Unmanned aerial vehicle and method for detecting carbonization depth of concrete at high-altitude difficult-to-reach part

Abstract

The invention relates to the field of concrete carbonization depth measurement, and discloses an unmanned aerial vehicle for detecting the concrete carbonization depth of a high-altitude difficult-to-reach part and a detection method.The unmanned aerial vehicle for detecting the concrete carbonization depth of the high-altitude difficult-to-reach part comprises a flying device used for conveying the device to the concrete surface of a high-altitude difficult-to-reach area; the adsorption device is used for stably adsorbing the flying device on the surface of concrete and counteracting the counter-acting force of the electric percussion drill; the electric percussion drill is used for drilling holes in the concrete surface; the electric actuating device is used for pushing the electric percussion drill to perform drilling operation; and the multifunctional spraying device is used for cleaning the hole and spraying a developing agent after drilling. The device is conveyed to the concrete surface of a high-altitude difficult-to-reach area through the flying device, the flying device is stably adsorbed to the concrete surface through the adsorption device, the electric percussion drill 7 is pushed by the electric actuating device to conduct drilling operation, and a hole is cleaned and a developing agent is sprayed through the multifunctional spraying device after drilling.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete carbonation depth measurement, and specifically to an unmanned aerial vehicle and a detection method for detecting the concrete carbonation depth at high-altitude and hard-to-reach positions. Background Technique

[0002] With the rapid development of infrastructure construction in China, a large number of concrete structure engineering projects such as high-rise buildings, bridges, dams, tunnels, elevated roads, etc. have been completed one after another. The safety and durability of these engineering projects are directly related to the national livelihood, so it is crucial to conduct regular inspections and maintenance on them. 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 hard-to-reach positions, such as the top of the dam, the outer wall of high-rise buildings, the top of the bridge arch, etc., the detection of concrete strength has become an urgent technical problem to be solved.

[0003] At present, the main method for concrete strength detection is still manual operation, such as using a rebound hammer for on-site detection. During the detection with a rebound hammer, it is necessary to measure the carbonation depth of the concrete. The carbonation depth can be achieved manually near the ground, but there are many challenges in high-altitude or hard-to-access areas: such as high safety risks: the detection personnel need to work at high altitudes or in dangerous environments, there are relatively large potential safety hazards. Low efficiency: Erecting scaffolding, using aerial work platforms or climbing large structures is time-consuming and laborious, greatly reducing the detection efficiency. High cost: Additional safety equipment and manpower investment are required, increasing the detection cost. Limited detection range: Some special positions (such as the spillway of the dam, the outer wall of high-rise buildings, the top of the bridge arch, etc.) are difficult to reach by conventional methods, resulting in difficulties in detecting the concrete carbonation depth at high altitudes and hard-to-reach positions.

[0004] Therefore, an unmanned aerial vehicle and a detection method for detecting the concrete carbonation depth at high-altitude and hard-to-reach positions are proposed to solve the above problems. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides an unmanned aerial vehicle and a detection method for detecting the concrete carbonation depth at high-altitude and hard-to-reach positions, and solves the problem that it is difficult to detect the concrete carbonation depth at high altitudes and hard-to-reach positions of various large concrete structures.

[0006] To achieve the above objectives, the present invention is realized through the following technical solutions: An unmanned aerial vehicle for detecting the concrete carbonation depth at high-altitude and hard-to-reach positions, comprising:

[0007] A flight device: used to transport the device to the concrete surface at high-altitude and hard-to-reach areas;

[0008] An adsorption device: used to firmly adsorb the flight device on the concrete surface and offset the reaction force of the electric impact drill;

[0009] Electric impact drill: used for drilling holes on the concrete surface;

[0010] Electric actuating device: used to push the electric impact drill for drilling operations;

[0011] Multi-functional spraying device: used to clean the holes and spray the developer after drilling;

[0012] Binocular ranging device: used to record the color changes inside the hole, and determine the carbonation depth of the concrete through color segmentation algorithm and binocular ranging principle.

