natural light camera and the thermal imager camera, greatly improving the service life of the equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of structural detection, and in particular to building structure crack detection equipment and method. Background Art

[0002] Cracks are one of the common diseases of building structures. Once cracks develop to a certain stage, they will have a great impact on the bearing capacity of the structure. Therefore, crack detection is the most important work in the process of crack development and the focus of maintenance inspection. The presence and width of early cracks are mainly detected by manual identification technology, which is inefficient, time-consuming and laborious, and difficult to monitor for a long time.

[0003] To this end, many public technologies have proposed using more advanced detection equipment to detect the width of cracks in order to improve detection efficiency and reduce manpower. For example, a public technology provides a drone detection method and device based on cracks on the surface of a hydraulic structure, the method comprising: cruising along the surface of the hydraulic structure to be measured according to a preset cruising route; obtaining the characteristics of the hydraulic structure to be measured; optimizing the preset cruising route according to the characteristics of the hydraulic structure to be measured or the direction of the cracks to obtain an optimized cruising route; cruising along the surface of the hydraulic structure to be measured according to the optimized cruising route; identifying cracks in the hydraulic structure to be measured, locating the crack position and measuring the crack span and crack direction; determining the relative coordinates and crack characteristics of the cracks according to the crack position, crack span and crack direction; generating a crack distribution map on the surface of the hydraulic structure to be measured according to the relative coordinates and crack characteristics of the cracks. The present invention intelligently adjusts the shooting posture, shooting distance and shooting line according to the structural characteristics, and simultaneously locates the position of the cracks on the surface of the structure and measures the width in real time, thereby improving the efficiency and quality of safety inspections. The disclosed technology uses drone cruising instead of manual identification, which greatly reduces the intensity of manual labor and improves the detection efficiency. However, the technology still has problems during use. First, in order to achieve the purpose of multi-angle shooting, six groups of cameras are used, which are respectively arranged in the front, back, left, right, top and bottom. There are too many cameras. If the cameras are enabled at the same time, most images are invalid images, which increases the burden on the image processor and is also a big test for the memory. At the same time, after cracks are detected on a large area of ​​the structural surface, when the cracks need to be repaired manually, it is also necessary to retrieve the crack distribution map, and electronic equipment must be used to confirm the specific location of the cracks that need to be repaired. The aforementioned disclosed technology does not take the above two problems into consideration, so it is necessary to develop a building structure crack detection device that can meet the requirements of multi-angle shooting at a lower cost and can form a striking crack identification mark.

[0004] In addition, various couplings are used in building structure crack detection equipment for power transmission. A coupling is a device that connects two shafts or a shaft and a rotating part, which rotate together during the transmission of motion and power. It is sometimes used as a safety device to prevent the connected parts from being subjected to excessive loads, thereby playing a role in overload protection. Existing couplings are inconvenient to install and require multiple bolts for connection and fixation, resulting in low efficiency in installation and disassembly, which cannot meet the needs of convenient use. In addition, the shaft sizes applicable to existing couplings are generally fixed, and cannot be used for connection with shafts of different sizes, resulting in poor applicability.

[0005] Based on the above situation, the present invention proposes a building structure crack detection device and method, which can effectively solve the above problems. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a device and method for detecting cracks in building structures, which solves the problem in the prior art that there are too many cameras in the device for detecting cracks in building structures and that electronic equipment must be used to confirm the location of the specific cracks that need to be repaired when repairing cracks manually. In addition, the coupling used in the present invention solves the problem in the above-mentioned background technology that the coupling is inconvenient to install and disassemble and cannot be used for connection with shafts of different sizes.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] A building structure crack detection device comprises an unmanned aerial vehicle body, wherein the unmanned aerial vehicle body is composed of a casing, four groups of brackets, four groups of spiral wings, four groups of supporting legs and two groups of bottom feet. The casing is annular in top view, a control and communication assembly is arranged inside the casing, the four groups of brackets are arranged in a circularly evenly divided shape on the circumferential side wall of the casing, the four groups of spiral wings are rotatably connected to the upper walls of the four groups of brackets, the four groups of supporting legs are all fixedly connected to the lower wall of the casing, the four groups of supporting legs are all distributed in a circularly evenly divided shape with the center of the casing as the center, the two groups of bottom feet are respectively fixedly connected to the lower ends of two groups of supporting legs that are adjacent to each other in front and behind, a spherical shell is rotatably connected to the annular inner side wall of the casing, the spherical shell is composed of an upper shell, a middle shell and a lower shell arranged in sequence from top to bottom, a rotating drive structure for driving the spherical shell and the casing to rotate relative to each other is arranged between the middle shell and the inner side wall of the casing, and the lower inner side wall of the middle shell is provided with a rotating drive structure for driving the spherical shell and the casing to rotate relative to each other. A control box is fixedly connected to the wall and close to the rear wall, wherein the control box is provided with a processor, a memory, a communicator and an attitude sensor, the middle shell and the base are provided with power supply structures for supplying power to the drone body and the spherical shell respectively, the inner side wall of the upper shell is fixedly connected to a partition arranged parallel to the middle shell, the upper wall of the partition is provided with a detection structure for detecting cracks on the structural surface, the front wall of the lower shell is fixedly connected to a sliding sleeve, the inner side wall of the sliding sleeve is slidably connected with a nozzle for spraying marks on the edges of cracks on the structural surface, one end of the nozzle facing the lower shell sequentially penetrates the sliding sleeve and the front wall of the lower shell and extends into the lower shell, a telescopic driving structure for driving the telescopic action of the nozzle is provided inside the lower shell, a paint supply structure for supplying marking material to the nozzle is provided inside the lower shell, and a wind curtain structure for protecting the detection structure when the nozzle sprays the mark is provided inside the upper shell.

