An unmanned aerial vehicle-based slope crack detection amplification device and method

Abstract

The present application relates to a kind of slope crack detection amplification device and detection method based on unmanned aerial vehicle, belong to slope detection technical field, including the anchor assembly and unmanned aerial vehicle being set on slope;Anchor assembly includes pressure pad, anchoring rod body, locking nut;The bottom of unmanned aerial vehicle is connected with support bracket, and the top of support bracket is connected with detection camera for crack amplification detection;Support bracket side is connected with support frame, and support frame is connected with hanging component and two electric push rods, and support frame is also integrated with servo steering engine;Through the hanging component and locking nut hang, electric push rod and slope inhibit unmanned aerial vehicle sway, and electric push rod and servo steering engine cooperate and adjust the detection direction of detection camera;Solve the shaking of unmanned aerial vehicle detection by environment and its own factors, and lack effective stable support and direction adjustment mechanism, leading to the problem of low detection precision.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of slope detection, and relates to a slope crack detection amplification device and method based on a UAV. BACKGROUND

[0002] In the process of engineering construction and operation of highways, railways, mines and the like, the stability of a slope, which is a common engineering structure, is directly related to the safety of the engineering and the surrounding environment. The slope is prone to cracks under the influence of long-term natural environment (such as rainwater erosion, temperature change, geological subsidence) and human factors (such as vehicle vibration, construction disturbance). If these cracks are not detected and treated in a timely manner, they may gradually expand, causing accidents such as slope collapse and landslides, resulting in casualties and property losses. Therefore, regular detection of slope cracks is a key link in the safety maintenance of engineering.

[0003] Traditional slope crack detection mainly relies on manual inspection and large detection equipment. When manually inspecting, the worker needs to carry detection tools and approach the slope at a close distance. For dangerous areas such as high and steep slopes and loose rock and soil slopes, not only is the operation difficult, but also there are safety risks such as slope collapse and rock falling. Moreover, manual detection is low in efficiency and limited in detection range, and it is difficult to cover large areas or complex terrain slope areas. Although large detection equipment (such as detection vehicles and climbing robots) can replace manual work to some extent, the equipment is large in size, inconvenient to transport and deploy, and is obviously limited by the terrain, especially in mountainous slope, narrow road slope and other scenes, and is not suitable for daily detection needs of small and medium-sized projects due to high cost.

[0004] With the development of UAV technology, UAVs have gradually been applied to the field of slope crack detection due to their advantages of flexible maneuvering, convenient deployment and low cost. Existing slope crack detection schemes based on UAVs mainly mount a detection camera on the bottom of the UAV, control the UAV to fly near the slope, and use the detection camera to shoot images of the slope to achieve preliminary observation of the cracks. However, such schemes have obvious technical defects in actual application. The core problem is that the UAV is prone to shaking during detection, which makes it difficult to guarantee the detection accuracy. Moreover, the UAV is prone to shaking due to external environmental factors during flight. The slope detection scene is mostly outdoors, where wind and airflow change frequently. When the UAV flies near the slope, the body is prone to irregular shaking due to the disturbance of the airflow on the slope surface (such as local turbulence on the slope and rising hot airflow). At the same time, due to the stability limitation of the UAV's own flight control system, there may be slight position deviation and attitude fluctuation during hovering or slow movement. These shakes will be directly transmitted to the mounted detection camera, making it difficult for the camera lens to stabilize and align with the crack area. The shot images are prone to blurring, ghosting or picture deviation, and cannot clearly present the key details such as the width and depth of the cracks. Even small cracks may be missed due to shaking, affecting the accuracy of the detection results. SUMMARY

[0005] Therefore, the present application provides a slope crack detection amplification device and method based on a UAV to accurately detect slope cracks in different scenarios such as highways, railways, and mines.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0007] A slope crack detection amplification device based on a UAV, an anchor assembly arranged on a slope, and a UAV;

[0008] The anchor assembly includes an anchoring rod arranged in the slope, an outer wall of the anchoring rod is sleeved with a pressure bearing pad abutting against the slope, and an outer wall of the anchoring rod is threadedly sleeved with a locking nut abutting against the pressure bearing pad;

[0009] The bottom of the UAV is provided with a support bracket, and the top of the support bracket is provided with a detection camera for crack amplification detection;

[0010] The support frame is arranged on one side of the support bracket, the support frame is connected with a hanging assembly hung with the locking nut, and two electric push rods are arranged on one side of the support frame below the hanging assembly, the output ends of the electric push rods abut against the slope, and the detection direction of the detection camera is changed by adjusting the extension length of the electric push rods;

[0011] The support frame further includes a servo steering engine, the output end of the servo steering engine is connected with the support bracket, the support bracket is driven to rotate by the servo steering engine, and the detection direction of the detection camera is further adjusted.