[0013] Preferably, the flying device includes a fuselage, a battery is arranged on one side of the fuselage, propellers are uniformly and fixedly connected to the outer wall of the fuselage, an adsorption device is fixedly connected to one side of the top of the fuselage, and a multi-functional spraying device is installed on the other side of the top of the fuselage.

[0014] Preferably, the adsorption device includes a servo motor, a connecting rod is arranged on one side of the servo motor, an electric vacuum suction cup is installed at one end of the connecting rod, the bottom of the servo motor is fixedly connected to the top of the fuselage, and the middle part of the servo motor is fixedly connected to an electric actuating device.

[0015] Preferably, the adsorption device further includes two connecting columns, the two connecting columns are respectively fixedly connected to one side of the propellers symmetrically arranged along the axis of the electric impact drill, and an electric vacuum suction cup is installed at the end of the connecting column far away from the propeller.

[0016] Preferably, the adsorption force of a single one is greater than or equal to the impact required pressure:

[0017] P 吸盘 ≥P 冲击

[0018] wherein, P 吸盘 is the maximum adsorption force that a single suction cup of the device can provide, and P 冲击 is the minimum force required to complete the concrete rebound test.

[0019] Preferably, the electric actuating device includes a sleeve, an electric push rod is installed inside the sleeve, one end of the sleeve is fixedly connected to the middle of the base, a connecting seat is fixedly connected to the bottom of the other end of the sleeve, and an electric impact drill is arranged at the output end of the electric push rod.

[0020] Preferably, the multi-functional spraying device includes an air pump, the bottom of the air pump is fixedly connected to the other side of the top of the fuselage, a connecting pipe is arranged at the output end of the air pump, a nozzle is fixedly connected to the end of the connecting pipe far away from the air pump, the middle part of one end of the nozzle is fixedly connected to one side of the connecting seat, a developer storage tank is arranged at the bottom of one end of the nozzle, and an electric valve is arranged on one side of the developer storage tank.

[0021] Preferably, the binocular ranging device includes two cameras, and the two cameras are respectively fixedly connected to the bottom of the symmetric propellers of the electric impact drill axis.

[0022] A method for detecting the carbonation depth of concrete in high-altitude inaccessible areas includes the following steps:

[0023] S1. Use the propellers to make the drone hover stably in the air and transport the entire detection device above the concrete surface in the high-altitude inaccessible area;

[0024] S2. Then, through multiple electric vacuum suckers, under the adjustment of the servo motor, closely fit with the concrete surface, and control the attitude of the suckers on the connecting rod and the connecting column through the servo motor to make it parallel to the concrete surface. Then, after the electric vacuum suckers are energized, a strong suction force is generated to adsorb the entire detection device on the concrete surface, and when the electric impact drill works, counteract its reaction force;

[0025] S3. Then, use the electric push rod to push the electric impact drill along the axis direction of the sleeve in the sleeve, and at the same time, the servo motor controls the movement angle of the electric push rod to ensure that the axis of the impact drill is perpendicular to the concrete surface;

[0026] S4. Then, use the electric impact drill to perform drilling operations. During drilling, through the operation of the air pump, the debris and dust in the drill hole are cleaned in the high-pressure air mode through the connecting pipe and the nozzle. After the drilling is completed, when the developer needs to be sprayed, the electric valve on one side of the developer storage tank is opened, and the air and the developer are mixed by the air pump and sprayed out from the nozzle into the drill hole;

[0027] S5. Then, use two cameras to photograph and record the color change area in the drill hole, extract the edge of the concrete color change area through the color segmentation algorithm, and then use the binocular ranging principle to measure the carbonation depth of the concrete, thereby completing the detection.

[0028] Preferably, in step S5, the two cameras are located on the symmetric sides of the axis of the electric impact drill, and their picture frames cover the range of the drill hole. Let the distance between the two cameras be B, and the position of a certain feature point in the drill hole in the left camera in the image be x L , and the position of this feature point in the image of the right camera be x R , then the calculation formula for the depth Z of this feature point in the drill hole is as follows:

[0029]

[0030] Among them, f is the focal length of the camera.

