Unmanned aerial vehicle for detecting concrete strength of high-air-difficulty-reaching part and detection method

Abstract

The invention relates to the technical field of unmanned aerial vehicles and concrete strength detection, and discloses a high-altitude difficult-to-reach part concrete strength detection unmanned aerial vehicle and a detection method.The high-altitude difficult-to-reach part concrete strength detection unmanned aerial vehicle is characterized in that a flight device is composed of a fuselage, propellers and a battery, and the flight device is used for enabling the unmanned aerial vehicle to reach a high-altitude difficult-to-reach area part; the adsorption device comprises at least three vacuum chucks, the vacuum chucks are connected with the connecting rod in a hinged manner, and the electric actuating device drives the rebound device to detect the strength of concrete, so that the concrete strength detection device has the effects of safety, stability and detection of the strength of the concrete at a high-altitude difficult-to-reach part. Through the strong load-carrying flying capability and the precise hovering control function of the flying device and the stable adsorption and angle adjustment effects of the adsorption device, the concrete strength detection device can reach a high-air-difficult-to-reach part of a concrete structure during use, and the concrete strength detection effect of the high-air-difficult-to-reach area is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles and concrete strength detection, and in particular to a unmanned aerial vehicle and a detection method for detecting concrete strength in high-altitude hard-to-reach locations. Background Art

[0002] With the rapid development of infrastructure construction in my country, a large number of concrete structural projects such as high-rise buildings, bridges, dams, tunnels, and elevated roads have been built one after another. The safety and durability of these projects are directly related to the national economy and people's livelihood, so regular inspection and maintenance are essential. As the most widely used building material in modern engineering, the strength of concrete directly affects the safety performance of the entire structure. Especially in high-altitude or difficult-to-reach areas, such as dam crests, high-rise building exterior walls, bridge arches, etc., the detection of concrete strength has become a technical problem that needs to be solved urgently.

[0003] At present, the main method of concrete strength testing is still manual operation, such as using a rebound hammer for on-site testing. This traditional method can still be applied on the ground or in easily accessible locations, but it faces many challenges in high altitudes or inaccessible areas: such as high safety risks: testers need to work at high altitudes or in dangerous environments, which poses a great safety hazard. Inefficiency: Building scaffolding, using aerial work platforms or climbing large structures is time-consuming and labor-intensive, greatly reducing the efficiency of testing. Expensive: Additional safety equipment and manpower are required, increasing the cost of testing. Limited detection range: Certain special locations (such as dam spillways, exterior walls of high-rise buildings, bridge arches, etc.) are difficult to reach by conventional methods, resulting in the existence of detection blind spots.

[0004] With the rapid development of drone technology, its application prospects in the field of engineering inspection are gradually emerging. However, most of the existing commercial drones lack special designs for high-altitude concrete strength testing and are unable to perform high-altitude concrete strength testing.

[0005] Therefore, the development of an intelligent device specifically for testing the strength of concrete in hard-to-reach places at high altitudes has become an urgent need. This device should be able to combine drone technology and concrete strength testing technology to achieve reliable testing of high-altitude concrete strength, thereby effectively solving the strength testing problem of various large concrete structures (including but not limited to high-rise buildings, bridges, dams, tunnels, etc.) at high altitudes and in hard-to-reach places, and provide important technical support for the safety assessment and maintenance of engineering structures.

[0006] The development of this device will significantly improve the safety, efficiency and comprehensiveness of concrete structure detection, which is of great significance to ensuring the long-term safe operation of major national infrastructure. At the same time, it will also promote the application of intelligent detection technology in the field of concrete engineering and provide a new technical path for the digital and intelligent transformation of the industry. Summary of the invention

[0007] In view of the shortcomings of the prior art, the present invention provides a drone and a detection method for concrete strength detection in hard-to-reach areas at high altitudes, solves the problem of concrete strength rebound detection device in hard-to-reach areas at high altitudes, and solves the problem of detection in hard-to-reach areas at high altitudes.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: a drone for testing concrete strength in hard-to-reach areas at high altitudes, comprising:

[0009] Flying device, adsorption device, rebound device, electric action device;

[0010] The flying device is composed of a fuselage, a propeller and a battery. The flying device is used to enable the drone to reach high altitude and difficult-to-reach areas. The propeller is arranged above the fuselage, and the battery is arranged inside the fuselage.