[0009] Preferably, the rotary drive structure includes a servo motor, a first rotating shaft, a second rotating shaft and two groups of rotating seats, the two groups of rotating seats are respectively fixedly connected to the inner left wall and the inner right wall of the middle shell body, the first rotating shaft and the second rotating shaft are respectively rotatably connected to the inner walls of the two groups of rotating seats in a left-right relative manner, the opposite ends of the first rotating shaft and the second rotating shaft respectively penetrate the left wall and the right wall of the middle shell body and extend to the left and right sides of the middle shell body respectively, the ends of the first rotating shaft and the second rotating shaft extending to the outside of the middle shell body are respectively fixedly connected to the inner left wall and the inner right wall of the casing, the servo motor is fixedly connected to the inner lower wall of the middle shell body and is located on the side close to the first rotating shaft, and the servo motor extends to the end and is fixedly connected to the end of the first rotating shaft facing the second rotating shaft through a coupling.

[0010] Preferably, the coupling includes a coupling body, a plum blossom elastomer, a fixed seat, a sleeve column and a fastening clamp. Two coupling bodies are symmetrically arranged. The two coupling bodies are arranged in close proximity. A plum blossom elastomer is arranged between the two coupling bodies. The coupling body is fixedly connected with a fixed seat. A sleeve column is slidably sleeved on the fixed seat. The sleeve column is threaded with a fastening clamp in an annular array.

[0011] Preferably, the coupling body consists of a fixed disk and convex teeth, and the fixed disk is fixedly connected with the convex teeth.

[0012] Preferably, the plum blossom elastomer is composed of a center ring and plum blossom blocks, a plurality of plum blossom blocks are fixedly connected to the center ring in an annular array, and the plum blossom blocks are arranged in cooperation with the convex teeth.

[0013] Preferably, the fixing seat is fixedly connected to the fixing plate, a plurality of sliding grooves are provided on the fixing seat, and a limiting groove is provided on the fixing seat between the plurality of adjacent sliding grooves.

[0014] Preferably, a threaded hole is provided on the sleeve column, a limiting block is fixedly connected to the inner wall of the sleeve column, a spring is fixedly connected to the limiting block, the limiting block is slidably connected in the limiting groove, and one end of the spring is fixedly connected to a fixing seat at the limiting groove.

[0015] Preferably, the fastening clamp consists of a bonding plate, a rotating seat, a bolt and a convex strip, the bonding plate is fixedly connected to the rotating seat, the rotating seat is rotatably connected to the bolt, the bolt is threadedly connected in the threaded hole, and several bonding plates are provided, one of which is fixedly connected to the convex strip.

[0016] The coupling of the present invention comprises a coupling body, a plum blossom elastomer, a fixed seat, a sleeve column and a fastening clamp. Two coupling bodies are symmetrically arranged, and the two coupling bodies are arranged in close proximity. A plum blossom elastomer is arranged between the two coupling bodies. A fixed seat is fixedly connected to the coupling body, and a sleeve column is slidably sleeved on the fixed seat. The coupling designed by the present invention can make the coupling of the scheme more convenient when connecting between two shafts by arranging a fixed seat and a sleeve column on the coupling body, and improve the convenience of installation and disassembly. Through the matching design of the fastening clamp, the coupling of the scheme can be suitable for connecting shafts of different sizes, and can make two shafts of different sizes match and connect, thereby improving the applicability of the coupling.

[0017] Preferably, the power supply structure includes three groups of card holders and batteries, the three groups of card holders are respectively fixedly connected to the inner lower wall of the middle shell and the inner upper walls of the two groups of base feet, and the three groups of batteries are respectively clamped to the inner walls of the three groups of card holders.

[0018] Preferably, the detection structure includes a natural light camera and a thermal imaging camera, and the natural light camera and the thermal imaging camera are fixedly connected to the upper wall of the partition and distributed on the left and right sides, and the natural light camera and the thermal imaging camera both penetrate the front wall of the upper shell and extend to the front side of the upper shell.

[0019] Preferably, the telescopic drive structure includes a fixed plate and an electric telescopic rod, wherein the fixed plate is fixedly connected to the lower wall of the middle shell and is located near the rear wall of the lower shell, the electric telescopic rod is fixedly connected to the front wall of the fixed plate and is located at one end of the fixed plate away from the middle shell, and the extended shaft end of the electric telescopic rod is fixedly connected to the end of the nozzle extending into the interior of the lower shell.