[0031] Working principle: During use, the propeller enables the drone to hover stably in the air and transports the entire detection device above the concrete surface in high-altitude inaccessible areas. Then, multiple electric vacuum suckers are closely attached to the concrete surface under the adjustment of the servo. The servo controls the attitude of the suckers on the connecting rod and connecting column to make them parallel to the concrete surface. Then, after the electric vacuum suckers are powered on, they generate a strong suction force to adsorb the entire detection device on the concrete surface and counteract the reaction force when the electric impact drill is working. Then, the electric push rod pushes the electric impact drill along the axis of the sleeve inside the sleeve, and at the same time, the servo controls the movement angle of the electric push rod to ensure that the axis of the impact drill is perpendicular to the concrete surface. Then, the electric impact drill is used for drilling operations. During drilling, the air pump works to clean the debris and dust in the drill hole in high-pressure air mode through the connecting pipe and nozzle. After the drilling is completed, when the developer needs to be sprayed, the electric valve on one side of the developer storage tank is opened, and the air pump mixes air with the developer and sprays it out from the nozzle into the drill hole. Then, the camera takes pictures to record the color change area in the drill hole, extracts the edge of the concrete color change area through the color segmentation algorithm, and then uses the binocular ranging principle to measure the carbonation depth of the concrete, thus completing the detection.

[0032] The present invention provides an unmanned aerial vehicle for detecting the carbonation depth of concrete in high-altitude inaccessible parts and a detection method.

[0033] It has the following beneficial effects:

[0034] 1. The present invention transports the device to the concrete surface in high-altitude inaccessible areas through the flight device, firmly adsorbs the flight device on the concrete surface through the adsorption device, pushes the electric impact drill 7 for drilling operations through the electric actuator device, cleans the hole and sprays the developer after drilling through the multi-functional spraying device, records the color change in the drill hole through the binocular ranging device, and measures the carbonation depth of the concrete through the color segmentation algorithm and the binocular ranging principle, thereby realizing high-precision and automated measurement of the carbonation depth of the concrete and providing reliable data support for evaluating the durability and safety of the concrete structure.

[0035] 2. By virtue of the load-bearing flight and stable hovering capabilities of the flight device, the present invention can break through height and terrain limitations, reach high altitudes and inaccessible parts such as the outer walls of high-rise buildings, the crowns of bridges, and the tops of dams that are difficult to reach by traditional detection methods, ensure comprehensive detection of various large concrete structures, eliminate detection blind spots, significantly expand the detection coverage range, and thus provide a more complete data basis for the overall safety assessment of the structure.

[0036] 3. The present invention can be tightly adsorbed on the concrete surface through multiple electric vacuum suckers. The powerful suction force can not only resist the interference of high-altitude wind force, but also effectively offset the reaction force during the operation of the electric impact drill, creating a stable working environment for the entire detection process, greatly reducing the detection errors caused by shaking or displacement, improving the reliability and repeatability of the detection results. Moreover, the limit function and precise thrust control of the electric actuating device ensure that the electric impact drill moves along the preset trajectory and the axis is always perpendicular to the concrete surface, further enhancing the stability and accuracy of the drilling operation, and avoiding problems such as drilling deviation or inconsistent depth.

[0037] 4. The present invention quickly transports the detection device to the target position through the flying device, significantly shortening the preparation time for high-altitude operations. Compared with traditional methods such as building scaffolding or using aerial work platforms, the efficiency is significantly improved, and the operation tasks of multiple detection points can be completed in a shorter time, especially suitable for concrete structure detection projects with large areas or multiple locations, effectively improving the overall progress of the detection work.

[0038] 5. The present invention drills holes efficiently through the electric impact drill under the precise control of the electric actuating device. The multi-functional spraying device timely cleans the holes and accurately sprays the developer. The binocular ranging device quickly collects and processes data to measure the carbonation depth. Each link is closely connected and has a high degree of automation, reducing the manual operation links and time consumption, and further enhancing the overall efficiency of the detection process.