[0011] The adsorption device comprises at least three vacuum suction cups, the vacuum suction cups and the connecting rods are connected in a hinged manner, the vacuum suction cups and the connecting rods are arranged on one side of the fuselage, the adsorption device is used to make the drone adsorb on the concrete surface, the adsorption device is used to provide a stable high-altitude working environment and rebound the reaction force;

[0012] The rebound device is a concrete rebound tester, which is used to detect the strength of concrete. The concrete rebound tester is arranged at the front end of the middle part of the fuselage;

[0013] The electric action device is composed of a second electric push rod and a sleeve. The electric action device is used to drive the rebound device to perform detection. The front end of the second electric push rod is fixedly arranged on the rear outer wall of the concrete rebound tester. The concrete rebound tester is slidably arranged inside the sleeve. The sleeve is installed on the middle inner wall of the fuselage.

[0014] Preferably, the flying device has load-carrying flight capability, allowing the UAV to hover in the air, and the UAV adopts a four-rotor structure.

[0015] Preferably, the battery used in the flying device is used to ensure that the flight time of the drone is ≥15 minutes, and the battery is a 6S lithium battery.

[0016] Preferably, the suction cup vacuum suction cup of the adsorption device should have the ability to rotate, and the rotation ability is used to adjust the angle of the drone to be parallel to the concrete surface, and at the same time adjust the rebound device of the concrete rebound tester to be perpendicular to the sleeve and the concrete surface. The vacuum suction cup adopts an electric vacuum suction cup, and the adsorption force of a single suction cup is ≥ 0.8 times the pressure required by the rebound device.

[0017] Preferably, the electric actuating device should provide thrust to the rebound device by means of an electric push rod, and the maximum value of the thrust provided is greater than or equal to 1.5 times the pressure required by the rebound device.

[0018] Preferably, the electric action device has a limiting function so that the rebound device moves along a preset trajectory, and the limiting function is used to make the axis of the rebound device perpendicular to the concrete surface.

[0019] Preferably, the rebound device should be able to be taken out separately to complete the rebound detection or provide manual calibration. The concrete rebound tester is placed in a sleeve, and the first electric push rod drives the second electric push rod to drive the concrete rebound tester to complete the rebound detection of the concrete surface. The concrete rebound tester adopts the HT-225 digital display rebound tester.

[0020] Preferably, the outer wall of the connecting rod is slidably provided with a mounting block, the lower surface of the propeller is fixedly provided on the upper surface of the mounting block, the mounting block is concavely arranged in multiple groups distributed on multiple connecting rods, the concave part of the mounting block is slidably connected with a locking plate, both sides of the lock plate are provided with a concave groove, the outer wall of the mounting block is slidably connected to the inside of the concave groove, the inner part of the lock plate is slidably connected to an installation locking rod, the lower outer wall of the installation locking rod is fixedly provided with a tension spring, the outer wall of the installation locking rod is fixedly connected to a connecting plate, the inner wall of the connecting plate is rotatably connected with a curved rod, the outer wall of the curved rod is rotatably connected to a sliding rod, the outer wall of the installation locking rod is slidably connected to a lever, the outer wall of the lever is slidably connected to the inner wall of the lock plate, the rear outer wall of the lever is fixedly connected to a first return spring, and the front outer wall of the lever is fixedly connected to a first clamping block.

[0021] Preferably, the sliding rods are provided in multiple groups and distributed on the left and right sides of the connecting plate, the outer walls of the sliding rods on the left and right sides are provided with inclined surfaces, the outer walls of the sliding rods on the left and right sides are fixedly connected with second return springs, the outer walls of the second return springs are arranged inside the locking plate, the inclined surfaces of the sliding rods are slidably connected with a push rod, the outer wall of the push rod is provided with a lifting plate, the upper surface of the lifting plate is slidably connected with a clamping block, the outer wall of the clamping block is rotatably connected to the inside of the second return spring, the top end of the push rod is fixedly connected with a third return spring, and the top end of the third return spring is arranged inside the mounting block

[0022] A method for detecting the strength of concrete in high-altitude hard-to-reach areas, characterized in that it comprises the following steps:

[0023] S1. Preparation before testing: Carry out a comprehensive inspection of the testing device, first check whether the fuselage of the flight device is intact, whether the propeller is intact and rotates flexibly, and confirm that the vacuum suction cup of the adsorption device is not damaged, the connecting rod hinge moves smoothly, and the electric control function is normal, and then calibrate the rebound device separately to ensure the accuracy and synchronization of the test data;

[0024] S2. Device launch and adsorption positioning Start the flying device, control it to carry the detection device and launch it steadily, and fly to the concrete surface in the high altitude and difficult to reach part. When approaching the target concrete surface, slowly adjust the position of the flying device to ensure that the vacuum suction cup of the adsorption device is in good contact with the concrete surface, start the electric adsorption of the vacuum suction cup, and make at least three suction cups firmly adsorbed on the concrete surface. The suction cup of the adsorption device should be an electric vacuum suction cup, which can be continuously and stably adsorbed on the concrete surface, and the adsorption force of a single suction cup is greater than or equal to 0.8 times the pressure required by the rebound device.

