I-beam detection device and method based on drone

Abstract

The present invention provides an I-beam inspection device and method based on a drone, specifically relating to the technical field of high-altitude steel structure measurement. The device comprises a transport portion and a mobile inspection portion detachably connected to the transport portion. The mobile inspection portion comprises a roller assembly 1, a roller assembly 2 linked to the roller assembly 1, an adjustment frame rotatably connected to the lower end of the roller assembly 2, and a roller assembly 3 fixedly connected to the adjustment frame. A detection connecting rod structure is provided on either the roller assembly 1 or the roller assembly 2. The transport portion comprises a main drone and two iris mechanisms fixedly connected to the upper and lower ends of the main drone, respectively. The drone-based I-beam inspection device and method provided by the present invention can accurately, conveniently, and quickly inspect roof steel beams. Mounting the inspection equipment on a drone avoids the impact of drone shaking on the inspection results, and can simultaneously complete inspections of the height, thickness, width, and deflection of the inner side of the I-beam.

Description

Technical Field

[0001] The present invention belongs to the technical field of high-altitude steel structure measurement, and in particular relates to an I-beam detection device and method based on an unmanned aerial vehicle (UAV). Background Art

[0002] Steel structures, especially portal steel frames, are the most common structural form in industrial buildings. Steel structure inspection is a crucial component of engineering inspection and appraisal. A notable characteristic of steel structures, especially portal steel frame industrial plants, is their high roofs, sometimes reaching heights of over ten or even twenty meters. Therefore, roof beam inspections represent a significant portion of on-site inspection workload. Currently, inspecting roof beams requires access to the inspection location using aerial climbing equipment. However, if the inspector is afraid of heights, the inspection cannot be performed. This approach presents significant risks and low efficiency.

[0003] In addition, there are the following technical issues:

[0004] (1) Some places use drones for inspection, that is, drones are often used to inspect high-rise steel structures that are inaccessible to personnel. However, when using drones to inspect steel structures, the drones need to hover, and the drones are prone to unstable hovering under the influence of high-rise winds and their own shaking, resulting in unstable inspections.

[0005] (2) Currently, during the inspection process of I-beams, the inner side dimensions, thickness, and overall width of the I-beams need to be measured. However, the existing technology measures each position one by one, which is inefficient.

[0006] (3) At present, the deflection deformation detection of large cantilever steel members is usually carried out manually using a handheld level or infrared rays in combination with a steel ruler according to existing technical equipment and inspection methods. This is a high-altitude operation with high risks and high work intensity for the inspectors. In addition, the assembly and disassembly steps of the existing inspection devices are complicated and inconvenient to use. Summary of the Invention

[0007] The purpose of the present invention is to provide an I-beam detection device and method based on a drone, which solves the technical problem of how to accurately, conveniently and quickly detect roof steel beams. The present invention carries the detection equipment on a drone, avoiding the impact of the drone's shaking on the detection results, and can simultaneously complete the detection of the height, thickness, width and deflection of the inner side of the I-beam, so that the construction working status of the I-beam can be quickly and efficiently understood.

[0008] A drone-based I-beam inspection device includes a transport portion and a mobile inspection portion detachably connected to the transport portion, the mobile inspection portion including a first roller assembly, a second roller assembly linked to the first roller assembly, an adjustment frame rotatably connected to the lower end of the second roller assembly, and a third roller assembly fixedly connected to the adjustment frame, wherein the first and second roller assemblies are both movably arranged on one side of the I-beam, and the third roller assembly is movably arranged on the other side of the I-beam.

[0009] Two detection link structures are provided on the roller assembly 1 or the roller assembly 2, wherein one of the detection link structures is in movable contact with the inner top surface and inner side surface of the I-beam, and the other detection link structure is in movable contact with the inner bottom surface of the I-beam;

[0010] The transport part includes a main drone, two iris mechanisms respectively fixedly connected to the upper and lower ends of the main drone, and the two detection link structures are respectively separately snap-connected to the two iris mechanisms.

[0011] Preferably, the detection connecting rod structure includes a measuring cylinder, an ultrasonic thickness gauge fixed on the inside of the measuring cylinder, a laser rangefinder fixed on the outside of the measuring cylinder, a fixed column fixed on the outside of the measuring cylinder, and an electromagnetic suction cup fixed on the outer end of the measuring cylinder. One end of the measuring cylinder is rotatably connected to a fixed block 1 through a power structure 1, the fixed block 1 is connected to the telescopic cylinder, the other end of the telescopic cylinder is rotatably connected to a fixed block 2 through a power structure 2, and the fixed block 2 is positionally connected to the roller assembly 1 or the roller assembly 2.

[0012] Preferably, the iris mechanism includes five cam plates arranged in a circular array around a center point, a power shaft connected to an end of one corner of the cam plate, and a power drive mechanism connected to the power shaft, wherein the power shaft is rotatably connected to the positioning plate;

[0013] The outer side surface of the cam plate is an arc surface, the center of the arc surface is located at the center point, and the two ends of the arc surface are respectively provided with a concave arc surface and a convex arc surface. The center of the convex arc surface is set at the center of the power shaft, and the center of the concave arc surface is set at the center of the power shaft of another adjacent cam plate. The concave arc surface and the convex arc surface of the two adjacent cam plates are in mutual movable contact.