[0020] Preferably, the paint supply structure includes a pressurized paint tank and a second electrically-controlled valve. The pressurized paint tank is fixedly connected to the lower wall of the middle shell body, the second electrically-controlled valve is fixedly connected to the front wall of the pressurized paint tank and communicates with the interior of the pressurized paint tank, and the end of the second electrically-controlled valve away from the pressurized paint tank is communicated with the nozzle through a paint pipe.

[0021] Preferably, the wind curtain structure includes two groups of compressed gas tanks, a first electrically-controlled valve, an air pipe joint and two air outlets, the two air outlets are both arranged on the front wall of the upper shell and are distributed on the left and right, the horizontal height of the two air outlets are both located between the detection structure and the nozzle, the two groups of air pipe joints are both fixedly connected to the inner front wall of the upper shell and are respectively connected to the two air outlets, the two groups of compressed gas tanks are distributed on the left and right and are fixedly connected to the upper wall of the middle shell in sequence, the two groups of the first electrically-controlled valves are both fixedly connected to the upper wall of the middle shell and are respectively located on the front sides of the two groups of compressed gas tanks, and the first electrically-controlled valve is connected to the compressed gas tanks and the air pipe joints opposite to it in front and behind through an air pipe.

[0022] According to any of the above-mentioned methods for using the building structure crack detection device, the method comprises the following steps:

[0023] S1, preset route, cruise along the surface of the structure to be measured according to the preset cruise route;

[0024] S2, crack detection, using a natural light camera and a thermal imaging camera to shoot the surface of the structure under test, and the processor in the control box identifies the cracks on the surface of the structure under test based on the shooting results;

[0025] S3, spray marking, the spray pipe is pushed out by the electric telescopic rod, the pressurized paint tank is controlled by the second electric control valve to supply paint, and the paint is sprayed from the front end of the spray pipe around the crack to form a mark;

[0026] S4. Analysis and processing: According to the crack position, crack span and crack direction, the relative coordinates and crack characteristics of the crack on the measured structure surface are determined, and according to the relative coordinates and crack characteristics of the crack, a crack distribution map of the surface of the measured structure is generated.

[0027] The present invention provides a building structure crack detection device and method, which has the following beneficial effects:

[0028] Compared with the existing technology, the building structure crack detection equipment and method are equipped with a group of natural light cameras and thermal imaging cameras, which can better identify the cracks on the structural surface. The servo motor drives the spherical shell to rotate, so as to achieve the purpose of shooting the side, top and bottom of the drone body. Other directions can be easily achieved through the mature attitude adjustment technology of the drone body.

[0029] Compared with the existing technology, the building structure crack detection equipment and method is equipped with a second electric control valve to control the pressurized paint tank filled with paint. After a new crack is found, the paint is sprayed to the periphery of the crack on the structural surface through a nozzle, and the flight control of the drone body is used to form a striking mark around the crack, which can greatly facilitate the subsequent manual crack repair operation.

[0030] Compared with the existing technology, the building structure crack detection equipment and method, when spraying marking, controls the compressed gas tank with compressed air through the first electric control valve, sprays air from the air outlet to form a wind curtain, and prevents the paint mist generated during the paint spraying process from splashing onto the lens of the natural light camera and the thermal imaging camera, thereby greatly improving the service life of the equipment.

[0031] Compared with the prior art, the coupling designed in the present invention, by arranging a fixing seat and a sleeve column on the coupling body, can make the coupling of this scheme more convenient when connecting between two shafts, improve the convenience during installation and disassembly, and through the matching design of the fastening clamps, can make the coupling of this scheme suitable for connecting shafts of different sizes, and at the same time can make two shafts of different sizes match and connect, thereby improving the applicability of the coupling and ensuring stable operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the spherical shell structure of the present invention;

[0034] Figure 3 It is a partial sectional view of the inner structure of the foot of the present invention;

[0035] Figure 4 It is a partial sectional view of the inner structure of the spherical shell of the present invention;

[0036] Figure 5 It is a partial cross-sectional view of the internal structure of the shell in the present invention;

[0037] Figure 6 It is a partial side cross-sectional view of the upper shell and the air pipe joint connection structure of the present invention;

[0038] Figure 7 It is a schematic diagram of the overall structure of the coupling of the present invention;

[0039] Figure 8 It is a schematic diagram of the partial disassembly structure of the coupling of the present invention;

[0040] Fig. 9 It is a schematic diagram of the sleeve column structure of the coupling of the present invention;

[0041] Fig.10 The figure is a schematic diagram of the structure of the fastening clamp of the coupling according to the present invention.