[0025] P 吸盘 ≥0.8P 回弹

[0026] Among them, P 吸盘 P is the maximum suction force that a single suction cup can provide. 回弹 The minimum force required to complete a concrete rebound test;

[0027] S3, concrete strength test operation starts the electric actuator, pushes the rebound device through the telescopic action of the electric push rod, makes it contact vertically with the concrete surface, controls the electric actuator to apply pressure, makes the rebound device perform the test according to the specified rebound stroke, repeats the test several times, and is used to obtain effective test data;

[0028] S4. Detection data collection and recording: During each rebound detection process, the data displayed by the rebound device is recorded in real time, including the rebound value, detection time, detection location information, working state parameters and environmental parameters, which are used for preliminary on-site sorting and inspection of the detection data and elimination of abnormal data;

[0029] S5. Device recovery and data processing: by turning off the adsorption function of the vacuum suction cup, the device is separated from the concrete surface, and then the flying device is controlled to return to the ground with the detection device, the collected detection data is extracted, and then analyzed and processed to judge the strength of the concrete according to relevant standards and specifications.

[0030] The present invention provides a drone and a method for detecting the strength of concrete in hard-to-reach areas at high altitudes. It has the following beneficial effects:

[0031] 1. The present invention, through the powerful load-bearing flight capability and precise hovering control function of the flying device, as well as the stable adsorption and angle adjustment function of the adsorption device, can reach the high-altitude hard-to-reach parts of the concrete structure when in use, and achieve the effect of testing the concrete strength in the high-altitude hard-to-reach areas.

[0032] 2. When in use, the present invention can be adsorbed on the surface of concrete to improve the stability of aerial work. The electric action device of the device can ensure that the rebound angle is perpendicular to the concrete surface, thereby improving the reliability of the detection result. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A stereoscopic diagram of a drone for testing concrete strength in hard-to-reach areas at high altitudes according to the present invention;

[0034] Figure 2 It is a schematic diagram of a sleeve cross section of a drone for testing concrete strength in hard-to-reach places at high altitudes according to the present invention;

[0035] Figure 3 It is a partial schematic diagram of the installation block of a drone for testing concrete strength in hard-to-reach places at high altitudes according to the present invention;

[0036] Figure 4 This is a schematic diagram of the cross-sectional structure of a locking plate of a drone for testing concrete strength in hard-to-reach places at high altitudes according to the present invention;

[0037] Figure 5 This is a partial schematic diagram of a connection plate of a drone for testing concrete strength in hard-to-reach places at high altitudes according to the present invention;

[0038] Figure 6 The present invention is a method flow chart of a method for detecting concrete strength in high-altitude difficult-to-reach areas.

[0039] Among them, 1. fuselage; 2. propeller; 3. battery; 4. vacuum suction cup; 5. hinge; 6. connecting rod; 7. first electric push rod; 8. concrete rebound tester; 9. sleeve; 10. concrete surface; 11. second electric push rod; 12. mounting block; 13. locking plate; 14. mounting locking rod; 15. lever; 16. first clamping block; 17. first return spring; 18. connecting plate; 19. bent rod; 20. tension spring; 21. sliding rod; 22. push rod; 23. second return spring; 24. clamping block; 25. third return spring. DETAILED DESCRIPTION

[0040] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings 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.

[0041] Example:

[0042] Please see attached Figure 1 and attached Figure 2 The embodiment of the present invention provides a drone for detecting concrete strength in hard-to-reach places at high altitudes, comprising:

[0043] Flying device, adsorption device, rebound device, electric action device;

[0044] The flying device is composed of a fuselage 1, a propeller 2 and a battery 3. The flying device is used to enable the drone to reach high altitude and difficult-to-reach areas. The propeller 2 is arranged above the fuselage 1, and the battery 3 is arranged inside the fuselage 1.

[0045] The adsorption device includes at least three vacuum suction cups 4, and the vacuum suction cups 4 and the connecting rods 6 are connected in the form of hinges 5. The vacuum suction cups 4 and the connecting rods 6 are arranged on one side of the fuselage 1. The adsorption device is used to make the drone adsorb on the surface of the concrete surface 10. The adsorption device is used to provide a stable high-altitude working environment and rebound the reaction force.

