A device and method for measuring the flatness and irregular contour of a building wall

Abstract

The present invention relates to the technical field of irregular contour detection of plain concrete building structures, and specifically to a device and method for measuring the flatness and irregular contour of a building wall, comprising a ground control station, an unmanned aerial vehicle body, and an unmanned aerial vehicle coordinate locator. The unmanned aerial vehicle body is provided with a coordinate indicating mechanism, a measuring mechanism, and a bidirectional vibration reduction mechanism. The coordinate indicating mechanism is used in conjunction with the unmanned aerial vehicle coordinate locator. The bidirectional vibration reduction mechanism comprises a first vibration reduction mechanism for regulating the horizontal vibration of the unmanned aerial vehicle, and a second vibration reduction mechanism for regulating the tilt of the unmanned aerial vehicle. The method comprises the steps of establishing a database, positioning the unmanned aerial vehicle, and measuring. The present invention can accurately locate the starting point position of each third laser ranging sensor measuring light through the coordinated cooperation of the unmanned aerial vehicle coordinate locator and the coordinate indicating mechanism, thereby ensuring the reliability of the measurement result and overcoming the influence of airflow factors and mechanical vibration factors of the unmanned aerial vehicle body on the measurement of the flatness and irregular contour of the wall.

Description

Technical Field

[0001] The invention relates to the technical field of irregular contour detection of plain concrete building structures, and in particular to a device and method for measuring the flatness and irregular contour of a building wall. Background Art

[0002] Fair-faced concrete is a form of architectural modernism, and is also called decorative concrete because of its decorative effect. The basic idea is that after the concrete is poured, there is no need for any painting, tiling, stone laying, etc., so that the beauty of the building structure can be expressed with the plain face of the fair-faced concrete itself.

[0003] In order to highlight the display effect of fair-faced concrete, the walls of fair-faced concrete are usually required to have a high degree of flatness, and irregular contours are also set on many walls to create a more visually impactful effect. Strictly speaking, from a microscopic perspective, even a very flat wall is composed of irregular contours. Therefore, testing the flatness of the building wall and the irregular contours visible to the naked eye can help ensure the quality of the building and make the visual effect of the fair-faced concrete consistent with the original design intention.

[0004] In the prior art, there are not many documents for detecting the flatness and irregular contours of the surface of the plain concrete wall. For example, CN215338224U provides an intelligent mobile plain concrete surface flatness laser measuring instrument, including: a mobile trolley, a cross screw slide, a controller, a computer, a data acquisition unit for collecting surface flatness information and a driving unit for providing power for the movement of the data acquisition unit; the cross screw slide is arranged on the upper surface of the mobile trolley; the data acquisition unit includes: a line laser sensor, a data collector, a laser ranging sensor and a single chip microcomputer; the data scanning of the measuring instrument adopts multi-point surface scanning, the measured data has a small error, high accuracy and strong representativeness; and the structure is simple, the design is novel and reasonable, easy to operate, the measurement process is highly automated, and the flatness measurement of various forms of plain concrete surfaces such as walls, columns and plates can be quickly realized, the work efficiency is high, and it is suitable for universal promotion. However, the device is only suitable for flatness detection of walls of about 2 meters, and the detection effect cannot be achieved for current multi-story buildings, high-rise buildings or super-high-rise buildings.

[0005] Drones can well realize the high-altitude lifting function, but there are very few documents in the patent library that use drones to detect wall flatness and irregular contours. The common difficulties in actual use are: drones are easily affected by various factors in the air (such as airflow) and propeller vibration, which makes it impossible to accurately locate the drone's own position. When its own position cannot be accurately located, its detection results for the wall are inaccurate, because the two images taken or the two distances detected may include the influence of the drone's own position change. How to eliminate the measurement error caused by this influence has become a technical difficulty, which is also the main factor restricting the accuracy of drone wall detection results. Summary of the invention

[0006] The present invention provides a device and method for measuring the flatness and irregular contour of a building wall. The purpose is to address the current situation where there is a lack of practical, fast and effective methods for detecting the flatness and irregular contour of multi-story, high-rise or super-high-rise plain concrete building walls. By identifying and positioning the coordinates of the drone body itself and improving the vibration resistance of the drone body, the detection results can be accurate and reliable, providing an effective reference for the construction quality of the plain concrete wall.

[0007] To achieve the above object, the technical solution of the present invention is:

[0008] A measuring device for the flatness and irregular contour of a building wall, comprising a ground control station, an unmanned aerial vehicle (UAV) body, and an unmanned aerial vehicle (UAV) coordinate locator. The unmanned aerial vehicle (UAV) body is provided with a coordinate indicating mechanism, a measuring mechanism, and a bidirectional vibration reduction mechanism. The coordinate indicating mechanism and the measuring mechanism are respectively arranged on the belly and the top of the unmanned aerial vehicle (UAV) body and have the same axis. The coordinate indicating mechanism is used in conjunction with the unmanned aerial vehicle (UAV) coordinate locator. The structure of the unmanned aerial vehicle (UAV) coordinate locator satisfies the following requirements: a. cooperates with the coordinate indicating mechanism to provide the accurate coordinates of the unmanned aerial vehicle (UAV) body relative to the building wall; b. cooperates with the coordinate indicating mechanism to enable the controller of the unmanned aerial vehicle (UAV) body to receive the corresponding information and coordinate when the measuring light of the coordinate indicating mechanism exceeds the working range of the unmanned aerial vehicle (UAV) coordinate locator. The coordinate indicating mechanism is regulated to make the measuring light of the coordinate indicating mechanism return to the working range of the coordinate locator of the UAV; the bidirectional vibration reduction mechanism is arranged between the measuring mechanism and the top of the UAV body, and includes a first vibration reduction mechanism for regulating the horizontal vibration of the UAV and a second vibration reduction mechanism for regulating the tilt of the UAV. The UAV body is equipped with a three-axis tilt sensor, and the controller is electrically connected to the UAV onboard power supply; it is connected to the coordinate indicating mechanism, the three-axis tilt sensor and the measuring mechanism signal, and is configured to control the flight posture of the UAV body and the action of the coordinate indicating mechanism. A wireless signal transceiver is arranged on the UAV body, and the UAV body is connected to the ground control station signal through the wireless signal transceiver.