[0042] Among them, 1, housing; 2, bracket; 3, spiral wing; 4, supporting foot; 5, bottom foot; 6, first rotating shaft; 7, second rotating shaft; 100, coupling; 101, coupling body; 10101, fixed plate; 10102, convex teeth; 102, plum blossom elastic body; 10201, center ring; 10202, plum blossom block; 103, fixed seat; 10301, sliding groove; 10302, limiting groove; 104, sleeve column; 10401, threaded hole; 10402, limiting block; 10403, spring; 105, fastening clamp; 10501 , bonding plate; 10502, rotating seat; 10503, bolt; 10504, convex strip; 8, upper shell; 9, middle shell; 10, lower shell; 11, natural light camera; 12, thermal imaging camera; 13, air outlet; 14, sliding sleeve; 15, nozzle; 16, holder; 17, battery; 18, partition; 19, compressed gas tank; 20, first electric control valve; 21, air pipe joint; 22, rotating seat; 23, servo motor; 24, pressurized paint can; 25, second electric control valve; 26, fixing plate; 27, electric telescopic rod; 28, control box. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0044] like Figures 1 to 10As shown, an embodiment of the present invention provides a building structure crack detection device, including a drone body, the drone body is composed of a casing 1, four groups of brackets 2, four groups of spiral wings 3, four groups of support legs 4 and two groups of bottom feet 5. The casing 1 is annular in top view, and a control and communication assembly is arranged inside the casing 1. The four groups of brackets 2 are arranged on the circumferential side wall of the casing 1 in a circular shape, and the four groups of spiral wings 3 are respectively rotatably connected to the upper walls of the four groups of brackets 2. The four groups of support legs 4 are all fixedly connected to the lower wall of the casing 1. The four groups of support legs 4 are all distributed in a circular shape with the center of the casing 1 as the center of the circle. The two groups of bottom feet 5 are respectively fixedly connected to two groups of lower ends of the four groups of support legs 4 that are adjacent to each other in front and behind. The flight control part of the drone body is basically the same as that of mature drones on the market. It communicates with the ground through the communication assembly. Intelligent building structure surface crack detection can be realized through preset cruising routes and crack processing rules.

[0045] Further, in some embodiments, the annular inner wall of the casing 1 is rotatably connected to a spherical shell, and the spherical shell is composed of an upper shell 8, a middle shell 9 and a lower shell 10 arranged in sequence from top to bottom. A rotation drive structure for driving the spherical shell and the casing 1 to rotate relative to each other is arranged between the middle shell 9 and the inner wall of the casing 1. The rotation drive structure includes a servo motor 23, a first rotating shaft 6, a second rotating shaft 7 and two sets of rotating seats 22. The two sets of rotating seats 22 are respectively fixedly connected to the inner left wall and the inner right wall of the middle shell 9. The first rotating shaft 6 and the second rotating shaft 7 are respectively rotatably connected to the inner walls of the two sets of rotating seats 22 in a left-right relative state. The opposite ends of the first rotating shaft 6 and the second rotating shaft 7 are respectively The servo motor 23 extends through the left and right walls of the middle shell 9 and extends to the left and right sides of the middle shell 9 respectively. The ends of the first rotating shaft 6 and the second rotating shaft 7 extending to the outside of the middle shell 9 are fixedly connected to the inner left wall and the inner right wall of the casing 1 respectively. The servo motor 23 is fixedly connected to the inner lower wall of the middle shell 9 and is located on the side close to the first rotating shaft 6. The servo motor 23 extends to the end and is fixedly connected to the end of the first rotating shaft 6 facing the second rotating shaft 7 through a coupling 100. When the servo motor 23 is started, it drives the ball shell to rotate along the axis of the first rotating shaft 6 and the second rotating shaft 7. The attitude sensor inside the control box 28 cooperates with the servo motor 23 to complete precise angle rotation. When the drone body follows Figure 1 When the viewing angle is flying in the left and right directions and the up and down directions, the detection structure on the spherical shell can shoot and detect the front of the spherical shell. When the servo motor 23 drives the spherical shell to rotate clockwise or counterclockwise by 90 degrees, the top or bottom surface of the structure surface can be shot and detected to achieve the requirements of multi-dimensional shooting.

[0046] Further, refer to Figure 7-10As shown, in some embodiments, the coupling 100 includes a coupling body 101, a plum blossom elastic body 102, a fixing seat 103, a sleeve column 104 and a fastening clamp 105. The coupling designed in this scheme is optimized according to the problem that the existing coupling is not convenient for disassembly and installation and is not suitable for connecting shafts of different sizes, thereby improving the use effect of the coupling of this scheme. Two coupling bodies 101 are symmetrically arranged, and the two coupling bodies 101 are arranged in a close relationship. The plum blossom elastic body 102 is arranged between the two coupling bodies 101. The shaft body 101 is fixedly connected with a fixing seat 103, and the fixing seat 103 is slidably sleeved with a sleeve column 104, and the sleeve column 104 is threadedly connected with a fastening clamp 105 in an annular array. When using the coupling of this scheme, by squeezing the sleeve columns 104 at both ends of the coupling towards each other, the limit block 10402 can be slidably connected in the limit groove 10302, so that the spring 10403 is squeezed and contracted. At this time, the overall length of the coupling of this scheme will be shortened, and the coupling can be placed between the two shafts to be connected, and then by loosening the squeezed The sleeve column 104 and the rebound force of the spring 10403 can reset the sleeve column 104, so that the coupling of this scheme returns to its original length. At this time, the sleeve column 104 will be respectively sleeved on the shaft bodies at both ends, which can improve the installation effect of the coupling. When disassembling, it can be disassembled in the reverse steps of installation to improve the use effect. The sliding connection of the limit block 10402 in the limit groove 10302 can ensure that the coupling will not have the problem of transmission slippage when in use, meet the use requirements, and when connecting shaft bodies of different sizes, by rotating The movable bolt 10503 can make the fitting plate 10501 expand inward or outward. The fitting plate 10501 is tightly fitted on the outer wall of the shaft body, and the convex strip 10504 on one of the fitting plates 10501 is engaged with the transmission groove on the shaft body to ensure that when the shaft body rotates, the coupling of the scheme can be carried to rotate together, so as to meet the use requirements, so that the coupling of the scheme can be used for connecting shafts of different sizes. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field;