[0046] The rebound device is a concrete rebound tester 8, which is used to detect the strength of concrete. The concrete rebound tester 8 is arranged at the front end of the middle inner part of the fuselage 1;

[0047] The electric action device is composed of a second electric push rod 11 and a sleeve 9. The electric action device is used to drive the rebound device to perform detection. The front end of the second electric push rod 11 is fixedly arranged on the rear outer wall of the concrete rebound test hammer 8. The concrete rebound test hammer 8 is slidably arranged inside the sleeve 9. The sleeve 9 is installed on the middle inner wall of the fuselage 1.

[0048] Please see attached Figure 1 and attached Figure 2 The flying device is used to send the UAV to the high-altitude concrete surface to be tested, and the adsorption device then adsorbs the UAV to the concrete surface. At the same time, the electric actuator drives the rebound device to test the strength of the concrete, thereby being used to ensure the safety, stability and detection of the concrete strength in high-altitude difficult-to-reach areas.

[0049] Specifically, the multiple vacuum cups 4 complement each other with the strong negative pressure suction force inside and the flexible and adjustable angle characteristics of the connecting rod 6 through the hinge 5, so that the drone can be tightly and firmly adsorbed on the concrete surface 10. Even when there are airflow disturbances and the fuselage 1 shakes at high altitudes, the drone can still be firmly fixed at the detection position, providing a stable and reliable working environment for the rebound detection operation, effectively offsetting the reaction force generated during the rebound detection, and preventing the drone from being displaced or even detached from the concrete surface due to the reaction force, thereby ensuring the smooth progress of the detection process;

[0050] The rebound device uses a concrete rebound tester 8, which, with its high-precision rebound force measurement mechanism and reliable data acquisition system, can accurately obtain the rebound values ​​of the concrete surface. These rebound values ​​can truly reflect the hardness, density and other related characteristics of the concrete, and thus accurately infer the strength of the concrete.

[0051] The electric action device is composed of a second electric push rod 11 and a sleeve 9. The second electric push rod 11 has a precise telescopic control function, and the sleeve 9 provides a stable installation and guiding function for it. The two work together to accurately control the position and detection angle of the rebound device, ensuring that the concrete rebound tester 8 can accurately perform strength tests on different positions of concrete according to preset requirements, and can flexibly adjust the detection points according to actual needs, and comprehensively and meticulously complete the detection task of the concrete strength of high-altitude difficult-to-reach parts, making the entire detection process safe and stable, and the detection results are more scientific and valuable for reference.

[0052] Please see attached Figure 1 and attached Figure 2 The flying device has the ability to carry loads and allows the drone to hover in the air. The drone adopts a quad-rotor architecture. The battery 3 of the flying device is used to ensure that the drone has a flight time of ≥15 minutes. The battery 3 adopts a 6S lithium battery.

[0053] Specifically, the flying device adopts a quad-rotor structure. The four propellers 2 under the quad-rotor structure can reasonably distribute the lift and work together, so that the drone can still stably hover in the air after mounting related components such as the adsorption device, the rebound device and the electric action device.

[0054] Please see attached Figure 1 and attached Figure 2 The suction cup vacuum suction cup 4 of the adsorption device should have the ability to rotate. The rotation ability is used to adjust the angle of the drone to be parallel to the concrete surface, and at the same time adjust the rebound device of the concrete rebound tester 8 to be perpendicular to the sleeve 9 and the concrete surface 10. The vacuum suction cup 4 adopts an electric vacuum suction cup, and the adsorption force of a single suction cup is ≥ 0.8 times the pressure required by the rebound device.

[0055] Specifically, the vacuum suction cup 4 in the adsorption device may not be able to maintain parallelism with the concrete surface when the drone initially arrives due to the complex and changeable conditions of the concrete surface in hard-to-reach areas at high altitudes. The rotation ability of the vacuum suction cup 4 allows the drone to adjust its posture during use. Through flexible rotation, it can finely adjust the angle of the drone so that the drone body 1 gradually reaches a parallel state with the concrete surface 10. At the same time, in the process of adjusting the angle of the drone, the rebound device and sleeve 9 of the concrete rebound tester 8 can also be adjusted perpendicular to the concrete surface 10 with the help of this rotation. Because the rebound device is perpendicular to the concrete surface for testing, it is possible to ensure that the rebound value obtained is accurate and reliable, and then obtain accurate concrete strength data, which plays a role in ensuring the scientificity and accuracy of the test results.

[0056] The vacuum suction cup 4 uses an electric vacuum suction cup, which has a stable and efficient suction force generation mechanism. The suction force of a single suction cup is ≥ 0.8 times the pressure required by the rebound device. When testing the strength of concrete, the suction device has a strong enough suction force to counteract the reaction force, ensuring that the drone is always firmly attached to the concrete surface without shaking, displacement or even detachment due to the reaction force.