[0014] Preferably, the roller assembly includes a support frame, a roller rotatably arranged at the bottom end of the support frame, a transverse wheel shaft coaxially connected to the roller, a column vertically fixed to the upper end of the support frame, and a camera fixed to the column, wherein the camera is directed toward the inner top surface of the I-beam to shoot, and the camera is connected to a printed laser engraving detection system, wherein the printed laser engraving detection system has a comparison image recorded in advance;

[0015] The roller is movably arranged on the inner bottom surface of the I-beam.

[0016] Preferably, the second roller assembly includes a vertical wheel shaft with a top end rotatably connected to the support frame, a second roller sleeved on the vertical wheel shaft, a micromotor connected to the top end of the vertical wheel shaft, a base frame connected to the bottom end of the vertical wheel shaft, a bevel gear 1 coaxially connected to the vertical wheel shaft, a bevel gear 2 meshing with the bevel gear 1, and the bevel gear 2 is coaxially connected to the transverse wheel shaft;

[0017] The outer side of the second roller moves and fits on the outer side of the I-beam.

[0018] Preferably, the roller assembly three includes a support frame two, a vertical rotating shaft with a top fixedly connected to the support frame two, a roller four rotatably sleeved on the outside of the vertical rotating shaft, a connecting rod movably connected to the bottom end of the vertical rotating shaft, a laser rangefinder two arranged on the connecting rod, a secondary drone fixed to the top of the support frame two, a roller three arranged at the outer end of the support frame two, and a drive motor connected to the vertical rotating shaft through a synchronous belt one, and the drive motor is fixed to the connecting rod;

[0019] The roller three is movably arranged on the inner bottom surface of the I-beam, and the outer side of the roller four is movably fitted on the outer side surface of the I-beam.

[0020] Preferably, the adjustment frame includes an adjustment cylinder, a rotating block fixed at the bottom end of the adjustment cylinder, and a rotating motor connected to the rotating block, and the free end of the adjustment cylinder is fixedly connected to the connecting rod.

[0021] Preferably, the device further comprises a deflection measuring assembly connected to the base frame; the deflection measuring assembly comprises a rotating rod rotatably connected to the base frame at one end, a power motor for driving the rotating rod to rotate, a slot provided at the other end of the rotating rod, and a handheld three-dimensional coordinate measuring instrument positioned and connected to the upper end of the rotating rod;

[0022] The card slot is movably connected to the supporting leg below the main UAV, and the handheld three-coordinate measuring instrument is connected to the host computer.

[0023] Preferably, the main drone includes a drone body, an upper card cover mounted on the top of the drone body, and a lower card cover mounted on the bottom of the drone body, and the outer sides of the upper card cover and the lower card cover are fastened together by screws.

[0024] The upper card cover is provided with an upper electromagnet, and the lower card cover is provided with a lower electromagnet. The upper electromagnet and the lower electromagnet are respectively connected to adjacent electromagnetic chucks in a separate manner.

[0025] Preferably, the power drive mechanism includes a drive gear coaxially connected to the power shaft, a second synchronous belt simultaneously meshing with multiple drive gears, and a working motor connected to one of the power shafts, wherein the working motor is positioned and connected to a positioning plate. Both the first power structure and the second power structure are rotary cylinder structures.

[0026] A method for detecting I-beams based on a drone, comprising the following steps:

[0027] Step S1: Positioning and connecting the main UAV with the mobile inspection part, on which the secondary UAV is provided;

[0028] Step S2: Simultaneously start the main UAV and the auxiliary UAV, lift the mobile inspection part as a whole, and move it to the I-beam position;

[0029] Step S3: The mobile inspection part includes roller assembly 1, roller assembly 2 and roller assembly 3. Roller assembly 1 and roller assembly 2 are placed on one side of the I-beam, and roller assembly 3 is placed on the other side of the I-beam;

[0030] Step S4: placing the roller assembly 1 and the roller assembly 2 on one side of the I-beam, and adjusting the roller assembly 3 so that it is placed on the other side of the I-beam;

[0031] Step S5: Automatically separate the main UAV from the mobile inspection part, and the main UAV returns to the ground or stops and waits;

[0032] Step S6: The mobile inspection part also includes a detection connecting rod structure, which is used to measure the internal dimensions of the I-beam, and a second laser rangefinder is used to measure the width of both outer sides of the I-beam;

[0033] Step S7: Scan the outer side of the I-beam using a handheld three-dimensional coordinate measuring instrument and upload the scan to a host computer to generate a three-dimensional model;

[0034] Step S8: After the measurement is completed, the main UAV rises to the position of the detection connecting rod structure and removes the mobile inspection part from the I-beam.