[0009] Preferably, the UAV coordinate locator comprises a cubic shell with an opening at the upper end, adjustable height support feet are provided at the four corners of the bottom end of the shell, an inclination detector is provided at the center of the bottom end of the shell, the top ends of the four side walls of the shell are coplanar, the four inner walls of the inner surface of the shell constitute a working range cooperating with the coordinate indicating mechanism, and the bottom surface inside the shell and the top surface of the side wall of the shell constitute an indication structure for the coordinate indicating mechanism exceeding the working range.

[0010] Preferably, the cross-sectional area of ​​the inner cavity of the shell is larger than the displacement range caused by airflow or its own mechanical vibration when the drone body is hovering in the air under normal meteorological conditions, that is, under normal meteorological conditions, when the drone body is hovering over the shell, airflow factors or its own mechanical vibration factors cannot cause it to deviate from the upward projection range of the cross-sectional area of ​​the inner cavity of the shell; the bottom matrix in the shell is arranged with a plurality of positioning points, and the rows and columns of the matrix are respectively parallel to the X-direction wall surface and the Y-direction wall surface of the inner wall of the shell.

[0011] Preferably, the bidirectional vibration reduction mechanism comprises an outer shell fixedly connected to the top of the drone body, a hollow sphere is arranged inside the outer shell, the middle part of the outer wall of the hollow sphere is fixedly connected to the inner surface of the outer shell through a horizontally arranged connecting plate, a first vibration reduction mechanism is arranged inside the hollow sphere, and a second vibration reduction mechanism is arranged on the hollow sphere above the connecting plate.

[0012] Preferably, the first vibration damping mechanism includes a first counterweight steel ball rollingly connected to the hollow sphere, a first electromagnet is embedded at the bottom end of the hollow sphere, and the first electromagnet is used in conjunction with the first counterweight steel ball; the second vibration damping mechanism includes a second counterweight steel ball arranged at the top end of the outer wall of the hollow sphere, a second electromagnet is embedded at the top end of the outer wall of the hollow sphere, and the second electromagnet is used in conjunction with the second counterweight steel ball, a plurality of vibration damping springs are evenly distributed on the outer periphery of the second counterweight steel ball around the axis passing through the top and bottom ends of the hollow sphere, one end of the vibration damping spring is connected to the outer wall of the second counterweight steel ball, and the other end is connected to the upper surface of the connecting plate through a connecting seat, and in a natural state, the second counterweight steel ball is constrained at the top end of the hollow sphere by a plurality of vibration damping springs, and the first electromagnet and the second electromagnet are electrically connected to the controller via wires, respectively.

[0013] Preferably, the coordinate indicating mechanism includes a mounting plate fixedly arranged on the belly of the drone body, a cross-axis structure is fixedly arranged at the bottom end of the mounting plate, the transverse axis of the cross-axis structure is arranged along the X-axis direction, and the longitudinal axis is arranged along the Y-axis direction, the two ends of the transverse axis and the longitudinal axis are respectively fixedly connected to the lower end of the mounting plate through an integrally formed connecting rod, two U-shaped frames are rotatably connected on the transverse axis and the longitudinal axis respectively, the two free ends of the U-shaped frames span the center of the cross-axis structure, and are rotatably connected to the transverse axis or the longitudinal axis through bearings, the bottom end of each U-shaped frame is fixedly connected to a first mounting cylinder, a first laser ranging sensor is installed at the end of the first mounting cylinder, a second mounting cylinder is fixedly connected to the center of the cross-axis structure along the longitudinal direction downward, a second laser ranging sensor is installed at the end of the second mounting cylinder, and the outer wall of each first mounting cylinder An electric cylinder is connected between the first mounting tube and the lower surface of the mounting plate. The two ends of the electric cylinder are respectively hinged to the outer wall of the first mounting tube and the lower surface of the mounting plate. The axis of the horizontal axis, the axis of the vertical axis, the axis of the first mounting tube, the axis of the second mounting tube, and the reverse extension lines of the measuring light of the first laser ranging sensor and the second laser ranging sensor intersect at the same vertex A. The first laser ranging sensor, the second laser ranging sensor, and the electric cylinder are electrically connected to the controller through wires respectively; the straight line where the measuring light of the second laser ranging sensor is located constitutes the Z axis, and the two first laser ranging sensors connected to the horizontal axis or the vertical axis are respectively located on both sides of the second mounting tube, and adjust the angle B between their measuring light and the Z axis under the drive of the electric cylinder. The controller determines the degree of the angle B according to the elongation of the electric cylinder.

[0014] Preferably, the measuring mechanism includes a vertical plate arranged longitudinally on the top of the shell, a plurality of third laser ranging sensors are arranged in a matrix at the front end of the vertical plate, the spacing between the measuring lights of adjacent third laser ranging sensors is the same as the spacing between adjacent positioning points, the measuring light of the second laser ranging sensor coincides with the axis of the vertical plate, the front surface of the vertical plate is parallel to the X-axis direction, and the measuring light of the third laser ranging sensor is projected along the Y-axis direction.

[0015] A method for using a drone building wall detection system based on coordinate correction includes the following steps:

[0016] Step 1, establishing a database, including establishing database 1 and database 2: Establishing database 1 means: since there is a one-to-one correspondence between the elongation of the electric cylinder and the degree of the angle B, a database of the corresponding relationship between the elongation of the electric cylinder and the angle B is established; establishing database 2 means: at different heights along the Z-axis relative to the bottom of the shell, ensuring that the projection point of the measuring light of the first laser ranging sensor does not deviate from the inner wall of the shell during measurement, the corresponding angle B at a certain height is not unique;

[0017] Step 2: Place the drone coordinate locator on the ground facing the wall to be detected, and adjust the adjustable height support feet to make the bottom of the shell horizontal. At this time, the side wall of the shell is in the vertical direction. At the same time, one side wall of the shell is facing the wall. At this time, the surface of the side wall is parallel to the X-axis direction.