[0057] Please see attached Figure 1 and attached Figure 2 The electric action device shall provide thrust to the rebound device through the electric push rod, and the maximum thrust provided shall be greater than or equal to 1.5 times the pressure required by the rebound device. The electric action device has a limit function to enable the rebound device to move along a preset trajectory, and the limit function is used to make the axis of the rebound device perpendicular to the concrete surface.

[0058] Specifically, the electric action device provides thrust for the rebound device through the electric push rod, and its maximum thrust is ≥ 1.5 times the pressure required by the rebound device. The strong thrust and limit function of the electric push rod ensure the rebound device to apply pressure stably and operate accurately. The limit function allows the rebound device to move along the preset trajectory and ensure that the axis is perpendicular to the concrete surface. The two work together to ensure accurate detection.

[0059] Please see attached Figure 1 and attached Figure 2 The rebound device should be able to be taken out separately to complete the rebound detection or provide manual calibration. The concrete rebound tester 8 is placed in the sleeve 9. The first electric push rod 7 drives the second electric push rod 11 to drive the concrete rebound tester 8 to complete the rebound detection of the concrete surface 10. The concrete rebound tester 8 adopts the HT-225 digital display rebound tester.

[0060] Specifically, the rebound device plays an important role. It can be taken out separately, and the functions used for manual calibration cooperate with each other, which makes the operation convenient and flexible, and ensures the accuracy of the detection. The concrete rebound tester 8 uses the HT-225 digital rebound tester placed in the sleeve 9, and the first electric push rod 7 drives the second electric push rod 11 to drive its operation, so as to realize the precise rebound detection of the concrete surface 10, and can achieve the effect of rapid positioning during use.

[0061] Please see attached Figure 3 -Attached Figure 5 The outer wall of the connecting rod 6 is slidably provided with a mounting block 12, and the lower surface of the propeller 2 is fixedly provided on the upper surface of the mounting block 12. The mounting block 12 is concavely provided with multiple groups distributed on multiple connecting rods 6. The concave part of the mounting block 12 is slidably connected with a locking plate 13, and concave grooves are provided on both sides of the locking plate 13. The outer wall of the mounting block 12 is slidably connected to the inside of the concave groove, and the inside of the locking plate 13 is slidably connected with an installed locking rod 14, and a tension spring 20 is fixedly provided on the lower outer wall of the installed locking rod 14. The outer wall of the installed locking rod 14 is fixedly connected with a connecting plate 18, and the inner wall of the connecting plate 18 is rotatably connected with a curved rod 19, and the outer wall of the curved rod 19 is rotatably connected with a sliding rod 21. The outer wall of the installed locking rod 14 is slidably connected with a lever 15, and the outer wall of the lever 15 is slidably connected to the inner wall of the lock plate 13. The rear outer wall of the lever 15 is fixedly connected with a first return spring 17, and the front outer wall of the lever 15 is fixedly connected with a first clamping block 16. A plurality of sliding rods 21 are arranged on the left and right sides of the connecting plate 18, and the outer walls of the sliding rods 21 on the left and right sides are provided with inclined surfaces, and the outer walls of the sliding rods 21 on the left and right sides are fixedly connected with the second return spring 23, and the outer wall of the second return spring 23 is arranged inside the lock plate 13, and the inclined surfaces of the sliding rods 21 are slidably connected with a push rod 22, and the outer wall of the push rod 22 is provided with a lifting plate, and the upper surface of the lifting plate is slidably connected with a clamping block 24, and the outer wall of the clamping block 24 is rotatably connected to the inside of the second return spring 23, and the top end of the push rod 22 is fixedly connected with a third return spring 25, and the top end of the third return spring 25 is arranged inside the mounting block 12.

[0062] Specifically, the positions of the plurality of propellers 2 are first adjusted by the mounting block 12, and then the locking plate 13 is inserted into the notch of the mounting block 12, and then the mounting locking rod 14 is pressed to press the mounting locking rod 14 into the interior of the locking plate 13, and then the mounting locking rod 14 is inserted into the interior of the lever 15 on the inclined surface of the first clamping block 16, and then the lever 15 is pressed to both sides by the mounting locking rod 14 to compress the first return spring 17, and the lever 15 is driven to reset by the first return spring 17, and then the first clamping block 16 clamps the mounting locking rod 14, and at the same time, when the mounting locking rod 14 moves downward, the connecting plate 18 and the bent rod 1 are driven by the mounting locking rod 14. 9 moves downward. When the bent rod 19 moves downward, the bent rod 19 drives the sliding rod 21 and the connecting plate 18 moves downward to compress the tension spring 20. At the same time, the sliding rod 21 drives the second return spring 23 to be compressed and pushes the push rod 22 upward. At this time, the lifting plate of the push rod 22 drives the clamping block 24 to rotate, so that the second return spring 23 is expanded to both sides, and at the same time, the push rod 22 continues to rise, and the clamping block 24 is further pressed downward to both sides, so that the mounting block 12 and the locking plate 13 can be further fitted together. During use, they can be further clamped to prevent separation, further tighten the propeller 2, and prevent it from falling off during flight.