[0035] The beneficial effects of the present invention specifically include the following:

[0036] (1) This solution is designed with a detection link structure, which works in conjunction with two iris mechanisms to achieve the following technical effects:

[0037] First, the multiple detection link structures can simultaneously detect the three inner sides of the I-beam, improving the detection efficiency of the I-beam;

[0038] Secondly, the detection link structure is separately connected to the iris mechanism. When the main drone drives the entire structure to the I-beam position, the detection link structure is separated from the main drone, avoiding the adverse effects of the main drone's shaking on the measurement results. Therefore, in addition to the function of the robotic arm, the detection link structure also has the function of supporting and fixing the connection;

[0039] Third, an electromagnetic chuck is provided, which not only ensures the fit of the ultrasonic thickness gauge and the laser rangefinder 1 with the I-beam, but also ensures the stability of the roller assembly 1 and the roller assembly 2 when walking on the I-beam;

[0040] (2) Roller assembly 1, roller assembly 2 and roller assembly 3 are provided, and the three components cooperate with each other to achieve the following technical effects:

[0041] First, the previous idea of ​​using drones to drive the movement of detection equipment has been changed to the idea of ​​automatic inspection of detection equipment. This not only ensures the stability and safety of the detection, but also avoids damage to the drone. The invention concept is different from the existing technology.

[0042] Secondly, the previous inspection of I-beams was done by randomly selecting points, which has certain limitations and the measurement results are not necessarily accurate. In this case, the long-distance walking method can comprehensively detect the working conditions of the I-beams;

[0043] Third, a column and a camera are set up to observe the parallelism between the measuring cylinder and the inner top surface of the I-beam, and compare the images through the printed laser engraving detection system. The rotation angle of the measuring cylinder is automatically adjusted adaptively, making the entire measurement process convenient and fast.

[0044] Fourth, a secondary drone is set on the top of the second support frame to help balance the work of the main drone, so that the entire mobile equipment is balanced when rising and falling;

[0045] (3) An adjustment frame is provided so that the roller assembly 3 can move horizontally and rotate up and down, which helps to adjust the contact and separation of the roller assembly 3 on the I-beam; at the same time, when the roller 2 and the roller 4 are respectively against the two outer sides of the I-beam, the entire mobile equipment is made compact and stable, promoting the stable movement of the mobile equipment;

[0046] (4) A deflection measurement component is provided. On the one hand, a handheld three-coordinate measuring instrument is used to scan and photograph the entire I-beam and upload the data to the host computer. The degree of bending of the entire I-beam can be clearly seen on the host computer, and accurate measurement can also be achieved on the computer. On the other hand, a card slot is provided at one end of the rotating rod, which can be clamped on the support leg, which helps to further realize the support connection between the main UAV and the roller assembly 1 and the roller assembly 2, thereby promoting the stability of the overall device.

[0047] (5) The main UAV is provided with an upper card cover and a lower card cover, the upper card cover is provided with an upper electromagnet, and the lower card cover is provided with a lower electromagnet. The upper electromagnet and the lower electromagnet are separately connected to the adjacent electromagnetic suction cups, so that the electromagnetic suction cups not only have the function of positioning on the I-beam, but can also be positioned and connected with the upper electromagnet and the lower electromagnet, which helps to further enhance the stability of the support connection between the main UAV and the roller assembly 1 and the roller assembly 2. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the overall structure of the I-beam detection device in the present invention.

[0049] Figure 2 This is a front view of the I-beam detection device of the present invention.

[0050] Figure 3 It is a schematic diagram of the connection structure of roller assembly 1, roller assembly 2, detection connecting rod structure and roller assembly 3 in the present invention.

[0051] Figure 4 Schematic diagram of the connection structure between the roller assembly 2 and the detection connecting rod structure in the present invention.

[0052] Figure 5 This is a schematic structural diagram of the roller assembly three in the present invention.

[0053] Figure 6 Schematic diagram of the connection structure between the main drone and the iris mechanism in the present invention.

[0054] Figure 7 It is a structural diagram of the iris mechanism in the present invention.

[0055] Figure 8 It is a structural schematic diagram of the deflection measurement component in the present invention.

[0056] Figure 9 It is a partial structural diagram of the detection connecting rod structure in the present invention.

[0057] Figure 10 This is a schematic diagram of the working state in which the mobile inspection part is placed on the I-beam in the present invention.

[0058] Figure 11 The present invention is used to detect the state of the connecting rod structure. Figure 1 .

[0059] Figure 12 The present invention is used to detect the state of the connecting rod structure. Figure 2 .

[0060] Among them, the drawings are as follows: 1. I-beam; 2. Roller assembly 1; 21. Roller 1; 22. Support frame 1; 23. Horizontal wheel shaft; 24. Column; 241. Camera; 3. Roller assembly 2; 30. Rotating motor; 301. Base frame; 302. Drive shaft; 31. Roller 2; 32. Bevel gear 1; 33. Vertical wheel shaft; 331. Transmission belt 1; 34. Bevel gear 2; 35. Micromotor; 4. UAV body; 41. Upper card cover; 42. Lower card cover; 5. Support leg; 51. Rotating rod; 511. Power motor; 52. Card slot; 53. Handheld three-dimensional coordinate measuring instrument; 6. Iris mechanism; 6 1. Cam plate; 62. Power shaft; 63. Positioning plate; 64. Synchronous belt 2; 7. Detection connecting rod structure; 71. Fixed column; 72. Measuring cylinder; 721. Ultrasonic thickness gauge; 722. Electromagnetic suction cup; 73. Laser rangefinder 1; 74. Power structure 1; 75. Telescopic cylinder; 76. Power structure 2; 8. Roller assembly 3; 81. Auxiliary UAV; 82. Support frame 2; 83. Roller 3; 84. Vertical shaft; 85. Roller 4; 86. Drive motor; 861. Transmission belt 2; 87. Connecting rod; 88. Adjusting cylinder; 89. Laser rangefinder 2; 9. Upper electromagnet; 10. Lower electromagnet. DETAILED DESCRIPTION

[0061] In order to more clearly illustrate the technical features of this solution, this solution is described below through specific implementation methods.