[0018] Step 3, the ground control station controls the drone to fly to the top of the shell, aligns it with the array range preset at the center of the positioning point array, and rises in stages along the Z axis. During this process, the controller projects the measuring lights of the two first laser ranging sensors connected by the horizontal axis onto the two inner walls of the shell parallel to the X axis, and projects the measuring lights of the two first laser ranging sensors connected by the vertical axis onto the two inner walls of the shell parallel to the Y axis, according to the database and the preset program, and projects the measuring lights of the second laser ranging sensor onto the bottom of the shell at all times. The controller calculates the vertical distance from the projection point on the side wall to the measuring light of the second laser ranging sensor based on the degree of the angle B, the data of the first laser ranging sensor, and the distance from the starting point of the measuring light of the first laser ranging sensor to the vertex A, and calculates the vertical distance L on both sides of the measuring light of the second laser ranging sensor based on the vertical distance L calculated by the second laser ranging sensor. The distance O is obtained by summing the distance O and the vertical distance N, and the distance O is compared with the width of the inner cavity of the shell along the X direction or the Y direction. If they are equal and the drone body is in a horizontal posture at this time, the detection data at this time is judged to be valid data; on this basis, the coordinate position of the light measured by the second laser ranging sensor at the bottom of the shell is obtained according to the size of the cross-section of the inner cavity of the shell, the vertical distance L and the vertical distance N calculated along the X direction and the Y direction respectively, and the X-axis, Y-axis and Z-axis coordinate data of the starting point of the light measured by each third laser ranging sensor are calculated according to the data measured by the second laser ranging sensor and the distance between the starting point of the light measured by the second laser ranging sensor and the vertical plate, and the positional relationship between the vertical plate and each third laser ranging sensor. The controller records the X-axis, Y-axis and Z-axis coordinate data and the measurement values ​​of each third laser ranging sensor as valid data, and transmits the valid data to the ground control station;

[0019] Step 4: After the measurement of the wall flatness or irregular contour of one station is completed, move the drone coordinate locator to the next station and repeat steps 2 and 3 until all wall inspections are completed. The ground control station draws a wall flatness or irregular contour map based on all valid data obtained through a preset program.

[0020] Preferably, in step 3, the coordinate position selects a randomly obtained position or selects a position that coincides with a positioning point. Since the spacing between adjacent measuring lights of the third laser ranging sensor is equal to the spacing between adjacent positioning points, when the coordinate position coincides with one of the positioning points, the third laser ranging sensor array realizes wall detection at positions corresponding to multiple positioning points.

[0021] Preferably, in the step 3, when the drone body is hovering in the air in a horizontal posture, the projection point of the measuring light of the first laser ranging sensor is moved along the inner wall of the shell in a left-right swinging manner, and valid data is obtained in this process; in order to make the coordinate position coincide with the positioning point, the drone body is moved laterally along the X direction to fine-tune the coordinate position.

[0022] The present invention provides a device and method for measuring the flatness and irregular contour of a building wall, which has the following beneficial effects:

[0023] 1. The present invention realizes the precise positioning of the coordinate position of the drone body during the measurement operation. Through the coordinated cooperation of the drone coordinate locator and the coordinate indicating mechanism, the starting point position of each third laser ranging sensor measuring light can be accurately positioned, thereby ensuring the reliability of the measurement result, overcoming the influence of airflow factors and mechanical vibration factors of the drone body on the measurement of wall flatness and irregular contours, and providing an effective basis for the quality inspection and maintenance of fair-faced concrete walls.

[0024] 2. The drone coordinate locator provided in the present invention has a simple structure and is easy to cooperate with the coordinate indicating mechanism, which can significantly reduce the difficulty of measuring the flatness and irregular contour of the wall and improve the measurement efficiency.

[0025] 3. The bidirectional vibration reduction mechanism of the present invention can significantly improve the stability of the drone body during measurement, and has a buffering effect on both horizontal vibration and tilt vibration, which is beneficial to further improve the measurement accuracy and efficiency.

[0026] 4. The present invention can be applied to the detection of multi-story, high-rise and super-high-rise building walls, overcoming the defect of inaccurate measurement results caused by the vibration of drones. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a side view schematic diagram of the structure when the present invention is used.

[0028] Figure 2 It is a front view structural schematic diagram of the drone body of the present invention.

[0029] Figure 3 It is a front view structural schematic diagram of the coordinate indicating mechanism of the present invention.

[0030] Figure 4 It is a front view structural schematic diagram of the coordinate indicating mechanism of the present invention (the electric cylinder is removed in the figure).

[0031] Figure 5 It is a schematic diagram of the main structure of the coordinate indicating mechanism of the present invention when viewed from above.

[0032] Figure 6 It is a schematic diagram of the structure of the housing of the present invention from a top view.

[0033] Figure 7 The figure is a schematic diagram of the top view of the UAV body of the present invention.

[0034] Figure 8 This is a schematic diagram of the projection points of the measuring light on the coordinate locator of the drone during measurement in the present invention.

[0035] Fig. 9 This is a cross-sectional view of the principle of positioning the drone body and calculating the coordinate position of the present invention.

[0036] Fig.10 This is an example of a situation where the measurement light of the coordinate indicating mechanism exceeds the working range of the UAV coordinate locator.

[0037] Fig.11 It is a schematic cross-sectional view of the bidirectional vibration reduction mechanism of the present invention.

[0038] Fig.12 It is a schematic diagram of the front view of the interior of the housing of the bidirectional vibration reduction mechanism of the present invention.

[0039] Fig.13 The schematic diagram is a principle diagram of determining coordinate positions of the present invention.

[0040] Fig.14 This is a schematic diagram of the principle of drawing irregular contour lines in the present invention.

[0041] 1. Building wall; 2. UAV body; 201. Fuselage; 202. Arm; 203. Propeller; 204. Landing gear; 3. UAV coordinate locator; 301. Inclinometer; 302. Adjustable height support foot; 303. Shell; 304. Positioning point; 305. Array range; 4. Laser measuring line; 5. Measuring mechanism; 501. Base; 502. Third laser ranging sensor; 503. Vertical plate; 504. Two-way vibration reduction mechanism; 5041. Shell; 5042. Hollow sphere; 5043. First counterweight steel ball; 5044. First electromagnet; 5045. Second counterweight steel ball; 5046. Connecting plate; 5047. Connecting seat ; 5048, damping spring; 5049, second electromagnet; 6, coordinate indicating mechanism; 601, mounting plate; 602, electric cylinder; 603, first mounting cylinder; 604, first laser ranging sensor; 7, cross-axis structure; 701, cross-axis; 7011, horizontal axis; 7012, vertical axis; 702, U-shaped frame; 703, second mounting cylinder; 8, vertex A; 9, measuring light of the first laser ranging sensor; 91, measuring light 1 of the first laser ranging sensor; 92, measuring light 2 of the first laser ranging sensor; 93, angle B; 10, coordinate position; 11, irregular contour line; 12, measuring light of the third laser ranging sensor; ( Figure 8 , Fig. 9Middle: E, D, C, F, and P are projection points; Fig. 9 In the figure, H and G are the vertical foot positions).