[0063] When the lever 15 is pushed to both sides, the first return spring 17 is compressed by the lever 15, and the first clamping block 16 is driven to make the installation locking rod 14 pop out under the action of the tension spring 20. At this time, the installation locking rod 14 drives the connecting plate 18 and the bent rod 19 to rise, and the third return spring 25 drives the push rod 22 to move downward, so that the clamping block 24 is restored, which has the effect of unlocking. At the same time, the second return spring 23 pushes out the slide bar 21 to let it be pushed out, which plays a role in quick unlocking and disassembly during use. It can play the role of quickly adjusting the position of the propeller 2 while having the effect of quick installation, locking and disassembly. During use, the installation locking rod 14 is further lifted upward, and the bent rod 19 and the slide bar 21 are driven by the connecting plate 18 to make the inclined surface of the slide bar 21 slide out from the inside of the installation block 12. When the connecting plate 18 slides to the top, the slide bar 21 completely slides out from the inside of the installation block 12, so that different propellers 2 can be quickly replaced during use. Propellers 2 of different sizes and models can be replaced as needed during use for quick installation and use.

[0064] Please see attached Figure 6 , a method for testing the strength of concrete in high-altitude hard-to-reach areas, comprising the following steps:

[0065] S1. Preparation before testing: Conduct a comprehensive inspection of the testing device, first check whether the fuselage 1 of the flying device is intact, whether the propeller 2 is intact and can rotate flexibly, and confirm that the vacuum suction cup 4 of the adsorption device is not damaged, the connecting rod 6 hinge 5 moves smoothly, and the electric control function is normal, and then calibrate the rebound device separately to ensure the accuracy and synchronization of the test data;

[0066] S2. Device launch and adsorption positioning Start the flying device, control it to carry the detection device and launch it steadily, and fly to the concrete surface in the high altitude and difficult to reach part. When approaching the target concrete surface, slowly adjust the position of the flying device to ensure that the vacuum suction cup 4 of the adsorption device is in good contact with the concrete surface, start the electric adsorption of the vacuum suction cup 4, and make at least three suction cups firmly adsorbed on the concrete surface. The suction cup of the adsorption device should be an electric vacuum suction cup, which can be continuously and stably adsorbed on the concrete surface. The adsorption force of a single suction cup is greater than or equal to 0.8 times the pressure required by the rebound device.

[0067] P 吸盘 ≥0.8P 回弹

[0068] Among them, P 吸盘 P is the maximum suction force that a single suction cup can provide. 回弹 The minimum force required to complete a concrete rebound test;

[0069] S3, concrete strength test operation starts the electric actuator, pushes the rebound device through the telescopic action of the electric push rod, makes it contact vertically with the concrete surface, controls the electric actuator to apply pressure, makes the rebound device perform the test according to the specified rebound stroke, repeats the test several times, and is used to obtain effective test data;

[0070] S4. Detection data collection and recording: During each rebound detection process, the data displayed by the rebound device is recorded in real time, including the rebound value, detection time, detection location information, working state parameters and environmental parameters, which are used for preliminary on-site sorting and inspection of the detection data and elimination of abnormal data;

[0071] S5, device recovery and data processing, by turning off the adsorption function of the vacuum suction cup 4, the device is separated from the concrete surface, and then the flying device is controlled to carry the detection device back to the ground, the collected detection data is extracted, and then analyzed and processed to judge the strength of the concrete according to relevant standards and specifications.

[0072] Specifically, in S1, the status of the fuselage 1 and propeller 2 are checked before the test to confirm that the components of the adsorption device are normal, which can ensure the reliability of the hardware and avoid affecting subsequent tests. The rebound device is calibrated separately to ensure that the data is accurate and comparable, laying a solid foundation for accurate testing and improving the scientificity and credibility of the test.

[0073] In S2, the device is launched and the suction positioning is started. The flying device is launched, and it can safely reach the target surface with its stable flight and precise control. Carefully adjust the position and cooperate with the good fit of the suction cup to ensure the best contact. Start the suction, and the multiple suction cups work together to stabilize the drone, creating a stable environment for detection and reducing errors.