[0039] 6. The precise drilling of the electric impact drill in the present invention provides a uniform distribution space for the developer. The multi-functional spraying device ensures that the developer fully contacts the carbonation area inside the concrete, making the carbonation area clearly and accurately colored, providing good observation conditions for the binocular ranging device. Moreover, using advanced color segmentation algorithms and binocular ranging principles, the edge of the color change area is accurately extracted and the carbonation depth is calculated, effectively avoiding the influence of human subjective factors on the measurement results, providing more accurate data basis for the durability assessment of concrete structures, and helping to timely discover potential safety hazards and take corresponding measures.

[0040] 7. The entire detection process of the present invention is automatically completed at high altitude by the equipment carried by the drone, without the need for detection personnel to perform manual operations at high altitude or in dangerous environments, avoiding safety risks such as personnel falling from high altitude and being struck by objects, greatly ensuring the personal safety of the detection personnel. Moreover, the non-contact detection method reduces the physical damage to the concrete structure, maintaining the integrity of the structure while ensuring the detection effect, reducing the possibility of secondary damage to the structure caused by the detection operation, and being beneficial to the long-term safe use of the concrete structure.

[0041] 8. By deeply integrating UAV technology with concrete carbonation depth detection technology, the present invention provides an innovative and efficient technical means for the inspection work in the fields of civil engineering and water conservancy. It helps to promote the development of the industry towards intelligent and automated inspection, improve the technical level and inspection efficiency of the entire industry, and provides more reliable technical support for the long-term maintenance and safe operation of large concrete structures, promoting technological progress in the fields of engineering construction and maintenance. It is of great significance for ensuring the safety and durability of major national infrastructure. At the same time, it also provides practical references for the improvement and development of relevant standards and specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a schematic three-dimensional structure diagram of the present invention;

[0043] Figure 2 is a partial structure diagram of the electric actuator of the present invention;

[0044] Figure 3 is a partial structure diagram of the air pump of the present invention;

[0045] Figure 4 is a schematic flow chart of a method for detecting the concrete carbonation depth at hard-to-reach high-altitude locations proposed by the present invention.

[0046] Among them, 1. fuselage; 2. battery; 3. propeller; 4. camera; 5. developer storage tank; 6. nozzle; 7. electric impact drill; 8. air pump; 9. connecting pipe; 10. electric vacuum sucker; 11. servo; 12. connecting rod; 13. sleeve; 14. electric push rod. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] The technical solutions of the present invention will be clearly and completely described below with reference to the drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0048] Embodiment:

[0049] Please refer to the attached Figure 1 - attached Figure 3 , an embodiment of the present invention provides a UAV for detecting the concrete carbonation depth at hard-to-reach high-altitude locations, including:

[0050] Flight device: used to transport the device to the concrete surface in hard-to-reach high-altitude areas;

[0051] Adsorption device: used to firmly adsorb the flight device on the concrete surface and offset the reaction force of the electric impact drill 7;

[0052] Electric impact drill 7: used for drilling holes on the concrete surface;

[0053] Electric actuating device: used to push the electric impact drill 7 to perform drilling operations;

[0054] Multi-functional spraying device: used to clean the holes and spray developer after drilling;

[0055] Binocular ranging device: used to record the color changes inside the hole, and determine the carbonation depth of the concrete through color segmentation algorithm and binocular ranging principle.

[0056] Specifically, the device is transported to the concrete surface in high-altitude inaccessible areas through the flying device, thus breaking through geographical and height limitations, enabling the detection equipment to reach high-altitude working positions that cannot be reached by traditional detection means, such as high positions on the outer walls of high-rise buildings, the crowns of bridges, the tops of dams, etc. This creates basic conditions for subsequent detection operations, thereby realizing the rapid deployment of the detection device. Compared with traditional methods such as building scaffolds or using large high-altitude working platforms, the preparation time is significantly shortened, and the overall efficiency of the detection work is improved.

[0057] The flying device is firmly adsorbed on the concrete surface through the adsorption device, and the reaction force of the electric impact drill 7 is offset, thereby providing a stable working platform for the entire detection system in the high-altitude environment, ensuring that the device will not be displaced or shaken due to wind force, its own vibration or the reaction force generated during the operation of the electric impact drill 7 during the detection process, guaranteeing the safety and accuracy of the detection operation, enabling the detection device to closely fit the concrete surface, just like operating on the ground, providing a stable foundation for operations such as drilling holes with the electric impact drill 7, spraying developer with the multi-functional spraying device, and measuring with the binocular ranging device, ensuring the accuracy and reliability of each operation link.

