Aerial remote sensing unmanned aerial vehicle for detecting concrete strength of hard-to-reach site and detection method

Abstract

The application relates to the technical field of unmanned aerial vehicles and concrete strength detection, and discloses a high-altitude hard-to-reach site concrete strength detection unmanned aerial vehicle and a detection method, which comprises a flight device composed of a fuselage, a propeller and a battery, the flight device is used for enabling the unmanned aerial vehicle to reach a hard-to-reach site at a high altitude; the adsorption device comprises at least three vacuum suction cups, the vacuum suction cup and the connecting rod are connected in a hinged mode, and the electric actuator drives the rebound device to detect the strength of concrete, so that the effect of safely, stably and detectingly detecting the concrete strength of the hard-to-reach site at the high altitude is achieved. Through the powerful load-carrying flight capability and the precise hovering control function of the flight device and the stable adsorption and angle adjustment effect of the adsorption device, the hard-to-reach site of a concrete structure at a high altitude can be reached during use, and the effect of detecting the concrete strength of the hard-to-reach site at the high altitude is achieved.

Description

Technical Field

[0001] This invention relates to the fields of drones and concrete strength testing technology, specifically to a drone and testing method for testing the concrete strength of hard-to-reach locations at high altitudes. Background Technology

[0002] With the rapid development of infrastructure construction in my country, a large number of concrete structure projects, such as high-rise buildings, bridges, dams, tunnels, and elevated roads, have been completed. The safety and durability of these projects are directly related to the national economy and people's livelihood, making regular inspection and maintenance crucial. Concrete, as the most widely used building material in modern engineering, directly affects the safety performance of the entire structure. Especially in high-altitude or inaccessible locations, such as dam crests, high-rise building exterior walls, and bridge arches, the testing of concrete strength has become a pressing technical challenge.

[0003] Currently, the main method for concrete strength testing remains manual operation, such as using a rebound hammer for on-site testing. This traditional method is still applicable on the ground or in easily accessible locations, but it faces numerous challenges at heights or inaccessible areas: High safety risks: Testing personnel must work at heights or in hazardous environments, posing significant safety hazards. Low efficiency: Erecting scaffolding, using aerial work platforms, or climbing large structures is time-consuming and labor-intensive, greatly reducing testing efficiency. High cost: Additional safety equipment and manpower are required, increasing testing costs. Limited testing range: Certain special locations (such as dam spillways, high-rise building facades, and bridge arches) are difficult to reach using conventional methods, resulting in blind spots in the testing.

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

[0005] Therefore, the development of a smart device specifically for testing the strength of concrete in high-altitude and difficult-to-access areas has become an urgent need. This device should be able to combine drone technology and concrete strength testing technology to achieve reliable testing of concrete strength at high altitudes, thereby effectively solving the problem of strength testing in high-altitude and difficult-to-access areas of various large concrete structures (including but not limited to high-rise buildings, bridges, dams, tunnels, etc.), and providing 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 inspection, which is of great significance for ensuring the long-term safe operation of major national infrastructure. At the same time, it will also promote the application of intelligent inspection technology in the field of concrete engineering, providing a new technological path for the industry's digital and intelligent transformation. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a drone and method for testing the concrete strength in hard-to-reach high-altitude areas, solving the problem of concrete strength rebound testing devices in hard-to-reach high-altitude areas and addressing the challenge of testing in such areas.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a drone for testing the concrete strength of hard-to-reach locations at high altitudes, comprising:

[0009] Flight devices, adsorption devices, rebound devices, and electrically actuated devices;

[0010] The flight device consists of a fuselage, a propeller, and a battery. The flight device is used to enable the drone to reach high-altitude, hard-to-reach areas. The propeller is located on the top of the fuselage, and the battery is located inside the fuselage.

[0011] The adsorption device comprises at least three vacuum suction cups, which are connected to the connecting rod by a hinge. The vacuum suction cups and the connecting rod are located on one side of the fuselage. The adsorption device is used to adsorb the UAV onto the concrete surface and to provide a stable high-altitude working environment and to provide a rebound reaction force.

[0012] The rebound device is a concrete rebound hammer, which is used to detect the strength of concrete. The concrete rebound hammer is located in the middle of the machine body at the front end.

[0013] The electric actuator is a combination of a second electric push rod and a sleeve. The electric actuator is used to drive the rebound device for detection. The front end of the second electric push rod is fixedly installed on the rear outer wall of the concrete rebound hammer. The concrete rebound hammer is slidably installed inside the sleeve. The sleeve is installed on the middle inner wall of the machine body.