[0042] It should be noted that the above drawings are all schematic diagrams, and the size ratios between the various structures of the present invention should not be understood based on the proportional relationships drawn in the drawings. The actual size ratios are set according to needs. DETAILED DESCRIPTION

[0043] The following describes in detail the implementation mode of the present invention in a step-by-step manner. The description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0044] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “top”, “bottom”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the purpose of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, and a specific direction structure and operation, and therefore cannot be understood as a limitation on the present invention.

[0045] In the initial embodiment, the present invention is a device for measuring the flatness and irregular contours of a building wall, such as Figure 1-12As shown, it includes a ground control station, a drone body 2, and a drone coordinate locator 3. The drone body 2 is provided with a coordinate indicating mechanism 6, a measuring mechanism 5, and a bidirectional vibration reduction mechanism 504. The coordinate indicating mechanism 6 and the measuring mechanism 5 are respectively arranged on the belly and the top of the drone body 2 and have the same axis. The coordinate indicating mechanism 6 is used in conjunction with the drone coordinate locator 3. The structure of the drone coordinate locator 3 satisfies: a. Cooperating with the coordinate indicating mechanism 6 to provide the accurate coordinates of the drone body 2 relative to the building wall 1; b. Cooperating with the coordinate indicating mechanism 6, when the measuring light of the coordinate indicating mechanism 6 exceeds the working range of the drone coordinate locator, the controller of the drone body receives the corresponding information and regulates the coordinate indicating mechanism so that the measuring light of the coordinate indicating mechanism 6 returns to the working range of the drone coordinate locator; the bidirectional vibration reduction mechanism is arranged between the measuring mechanism 5 and the top of the drone body 2, and includes a first vibration reduction mechanism for regulating the horizontal vibration of the drone and a second vibration reduction mechanism for regulating the tilt of the drone. The drone body 2 is equipped with a three-axis tilt sensor (not shown in the figure), and the controller is electrically connected to the drone onboard power supply ; Signal connection with the coordinate indicating mechanism 6, the three-axis inclination sensor and the measuring mechanism 5, and configured to control the flight attitude of the drone body 2 and the action of the coordinate indicating mechanism 6, the drone body is provided with a wireless signal transceiver, and the drone body is connected to the ground control station signal through the wireless signal transceiver; In this embodiment, the structure and principle of the drone body are detailed in the prior art, and the content not described is solved by the existing solution; Among them, the ground control station is used to remotely control the drone body, and at the same time receive the valid data transmitted by the controller, and draw the wall flatness or irregular contour map according to the measured valid data; On the one hand, the drone coordinate locator 3 accurately locates the coordinate position of the drone body, that is, accurately locates the starting point position of the third laser ranging sensor measuring light, so as to ensure that the drawn figure can accurately reflect the flatness or irregular contour of the wall; On the other hand, its structure and size can be used as the basis for establishing the database 2, and the controller can control the measuring light of the coordinate indicating mechanism 6 to be within the working range of the drone coordinate locator according to the maximum angle B and the minimum angle B at a certain hovering height in the database 2, that is, when the angle B corresponding to a certain first laser ranging sensor When it is greater than the maximum angle B, the electric cylinder is extended to return the angle B to the normal range. Otherwise, the angle B is increased to return to the normal working range.The two-way vibration reduction mechanism makes adjustments for various vibration factors of the drone body. One of them is that the drone body moves horizontally due to the influence of airflow. At this time, the first vibration reduction mechanism is activated to alleviate the impact of this horizontal vibration. The other is that the drone body vibrates in an inclined direction due to the influence of airflow, that is, the drone body cannot maintain a horizontal posture. At this time, the second vibration reduction mechanism is activated to alleviate the impact of this vibration, so that the drone can obtain better working ability. ;

[0046] In a further embodiment, Figure 1 , Figure 6 , Figure 8 , Fig. 9 , Fig.10 As shown, the UAV coordinate locator 3 includes a cubic shell 303 with an opening at the upper end, and adjustable height support feet 302 are provided at the four corners of the bottom end of the shell 303. An inclinometer 301 is provided at the center of the bottom end of the shell 303. The top ends of the four side walls of the shell are coplanar, and the four inner walls of the inner surface of the shell 303 constitute a working range for cooperating with the coordinate indicating mechanism 6. The bottom surface of the shell 303 and the top surface of the side wall of the shell 303 constitute an indication structure for the coordinate indicating mechanism 6 exceeding the working range. The maximum angle B corresponding to a certain hovering height in the database 2 is limited by this indication structure, that is, when the angle B is large enough, the projection point of the measuring light will exceed or be projected to the top end of the shell.

[0047] In a further embodiment, Figure 1 , Figure 6 , Figure 8 , Fig. 9 , Fig.10 As shown, the cross-sectional area of ​​the inner cavity of the shell 303 is larger than the displacement range caused by the airflow or its own mechanical vibration when the drone body 2 is hovering in the air under normal meteorological conditions, that is, under normal meteorological conditions, when the drone body 2 is hovering over the shell 303, the airflow factor or its own mechanical vibration factor cannot cause it to deviate from the upward projection range of the inner cavity cross-section of the shell 303; the bottom matrix in the shell 303 is arranged with a plurality of positioning points 304, and the rows and columns of the matrix are respectively parallel to the X-direction wall surface and the Y-direction wall surface of the inner wall of the shell 303; in this embodiment, under normal meteorological conditions, the displacement range caused by the vibration of the drone body due to various factors can be obtained through experiments or software simulations, and on this basis, it is ensured that the drone body will not deviate from the set displacement range during the measurement process, thereby ensuring the feasibility of subsequently establishing the second database.