[0047] Further, refer to Figure 8 As shown, in some embodiments, the coupling body 101 is composed of a fixed disk 10101 and a convex tooth 10102, the fixed disk 10101 is fixedly connected with the convex tooth 10102, the plum blossom elastic body 102 is composed of a center ring 10201 and a plum blossom block 10202, a plurality of plum blossom blocks 10202 are fixedly connected in an annular array on the center ring 10201, the plum blossom block 10202 is arranged in coordination with the convex tooth 10102, and the coordination design of the coupling body 101 and the plum blossom elastic body 102 meets the use requirements, ensuring that the coupling of the scheme can have a seismic use effect;

[0048] Further, refer to Figure 8 As shown, in some embodiments, the fixing seat 103 is fixedly connected to the fixing plate 10101, and a plurality of sliding grooves 10301 are provided on the fixing seat 103, and a limiting groove 10302 is provided on the fixing seat 103 between the plurality of adjacent sliding grooves 10301. The design of the fixing seat 103 satisfies the connection use of the sleeve column 104, and improves the convenience of installation and disassembly of the coupling;

[0049] Further, refer to Fig. 9 As shown, in some embodiments, a threaded hole 10401 is provided on the sleeve column 104, the inner wall of the sleeve column 104 is fixedly connected to a limit block 10402, a spring 10403 is fixedly connected to the limit block 10402, the limit block 10402 is slidably connected in the limit groove 10302, one end of the spring 10403 is fixedly connected to the fixing seat 103 at the position of the limit groove 10302, and the design of the sleeve column 104 cooperates with the fixing seat 103 to achieve the effect of convenient installation and use of the coupling;

[0050] Furthermore, if Fig.10 As shown, in some embodiments, the fastening clamp 105 is composed of a bonding plate 10501, a rotating seat 10502, a bolt 10503 and a convex strip 10504. The bonding plate 10501 is fixedly connected with the rotating seat 10502, the rotating seat 10502 is rotatably connected with the bolt 10503, the bolt 10503 is threadedly connected in the threaded hole 10401, and a plurality of bonding plates 10501 are provided, one of which is fixedly connected with the convex strip 10504. The design of the fastening clamp 105 enables the coupling of the scheme to be used for connecting shafts of different sizes, thereby improving applicability.

[0051] Further, in some embodiments, a control box 28 is fixedly connected to the inner lower wall of the middle shell 9 and near the rear wall. The control box 28 is provided with a processor, a memory, a communicator and a posture sensor. The middle shell 9 and the base 5 are provided with power supply structures for supplying power to the drone body and the spherical shell respectively. The power supply structure includes three groups of card holders 16 and batteries 17. The three groups of card holders 16 are respectively fixedly connected to the inner lower wall of the middle shell 9 and the inner upper walls of the two groups of bases 5. The three groups of batteries 17 are respectively connected to the inner walls of the three groups of card holders 16, which separate the power supply parts of the drone body and the components in the spherical shell, reduce the complicated wiring work during equipment manufacturing, and the servo motor 23 can drive the spherical shell to rotate without being constrained by wires;

[0052] Further, in some embodiments, a partition 18 arranged parallel to the middle shell 9 is fixedly connected to the inner side wall of the upper shell 8, and a detection structure for detecting cracks on the structural surface is arranged on the upper wall of the partition 18, and the detection structure includes a natural light camera 11 and a thermal imager camera 12, and the natural light camera 11 and the thermal imager camera 12 are both fixedly connected to the upper wall of the partition 18 and are distributed on the left and right, and the natural light camera 11 and the thermal imager camera 12 both penetrate the front wall of the upper shell 8 and extend to the front side of the upper shell 8; through the detection method of the natural light camera 11 and the thermal imager camera 12, it can not only serve as a good visual system for the flight of the drone body, but also can more accurately find the primary cracks that the natural light camera 11 cannot accurately identify, thereby improving the detection accuracy;

[0053] Further, in some embodiments, a sleeve 14 is fixedly connected to the front wall of the lower shell 10, and a nozzle 15 for spraying marks on the edge of the crack on the structural surface is slidably connected to the inner wall of the sleeve 14. The end of the nozzle 15 facing the lower shell 10 sequentially penetrates the lower sleeve 14 and the front wall of the lower shell 10 and extends into the lower shell 10. A telescopic driving structure for driving the nozzle 15 to telescope is provided inside the lower shell 10. The telescopic driving structure includes a fixed plate 26 and an electric telescopic rod 27. The fixed plate 26 is fixedly connected to the lower wall of the middle shell 9 and is located near the rear wall of the lower shell 10. The electric telescopic rod 27 is fixedly connected to the front wall of the fixed plate 26 and is located at the end of the fixed plate 26 away from the middle shell 9. The end of the electric telescopic rod 27 extending out of the shaft is fixedly connected to the end of the nozzle 15 extending into the lower shell 10. When a new crack is detected on the structural surface, the electric telescopic rod 27 extends out of the shaft to drive the nozzle 15 to extend and spray marks close to the structural surface.