[0062] See also Figures 1-12 A drone-based I-beam inspection device includes a transport portion and a mobile inspection portion detachably connected to the transport portion. The mobile inspection portion includes a roller assembly 1 2, a roller assembly 2 3 linked to the roller assembly 1 2, an adjustment frame connected to the lower end of the roller assembly 2 3 for vertical rotation, and a roller assembly 3 8 fixedly connected to the adjustment frame. The roller assembly 1 2 and the roller assembly 2 3 are both movably arranged on one side of the I-beam 1, and the roller assembly 3 8 is movably arranged on the other side of the I-beam 1.

[0063] Two detection link structures 7 are provided on the roller assembly 1 2 or the roller assembly 2 3 , wherein one detection link structure 7 is in active contact with the inner top surface and inner side surface of the I-beam 1 , and the other detection link structure 7 is in active contact with the inner bottom surface of the I-beam 1 ;

[0064] The transport part includes a main UAV, two iris mechanisms 6 fixedly connected to the upper and lower ends of the main UAV respectively, and two detection link structures 7 separately snap-connected to the two iris mechanisms 6 respectively.

[0065] The detection connecting rod structure 7 includes a measuring cylinder 72, an ultrasonic thickness gauge 721 fixed on the inside of the measuring cylinder 72, a laser rangefinder 73 fixed on the outside of the measuring cylinder 72, a fixed column 71 fixed on the outside of the measuring cylinder 72, and an electromagnetic suction cup 722 fixed on the outer end of the measuring cylinder 72. One end of the measuring cylinder 72 is rotatably connected to the fixed block 1 through a power structure 1 74. The fixed block 1 is connected to the telescopic cylinder 75. The other end of the telescopic cylinder 75 is rotatably connected to the fixed block 2 through a power structure 2 76. The fixed block 2 is positionally connected to the roller assembly 1 2 or the roller assembly 2 3.

[0066] Among them, the specific structures of the power structure 1 74 and the power structure 2 76 are not limited, and in principle, they can just play a rotating role; the ultrasonic thickness gauge 721, the laser rangefinder 1 73 and the electromagnetic suction cup 722 are all existing products and will not be described in detail here.

[0067] The iris mechanism 6 includes five cam plates 61 arranged in a circular array around a center point, a power shaft 62 fixedly connected to an end of a corner of the cam plate 61, and a power drive mechanism connected to the power shaft 62. The power shaft 62 is rotatably connected to the positioning plate 63.

[0068] The outer side surface of the cam plate 61 is an arc surface, the center of the arc surface is located at the center point, and a concave arc surface and a convex arc surface are respectively provided at both ends of the arc surface. The center of the convex arc surface is set at the center of the power shaft 62, and the center of the concave arc surface is set at the center of the power shaft 62 of another adjacent cam plate 61. The concave arc surfaces and convex arc surfaces of the two adjacent cam plates 61 are in movable contact with each other.

[0069] Under the action of the power drive structure, the cam plate 61 rotates around the power shaft 62. Multiple cam plates 61 can rotate simultaneously to achieve the effect of clamping the fixed column 71. The iris mechanism 6 is a conventional structure known to those skilled in the art and will not be described in detail here.

[0070] The roller assembly 2 includes a support frame 22, a roller 21 rotatably mounted at the bottom end of the support frame 22, a transverse axle 23 coaxially connected to the roller 21, a column 24 vertically fixed to the upper end of the support frame 22, and a camera 241 fixed to the column 24. The camera 241 faces the inner top surface of the I-beam 1 and is connected to a printed laser engraving detection system. The printed laser engraving detection system has a pre-recorded comparison image.

[0071] Roller 1 21 is movably arranged on the inner bottom surface of the I-beam 1 .

[0072] The printing laser engraving detection system is connected to the host computer, and the printing laser engraving detection system is also connected to the PLC controller. The PLC controller controls the operation of the power structure 1 74 and the power structure 2 76, and compares the images until the measuring cylinder 72 is rotated to the appropriate angle so that the electromagnetic suction cup 722 is flush with the upper and lower inner bottom surfaces of the I-beam.

[0073] The roller assembly 2 3 includes a vertical axle 33 rotatably connected to the support frame at the top, a roller 2 31 sleeved on the vertical axle 33, a micromotor 35 connected to the top of the vertical axle 33, a base 301 connected to the bottom of the vertical axle 33, a bevel gear 1 32 coaxially connected to the vertical axle 33, and a bevel gear 2 34 meshing with the bevel gear 1 32. The bevel gear 2 34 is coaxially connected to the horizontal axle 23.

[0074] The outer side of the second roller 31 moves and fits on the outer side of the I-beam 1 .

[0075] The bevel gear 1 32 and the bevel gear 2 34 are meshed and connected, and are linked to each other, so that the vertical wheel shaft 33 and the horizontal wheel shaft 23 work at the same time, providing stronger forward power.