[0058] The electric impact drill 7 drills holes on the concrete surface, thereby forming a channel leading to the internal structure on the concrete surface, enabling the developer to penetrate deep into the concrete and contact the carbonated area, providing a physical basis for the detection of the carbonation depth. The debris and powder generated during the drilling process provide objects for the subsequent cleaning of the holes by the multi-functional spraying device, and also reflect the internal structure condition of the concrete to a certain extent, providing a reference basis for further analyzing the concrete quality.

[0059] The electric impact drill 7 is pushed by an electric actuator to perform drilling operations, thereby precisely controlling the drilling position, direction, and depth of the electric impact drill 7 to ensure that the drilling meets the inspection requirements. Through a preset program or manual control, the impact drill drills vertical and uniformly deep holes on the concrete surface, providing a standard sample for the accurate spraying of the developer and the measurement of the carbonation depth. Thus, it can adapt to concrete surfaces with different hardnesses and structures, adjust the thrust and movement speed of the electric push rod 14 according to the actual situation of the concrete, and avoid drilling quality problems caused by the overload or slow speed of the impact drill, improving the adaptability and efficiency of the drilling operation.

[0060] After drilling, the multifunctional spraying device is used to clean the holes and spray the developer. Thus, high-pressure air is used to effectively remove debris, dust, and other impurities in the drill holes, ensuring the cleanliness of the inside of the drill holes, preventing impurities from affecting the contact effect between the developer and the concrete, ensuring that the developer can fully play its role, and improving the accuracy and clarity of the carbonation area color development. Moreover, the developer spraying function enables the developer to be evenly and accurately distributed in the drill holes, reacts chemically or physically adsorbs with the carbonation area in the concrete, making the carbonation area show different colors, facilitating the observation and measurement by the binocular ranging device, and providing necessary conditions for accurately measuring the carbonation depth.

[0061] The binocular ranging device records the color changes in the drill holes, and the carbonation depth of the concrete is measured through the color segmentation algorithm and the binocular ranging principle. Thus, the image information of the color change area of the concrete in the drill holes is obtained non-contact, avoiding the secondary damage to the concrete structure by the traditional contact measurement method, and at the same time improving the safety and convenience of the measurement. The color segmentation algorithm is used to accurately extract the edge of the concrete color change area, and combined with the binocular ranging principle, the carbonation depth is calculated, realizing the high-precision and automated measurement of the concrete carbonation depth, providing reliable data support for evaluating the durability and safety of the concrete structure, and thus solving the problem that it is difficult to detect the carbonation depth of large concrete structures at high altitudes and in inaccessible areas.

[0062] Please refer to the attachment Figure 1 The flight device includes a fuselage 1. A battery 2 is arranged on one side of the fuselage 1. Propellers 3 are evenly and fixedly connected to the outer wall of the fuselage 1. An adsorption device is fixedly connected to one side of the top of the fuselage 1, and a multifunctional spraying device is installed on the other side of the top of the fuselage 1; the binocular ranging device includes two cameras 4, and the two cameras 4 are respectively fixedly connected to the bottom of the propellers 3 that are axisymmetric with the electric impact drill 7.

[0063] Specifically, the battery 2 provides power for the entire device. Through the operation of the propeller 3, the drone is capable of carrying load and flying, and can stably hover in the air and transport the entire detection device above the concrete surface in areas that are difficult to reach at high altitudes. The two cameras 4 in the binocular ranging device are fixed at the bottom of the propeller 3 that is axisymmetric with the electric impact drill 7, and their frames cover the drilling range. After the developer makes the carbonized area show color, the camera 4 takes pictures and records the color change area inside the drill hole. The image acquisition device obtains image data, extracts the edge of the concrete color change area through a color segmentation algorithm, and then uses the binocular ranging principle to measure the carbonation depth of the concrete, thus realizing the automatic and accurate measurement of the concrete carbonation depth in a high-altitude environment, providing accurate data support for evaluating the durability and safety of concrete structures. Moreover, its non-contact and high-precision carbonation depth measurement avoids the damage to the concrete structure caused by traditional measurement methods and the inconvenience of manual operation.