[0048] In a further embodiment, Figure 2 , Fig.11 , Fig.12As shown, the bidirectional vibration reduction mechanism 504 includes a shell 5041 fixedly connected to the top of the drone body, a hollow sphere 5042 is arranged inside the shell 5041, the middle part of the outer wall of the hollow sphere 5042 is fixedly connected to the inner surface of the shell 5041 through a horizontally arranged connecting plate 5046, a first vibration reduction mechanism is arranged inside the hollow sphere, and a second vibration reduction mechanism is arranged on the hollow sphere 5042 above the connecting plate 5046.

[0049] In a further embodiment, Figure 2 , Fig.11 , Fig.12 As shown, the first vibration reduction mechanism includes a first weighted steel ball 5043 rollingly connected to the hollow sphere 5042, the bottom end of the hollow sphere 5042 is embedded with a first electromagnet 5044, and the first electromagnet 5044 is used in conjunction with the first weighted steel ball 5043; the second vibration reduction mechanism includes a second weighted steel ball 5045 arranged at the top end of the outer wall of the hollow sphere 5042, the top end of the outer wall of the hollow sphere 5042 is embedded with a second electromagnet 5049, and the second electromagnet 504 9 is used in conjunction with the second weighted steel ball 5045. The outer periphery of the second weighted steel ball 5045 is evenly distributed with a plurality of damping springs 5048 around the axis that passes through the top and bottom ends of the hollow sphere 5042. One end of the damping spring 5048 is connected to the outer wall of the second weighted steel ball 5045, and the other end is connected to the upper surface of the connecting plate 5046 through the connecting seat 5047. In the natural state, the second weighted steel ball 5045 is constrained at the top of the hollow sphere 5042 by the plurality of damping springs 5048. The first electromagnet 5044 and the second electromagnet 5049 are electrically connected to the controller through wires respectively; in this embodiment, the use principle of the first vibration reduction mechanism is: according to the signal of the three-axis tilt sensor, when the drone body is vibrated by the horizontal force, the first counterweight steel ball moves in the opposite direction of the force, and the horizontal vibration is slowed down by the force of the first counterweight steel ball on the inner wall of the hole core sphere. During this process, the second electromagnet is started and the second counterweight steel ball is adsorbed to the top of the hollow sphere and does not move; when the three-axis tilt sensor detects that the drone body is tilted by the force, the first electromagnet is started, the first counterweight steel ball is adsorbed to the bottom of the hollow sphere and does not move, the second electromagnet is released, and the second counterweight steel ball moves along the outer wall of the hollow sphere in the opposite direction of the force. At the same time, a part of the vibration reduction spring is compressed and the other part of the vibration reduction spring is stretched to achieve a vibration reduction effect against the tilting force; when the drone body returns to a horizontal posture, the second electromagnet is started, the second counterweight steel ball is reset and adsorbed to the top of the hollow steel ball; the first electromagnet is released, and the first counterweight steel ball is in a ready state.

[0050] In a further embodiment, Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the coordinate indicating mechanism 6 includes a mounting plate 601 fixedly arranged on the belly of the drone body 2, a cross-axis structure 7 is fixedly arranged at the bottom end of the mounting plate 601, a transverse axis 7011 of the cross-axis structure 7 is arranged along the X-axis direction, and a longitudinal axis 7012 is arranged along the Y-axis direction, and both ends of the transverse axis 7011 and the longitudinal axis 7012 are respectively fixedly connected to the lower end of the mounting plate 601 through an integrally formed connecting rod, and two U-shaped frames 702 are rotatably connected to the transverse axis 7011 and the longitudinal axis 7012 respectively, and the two free ends of the U-shaped frame 702 span the center of the cross-axis structure 7 and are rotatably connected to the transverse axis 7011 or the longitudinal axis 7012 through bearings, and the bottom end of each U-shaped frame 702 is fixedly connected to a first mounting cylinder 603, and a first laser ranging sensor 604 is installed at the end of the first mounting cylinder 603, and a second mounting cylinder 703 is fixedly connected to the center of the cross-axis structure 7 along the longitudinal direction downward, and a second laser ranging sensor (such as Figure 5 As shown, not shown in the figure), an electric cylinder 602 is connected between the outer wall of each first mounting cylinder 603 and the lower surface of the mounting plate 601, and the two ends of the electric cylinder 602 are respectively hinged to the outer wall of the first mounting cylinder 603 and the lower surface of the mounting plate 601, and the axis of the horizontal axis 7011, the axis of the longitudinal axis 7012, the axis of the first mounting cylinder 603, the axis of the second mounting cylinder 703, the reverse extension line of the measuring light of the first laser ranging sensor 604 and the second laser ranging sensor intersect at the same vertex A8, and the first laser ranging sensor 604, the second laser ranging sensor, and the electric cylinder 602 are respectively connected to the controller through wires. Electrical connection; the straight line where the measuring light of the second laser ranging sensor is located constitutes the Z axis, and the two first laser ranging sensors 604 connected to the horizontal axis 7011 or the vertical axis 7012 are respectively located on both sides of the second mounting tube 703, and adjust the angle B between the measuring light and the Z axis under the drive of the electric cylinder 602, and the controller determines the degree of the angle B according to the elongation of the electric cylinder 602; in this embodiment, the principle of the cross-axis structure 7 is detailed in the prior art (invention patent with application number 202311817470.2, a drone building wall detection system and method based on coordinate correction), and the content not mentioned is solved by the existing solution.

[0051] In a further embodiment, Figure 1 , Figure 2As shown, the measuring mechanism 5 includes a vertical plate 503 arranged on the top of the shell 5041 along the longitudinal direction, and a plurality of third laser ranging sensors 502 are arranged in a matrix at the front end of the vertical plate 503. The spacing between the measuring lights of adjacent third laser ranging sensors 502 is the same as the spacing between adjacent positioning points 304. The measuring light of the second laser ranging sensor coincides with the axis of the vertical plate. The front surface of the vertical plate 503 is parallel to the X-axis direction, and the measuring light of the third laser ranging sensor 502 is projected along the Y-axis direction.