[0076] More preferably, the two vertical axles 33 are connected by a transmission belt 1 331. Two adjacent vertical axles 33 run simultaneously, and the moving process is more stable.

[0077] The roller assembly 3 8 includes a second support frame 82, a vertical shaft 84 fixedly connected to the second support frame 82 at its top, a fourth roller 85 rotatably sleeved on the outside of the vertical shaft 84, a connecting rod 87 movably connected to the bottom end of the vertical shaft 84, a second laser rangefinder 89 disposed on the connecting rod 87, a secondary drone 81 fixed to the top of the second support frame 82, a third roller 83 disposed on the outer end of the second support frame 82, and a drive motor 86 connected to the vertical shaft 84 via a synchronous belt 1, and the drive motor 86 is fixed to the connecting rod 87;

[0078] The roller three 83 is movably arranged on the inner bottom surface of the I-beam 1 , and the outer side of the roller four 85 is movably fitted on the outer side surface of the I-beam 1 .

[0079] The driving motor 86 can drive the vertical rotating shaft 84 to rotate, so that the vertical rotating shaft 84 drives the support frame 3 to rotate, and further drives the roller 3 83 to rotate to the inner bottom surface of the I-beam 1.

[0080] More preferably, the two vertical rotating shafts 84 are connected by a second transmission belt 861 .

[0081] The adjustment frame includes an adjustment cylinder 88 , a rotating block fixed to the bottom end of the adjustment cylinder 88 , and a rotating motor 30 connected to the rotating block. The free end of the adjustment cylinder 88 is fixedly connected to the connecting rod 87 .

[0082] The rotating motor 30 can drive the rotating block to rotate, and then drive the adjusting cylinder 88 to rotate up and down, thereby promoting the separation of the roller three 83 and the I-beam 1.

[0083] The deflection measuring assembly is further comprised of a rotating rod 51 rotatably connected to the base frame 301 at one end, a power motor 511 for driving the rotating rod 51 to rotate, a slot 52 provided at the other end of the rotating rod 51, and a handheld three-dimensional coordinate measuring instrument 53 positioned and connected to the upper end of the rotating rod 51.

[0084] The card slot 52 is movably connected to the support leg 5 below the main UAV, and the handheld three-dimensional coordinate measuring instrument 53 is connected to the host computer.

[0085] The main UAV includes a UAV body 4, an upper card cover 41 mounted on the top of the UAV body 4, and a lower card cover 42 mounted on the bottom of the UAV body 4. The outer sides of the upper card cover 41 and the lower card cover 42 are fastened together by screws.

[0086] An upper electromagnet 9 is provided on the upper card cover 41 , and a lower electromagnet 10 is provided on the lower card cover 42 . The upper electromagnet 9 and the lower electromagnet 10 are separately connected to adjacent electromagnetic chucks 722 .

[0087] More preferably, the upper electromagnet 9 and the lower electromagnet 10 are connected to a spring and can be extended and retracted forward and backward.

[0088] The power drive mechanism includes a driving gear coaxially connected to the power shaft 62, a synchronous belt 2 64 simultaneously meshed with multiple driving gears, and a working motor connected to one of the power shafts 62. The working motor is positioned and connected to the positioning plate 63.

[0089] It should be noted that the synchronous belt 1 and the synchronous belt 2 64 in this solution are both connected to corresponding gear structures, and the gear structures are coaxially connected to the mutually linked shafts. This is the existing technology and will not be described in detail.

[0090] Both the power structure 1 74 and the power structure 2 76 are rotary cylinder structures.

[0091] When on the ground, the detection link structure 7 is connected to the iris mechanism 6 on the main UAV. Specifically, the fixing column 71 is clamped between the multiple cam plates 61. Under the action of the power drive mechanism, the multiple cam plates 61 clamp and fix the fixing column 71.

[0092] At the same time, the upper electromagnet 9 and the lower electromagnet 10 are respectively connected to the adjacent electromagnetic suction cup 722, and the slot 52 on the rotating rod 51 is engaged with the supporting leg 5, ensuring the stable connection between the main drone and the roller assembly 1 2, the roller assembly 2 3, and the roller assembly 3 8, controlling the operation of the main drone and the auxiliary drone 81, lifting and driving the mobile inspection part to the position of the I-beam 1; wherein, Figure 10 This is a schematic diagram of the working state of placing the mobile inspection part on the I-beam 1 using the main drone and the auxiliary drone 81.

[0093] At this time, the roller assembly 1 2 and the roller assembly 2 3 first contact the inner bottom surface and the outer side surface of the I-beam 1, and then the motor 30 is rotated to rotate the drive shaft 302, and the drive shaft 302 drives the adjusting cylinder 88 to rotate, and the adjusting cylinder 88 drives the roller assembly 3 8 to rotate up and down until the adjusting cylinder 88 is in a horizontal state, and then the drive motor 86 drives the vertical rotating shaft 84 to rotate, and the vertical rotating shaft 84 drives the support frame 2 82, the roller 3 83, and the auxiliary drone 81 to rotate, so that the roller 3 83 contacts the bottom surface of the other side of the I-beam 1, and the adjusting cylinder 88 contracts, so that the roller 2 31 and the roller 4 85 are tightly against the two outer sides of the I-beam 1;

[0094] Then, the detection link structure 7 is separated from the iris mechanism 6. Under the action of the power drive mechanism, the five cam plates 61 are opened to separate from the fixed column 71. The specific structure of the power drive mechanism is not limited, and it can be driven by a motor, for example.