[0074] In S3, the concrete strength test operation starts the electric actuator, and the electric push rod accurately drives and outputs stable power to ensure vertical contact of the rebound device. Reasonable pressure and standardized stroke make the test action standard. Multiple tests to obtain comprehensive data provide reliable support for strength judgment.

[0075] In S4, test data collection and recording record various data in real time. Each data has different functions. Comprehensive records combined with rigorous processes can be sorted and checked on site to eliminate abnormal data, ensure data quality, and make the analysis results more convincing.

[0076] In S5, the suction cup adsorption function is turned off during device recovery and data processing to facilitate smooth separation without damaging the surface. The flying device is controlled to return to ensure the safe landing of the device. The data is processed professionally, and the strength is judged according to the standard to provide an accurate basis for building quality assessment. Finally, through the coordinated cooperation of various steps, the concrete strength of high-altitude difficult-to-reach areas can be accurately tested to ensure the safety of the building structure and achieve the effect of testing the concrete strength of high-altitude difficult-to-reach areas. At the same time, the electric action device of the device can ensure that the rebound angle is perpendicular to the concrete surface, which improves the reliability of the test results.

[0077] 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. A drone for testing concrete strength in hard-to-reach areas at high altitudes, characterized in that: include: Flying device, adsorption device, rebound device, electric action device; The flying device is composed of a fuselage (1), a propeller (2) and a battery (3), and is used to enable the drone to reach high altitude areas that are difficult to reach. The propeller (2) is arranged above the fuselage (1), and the battery (3) is arranged inside the fuselage (1); The adsorption device comprises at least three vacuum suction cups (4), the vacuum suction cups (4) and the connecting rod (6) are connected in the form of hinges (5), the vacuum suction cups (4) and the connecting rod (6) are arranged on one side of the fuselage (1), and the adsorption device is used to make the drone adsorb on the surface of a concrete surface (10), and the adsorption device is used to provide a stable high-altitude working environment and rebound the reaction force; The rebound device is a concrete rebound tester (8), which is used to detect the strength of concrete. The concrete rebound tester (8) is arranged at the front end of the middle inner part of the fuselage (1); The electric action device is composed of a second electric push rod (11) and a sleeve (9), and is used to drive the rebound device to perform detection. The front end of the second electric push rod (11) is fixedly arranged on the rear outer wall of the concrete rebound tester (8), and the concrete rebound tester (8) is slidably arranged inside the sleeve (9), and the sleeve (9) is installed on the middle inner wall of the fuselage (1); The flying device is used to send the UAV to the high-altitude concrete surface to be tested, and the adsorption device then adsorbs the UAV to the concrete surface. At the same time, the electric actuation device drives the rebound device to perform strength testing on the concrete, thereby being used to ensure the safety, stability and detection of the strength of concrete in high-altitude difficult-to-reach areas.

2. The high-altitude hard-to-reach concrete strength testing drone according to claim 1 is characterized by: The flying device has the capability of carrying loads and flying, so that the UAV can hover in the air. The UAV adopts a four-rotor structure.

3. The high-altitude hard-to-reach concrete strength testing drone according to claim 1 is characterized by: The battery (3) used in the flying device is used to ensure that the flying time of the drone is ≥15 minutes, and the battery (3) is a 6S lithium battery.

4. The high-altitude hard-to-reach concrete strength testing drone according to claim 1 is characterized by: The suction cup vacuum suction cup (4) of the adsorption device should have the ability to rotate, and the rotation ability is used to adjust the angle of the drone to be parallel to the concrete surface, and at the same time adjust the rebound device of the concrete rebound tester (8) to be perpendicular to the sleeve (9) and the concrete surface (10). The vacuum suction cup (4) adopts an electric vacuum suction cup, and the adsorption force of a single suction cup is ≥ 0.8 times the pressure required by the rebound device.

5. The high-altitude hard-to-reach concrete strength testing drone according to claim 1 is characterized by: The electric actuating device should provide thrust to the rebound device by means of an electric push rod, and the maximum value of the thrust provided is greater than or equal to 1.5 times the pressure required by the rebound device.

6. The high-altitude hard-to-reach concrete strength testing drone according to claim 1 is characterized by: The electric action device has a limiting function to enable the rebound device to move along a preset trajectory, and the limiting function is used to make the axis of the rebound device perpendicular to the concrete surface.

7. The high-altitude hard-to-reach concrete strength testing drone according to claim 1 is characterized by: The rebound device should be able to be taken out separately and used to complete the rebound detection or provide manual calibration. The concrete rebound tester (8) is placed in a sleeve (9). The first electric push rod (7) drives the second electric push rod (11) to drive the concrete rebound tester (8) to complete the rebound detection of the concrete surface (10). The concrete rebound tester (8) adopts the HT-225 digital display rebound tester.