[0054] Further, in some embodiments, a paint supply structure for supplying marking materials to the nozzle 15 is provided inside the lower shell 10, and the paint supply structure includes a pressurized paint tank 24 and a second electrically controlled valve 25. The pressurized paint tank 24 is fixedly connected to the lower wall of the middle shell 9, and the second electrically controlled valve 25 is fixedly connected to the front wall of the pressurized paint tank 24 and is connected to the inside of the pressurized paint tank 24. The end of the second electrically controlled valve 25 away from the pressurized paint tank 24 is connected to the nozzle 15 through a paint pipe. During spraying, the second electrically controlled valve 25 opens after receiving a signal, and the paint stored in the pressurized paint tank 24 is compressed by the pressure in the tank, enters the nozzle 15 along the oil and gas pipe, and is sprayed from the front section of the nozzle 15 onto the surface of the building structure. Through the flight control of the drone body, a variety of marks that are convenient for confirmation and identification can be sprayed, and the location of the crack to be repaired can be visually found very conveniently during the subsequent manual crack repair operation;

[0055] Further, in some embodiments, an air curtain structure for protecting the detection structure when the nozzle 15 sprays the mark is provided inside the upper shell 8. The air curtain structure includes two sets of compressed gas tanks 19, a first electric control valve 20, an air pipe joint 21 and two air outlets 13. The two air outlets 13 are both arranged on the front wall of the upper shell 8 and are distributed on the left and right. The horizontal heights of the two air outlets 13 are both located between the detection structure and the nozzle 15. The two sets of air pipe joints 21 are fixedly connected to the inner front wall of the upper shell 8 and are respectively connected to the two air outlets 13. The two sets of compressed gas tanks 19 are distributed on the left and right in sequence. The two groups of first electrically-controlled valves 20 are fixedly connected to the upper wall of the middle shell 9 and are respectively located on the front sides of the two groups of compressed gas tanks 19. The first electrically-controlled valves 20 are connected to the compressed gas tanks 19 and the air pipe joints 21 opposite to the front and rear thereof through air pipes. When spraying and marking, the compressed air released from the compressed gas tanks 19 enters the air outlet 13, and an air curtain is formed between the nozzle 15 and the lenses of the thermal imager camera 12 and the natural light camera 11, thereby preventing paint droplets from flying onto the lens surfaces of the thermal imager camera 12 and the natural light camera 11 during spraying.

[0056] The present invention also provides a method for using a building structure crack detection device, the method comprising the following steps:

[0057] S1, preset route, cruise along the surface of the structure to be measured according to the preset cruise route;

[0058] S2, crack detection, using the natural light camera 11 and the thermal imaging camera 12 to shoot the surface of the structure under test, and the processor in the control box 28 to identify the cracks on the surface of the structure under test based on the shooting results;

[0059] S3, spray marking, the spray pipe 15 is pushed out by the electric telescopic rod 27, and the pressurized paint tank 24 is controlled by the second electric control valve 25 to supply paint, and the paint is sprayed from the front end of the spray pipe 15 around the crack to form a mark;

[0060] S4. Analysis and processing: According to the crack position, crack span and crack direction, the relative coordinates and crack characteristics of the crack on the measured structure surface are determined, and according to the relative coordinates and crack characteristics of the crack, a crack distribution map of the surface of the measured structure is generated.

[0061] Working principle: The flight control part of the drone is basically the same as the mature drones on the market. It communicates with the ground through the communication assembly. Intelligent building structure surface crack detection can be achieved through the preset cruise route and crack processing rules. When the servo motor 23 is started, it drives the ball shell to rotate along the first rotating shaft 6 and the second rotating shaft 7. The attitude sensor inside the control box 28 cooperates with the servo motor 23 to complete the precise angle rotation. When the drone body follows Figure 1When flying in the left and right directions and up and down directions as shown in the viewing angle, the detection structure on the spherical shell can shoot and detect the front of the spherical shell. When the servo motor 23 drives the spherical shell to rotate clockwise and counterclockwise by 90 degrees, the top or bottom surface of the structural surface can be photographed and detected to achieve the requirements of multi-dimensional shooting. The power supply parts of the drone body and the components in the spherical shell are separated, which reduces the complicated wiring work during equipment manufacturing. The servo motor 23 is not constrained by the wires when driving the spherical shell to rotate. The detection method of the combination of the natural light camera 11 and the thermal imager camera 12 can not only serve as a good visual system for the flight of the drone body, but also use the thermal imager camera 12 to more accurately find the primary cracks that the natural light camera 11 cannot accurately identify, thereby improving the detection accuracy. When new cracks are detected on the structural surface The electric telescopic rod 27 extends the shaft, driving the nozzle 15 to extend and spray mark close to the structural surface. During spraying, the second electric control valve 25 opens after receiving the signal, and the paint stored in the pressurized paint tank 24 is compressed by the pressure in the tank, enters the nozzle 15 along the oil and gas pipe, and is sprayed from the front end of the nozzle 15 onto the building structure surface. Through the flight control of the drone body, a variety of marks that are convenient for confirmation and identification can be sprayed. During the subsequent manual crack repair operation, the position of the crack to be repaired can be visually found very conveniently. When spraying the mark, the compressed air released from the compressed gas tank 19 is introduced into the air outlet 13, and a wind curtain is formed between the nozzle 15 and the lens of the thermal imager camera 12 and the natural light camera 11, which prevents the paint droplets from flying onto the lens surface of the thermal imager camera 12 and the natural light camera 11 during spraying.