[0095] An adjustment frame is provided so that the roller assembly three 8 can move horizontally and rotate up and down, which helps to adjust the contact and separation of the roller assembly three 8 on the I-beam 1; at the same time, when the roller two 31 and the roller four 85 are respectively against the two outer sides of the I-beam 1, the entire mobile equipment becomes compact and stable, promoting the stable movement of the mobile equipment.

[0096] The invention is provided with a roller assembly 1 2, a roller assembly 2 3 and a roller assembly 3 8. The three cooperate with each other, changing the previous idea of ​​using a drone to drive the detection equipment to move to the idea of ​​automatic inspection of the detection equipment, which not only ensures the stability and safety of the detection, but also avoids damage to the drone. The invention concept is different from the existing technology;

[0097] In the past, the detection of the I-beam 1 was done by randomly selecting points, which has certain limitations and the measurement results are not necessarily accurate. At this time, a long-distance walking method is used to comprehensively detect the working condition of the I-beam 1;

[0098] A secondary drone 81 is provided on top of the second support frame 82 to help balance the work of the main drone, so that the entire mobile equipment is balanced when rising and falling;

[0099] Then, under the action of the detection link structure 7, the electromagnetic suction cup 722 is attracted to the I-beam 1. The electromagnetic suction cup 722 is provided, which not only ensures the fit of the ultrasonic thickness gauge 721 and the laser rangefinder 1 73 with the I-beam 1, but also ensures the stability of the roller assembly 1 2 and the roller assembly 2 3 when walking on the I-beam 1.

[0100] Then, laser ranging and ultrasonic thickness measurement are performed, wherein the power structure 1 74 and the power structure 2 76 both play a role of rotation, and their specific mechanical structures are not limited, as long as they play the role of rotation drive; the detection connection structure has multiple, for example, three, respectively against the upper and lower bottom surfaces and inner side surfaces of the I-beam 1. Two are designed in the drawings of this solution, which does not affect the detection work. In practice, it is not limited to two, for this purpose;

[0101] A column 24 and a camera 241 are provided. By observing the parallelism between the measuring cylinder 72 and the inner top surface of the I-beam 1 (the inner top surface and the inner bottom surface of the I-beam 1 in this solution have a draft angle, and the same is applicable to the I-beam 1 without a draft angle), the image is compared through the printed laser engraving detection system, and the rotation angle of the measuring cylinder 72 is adaptively and automatically adjusted, making the entire measurement process convenient and quick.

[0102] in, Figure 11 A reference diagram of the upper and lower detection link structures 7 located on the inner top and inner bottom surfaces of the I-beam 1, used to measure the distance between the inner top and inner bottom surfaces; Figure 12 This is a state reference diagram in which two detection link structures 7 are respectively located on the inner bottom surface and inner side surface of the I-beam 1 , and is used to measure the wall thickness of the I-beam 1 .

[0103] A deflection measurement component is provided. On the one hand, a handheld three-dimensional measuring instrument 53 is used to scan and photograph the entire I-beam 1, and the scan is uploaded to the host computer to form a three-dimensional model of the I-beam 1. On the host computer, based on the generated three-dimensional model of the I-beam 1, the degree of bending of the entire I-beam 1 can be clearly seen, and accurate measurement can also be achieved on the computer. On the other hand, a card slot 52 is provided at one end of the rotating rod 51. The card slot 52 can be clamped on the support leg 5, which helps to further realize the support connection between the main drone and the roller assembly 1 2 and the roller assembly 2 3, thereby promoting the stability of the entire device.

[0104] It should be noted that the handheld three-dimensional coordinate measuring instrument 53 used in this solution is not actually handheld, but needs to be equipped with a controller to realize high-altitude automatic control work; a semi-automatic three-dimensional coordinate measuring instrument can also be used, that is, the angle of the probe needs to be manually adjusted during the measurement process, but some operations can be automated. It is not recommended to use a fully automatic three-dimensional coordinate measuring instrument because it is large in size and inconvenient to carry on a drone. This is hereby explained.

[0105] The main UAV is provided with an upper card cover 41 and a lower card cover 42, the upper card cover 41 is provided with an upper electromagnet 9, and the lower card cover 42 is provided with a lower electromagnet 10. The upper electromagnet 9 and the lower electromagnet 10 are separately connected to the adjacent electromagnetic suction cup 722, so that the electromagnetic suction cup 722 not only has the function of positioning on the I-beam 1, but also can be positioned and connected with the upper electromagnet 9 and the lower electromagnet 10, which helps to further enhance the stability of the support connection between the main UAV and the roller assembly 1 2 and the roller assembly 2 3.

[0106] When the entire measurement process is completed, the detection connecting rod structure 7 is first docked with the iris mechanism 6 on the main drone, and the drive motor 86 is operated to separate the roller three 83 from the I-beam 1. Under the action of the adjusting cylinder 88, the roller four 85 is separated from the I-beam 1. Then, under the action of the rotating motor 30, the adjusting cylinder 88 is rotated downward. At the same time, the auxiliary drone 81 works to cooperate with the main drone to transfer the entire mobile inspection part from the I-beam 1.