[0014] Preferably, the flight device has the capability to carry a load, allowing the drone to hover in the air, and the drone adopts a quadcopter architecture.

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

[0016] Preferably, the suction cup of the adsorption device should have rotation capability. The rotation capability is used to adjust the angle of the UAV to be parallel to the concrete surface, and at the same time adjust the rebound device of the concrete rebound hammer to be perpendicular to the sleeve and the concrete surface. The vacuum suction cup is 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 actuation device should provide thrust to the rebound device via an electric push rod, and the maximum value of the provided thrust is greater than or equal to 1.5 times the pressure required by the rebound device.

[0018] Preferably, the electric actuator has a limiting function to make the rebound device move 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 removable to perform rebound testing or provide a means for manual calibration. The concrete rebound hammer is placed in a sleeve, and the first electric actuator drives the second electric actuator to perform rebound testing on the concrete surface. The concrete rebound hammer is an HT-225 digital display rebound hammer.

[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 with the upper surface of the mounting block, the mounting blocks are concave and distributed on multiple connecting rods, a locking plate is slidably connected to the concave part of the mounting block, both sides of the locking plate are provided with concave grooves, the outer wall of the mounting block is slidably connected to the inside of the concave grooves, a mounting locking rod is slidably connected to the inside of the locking plate, a tension spring is fixedly provided on the lower outer wall of the mounting locking rod, a connecting plate is fixedly connected to the outer wall of the mounting locking rod, a crank is rotatably connected to the inner wall of the connecting plate, a sliding rod is rotatably connected to the outer wall of the crank, a lever is slidably connected to the outer wall of the mounting locking rod, the outer wall of the lever is slidably connected to the inner wall of the locking plate, a first return spring is fixedly connected to the rear outer wall of the lever, and a first locking block is fixedly connected to the front outer wall of the lever.

[0021] Preferably, multiple sets of slide rods are distributed on the left and right sides of the connecting plate. The outer walls of the slide rods on both sides are provided with inclined surfaces. A second return spring is fixedly connected to the outer walls of the slide rods on both sides. The outer walls of the second return springs are located inside the locking plate. A top rod is slidably connected to the inclined surfaces of the slide rods. A lifting plate is provided on the outer wall of the top rod. A clamping block is slidably connected to the upper surface of the lifting plate. The outer wall of the clamping block is rotatably connected to the inside of the second return springs. A third return spring is fixedly connected to the top end of the top rod. The top end of the third return spring is located inside the mounting block.

[0022] A method for testing the strength of concrete in hard-to-reach high-altitude locations, characterized by comprising the following steps:

[0023] S1. Before testing, a comprehensive inspection of the testing device is carried out. 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 undamaged, the linkage joint moves smoothly, and the electric control function is normal. Then, the rebound device is calibrated separately to ensure the accuracy and synchronization of the test data.

[0024] S2. Device Launch and Adsorption Positioning: Activate the flight device, carrying the detection device, and smoothly launch it towards the concrete surface, a location difficult to reach from high altitudes. Upon approaching the target concrete surface, slowly adjust the position of the flight device to ensure good contact between the vacuum suction cups of the adsorption device and the concrete surface. Activate the electric adsorption of the vacuum suction cups, ensuring at least three suction cups are firmly attached to the concrete surface. The suction cups of the adsorption device should be electric vacuum suction cups, capable of continuously and stably adsorbing onto the concrete surface. The adsorption force of a single suction cup should be 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 of the device can provide. 回弹 The minimum force required to complete a concrete rebound test;

[0027] S3. Concrete strength testing operation: Start the electric actuator, and push the rebound device through the extension and retraction of the electric push rod so that it makes perpendicular contact with the concrete surface. Control the electric actuator to apply pressure so that the rebound device performs the test according to the specified rebound stroke. Repeat the test several times to obtain valid test data.

[0028] S4. Data Acquisition and Recording: During each rebound test, the data displayed by the rebound device is recorded in real time, including rebound value, test time, test location information, working status parameters and environmental parameters. This is used for preliminary on-site processing and inspection of the test data and to eliminate abnormal data.