8. The high-altitude hard-to-reach concrete strength testing drone according to claim 1 is characterized by: The outer wall of the connecting rod (6) is slidably provided with a mounting block (12), the lower surface of the propeller (2) is fixedly provided on the upper surface of the mounting block (12), the mounting block (12) is concavely provided in multiple groups and distributed on multiple connecting rods (6), the concave part of the mounting block (12) is slidably connected with a locking plate (13), both sides of the locking plate (13) are provided with concave grooves, the outer wall of the mounting block (12) is slidably connected to the inside of the concave groove, the inside of the locking plate (13) is slidably connected with a mounting locking rod (14), and the lower outer wall of the mounting locking rod (14) is fixedly provided with a locking rod (14) A tension spring (20) is arranged, the outer wall of the mounting locking rod (14) is fixedly connected to a connecting plate (18), the inner wall of the connecting plate (18) is rotatably connected to a bent rod (19), the outer wall of the bent rod (19) is rotatably connected to a sliding rod (21), the outer wall of the mounting locking rod (14) is slidably connected to a lever (15), the outer wall of the lever (15) is slidably connected to the inner wall of the lock plate (13), the rear outer wall of the lever (15) is fixedly connected to a first return spring (17), and the front outer wall of the lever (15) is fixedly connected to a first clamping block (16).

9. The high-altitude hard-to-reach concrete strength testing drone according to claim 8, characterized in that: The sliding rod (21) is provided with multiple groups distributed on the left and right sides of the connecting plate (18), and the outer walls of the sliding rod (21) on the left and right sides are provided with inclined surfaces, and the outer walls of the sliding rod (21) on the left and right sides are fixedly connected with the second return spring (23), and the outer wall of the second return spring (23) is arranged inside the locking plate (13), and the inclined surface of the sliding rod (21) is slidably connected with a push rod (22), and the outer wall of the push rod (22) is provided with a lifting plate, and the upper surface of the lifting plate is slidably connected with a clamping block (24), and the outer wall of the clamping block (24) is rotatably connected to the inside of the second return spring (23), and the top end of the push rod (22) is fixedly connected with a third return spring (25), and the top end of the third return spring (25) is arranged inside the mounting block (12).

10. A method for testing concrete strength in hard-to-reach places at high altitudes, applied to a drone for testing concrete strength in hard-to-reach places at high altitudes according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Preparation before testing: Perform a comprehensive inspection of the testing device, first check whether the fuselage (1) of the flying device is intact, whether the propeller (2) is intact and can rotate flexibly, and confirm that the vacuum suction cup (4) of the adsorption device is not damaged, the connecting rod (6) hinge (5) moves smoothly, and the electric control function is normal, and then calibrate the rebound device separately to ensure the accuracy and synchronization of the test data; S2. Device launch and adsorption positioning: Start the flying device, control it to carry the detection device and launch it steadily, and fly to the concrete surface in the high altitude and difficult to reach part. When approaching the target concrete surface, slowly adjust the position of the flying device to ensure that the vacuum suction cup (4) of the adsorption device is in good contact with the concrete surface, start the electric adsorption of the vacuum suction cup (4), and make at least three suction cups firmly adsorbed on the concrete surface. The electric vacuum suction cup can be continuously and stably adsorbed on the concrete surface, and the adsorption force of a single suction cup is greater than or equal to 0.8 times the pressure required by the rebound device. P 吸盘 ≥0.8P 回弹 Among them, P 吸盘 P is the maximum suction force that a single suction cup can provide. 回弹 The minimum force required to complete a concrete rebound test; S3, concrete strength test operation starts the electric actuator, pushes the rebound device through the telescopic action of the electric push rod, makes it contact vertically with the concrete surface, controls the electric actuator to apply pressure, makes the rebound device perform the test according to the specified rebound stroke, repeats the test several times, and is used to obtain effective test data; S4. Detection data collection and recording: During each rebound detection process, the data displayed by the rebound device is recorded in real time, including the rebound value, detection time, detection location information, working state parameters and environmental parameters, which are used for preliminary on-site sorting and inspection of the detection data and elimination of abnormal data; S5, device recovery and data processing, by turning off the adsorption function of the vacuum suction cup (4), the device is separated from the concrete surface, and then the flying device is controlled to carry the detection device back to the ground, the collected detection data is extracted, and then analyzed and processed to judge the strength of the concrete according to relevant standards and specifications.

Images