[0107] A method for detecting I-beams based on a drone, comprising the following steps:

[0108] Step S1: Positioning and connecting the main UAV with the mobile inspection part, on which the secondary UAV is provided;

[0109] Step S2: Simultaneously start the main UAV and the auxiliary UAV 81, lift the mobile inspection part as a whole, and transfer it to the position of the I-beam 1;

[0110] Step S3: The mobile inspection part includes roller assembly 1 2, roller assembly 2 3 and roller assembly 3 8. Roller assembly 1 2 and roller assembly 2 3 are placed on one side of the I-beam 1, and roller assembly 3 8 is placed on the other side of the I-beam 1;

[0111] Step S4: placing the roller assembly 1 2 and the roller assembly 2 3 on one side of the I-beam 1, and adjusting the roller assembly 3 8 so that it is placed on the other side of the I-beam 1;

[0112] Step S5: Automatically separate the main UAV from the mobile inspection part, and the main UAV returns to the ground or stops and waits;

[0113] Step S6: The mobile inspection part also includes a detection link structure 7, which uses the detection link structure 7 to measure the internal dimensions of the I-beam 1, and simultaneously uses a laser rangefinder 89 to measure the width of both outer sides of the I-beam 1;

[0114] See Figure 2 and Figure 5 The placement and fixing position of the laser rangefinder 89 on the connecting rod 87 is based on the actual operation situation in order to achieve the purpose of distance measurement. This is hereby explained.

[0115] Step S7: Use the handheld three-dimensional coordinate measuring instrument 53 to scan the outer side of the I-beam 1 and upload it to the host computer to generate a three-dimensional model; the working principle of the handheld three-dimensional coordinate measuring instrument 53 is existing technology and will not be described in detail here.

[0116] Step S8: After the measurement is completed, the main UAV rises to the position of the detection connecting rod structure 7 and removes the mobile inspection part from the I-beam 1.

[0117] Technical features not described in the present invention can be achieved through or by adopting existing technologies and will not be described in detail here. Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the scope of protection of the present invention.

Claims

1. An I-beam inspection device based on a drone, comprising a transfer part, characterized in that: It also includes a mobile inspection part connected to the transfer part in a separate manner, the mobile inspection part includes a roller assembly (2), a roller assembly (3) linked to the roller assembly (2), an adjustment frame connected to the lower end of the roller assembly (3) for vertical rotation, and a roller assembly (8) fixedly connected to the adjustment frame, the roller assembly (2) and the roller assembly (3) are both movably arranged on one side of the I-beam (1), and the roller assembly (8) is movably arranged on the other side of the I-beam (1); Two detection link structures (7) are provided on the roller assembly 1 (2) or the roller assembly 2 (3), wherein one of the detection link structures (7) is in movable contact with the inner top surface and inner side surface of the I-beam (1), and the other detection link structure (7) is in movable contact with the inner bottom surface of the I-beam (1); The transport part comprises a main drone, two iris mechanisms (6) respectively fixedly connected to the upper and lower ends of the main drone, and two detection connecting rod structures (7) respectively separately snap-connected to the two iris mechanisms (6); The detection connecting rod structure (7) includes a measuring cylinder (72), an ultrasonic thickness gauge (721) fixed on the inner side of the measuring cylinder (72), a laser rangefinder (73) fixed on the outer side of the measuring cylinder (72), a fixed column (71) fixed on the outer side of the measuring cylinder (72), and an electromagnetic suction cup (722) fixed on the outer end of the measuring cylinder (72); one end of the measuring cylinder (72) is rotatably connected to a fixed block (1) via a power structure (1) (74); the fixed block (1) is connected to a telescopic cylinder (75); the other end of the telescopic cylinder (75) is rotatably connected to a fixed block (2) via a power structure (2) (76); the fixed block (2) is positionally connected to the roller assembly (1) or the roller assembly (2) (3); The iris mechanism (6) includes five cam plates (61) arranged in a circular array around a center point, a power shaft (62) connected to an end of an angle of the cam plate (61), and a power drive mechanism connected to the power shaft (62), wherein the power shaft (62) is rotatably connected to a positioning plate (63); The outer side surface of the cam plate (61) is an arc surface, the center of the arc surface is located at the center point, and the two ends of the arc surface are respectively provided with a concave arc surface and a convex arc surface, the center of the convex arc surface is set at the center of the power shaft (62), and the center of the concave arc surface is set at the center of the power shaft (62) of another adjacent cam plate (61), and the concave arc surfaces and convex arc surfaces of the two adjacent cam plates (61) are in movable contact with each other.

2. The I-beam detection device based on a drone according to claim 1, characterized in that: The roller assembly (2) includes a support frame (22), a roller (21) rotatably arranged at the bottom end of the support frame (22), a transverse wheel shaft (23) coaxially connected to the roller (21), a column (24) vertically fixed to the upper end of the support frame (22), and a camera (241) fixed on the column (24), wherein the camera (241) shoots toward the inner top surface of the I-beam (1), and the camera (241) is connected to a printing laser engraving detection system, wherein the printing laser engraving detection system has a comparison image recorded in advance; the roller (21) is movably arranged on the inner bottom surface of the I-beam (1).