[0029] S5. Device recovery and data processing: By turning off the suction function of the vacuum suction cup, the device is separated from the concrete surface. Then, the flying device is controlled to carry the detection device back to the ground, and the collected detection data is extracted, analyzed and processed, and used to determine the strength of the concrete according to relevant standards and specifications.

[0030] This invention provides a drone and method for testing the concrete strength of hard-to-reach locations at high altitudes. It offers the following advantages:

[0031] 1. This invention, through the powerful carrying capacity and precise hovering control of the flight device, as well as the stable adsorption and angle adjustment function of the adsorption device, enables it to reach high-altitude, hard-to-reach parts of concrete structures during use, and achieve the effect of testing the concrete strength in high-altitude, hard-to-reach areas.

[0032] 2. When in use, this invention can adhere to the surface of concrete, improving the stability of high-altitude operations. The electrical actuator of the device ensures that the rebound angle is perpendicular to the concrete surface, thus improving the reliability of the test results. Attached Figure Description

[0033] Figure 1 This is a perspective view of a UAV for testing the concrete strength of hard-to-reach locations at high altitudes, according to the present invention.

[0034] Figure 2 This is a schematic cross-sectional view of the sleeve of a UAV for testing the concrete strength of hard-to-reach locations at high altitudes, according to the present invention.

[0035] Figure 3 This is a partial schematic diagram of the mounting block of a UAV for testing the concrete strength of hard-to-reach locations at high altitudes, according to the present invention.

[0036] Figure 4 This is a schematic diagram of the locking plate structure of a UAV for testing the concrete strength of hard-to-reach locations at high altitudes according to the present invention.

[0037] Figure 5 This is a partial schematic diagram of the connecting plate of a UAV for testing the concrete strength of hard-to-reach locations at high altitudes, according to the present invention.

[0038] Figure 6 This is a flowchart of a method for testing the strength of concrete in hard-to-reach locations at high altitudes, according to the present invention.

[0039] The components are as follows: 1. fuselage; 2. propeller; 3. battery; 4. vacuum suction cup; 5. hinge; 6. connecting rod; 7. first electric actuator; 8. concrete rebound hammer; 9. sleeve; 10. concrete surface; 11. second electric actuator; 12. mounting block; 13. locking plate; 14. mounting locking rod; 15. lever; 16. first locking block; 17. first return spring; 18. connecting plate; 19. crank rod; 20. tension spring; 21. slide rod; 22. top rod; 23. second return spring; 24. clamping block; 25. third return spring. Detailed Implementation

[0040] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Example:

[0042] Please see the appendix Figure 1 and attached Figure 2 This invention provides a drone for testing the concrete strength of hard-to-reach locations at high altitudes, comprising:

[0043] Flight devices, adsorption devices, rebound devices, and electrically actuated devices;

[0044] The flight device consists of a fuselage 1, a propeller 2, and a battery 3. The flight device is used to enable the drone to reach high-altitude, hard-to-reach areas. The propeller 2 is located on the top of the fuselage 1, and the battery 3 is located inside the fuselage 1.

[0045] The adsorption device consists of at least three vacuum suction cups 4. The vacuum suction cups 4 and the connecting rods 6 are connected by a hinge 5. The vacuum suction cups 4 and the connecting rods 6 are located on one side of the fuselage 1. The adsorption device is used to adsorb the UAV onto the concrete surface 10. The adsorption device is used to provide a stable high-altitude working environment and to provide a rebound reaction force.

[0046] The rebound device is a concrete rebound hammer 8, which is used to test the strength of concrete. The concrete rebound hammer 8 is located in the middle of the machine body 1 at the front end.

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

[0048] Please see the appendix Figure 1 and attached Figure 2 The flight device is used to send the drone to the concrete surface to be tested at high altitude. The adsorption device then adsorbs the drone onto the concrete surface. At the same time, the electric actuation device drives the rebound device to test the strength of the concrete, thus playing a role in the safe, stable and detection of the strength of concrete in high-altitude, hard-to-reach areas.

[0049] Specifically, multiple vacuum suction cups 4, with their powerful internal negative pressure suction, and the flexible and adjustable angle of the connecting rod 6 through the hinge 5, work together to ensure that the drone is firmly and stably attached to the concrete surface 10. Even when there is airflow disturbance at high altitude or the drone body 1 shakes, it can still ensure that the drone is firmly fixed in the detection position, providing a stable and reliable working environment for rebound detection. This effectively counteracts the reaction force generated during rebound detection, preventing the drone from shifting or even detaching from the concrete surface due to the reaction force, and ensuring the smooth progress of the detection process.