[0052] Based on the above embodiments, this embodiment discloses a method for using a drone building wall detection system based on coordinate correction, such as Figure 1-12 As shown, the following steps are included:

[0053] Step 1, establishing a database, including establishing database 1 and database 2: Establishing database 1 means: since there is a one-to-one correspondence between the elongation of the electric cylinder and the degree of the angle B, a database of the corresponding relationship between the elongation of the electric cylinder and the angle B is established; establishing database 2 means: at different heights along the Z-axis relative to the bottom of the shell 303, ensuring that the projection point of the measuring light of the first laser ranging sensor 604 does not deviate from the inner wall of the shell during measurement, the corresponding angle B at a certain height is not unique;

[0054] Step 2, place the drone coordinate locator 3 on the ground facing the wall to be detected, and adjust the adjustable height support foot 302 to make the bottom of the shell 303 horizontal. At this time, the side wall of the shell 303 is in the vertical direction. At the same time, one side wall of the shell 303 is directly opposite to the wall (that is, when the wall is vertical, the side wall is parallel to the wall, and when the wall is not vertical, the side wall is at least parallel to the wall root line). At this time, the surface of the side wall is parallel to the X-axis direction;

[0055] Step 3: The ground control station controls the drone to fly to the top of the housing 303 so that it is aligned with the array range 305 preset at the center of the positioning point array (the array range is used to calibrate the starting position of the drone body, such as Figure 6 As shown in the figure, the Z axis is gradually raised. Figure 8 As shown, the controller projects the measuring light of the two first laser ranging sensors connected by the horizontal axis onto the two inner walls of the housing 303 parallel to the X-axis, projects the measuring light of the two first laser ranging sensors connected by the vertical axis onto the two inner walls of the housing 303 parallel to the Y-axis, and projects the measuring light of the second laser ranging sensor onto the bottom of the housing (for measuring the height of the drone body) at all times according to the database and the preset program. Fig. 9As shown, the controller calculates the vertical distance (such as 0.0 ... Fig. 9 As shown, the distance from vertex A8 to the projection point D of the first laser ranging sensor on the side wall can be calculated by "the data of the first laser ranging sensor 604 and the distance from the starting point of the measuring light 9 of the first laser ranging sensor to vertex A8", and the angle B93 can be obtained according to the database data. According to the cosine theorem of the right triangle, the length of the vertical distance L can be calculated. Similarly, the data of the vertical distance N corresponding to the measuring light of the first laser ranging sensor on the opposite side can be calculated); Fig. 9 As shown, the distance O is obtained by summing the vertical distance L and the vertical distance N calculated on both sides of the measurement light by the second laser ranging sensor, and the distance O is compared with the width of the inner cavity of the shell 303 along the X direction or the Y direction. If they are equal and the drone body is in a horizontal posture at this time, the detection data at this time is judged to be valid data (the principle is: according to the structural principle of the coordinate indicating mechanism: when the drone body is in a horizontal posture, no matter how much the measurement light of the two relative first laser ranging sensors rotates, it is coplanar with the Z axis and the X axis (the axis of the horizontal axis) on the facade one or coplanar with the Z axis and the Y axis (the axis of the vertical axis) on the facade two. When the measurement light of the two first laser ranging sensors on the horizontal axis is coplanar with the Z axis and the Y axis on the facade one and the measurement light of the two first laser ranging sensors on the vertical axis is coplanar with the Z axis and the X axis on the facade two, and the facade two is parallel to the front and rear side walls of the shell, and the facade one is parallel to the left and right side walls of the shell, it means that the vertical plate is located at the detection position directly opposite to the wall. Further, as Fig. 9 As shown, the distance O obtained by summing the vertical distance L and the vertical distance N is the same as the width of the inner cavity of the shell along the X direction or the Y direction, and the projection point C and the projection point D must be located in the facade one or the facade two, which means that the facade one or the facade two where the projection point C and the projection point D are located is parallel to the front and rear or left and right side walls of the shell. When the projection points of another pair of first laser ranging sensors on the side wall of the shell also meet the above conditions, it means that the facade one or the facade two where the other pair of projection points are located is parallel to the left and right or front and rear side walls of the shell. At the same time, since the measurement light beams of the four first laser ranging sensors intersect with different inner walls of the shell, the measurement light beam of the second laser ranging sensor must be projected on the bottom of the shell. On the one hand, the measurement of the height of the drone body is realized, and on the other hand, it is proved that the drone body is located above the shell and facing the wall. The detection position, that is, the measurement position of the drone body is located); on this basis, according to the size of the inner cavity cross section of the shell 303, the vertical distance L and the vertical distance N calculated along the X direction and the Y direction respectively, the coordinate position of the measurement light beam of the second laser ranging sensor at the bottom of the shell is obtained (such as Fig.13As shown, from a top-down perspective, it can be seen that the line segments L1 and N1 on the X-axis are projected onto the bottom of the shell to form line segment 1, and the line segments L2 and N2 on the Y-axis are projected onto the bottom of the shell to form line segment 2. The intersection of line segment 1 and line segment 2 is the coordinate position 10, wherein L1\L2\N1\N2 are data marks for the coordinate position 10). The X-axis, Y-axis, and Z-axis coordinate data of the starting point of the light measured by each third laser ranging sensor are calculated based on the data measured by the second laser ranging sensor and the distance between the starting point of the light measured by the second laser ranging sensor and the vertical plate, as well as the positional relationship between the vertical plate and each third laser ranging sensor. The controller records the X-axis, Y-axis, and Z-axis coordinate data and the measurement values ​​of each third laser ranging sensor as valid data, and transmits the valid data to the ground control station.

[0056] Step 4: After the measurement of the flatness or irregular contour of the wall at one station is completed, the drone coordinate locator 3 is moved to the next station, and steps 2 and 3 are repeated until all wall inspections are completed. The ground control station draws a wall flatness or irregular contour map based on all the valid data obtained through a preset program. The principle is as follows: Fig.14 As shown, the measurement light 12 of the third laser ranging sensor at the same height obtained in multiple measurements has a different corresponding coordinate position 10 (in this figure, the point coincident with the positioning point 304) due to the displacement factor of the drone body itself, but in all Fig.14 The measuring light 12 of the third laser ranging sensor is connected with the projection point of the building wall 1 to form an irregular contour line 11. It can be understood that a plurality of irregular contour lines 11 of different heights are combined together to form a three-dimensional irregular contour map.