3. The I-beam detection device based on a drone according to claim 2, characterized in that: The roller assembly 2 (3) comprises a vertical wheel shaft (33) whose top end is rotatably connected to the support frame, a roller 2 (31) sleeved on the vertical wheel shaft (33), a micro motor (35) connected to the top end of the vertical wheel shaft (33), a base frame (301) connected to the bottom end of the vertical wheel shaft (33), a bevel gear 1 (32) coaxially connected to the vertical wheel shaft (33), and a bevel gear 2 (34) meshingly connected to the bevel gear 1 (32), wherein the bevel gear 2 (34) is coaxially connected to the transverse wheel shaft (23); the outer side of the roller 2 (31) moves and fits on the outer side of the I-beam beam (1).

4. The I-beam detection device based on a drone according to claim 3 is characterized in that: The roller assembly three (8) includes a support frame two (82), a vertical rotating shaft (84) fixedly connected to the support frame two (82) at the top, a roller four (85) rotatably sleeved on the outside of the vertical rotating shaft (84), a connecting rod (87) movably connected to the bottom end of the vertical rotating shaft (84), a laser rangefinder two (89) arranged on the connecting rod (87), a sub-drone (81) fixed to the top of the support frame two (82), a roller three (83) arranged at the outer end of the support frame two (82), and a driving motor (86) connected to the vertical rotating shaft (84) through a synchronous belt one, and the driving motor (86) is fixed to the connecting rod (87); The roller three (83) is movably arranged on the inner bottom surface of the I-beam (1), and the outer side of the roller four (85) is movably fitted on the outer side surface of the I-beam (1).

5. The I-beam detection device based on a drone according to claim 4, characterized in that: The regulating frame comprises an regulating cylinder (88), a rotating block fixed to the bottom end of the regulating cylinder (88), and a rotating motor (30) connected to the rotating block. The free end of the regulating cylinder (88) is fixedly connected to the connecting rod (87).

6. The I-beam detection device based on a drone according to claim 3, characterized in that: It also includes a deflection measuring assembly connected to the base frame (301); the deflection measuring assembly includes a rotating rod (51) rotatably connected to the base frame (301) at one end, a power motor (511) for driving the rotating rod (51) to rotate, a slot (52) provided at the other end of the rotating rod (51), and a handheld three-dimensional coordinate measuring instrument (53) positionally connected to the upper end of the rotating rod (51); The card slot (52) is movably connected to the support leg (5) below the main UAV, and the handheld three-coordinate measuring instrument (53) is connected to the host computer.

7. The I-beam detection device based on a drone according to claim 1, characterized in that: The main UAV comprises a UAV body (4), an upper card cover (41) mounted on the top of the UAV body (4), and a lower card cover (42) mounted on the bottom of the UAV body (4), wherein the upper card cover (41) and the outer sides of the lower card cover (42) are fastened together by screws; An upper electromagnet (9) is provided on the upper card cover (41), and a lower electromagnet (10) is provided on the lower card cover (42). The upper electromagnet (9) and the lower electromagnet (10) are separately connected to adjacent electromagnetic suction cups (722).

8. The I-beam detection device based on a drone according to claim 1, characterized in that: The power drive mechanism includes a driving gear coaxially connected to the power shaft (62), a synchronous belt (64) simultaneously meshed with a plurality of the driving gears, and a working motor connected to one of the power shafts (62), wherein the working motor is positioned and connected to the positioning plate (63).

9. The I-beam detection device based on a drone according to claim 1, characterized in that: The power structure 1 (74) and the power structure 2 (76) are both rotary cylinder structures.

10. A method for detecting an I-beam based on a drone, using the I-beam detection device based on a drone according to any one of claims 1 to 9, characterized in that: The specific steps include: Step S1: Positioning and connecting the main UAV with the mobile inspection part, on which the secondary UAV is provided; Step S2: Simultaneously start the main UAV and the auxiliary UAV (81), lift the mobile inspection part as a whole, and transfer it to the position of the I-beam (1); Step S3: The mobile inspection part includes roller assembly 1 (2), roller assembly 2 (3) and roller assembly 3 (8), and roller assembly 1 (2) and roller assembly 2 (3) are placed on one side of the I-beam (1), and roller assembly 3 (8) is placed on the other side of the I-beam (1); Step S4: placing the roller assembly 1 (2) and the roller assembly 2 (3) on one side of the I-beam (1), and adjusting the roller assembly 3 (8) so that it is placed on the other side of the I-beam (1); Step S5: Automatically separate the main UAV from the mobile inspection part, and the main UAV returns to the ground or stops and waits; Step S6: The mobile inspection part also includes a detection connecting rod structure (7), which uses the detection connecting rod structure (7) to measure the internal dimensions of the I-beam (1), and simultaneously uses the second laser rangefinder (89) to measure the width of both outer sides of the I-beam; Step S7: Scan the outer side of the I-beam (1) using a handheld three-dimensional coordinate measuring instrument (53), and upload the scan to a host computer to generate a three-dimensional model; Step S8: After the measurement is completed, the main UAV rises to the position of the detection connecting rod structure (7) and removes the mobile inspection part from the I-beam (1).

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