[0050] The rebound device uses a concrete rebound hammer 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 actuator consists of a second electric actuator 11 and a sleeve 9. The second electric actuator 11 has precise telescopic control, while the sleeve 9 provides stable installation and guidance. Together, they can accurately control the position and detection angle of the rebound device, ensuring that the concrete rebound hammer 8 can accurately test the strength of concrete at different locations according to preset requirements. Furthermore, the detection points can be flexibly adjusted according to actual needs, comprehensively and meticulously completing the strength testing of concrete in hard-to-reach areas. This makes the entire testing process safe and stable, and the test results more scientific and valuable for reference.

[0052] Please see the appendix Figure 1 and attached Figure 2 The drone utilizes a flight device that enables it to carry a payload and hover in the air. The drone employs a quadcopter architecture. Battery 3, a 6S lithium battery, is used to ensure the drone's flight time is ≥15 minutes.

[0053] Specifically, the flight device adopts a quadcopter architecture. The four propellers 2 under the quadcopter architecture can rationally distribute lift and work together, so that the UAV can still hover stably in the air even after carrying related components such as adsorption devices, rebound devices, and electric actuators.

[0054] Please see the appendix Figure 1 and attached Figure 2 The suction cup 4 of the adsorption device should have rotation capability. The rotation capability 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 hammer 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, due to the complex and varied surface conditions of concrete in high-altitude, hard-to-reach areas, the vacuum suction cup 4 in the adsorption device may not initially maintain parallelism with the concrete surface when the drone arrives. The rotational capability of the vacuum suction cup 4 allows the drone to adjust its posture during use. Through flexible rotation, it can finely adjust the drone's angle, gradually bringing the drone's body 1 parallel to the concrete surface 10. Simultaneously, during the adjustment of the drone's angle, the concrete rebound hammer 8 and the sleeve 9 can also achieve perpendicularity to the concrete surface 10 using this rotational adjustment. Because the rebound device is perpendicular to the concrete surface for testing, the obtained rebound values ​​are accurate and reliable, leading to precise concrete strength data and ensuring the scientific validity 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 generation mechanism. The suction force of a single suction cup is ≥ 0.8 times the pressure required by the rebound device. When conducting concrete strength testing, the suction device has a sufficiently strong suction force to counteract the reaction force, ensuring that the drone is always firmly attached to the concrete surface and will not shake, shift, or even detach due to the reaction force.

[0057] Please see the appendix Figure 1 and attached Figure 2 The electric actuator should provide thrust to the rebound device via an electric actuator rod, and the maximum value of the thrust provided should be greater than or equal to 1.5 times the pressure required by the rebound device. The electric actuator has a limiting function to allow the rebound device to move along a preset trajectory. The limiting function is used to ensure that the axis of the rebound device is perpendicular to the concrete surface.

[0058] Specifically, the electric actuator provides thrust to the rebound device via an electric actuator rod. The maximum thrust is ≥ 1.5 times the pressure required by the rebound device. The strong thrust and limiting function of the electric actuator rod ensure stable pressure application and precise operation of the rebound device. The limiting function allows the rebound device to move along a preset trajectory and ensures that the axis is perpendicular to the concrete surface. The two work together to ensure accurate detection.

[0059] Please see the appendix Figure 1 and attached Figure 2 The rebound device should be able to be removed separately to complete the rebound test or provide a manual calibration function. The concrete rebound hammer 8 is placed in the sleeve 9. The first electric actuator 7 drives the second electric actuator 11, which in turn drives the concrete rebound hammer 8 to complete the rebound test of the concrete surface 10. The concrete rebound hammer 8 adopts the HT-225 digital display rebound hammer.

[0060] Specifically, the rebound device plays a crucial role. It can be removed independently for manual calibration, working in conjunction with other functions to ensure convenient and flexible operation and guarantee accurate testing. The concrete rebound hammer 8 uses an HT-225 digital display rebound hammer housed in the sleeve 9. The first electric actuator 7 drives the second electric actuator 11 to operate, achieving precise rebound detection of the concrete surface 10. It also allows for rapid positioning during use.