[0012] Further, the support frame includes a connecting seat I and a connecting seat III fixed on one side of the support bracket, a connecting pipe is rotatably arranged at the top of the connecting seat III, a connecting shaft is rotatably arranged in the connecting pipe, a connecting seat IV is rotatably sleeved with the outer wall of the bottom end of the connecting shaft, the servo steering engine is fixed at the bottom of the connecting seat IV, the output end of the servo steering engine is fixedly connected with the connecting shaft, a connecting seat II is fixedly arranged at the top of the connecting pipe, and the top end of the connecting shaft is fixedly connected with the connecting seat I through the connecting seat II.

[0013] Further, the same clamping block is inserted into the top end of the connecting seat I and the connecting shaft, a connecting bolt is arranged through the top of the clamping block, and the connecting bolt is threadedly connected with the top end of the connecting shaft.

[0014] Further, the electric push rod is fixedly arranged on one side of the connecting seat IV.

[0015] Further, the hanging assembly comprises two extension connecting rods fixed on one side of the connecting seat II, and the other end of the extension connecting rod is fixedly provided with a fixed base, and a connecting strut is fixedly arranged between the two fixed bases, and the connecting strut is hung with the locking nut.

[0016] Further, the locking nut is hexagonal, and an insertion groove is formed on one side of the top of the locking nut, and an insertion strip body is inserted into the insertion groove, and a limiting block is fixedly arranged on the top of the insertion strip body, and the limiting block is fixedly connected with the locking nut through a screw, and a U-shaped notch for hanging the connecting strut is formed on the top of the limiting block.

[0017] Further, rotating shafts are rotatably arranged on the two sides of the limiting block, an arc-shaped rod body is fixedly arranged on the outer wall of the rotating shaft and used in cooperation with the connecting strut, limiting struts for limiting the arc-shaped rod body are fixedly arranged on the two sides of the limiting block, and a torsion spring is sleeved on the outer wall of the rotating shaft and abuts against the inner wall of the limiting block and the outer wall of the rotating shaft at two ends.

[0018] Further, a guide positioning plate used in cooperation with the locking nut is fixedly arranged on the outer side of the fixed base, and the connecting strut is positioned by the inclined surface of the guide positioning plate and the locking nut.

[0019] The beneficial effects of the present application are as follows:

[0020] 1. The slope crack detection amplification device based on the unmanned aerial vehicle disclosed in the present application can complete slope crack detection by means of the detection camera carried by the unmanned aerial vehicle, and the staff need not approach the slope for operation, thereby effectively avoiding the safety risks such as slope collapse and stone falling, and the device is especially suitable for dangerous scenes such as high and steep slopes and loose rock and soil slopes, and meanwhile, the unmanned aerial vehicle has the flexible moving characteristics and can quickly reach the detection area that is difficult for artificial operation, thereby greatly reducing the difficulty of on-site operation and reducing the labor input and operation time cost.

[0021] 2. When the hanging assembly is hung with the anchor assembly, the connecting strut is inserted into the U-shaped notch of the limiting block, the arc-shaped rod body closes the U-shaped notch under the action of the gravity of the machine body, the positioning and support are realized by cooperation of the inclined surface of the guide positioning plate and the locking nut, the bottom support is realized by cooperation of the electric push rod, the hovering platform is formed, the displacement or shaking of the unmanned aerial vehicle in the detection process due to factors such as wind force and vibration is effectively prevented, and the stability and reliability of the detection process are ensured.

[0022] 3. The slope crack detection and magnification device based on UAV disclosed in this invention features a dual adjustment structure of an electric push rod and a servo motor: the electric push rod can adjust the length of its output end to swing around the connecting support rod, thereby driving the detection camera to achieve a wide range of detection direction adjustments and quickly aligning it with the approximate area of ​​the crack; the servo motor can precisely control the rotation angle of the support bracket to fine-tune the direction of the detection camera, ensuring that the lens is accurately aligned with the crack. With the dual adjustment working together, the detection camera can flexibly adapt to slope cracks at different locations and angles, avoiding missed detections or blurry detections caused by deviations in the detection direction, and significantly improving the accuracy of crack detection.

[0023] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0024] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0025] Figure 1 This is a schematic diagram of the usage state of the slope crack detection magnification device based on UAV of the present invention;

[0026] Figure 2 This is a schematic diagram of the connection structure between the anchor assembly and the UAV in this invention;

[0027] Figure 3 This is a schematic diagram of the extension connecting rod and the UAV structure in this invention;

[0028] Figure 4 This is a schematic diagram of the structure of the hook-up assembly and the anchor assembly in this invention;

[0029] Figure 5 This is a cross-sectional view of the support frame in this invention;

[0030] Figure 6 This is a partial structural diagram of the limiting block in this invention;

[0031] Figure 7 For the present invention Figure 6 Schematic diagram of the installation structure of the arc-shaped rod;

[0032] Figure 8 This is a schematic diagram of the UAV structure in this invention.