[0064] Please refer to the appendix Figure 1 , the adsorption device includes a servo 11. One side of the servo 11 is provided with a connecting rod 12. One end of the connecting rod 12 is equipped with an electric vacuum suction cup 10. The bottom of the servo 11 is fixedly connected to the top of the fuselage 1, and the middle of the servo 11 is fixedly connected to an electric actuator; the adsorption device also includes two connecting columns, and the two connecting columns are respectively fixedly connected to one side of the propeller 3 that is axisymmetric with the electric impact drill 7. The end of the connecting column away from the propeller 3 is equipped with an electric vacuum suction cup 10, and the adsorption force of a single 10 is greater than or equal to the impact required pressure:

[0065] P 吸盘 ≥P 冲击

[0066] Among them, P 吸盘 is the maximum adsorption force that a single suction cup of the device can provide, and P 冲击 is the minimum force required to complete the concrete rebound test.

[0067] Specifically, through the multiple electric vacuum suction cups 10 in the adsorption device, under the adjustment of the servo 11, they are closely attached to the concrete surface. The servo 11 can control the attitude of the suction cups on the connecting rod 12 and the connecting columns to make them parallel to the concrete surface. After being powered on, a strong suction force is generated. At the same time, the adsorption device is connected to the fuselage 1 to enhance the overall stability, effectively offsetting the reaction force during the operation of the electric impact drill 7, thereby providing a stable and reliable support for the detection device in a high-altitude environment, ensuring that the device will not be displaced or shaken due to external forces during the subsequent operation process, and ensuring the safety and accuracy of the entire detection process.

[0068] Please refer to the appendix Figure 2, the electric actuating device includes a sleeve 13, an electric push rod 14 is installed inside the sleeve 13, one end of the sleeve 13 is fixedly connected to the middle of the base, a connecting seat is fixedly connected to the bottom of the other end of the sleeve 13, and an electric impact drill 7 is arranged at the output end of the electric push rod 14.

[0069] Specifically, the electric push rod 14 in the electric actuating device extends and retracts in the sleeve 13, is powered by the battery 2 and under the action of a control signal, its output end pushes the electric impact drill 7 to move along the axis direction of the sleeve 13. At the same time, the servo 11 precisely controls the movement of the electric push rod 14 to ensure that the axis of the impact drill is perpendicular to the concrete surface, realizing precise drilling. Thus, it overcomes the problem that it is difficult to ensure the drilling accuracy when manually operating the impact drill at high altitude, can drill holes that meet the requirements on the concrete surface of high-altitude inaccessible parts, realizes the efficient and accurate completion of the drilling operation, provides the necessary conditions for subsequent spraying the developer and measuring the carbonation depth, and ensures the smooth progress of the detection process.

[0070] Please refer to the appendix Figure 3 , the multi-functional spraying device includes an air pump 8, the bottom of the air pump 8 is fixedly connected to the other side of the top of the fuselage 1, a connecting pipe 9 is arranged at the output end of the air pump 8, one end of the connecting pipe 9 away from the air pump 8 is fixedly connected to a nozzle 6, the middle of one end of the nozzle 6 is fixedly connected to one side of the connecting seat, and a developer storage tank 5 is arranged at the bottom of one end of the nozzle 6, and an electric valve is arranged on one side of the developer storage tank 5.

[0071] Specifically, the air pump 8 in the multi-functional spraying device works under the power supply of the battery 2. First, it cleans the debris and dust in the drill hole in the high-pressure air mode through the connecting pipe 9 and the nozzle 6. Then, when the developer needs to be sprayed, the electric valve on one side of the developer storage tank 5 is opened, and the air pump 8 mixes the air and the developer and sprays them out from the nozzle 6 into the drill hole. Thus, the impurities in the drill hole are effectively removed, ensuring that the developer can fully contact the carbonation area inside the concrete, improving the developing effect, and realizing the timely cleaning of the hole and the accurate spraying of the developer after drilling, creating clear and accurate detection conditions for the subsequent carbonation depth detection, and ensuring the reliability of the detection results.