[0061] Please see the appendix Figure 3 -Appendix Figure 5 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 concave and is distributed in multiple sets on multiple connecting rods 6. The concave part of the mounting block 12 is slidably connected to 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 to a mounting locking rod 14. The lower outer wall of the mounting locking rod 14 is fixedly provided with a tension spring 20. 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 crank rod 19. The outer wall of the crank rod 19 is rotatably connected to a slide 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 locking plate 13. The rear outer wall of the lever 15 is fixedly connected to a first return spring 17. The front outer wall of the lever 15 is fixedly connected to a first locking block 16. Multiple sets of slide rods 21 are distributed on the left and right sides of the connecting plate 18. The outer walls of the slide rods 21 on both sides are provided with inclined surfaces. The outer walls of the slide rods 21 on both sides are fixedly connected to the second return springs 23. The outer walls of the second return springs 23 are located inside the locking plate 13. The inclined surfaces of the slide rods 21 are slidably connected to the top rods 22. The outer walls of the top rods 22 are provided with lifting plates. The upper surface of the lifting plates is slidably connected to the clamping blocks 24. The outer walls of the clamping blocks 24 are rotatably connected to the inside of the second return springs 23. The top of the top rods 22 is fixedly connected to the third return springs 25. The top of the third return springs 25 is located inside the mounting block 12.

[0062] Specifically, first, the positions of the multiple propellers 2 are adjusted using the mounting block 12. Then, the locking plate 13 is inserted into the recess of the mounting block 12. Next, the mounting locking rod 14 is pressed into the interior of the locking plate 13. At this time, the mounting locking rod 14 is inserted into the interior of the lever 15 through the inclined surface of the first locking block 16. Then, the mounting locking rod 14 compresses the lever 15 to both sides, pushing the first return spring 17. The first return spring 17 drives the lever 15 to return to its original position. Then, the first locking block 16 locks the mounting locking rod 14. At the same time, when the mounting locking rod 14 moves down, it drives the connecting plate 18 and the crank rod 1. 9. When the crank 19 moves down, the crank 19 drives the slide 21 and the connecting plate 18 to move down, compressing the tension spring 20. At the same time, the slide 21 drives the second return spring 23 to compress and pushes the top rod 22 upward. At this time, the lifting plate of the top rod 22 drives the clamping block 24 to rotate, thereby allowing the second return spring 23 to unfold to both sides. At the same time, the top rod 22 continues to rise, further pressing the clamping block 24 to both sides, thereby allowing the mounting block 12 and the locking plate 13 to fit together more closely. During use, it can be further clamped to prevent separation and further secure the propeller 2 to prevent it from falling off during flight.

[0063] When the lever 15 is moved to either side, the lever 15 compresses the first return spring 17, which in turn causes the first locking block 16 to pop out the mounting locking lever 14 under the action of the tension spring 20. At this time, the mounting locking lever 14 causes the connecting plate 18 and the crank 19 to rise, while the third return spring 25 causes the top rod 22 to move down, allowing the clamping block 24 to return to its original position, thus unlocking the mechanism. At the same time, the second return spring 23 pushes out the slide rod 21, which allows for quick unlocking and disassembly during use. This allows for quick adjustment of the propeller 2's position while also enabling quick installation, locking, and disassembly. During use, the mounting locking lever 14 is further lifted upwards, which causes the connecting plate 18 to drive the crank 19 and the slide rod 21, allowing the inclined surface of the slide rod 21 to slide out from inside the mounting block 12. When the connecting plate 18 slides to the top, the slide rod 21 slides completely out from inside the mounting block 12, thus allowing for quick replacement of different propellers 2. Propellers 2 of different sizes and models can be quickly installed and used as needed.

[0064] Please see the appendix Figure 6 A method for testing the strength of concrete in hard-to-reach high-altitude locations includes the following steps:

[0065] S1. Before testing, a comprehensive inspection of the testing device is carried out. First, check whether the fuselage 1 of the flight device is intact, whether the propeller 2 is intact and rotates flexibly, and confirm that the vacuum suction cup 4 of the adsorption device is undamaged, the hinge 5 of the connecting rod 6 moves smoothly, and the electric control function is normal. Then, the rebound device is calibrated separately to ensure the accuracy and synchronization of the test data.