[0062] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Building structure crack detection equipment, characterized by: The invention comprises an unmanned aerial vehicle body, wherein the unmanned aerial vehicle body is composed of a casing (1), four groups of brackets (2), four groups of spiral wings (3), four groups of supporting feet (4) and two groups of bottom feet (5); the casing (1) is annular in plan view; a control and communication assembly is arranged inside the casing (1); the four groups of brackets (2) are arranged on the circumferential side wall of the casing (1) in a circularly evenly divided manner; the four groups of spiral wings (3) are rotatably connected to the upper walls of the four groups of brackets (2); the four groups of supporting feet (4) are fixedly connected to the lower wall of the casing (1); and the four groups of supporting feet (4) are The two groups of base feet (5) are equally distributed on the circumference with the center of the housing (1) as the center, and are respectively fixedly connected to the lower ends of two groups of support feet (4) that are adjacent to each other in front and back. The annular inner wall of the housing (1) is rotatably connected to a spherical shell, and the spherical shell is composed of an upper shell (8), a middle shell (9) and a lower shell (10) arranged in sequence from top to bottom. A rotation driving structure for driving the spherical shell and the housing (1) to rotate relative to each other is arranged between the middle shell (9) and the inner wall of the housing (1). The inner lower wall of the middle shell (9) is fixedly connected to the housing (1) near the rear wall. A control box (28) is provided in which a processor, a memory, a communicator and a posture sensor are arranged; a power supply structure for supplying power to the drone body and the spherical shell is provided in the middle shell (9) and the bottom foot (5); a partition (18) arranged parallel to the middle shell (9) is fixedly connected to the inner side wall of the upper shell (8); a detection structure for detecting cracks on the structural surface is provided on the upper wall of the partition (18); a sliding sleeve (14) is fixedly connected to the front wall of the lower shell (10); and the inner side wall of the sliding sleeve (14) is slidably connected to the inner side wall of the sliding sleeve (14). A nozzle (15) for spraying marks on the edge of a crack on a structural surface, wherein one end of the nozzle (15) facing the lower shell (10) sequentially penetrates a lower lower sleeve (14), a front wall of the lower shell (10) and extends into the lower shell (10), a telescopic driving structure for driving the nozzle (15) to telescope is provided inside the lower shell (10), a paint supply structure for supplying marking material to the nozzle (15) is provided inside the lower shell (10), and an air curtain structure for protecting the detection structure when the nozzle (15) sprays marks is provided inside the upper shell (8); The rotary drive structure comprises a servo motor (23), a first rotating shaft (6), a second rotating shaft (7) and two groups of rotating seats (22); the two groups of rotating seats (22) are respectively fixedly connected to the inner left wall and the inner right wall of the middle shell (9); the first rotating shaft (6) and the second rotating shaft (7) are respectively rotatably connected to the inner side walls of the two groups of rotating seats (22) in a left-right relative manner; the opposite ends of the first rotating shaft (6) and the second rotating shaft (7) respectively penetrate the left wall and the right wall of the middle shell (9) and respectively extend to the left and right sides of the middle shell (9); the ends of the first rotating shaft (6) and the second rotating shaft (7) extending to the outside of the middle shell (9) are respectively fixedly connected to the inner left wall and the inner right wall of the casing (1); the servo motor (23) is fixedly connected to the inner lower wall of the middle shell (9) and is located on a side close to the first rotating shaft (6); the end of the servo motor (23) extending to the end is fixedly connected to the end of the first rotating shaft (6) facing the second rotating shaft (7) through a coupling (100); The detection structure comprises a natural light camera (11) and a thermal imaging camera (12); the natural light camera (11) and the thermal imaging camera (12) are both fixedly connected to the upper wall of the partition (18) and are distributed on the left and right sides; the natural light camera (11) and the thermal imaging camera (12) both penetrate the front wall of the upper shell (8) and extend to the front side of the upper shell (8); The coupling (100) comprises a coupling body (101), a plum blossom elastic body (102), a fixing seat (103), a sleeve column (104) and a fastening clamp (105); two coupling bodies (101) are symmetrically arranged, the two coupling bodies (101) are arranged in close proximity, a plum blossom elastic body (102) is arranged between the two coupling bodies (101), the coupling body (101) is fixedly connected with a fixing seat (103), a sleeve column (104) is slidably sleeved on the fixing seat (103), and a fastening clamp (105) is threadedly connected to the sleeve column (104) in an annular array; The telescopic drive structure comprises a fixed plate (26) and an electric telescopic rod (27); the fixed plate (26) is fixedly connected to the lower wall of the middle shell (9) and is located near the rear wall of the lower shell (10); the electric telescopic rod (27) is fixedly connected to the front wall of the fixed plate (26) and is located at an end of the fixed plate (26) away from the middle shell (9); and the extended shaft end of the electric telescopic rod (27) is fixedly connected to an end of the nozzle (15) extending into the interior of the lower shell (10); The paint supply structure comprises a pressurized paint tank (24) and a second electrically controlled valve (25); the pressurized paint tank (24) is fixedly connected to the lower wall of the middle shell (9); the second electrically controlled valve (25) is fixedly connected to the front wall of the pressurized paint tank (24) and is in communication with the interior of the pressurized paint tank (24); and an end of the second electrically controlled valve (25) away from the pressurized paint tank (24) is in communication with the spray pipe (15) via a paint pipe.