[0072] A method for detecting the carbonation depth of concrete in high-altitude inaccessible parts includes the following steps:

[0073] S1. Make the UAV hover stably in the air through the propeller 3 and transport the entire detection device above the concrete surface of the high-altitude inaccessible area;

[0074] S2. Then, multiple electric vacuum suction cups 10 are closely attached to the concrete surface under the adjustment of the servo motor 11. The servo motor 11 controls the attitude of the suction cups on the connecting rod 12 and the connecting column to make them parallel to the concrete surface. Then, after the electric vacuum suction cups 10 are powered on, they generate a strong suction force to adsorb the entire detection device on the concrete surface and counteract the reaction force when the electric impact drill 7 is working.

[0075] S3. Then, the electric push rod 14 pushes the electric impact drill 7 along the axis direction of the sleeve 13 within the sleeve 13. At the same time, the servo motor 11 controls the movement angle of the electric push rod 14 to ensure that the axis of the impact drill is perpendicular to the concrete surface.

[0076] S4. Then, the electric impact drill 7 performs drilling operations. During drilling, the air pump 8 works to clean the debris and dust in the drill hole in the high-pressure air mode through the connecting pipe 9 and the nozzle 6. When the developer needs to be sprayed after the drilling is completed, the electric valve on one side of the developer storage tank 5 is opened, and the air pump 8 mixes air and the developer and sprays them out from the nozzle 6 into the drill hole.

[0077] S5. Then, two cameras 4 are used to photograph and record the color change area in the drill hole. The edge of the concrete color change area is extracted by the color segmentation algorithm, and then the carbonation depth of the concrete is measured using the binocular ranging principle, thus completing the detection.

[0078] In step S5, the two cameras 4 are located on the symmetric two sides of the axis of the electric impact drill 7, and their picture frames cover the range of the drill hole. Let the distance between the two cameras 4 be B, and the position of a certain feature point in the drill hole in the left camera 4 in the image be x L and the position of this feature point in the right camera 4 in the image be x R . Then, the calculation formula for the depth Z of this feature point in the drill hole is as follows:

[0079]

[0080] where f is the focal length of the camera.

[0081] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirits of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A drone for detecting the carbonization depth of concrete in hard-to-reach areas at high altitudes, characterized in that: include: Flying device: used to transport the device to the concrete surface in hard-to-reach areas at high altitude; Adsorption device: used to firmly adsorb the flying device on the concrete surface and offset the reaction force of the electric impact drill (7); Electric impact drill (7): used for drilling holes in concrete surfaces; An electric actuating device is used to drive the electric impact drill (7) to perform drilling operations; Multifunctional spraying device: used to clean holes and spray developer after drilling; Binocular ranging device: used to record the color changes in the borehole and determine the carbonization depth of concrete through color segmentation algorithm and binocular ranging principle.

2. The drone for detecting carbonization depth of concrete in hard-to-reach places at high altitude according to claim 1 is characterized by: The flying device comprises a fuselage (1), a battery (2) is arranged on one side of the fuselage (1), a propeller (3) is evenly and fixedly connected to the outer wall of the fuselage (1), an adsorption device is fixedly connected to one side of the top of the fuselage (1), and a multifunctional jet device is installed on the other side of the top of the fuselage (1).

3. The drone for detecting carbonization depth of concrete in hard-to-reach places at high altitude according to claim 1 is characterized in that: The adsorption device comprises a steering gear (11), a connecting rod (12) is arranged on one side of the steering gear (11), an electric vacuum suction cup (10) is installed on one end of the connecting rod (12), the bottom of the steering gear (11) is fixedly connected to the top of the fuselage (1), and the middle of the steering gear (11) is fixedly connected to an electric actuating device.