[0066] S2. Device Launch and Adsorption Positioning: Activate the flight device, carrying the detection device, and smoothly launch it towards the concrete surface, a location difficult to reach from high altitudes. Upon approaching the target concrete surface, slowly adjust the flight device's position to ensure good contact between the vacuum suction cups 4 of the adsorption device and the concrete surface. Activate the electric adsorption of the vacuum suction cups 4, ensuring at least three suction cups are firmly attached to the concrete surface. The suction cups of the adsorption device should be electric vacuum suction cups, capable of continuous and stable adsorption on the concrete surface. The adsorption force of a single suction cup should be 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 of the device can provide. 回弹 The minimum force required to complete a concrete rebound test;

[0069] S3. Concrete strength testing operation: Start the electric actuator, and push the rebound device through the extension and retraction of the electric push rod so that it makes perpendicular contact with the concrete surface. Control the electric actuator to apply pressure so that the rebound device performs the test according to the specified rebound stroke. Repeat the test several times to obtain valid test data.

[0070] S4. Data Acquisition and Recording: During each rebound test, the data displayed by the rebound device is recorded in real time, including rebound value, test time, test location information, working status parameters and environmental parameters. This is used for preliminary on-site processing and inspection of the test data and to eliminate abnormal data.

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

[0072] Specifically, in S1, before testing, the condition of the fuselage (1) and propeller (2) is checked to confirm that all components of the adsorption device are functioning normally, ensuring hardware reliability and avoiding impact on subsequent testing. The rebound device is calibrated separately to ensure accurate and comparable data, laying a solid foundation for accurate testing and improving its scientific rigor and reliability.

[0073] In S2, the device takes off and the suction positioning system activates the flight device. Its stable flight and precise control ensure safe arrival at the target surface. Careful position adjustments, combined with the excellent adhesion of the suction cups, guarantee optimal contact. Activation of the suction system, with multiple suction cups working together, stabilizes the drone, creating a stable environment for inspection and reducing errors.

[0074] In the S3 concrete strength testing operation, the electric actuator is activated, and the electric actuator precisely drives and stably outputs power, ensuring vertical contact of the rebound device. Appropriate pressure and standardized stroke coordination ensure accurate testing. Multiple tests are conducted to obtain comprehensive data, providing reliable support for strength assessment.

[0075] In S4, the detection data collection and recording process records various data in real time. Each data has a different function. The comprehensive recording combined with a rigorous process allows for on-site sorting and inspection, elimination of abnormal data, and ensures data quality, making the analysis results more convincing.

[0076] In S5, the suction cup adsorption function is deactivated during device recovery and data processing, facilitating smooth separation without damaging the surface. The flight device is then controlled to return, ensuring a safe landing. Professional data processing and strength assessment based on standards provide accurate data for building quality evaluation. Finally, through the coordinated operation of each step, accurate testing of concrete strength in hard-to-reach high-altitude areas is achieved, ensuring building structural safety and realizing the effectiveness of concrete strength testing in such areas. Simultaneously, the device's electrical actuator ensures the rebound angle is perpendicular to the concrete surface, improving the reliability of the test results.

[0077] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A drone for testing the strength of concrete in hard-to-reach high-altitude locations, characterized in that, include: Flight devices, adsorption devices, rebound devices, and electrically actuated devices; The flight device consists of a fuselage (1), a propeller (2) and a battery (3). The flight device is used to enable the drone to reach high-altitude, hard-to-reach areas. The propeller (2) is located above the fuselage (1), and the battery (3) is located inside the fuselage (1). The adsorption device consists of at least three vacuum suction cups (4), the vacuum suction cups (4) and the connecting rod (6) are connected by a hinge (5), the vacuum suction cups (4) and the connecting rod (6) are located on one side of the fuselage (1), the adsorption device is used to adsorb the drone onto the concrete surface (10), the adsorption device is used to provide a stable high-altitude working environment and to rebound the reaction force. The rebound device is a concrete rebound hammer (8), which is used to detect the strength of concrete. The concrete rebound hammer (8) is located in the middle of the front end of the machine body (1). The electric actuator is a combination of a second electric push rod (11) and a sleeve (9). The electric actuator is used to drive the rebound device for detection. The front end of the second electric push rod (11) is fixedly installed on the rear outer wall of the concrete rebound hammer (8). The concrete rebound hammer (8) is slidably installed inside the sleeve (9). The sleeve (9) is installed on the middle inner wall of the machine body (1). The flight device is used to send the drone to the concrete surface to be tested at high altitude. The adsorption device then adsorbs the drone onto the concrete surface. At the same time, the electric actuator drives the rebound device to perform strength testing on the concrete, thereby playing a role in the safe, stable and detection of the strength of concrete in high-altitude, hard-to-reach areas. 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 concave and is distributed in multiple sets 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 grooves. The inside of the locking plate (13) is slidably connected with a mounting locking rod (14). The lower outer wall of the mounting locking rod (14) is fixedly provided with a mounting locking rod (14). A tension spring (20) is provided. A connecting plate (18) is fixedly connected to the outer wall of the mounting locking rod (14). A crank rod (19) is rotatably connected to the inner wall of the connecting plate (18). A slide rod (21) is rotatably connected to the outer wall of the crank rod (19). A lever (15) is slidably connected to the outer wall of the mounting locking rod (14). The outer wall of the lever (15) is slidably connected to the inner wall of the locking plate (13). A first return spring (17) is fixedly connected to the rear outer wall of the lever (15). A first locking block (16) is fixedly connected to the front outer wall of the lever (15). Multiple sets of slide rods (21) are distributed on the left and right sides of the connecting plate (18). The outer walls of the slide rods (21) on the left and right sides are provided with inclined surfaces. The outer walls of the slide rods (21) on the left and right sides are fixedly connected with second return springs (23). The outer walls of the second return springs (23) are located inside the locking plate (13). The inclined surfaces of the slide rods (21) are slidably connected with top rods (22). The outer walls of the top rods (22) are provided with lifting plates. The upper surface of the lifting plates is slidably connected with clamping blocks (24). The outer walls of the clamping blocks (24) are rotatably connected inside the second return springs (23). The top end of the top rods (22) is fixedly connected with third return springs (25). The top end of the third return springs (25) is located inside the mounting block (12).