[0057] In a further embodiment, Figure 1-14 As shown, in the step 3, the coordinate position 10 selects a randomly obtained position or selects a position that coincides with the positioning point 304. Since the spacing between adjacent measuring lights of the third laser ranging sensor 502 is equal to the spacing between adjacent positioning points 304, when the coordinate position 10 coincides with one of the positioning points 304, the third laser ranging sensor array realizes wall detection corresponding to multiple positioning points. That is to say, at this time, the preset positioning point can be linked to the position of the projection point of the measuring light of the third laser ranging sensor on the wall. If each height can make the coordinate position 10 coincide with the specified positioning point 304, the continuity of the projection point along the Z axis can be guaranteed. On the other hand, the randomly obtained coordinate position 10 can also be selected to realize the measurement of flatness or irregular contour lines at various heights. In the actual simulation, the randomly obtained coordinate position 10 is selected and multiple measurements are made at the same height. Under the premise of ensuring the effect, higher efficiency can be obtained.

[0058] In a further embodiment, Figure 1-14 As shown, in the step 3, when the drone body 2 is hovering in the air in a horizontal posture, the projection point of the measuring light of the first laser ranging sensor 604 is moved along the inner wall of the shell 303 in a left-right swinging manner, and valid data is obtained in this process (when the drone body is in a horizontal posture swinging, the measuring light of the first laser ranging sensor intersects with the inner wall of the shell, and when the swing amplitude reaches a certain degree, valid data will be generated); in order to make the coordinate position 10 coincide with the positioning point 304, the drone body 2 moves horizontally along the X direction to fine-tune the coordinate position.

Claims

1. A device for measuring the flatness and irregular contours of building walls, characterized by: The invention comprises a ground control station, a drone body and a drone coordinate locator. The drone body is provided with a coordinate indicating mechanism, a measuring mechanism and a bidirectional vibration reduction mechanism. The coordinate indicating mechanism and the measuring mechanism are respectively arranged on the belly and the top of the drone body and have the same axis. The coordinate indicating mechanism is used in conjunction with the drone coordinate locator. The structure of the drone coordinate locator satisfies the following requirements: a. cooperates with the coordinate indicating mechanism to provide the accurate coordinates of the drone body relative to the building wall; b. cooperates with the coordinate indicating mechanism. When the measuring light of the coordinate indicating mechanism exceeds the working range of the drone coordinate locator, the controller of the drone body receives the corresponding information and regulates the coordinate indicating mechanism so that the measuring light of the coordinate indicating mechanism returns to the working range of the drone coordinate locator; the bidirectional vibration reduction mechanism is arranged between the measuring mechanism and the top of the drone body, and comprises a first vibration reduction mechanism for regulating the horizontal vibration of the drone and a second vibration reduction mechanism for regulating the tilt of the drone. The drone body is provided with a three-axis tilt sensor. The controller is electrically connected to the drone onboard power supply; the controller is connected to the coordinate indicating mechanism, the three-axis tilt sensor and the measuring mechanism signal, and is configured to control the flight posture of the drone body and the action of the coordinate indicating mechanism. The drone body is provided with a wireless signal transceiver, and the drone body is connected to the ground control station signal through the wireless signal transceiver; the bidirectional vibration reduction mechanism includes a shell fixedly connected to the top of the drone body, a hollow sphere is provided in the shell, the middle part of the outer wall of the hollow sphere is fixedly connected to the inner surface of the shell through a horizontally arranged connecting plate, a first vibration reduction mechanism is provided in the hollow sphere, and a second vibration reduction mechanism is provided on the hollow sphere above the connecting plate; the first vibration reduction mechanism includes a first counterweight steel ball rollingly connected to the hollow sphere, a first electromagnet is embedded at the bottom end of the hollow sphere, and the first electromagnet Used in conjunction with the first counterweight steel ball; the second vibration damping mechanism includes a second counterweight steel ball arranged at the top of the outer wall of the hollow sphere, a second electromagnet is embedded in the top of the outer wall of the hollow sphere, the second electromagnet is used in conjunction with the second counterweight steel ball, a plurality of vibration damping springs are evenly distributed on the outer periphery of the second counterweight steel ball around the axis passing through the top and bottom ends of the hollow sphere, one end of the vibration damping spring is connected to the outer wall of the second counterweight steel ball, and the other end is connected to the upper surface of the connecting plate through a connecting seat, in a natural state, the second counterweight steel ball is constrained at the top of the hollow sphere by a plurality of vibration damping springs, and the first electromagnet and the second electromagnet are electrically connected to the controller through wires respectively.

2. A device for measuring the flatness and irregular contour of a building wall as claimed in claim 1, characterized in that: The unmanned aerial vehicle coordinate locator comprises a cubic shell with an opening at the upper end, adjustable height support feet are arranged at the four corners of the bottom end of the shell, an inclination detector is arranged at the center of the bottom end of the shell, the top ends of the four side walls of the shell are coplanar, the four inner walls of the inner surface of the shell constitute a working range cooperating with a coordinate indicating mechanism, and the bottom surface inside the shell and the top surface of the side wall of the shell constitute an indication structure for the coordinate indicating mechanism exceeding the working range.

3. A device for measuring the flatness and irregular contour of a building wall as claimed in claim 2, characterized in that: The cross-sectional area of ​​the inner cavity of the shell is larger than the displacement range caused by airflow or its own mechanical vibration when the drone body is hovering in the air under normal meteorological conditions, that is, under normal meteorological conditions, when the drone body is hovering over the shell, airflow factors or its own mechanical vibration factors cannot cause it to escape from the upward projection range of the cross-sectional area of ​​the inner cavity of the shell; the bottom matrix in the shell is arranged with a plurality of positioning points, and the rows and columns of the matrix are respectively parallel to the X-direction wall surface and the Y-direction wall surface of the inner wall of the shell.