2. The building structure crack detection device according to claim 1, characterized in that: The power supply structure comprises three groups of card holders (16) and batteries (17); the three groups of card holders (16) are respectively fixedly connected to the inner lower wall of the middle shell (9) and the inner upper walls of the two groups of base feet (5); and the three groups of batteries (17) are respectively clamped to the inner side walls of the three groups of card holders (16).

3. The building structure crack detection device according to claim 2, characterized in that: The coupling body (101) is composed of a fixed disk (10101) and a convex tooth (10102), and the convex tooth (10102) is fixedly connected to the fixed disk (10101); The plum blossom elastic body (102) is composed of a center ring (10201) and plum blossom blocks (10202); a plurality of plum blossom blocks (10202) are fixedly connected in an annular array on the center ring (10201); and the plum blossom blocks (10202) are arranged in coordination with the convex teeth (10102); The fixed seat (103) is fixedly connected to the fixed plate (10101), and a plurality of sliding grooves (10301) are provided on the fixed seat (103), and a limiting groove (10302) is provided on the fixed seat (103) between the plurality of adjacent sliding grooves (10301); The sleeve column (104) is provided with a threaded hole (10401); the inner wall of the sleeve column (104) is fixedly connected to a limit block (10402); the limit block (10402) is fixedly connected to a spring (10403); the limit block (10402) is slidably connected in the limit groove (10302); one end of the spring (10403) is fixedly connected to a fixing seat (103) at the limit groove (10302); The fastening clamp (105) is composed of a bonding plate (10501), a rotating seat (10502), a bolt (10503) and a convex strip (10504); the bonding plate (10501) is fixedly connected to the rotating seat (10502); the rotating seat (10502) and the bolt (10503) are rotatably connected; the bolt (10503) is threadedly connected in the threaded hole (10401); a plurality of bonding plates (10501) are provided, and one of the bonding plates (10501) is fixedly connected to the convex strip (10504).

4. The building structure crack detection device according to claim 3, characterized in that: The air curtain structure comprises two groups of compressed gas tanks (19), a first electrically controlled valve (20), an air pipe joint (21), and two air outlets (13). The two air outlets (13) are both arranged on the front wall of the upper shell (8) and are distributed in the left and right directions. The two air outlets (13) are both located at a horizontal height between the detection structure and the nozzle (15). The two groups of air pipe joints (21) are both fixedly connected to the inner front wall of the upper shell (8) and are respectively connected to the two air outlets (13). The two groups of compressed gas tanks (19) are distributed in the left and right directions and are sequentially fixedly connected to the upper wall of the middle shell (9). The two groups of the first electrically controlled valves (20) are both fixedly connected to the upper wall of the middle shell (9) and are respectively located in front of the two groups of compressed gas tanks (19). The first electrically controlled valves (20) are connected to the compressed gas tanks (19) and the air pipe joints (21) located in front and rear of the first electrically controlled valves (20) through air pipes.

5. The method for using the building structure crack detection device according to any one of claims 1 to 4, characterized in that: The method of use comprises the following steps: S1, preset route, cruise along the surface of the structure to be measured according to the preset cruise route; S2, crack detection, using a natural light camera (11) and a thermal imaging camera (12) to photograph the surface of the structure to be tested, and a processor in a control box (28) to identify cracks on the surface of the structure to be tested based on the photographing results; S3, spray marking, the spray pipe (15) is pushed out by the electric telescopic rod (27), the pressurized paint tank (24) is controlled by the second electric control valve (25) to supply paint, and the paint is sprayed from the front end of the spray pipe (15) around the crack to form a mark; S4. Analysis and processing: According to the crack position, crack span and crack direction, the relative coordinates and crack characteristics of the crack on the measured structure surface are determined, and according to the relative coordinates and crack characteristics of the crack, a crack distribution map of the surface of the measured structure is generated.

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