4. The drone for detecting carbonization depth of concrete in hard-to-reach places at high altitude according to claim 1 is characterized by: The adsorption device further comprises two connecting columns, which are respectively fixedly connected to one side of an axially symmetrical propeller (3) of an electric impact drill (7), and an electric vacuum suction cup (10) is installed at one end of the connecting column away from the propeller (3).

5. The drone for detecting carbonization depth of concrete in hard-to-reach places at high altitude according to claim 4 is characterized by: The adsorption force of a single (10) is greater than or equal to the pressure required for impact: P 吸盘 ≥P 冲击 Among them, P 吸盘 P is the maximum suction force that a single suction cup can provide. 冲击 The minimum force required to complete a concrete rebound test.

6. The unmanned aerial vehicle for detecting carbonization depth of concrete in hard-to-reach places at high altitude according to claim 1, characterized in that: The electric actuating device comprises a sleeve (13), an electric push rod (14) is installed inside the sleeve (13), one end of the sleeve (13) is fixedly connected to the middle of a base, the other end of the sleeve (13) is fixedly connected to a connecting seat at the bottom, and an electric impact drill (7) is arranged at the output end of the electric push rod (14).

7. The drone for detecting carbonization depth of concrete in hard-to-reach places at high altitude according to claim 1 is characterized by: The multifunctional spray device comprises an air pump (8), the bottom of the air pump (8) is fixedly connected to the other side of the top of the body (1), the output end of the air pump (8) is provided with a connecting pipe (9), the end of the connecting pipe (9) away from the air pump (8) is fixedly connected to a nozzle (6), the middle of one end of the nozzle (6) is fixedly connected to one side of the connecting seat, the bottom of one end of the nozzle (6) is provided with a developer storage tank (5), and one side of the developer storage tank (5) is provided with an electric valve.

8. The drone for detecting carbonization depth of concrete in hard-to-reach places at high altitude according to claim 1 is characterized by: The binocular distance measuring device comprises two cameras (4), and the two cameras (4) are respectively fixedly connected to the bottom of the axisymmetric propeller (3) of the electric impact drill (7).

9. A method for detecting the carbonization depth of concrete in high-altitude hard-to-reach areas, characterized in that: The following steps are involved: S1, using the propeller (3) to make the drone hover stably in the air and transport the entire detection device to the top of the concrete surface in the high-altitude inaccessible area; S2, then a plurality of electric vacuum suction cups (10) are tightly attached to the concrete surface under the adjustment of the steering gear (11), and the steering gear (11) controls the posture of the suction cups on the connecting rod (12) and the connecting column to make them parallel to the concrete surface, and then the electric vacuum suction cups (10) are powered on to generate a strong suction force, so that the entire detection device is adsorbed on the concrete surface, and when the electric impact drill (7) is working, its reaction force is offset; S3, then the electric push rod (14) is used to push the electric impact drill (7) in the casing (13) to move along the axis of the casing (13), and at the same time, the steering gear (11) controls the movement angle of the electric push rod (14) to ensure that the axis of the impact drill is perpendicular to the concrete surface; S4, then drilling is performed by using an electric impact drill (7), during which the air pump (8) operates to clean the debris and dust in the borehole through the connecting pipe (9) and the nozzle (6) in a high-pressure air mode, and after the drilling is completed, when it is necessary to spray the developer, the electric valve on one side of the developer storage tank (5) is opened, and the air and the developer are mixed by the air pump (8) and then sprayed from the nozzle (6) into the borehole; S5. Then, two cameras (4) are used to shoot and record the color change area in the borehole, and the edge of the concrete color change area is extracted by a color segmentation algorithm. Then, the carbonization depth of the concrete is determined using the binocular ranging principle, thereby completing the detection.

10. A method for detecting carbonization depth of concrete in high altitude hard-to-reach areas according to claim 1, characterized in that: In step S5, the two cameras (4) are located on both sides of the axis of the electric impact drill (7), and their frames cover the range of the drilling hole. Assume that the distance between the two cameras (4) is B, and the position of a feature point in the drilling hole in the left camera (4) in the image is x. L , the position of the feature point in the image of the right camera (4) is x R , then the calculation formula for the depth Z of the feature point in the borehole is as follows: Where f is the focal length of the camera.

Images