2. The UAV for testing the concrete strength of hard-to-reach locations at high altitudes according to claim 1, characterized in that: The flight device has the ability to carry a load and hover in the air. The drone adopts a quadcopter architecture.

3. The UAV for testing the concrete strength of hard-to-reach locations at high altitudes according to claim 1, characterized in that: The battery (3) of the flight device is used to ensure that the drone has a flight time of ≥15 minutes, and the battery (3) is a 6S lithium battery.

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

5. The UAV for testing the concrete strength of hard-to-reach locations at high altitudes according to claim 1, characterized in that: The electric actuator should provide thrust to the rebound device via an electric actuator, and the maximum value of the thrust provided should be greater than or equal to 1.5 times the pressure required by the rebound device.

6. The UAV for testing the concrete strength of hard-to-reach locations at high altitudes according to claim 1, characterized in that: The electric actuator has a limiting function to make the rebound device move along a preset trajectory. The limiting function is used to make the axis of the rebound device perpendicular to the concrete surface.

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

8. A method for testing the concrete strength of hard-to-reach locations at high altitudes, applied to a UAV for testing the concrete strength of hard-to-reach locations at high altitudes according to any one of claims 1-7, characterized in that, Includes the following steps: S1. Before testing, a comprehensive inspection of the testing device is carried out. First, check whether the fuselage (1) of the flight device is intact, whether the propeller (2) is intact and rotates flexibly, and confirm that the vacuum suction cup (4) of the adsorption device is undamaged, the linkage (6) hinge (5) moves smoothly, and the electric control function is normal. Then, the rebound device is calibrated separately to ensure the accuracy and synchronization of the test data. S2. Launch and Position the Device: Start the flight device, carrying the detection device, and smoothly launch it towards the concrete surface in a high-altitude, hard-to-reach location. When approaching the target concrete surface, slowly adjust the position of the flight device to ensure good contact between the vacuum suction cup (4) of the adsorption device and the concrete surface. Activate the electric adsorption of the vacuum suction cup (4) to ensure that at least three suction cups are firmly adsorbed onto the concrete surface. The electric vacuum suction cup can continuously and stably adsorb onto 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. ； in, The maximum suction force that a single suction cup of the device can provide. The minimum force required to complete a concrete rebound test; S3. The concrete strength test operation starts the electric actuator, which pushes the rebound device through the extension and retraction of the electric actuator rod, so that it makes perpendicular contact with the concrete surface. The electric actuator is controlled to apply pressure, so that the rebound device performs the test according to the specified rebound stroke. The test is repeated several times to obtain valid test data. S4. Data Acquisition and Recording: During each rebound test, the data displayed by the rebound device is recorded in real time, including rebound value, test time, test location information, working status parameters and environmental parameters. This is used for preliminary on-site processing and inspection of the test data and to eliminate 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. 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 determine the strength of the concrete according to relevant standards and specifications.

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