4. A device for measuring the flatness and irregular contour of a building wall as claimed in claim 3, characterized in that: The coordinate indicating mechanism comprises a mounting plate fixedly arranged on the belly of the drone body, a cross-axis structure is fixedly arranged at the bottom end of the mounting plate, the transverse axis of the cross-axis structure is arranged along the X-axis direction, and the longitudinal axis is arranged along the Y-axis direction, and the two ends of the transverse axis and the longitudinal axis are respectively fixedly connected to the lower end of the mounting plate through an integrally formed connecting rod, and two U-shaped frames are rotatably connected on the transverse axis and the longitudinal axis respectively, and the two free ends of the U-shaped frames span the center of the cross-axis structure and are rotatably connected to the transverse axis or the longitudinal axis through bearings, and the bottom end of each U-shaped frame is fixedly connected to a first mounting cylinder, and a first laser ranging sensor is installed at the end of the first mounting cylinder, and a second mounting cylinder is fixedly connected to the center of the cross-axis structure along the longitudinal direction downward, and a second laser ranging sensor is installed at the end of the second mounting cylinder, and the outer wall of each first mounting cylinder is connected to the mounting cylinder. An electric cylinder is connected between the lower surfaces of the mounting plates, and the two ends of the electric cylinder are respectively hinged to the outer wall of the first mounting tube and the lower surface of the mounting plate. The axis of the horizontal axis, the axis of the vertical axis, the axis of the first mounting tube, the axis of the second mounting tube, and the reverse extension lines of the measuring light of the first laser ranging sensor and the second laser ranging sensor intersect at the same vertex A. The first laser ranging sensor, the second laser ranging sensor, and the electric cylinder are electrically connected to the controller through wires respectively; the straight line where the measuring light of the second laser ranging sensor is located constitutes the Z axis, and the two first laser ranging sensors connected to the horizontal axis or the vertical axis are respectively located on both sides of the second mounting tube, and the angle B between the measuring light and the Z axis is adjusted under the drive of the electric cylinder. The controller determines the degree of the angle B according to the elongation of the electric cylinder.

5. A device for measuring the flatness and irregular contour of a building wall as claimed in claim 4, characterized in that: The measuring mechanism includes a vertical plate arranged on the top of the shell in the longitudinal direction, and a plurality of third laser ranging sensors are arranged in a matrix at the front end of the vertical plate. The spacing between the measuring lights of adjacent third laser ranging sensors is the same as the spacing between adjacent positioning points. The measuring light of the second laser ranging sensor coincides with the axis of the vertical plate. The front surface of the vertical plate is parallel to the X-axis direction, and the measuring light of the third laser ranging sensor is projected along the Y-axis direction.

6. The method for using the device for measuring the flatness and irregular contour of a building wall as claimed in claim 5, characterized in that: The steps include: Step 1, establishing a database, including establishing database 1 and database 2: Establishing database 1 means: since there is a one-to-one correspondence between the elongation of the electric cylinder and the degree of the angle B, a database of the corresponding relationship between the elongation of the electric cylinder and the angle B is established; establishing database 2 means: at different heights along the Z-axis relative to the bottom of the shell, ensuring that the projection point of the measuring light of the first laser ranging sensor does not deviate from the inner wall of the shell during measurement, the corresponding angle B at a certain height is not unique; Step 2: Place the drone coordinate locator on the ground facing the wall to be detected, and adjust the adjustable height support feet to make the bottom of the shell horizontal. At this time, the side wall of the shell is in the vertical direction. At the same time, one side wall of the shell is facing the wall. At this time, the surface of the side wall is parallel to the X-axis direction. Step 3, the ground control station controls the drone to fly to the top of the shell, aligns it with the array range preset at the center of the positioning point array, and rises in stages along the Z axis. During this process, the controller projects the measuring lights of the two first laser ranging sensors connected by the horizontal axis onto the two inner walls of the shell parallel to the X axis, and projects the measuring lights of the two first laser ranging sensors connected by the vertical axis onto the two inner walls of the shell parallel to the Y axis, according to the database and the preset program, and projects the measuring lights of the second laser ranging sensor onto the bottom of the shell at all times. The controller calculates the vertical distance from the projection point on the side wall to the measuring light of the second laser ranging sensor based on the degree of the angle B, the data of the first laser ranging sensor, and the distance from the starting point of the measuring light of the first laser ranging sensor to the vertex A, and calculates the vertical distance L on both sides of the measuring light of the second laser ranging sensor based on the vertical distance L calculated by the second laser ranging sensor. The distance O is obtained by summing the distance O and the vertical distance N, and the distance O is compared with the width of the inner cavity of the shell along the X direction or the Y direction. If they are equal and the drone body is in a horizontal posture at this time, the detection data at this time is judged to be valid data; on this basis, the coordinate position of the light measured by the second laser ranging sensor at the bottom of the shell is obtained according to the size of the cross-section of the inner cavity of the shell, the vertical distance L and the vertical distance N calculated along the X direction and the Y direction respectively, and the X-axis, Y-axis and Z-axis coordinate data of the starting point of the light measured by each third laser ranging sensor are calculated according to the data measured by the second laser ranging sensor and the distance between the starting point of the light measured by the second laser ranging sensor and the vertical plate, and the positional relationship between the vertical plate and each third laser ranging sensor. The controller records the X-axis, Y-axis and Z-axis coordinate data and the measurement values ​​of each third laser ranging sensor as valid data, and transmits the valid data to the ground control station; Step 4: After the measurement of the wall flatness or irregular contour of one station is completed, move the drone coordinate locator to the next station and repeat steps 2 and 3 until all wall inspections are completed. The ground control station draws a wall flatness or irregular contour map based on all valid data obtained through a preset program.

7. The method for using the device for measuring the flatness and irregular contour of a building wall as claimed in claim 6, characterized in that: In the step 3, the coordinate position selects a randomly obtained position or selects a position that coincides with a positioning point. Since the spacing between adjacent measuring lights of the third laser ranging sensor is equal to the spacing between adjacent positioning points, when the coordinate position coincides with one of the positioning points, the third laser ranging sensor array realizes wall detection at positions corresponding to multiple positioning points.

8. The method for using the device for measuring the flatness and irregular contour of a building wall as claimed in claim 6, characterized in that: In the step 3, when the drone body is hovering in the air in a horizontal posture, the projection point of the measuring light of the first laser ranging sensor is moved along the inner wall of the shell in a left-right swinging manner, and valid data is obtained in this process; in order to make the coordinate position coincide with the positioning point, the drone body is moved laterally along the X direction to fine-tune the coordinate position.

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