[0033] Anchor assembly; 2, unmanned aerial vehicle; 3, electric push rod; 4, hanging assembly; 41, extension connecting rod; 42, fixed base; 43, guide positioning plate; 44, connecting strut; 5, support frame; 51, connecting seat I; 52, connecting seat II; 53, connecting conduit; 54, connecting seat III; 55, connecting seat IV; 56, servo steering engine; 57, connecting shaft; 58, clamping block; 59, connecting bolt; 11, anchoring rod body; 12, pressure pad; 13, locking nut; 14, limiting stopper; 15, insertion slot; 16, insertion bar body; 17, U-shaped notch; 18, limiting support; 19, rotating shaft; 191, torsional spring; 20, arc-shaped rod body; 21, support bracket; 22, detection camera. DETAILED DESCRIPTION

[0034] The advantages and effects of the present application can be easily understood by those skilled in the art from the above description. The present application can also be implemented or applied by different specific embodiments, and various modifications or changes can be made to the details in the specification without departing from the spirit of the present application.

[0035] As Figure 1 , 2 , 3, 8, the unmanned aerial vehicle-based slope crack detection amplification device needs to determine the installation position of the anchor assembly 1 and the deployment area of the unmanned aerial vehicle 2 according to the specific environment of the slope. The anchor assembly 1 includes an anchoring rod body 11 arranged in the slope, a pressure pad 12 sleeved on the free end of the anchoring rod body 11 and abutting against the surface of the slope, and a locking nut 13 threadedly connected to the free end of the anchoring rod body 11 and abutting against the pressure pad 12, for fixing the pressure pad 12. During the installation of the anchor assembly 1, a mounting hole is first pre-set on the slope, the anchoring rod body 11 is placed in the mounting hole to ensure that the anchoring rod body 11 completely fits the inner wall of the mounting hole, then the outer wall of the anchoring rod body 11 is sleeved with the pressure pad 12, the pressure pad 12 is pushed until one end thereof abuts against the surface of the slope, and then the locking nut 13 is sleeved on the outer wall of the anchoring rod body 11, the locking nut 13 is moved along the outer wall of the anchoring rod body 11 by rotating the locking nut 13 until the locking nut 13 abuts against the end of the pressure pad 12 away from the slope, at this time the installation of the anchor assembly 1 on the slope is completed, and stable support can be provided for the subsequent hanging of the device.

[0036] The unmanned aerial vehicle 2 has completed the fixed installation of the bottom support bracket 21 before leaving the factory. The support bracket 21 is made of light alloy material, which can effectively reduce the overall weight of the unmanned aerial vehicle 2 while ensuring the structural strength, avoiding affecting the endurance and flight stability of the unmanned aerial vehicle 2 due to the excessive weight of the bracket. The top of the support bracket 21 is reserved for installation, and the installation position is provided with a positioning mark, which facilitates the staff to quickly find the installation position of the detection camera 22. When the detection camera 22 is fixed on the installation position by bolts, each bolt needs to be tightened in turn, and the tightening force of each bolt needs to be consistent to prevent the detection camera 22 from tilting due to uneven force. The detection camera 22 selects a model with high-definition shooting and magnification function. Its lens can accurately focus on the slope crack. Before actual detection, the staff can adjust the focus and exposure parameters of the lens through the control system of the unmanned aerial vehicle 2 to ensure that the crack image can be clearly shot under different lighting conditions, realize the magnification detection of the crack, and facilitate the staff to clearly observe the width, depth and texture details inside the crack through the rear-end equipment, and provide accurate data for slope safety evaluation.

[0037] The support frame 5 is arranged on one side of the support bracket 21 and fixed between the support bracket 21 by welding to ensure stable connection. The support frame 5 is connected with the hanging assembly 4, and the position of the hanging assembly 4 corresponds to the installation position of the anchor assembly 1 to ensure that the unmanned aerial vehicle 2 can maintain a horizontal state or an inclined angle required by detection after being hung. The hanging assembly 4 is used to be hung with the locking nut 13 in the anchor assembly 1 to realize the connection and fixation of the unmanned aerial vehicle 2 and the anchor assembly 1. Before hanging, the staff can observe the relative position of the hanging assembly 4 and the locking nut 13 through the camera of the unmanned aerial vehicle 2, remotely control the unmanned aerial vehicle 2 to adjust the position, and reduce the danger of manual operation. Two electric push rods 3 are fixed and installed on the side of the support frame 5 close to the slope and below the hanging assembly 4. The two electric push rods 3 are symmetrically distributed to ensure that the support frame 5 is balanced when adjusting the detection direction. The model of the electric push rod 3 is selected according to the actual thrust requirement, and the output end of the electric push rod 3 is arranged towards the slope. A wear-resistant pad is installed at the end of the output end to avoid wear caused by long-term contact with the surface of the slope and prolong the service life of the electric push rod 3. When it is necessary to adjust the detection direction of the detection camera 22, the electric push rod 3 is started, and the output end of the electric push rod 3 is extended or retracted. When the output end is in contact with the surface of the slope, the support frame 5 will cause the support bracket 21 and the detection camera 22 to slightly tilt with the change of the extension length of the output end. The staff can observe the angle change of the detection camera 22 through the real-time image transmitted by the unmanned aerial vehicle 2, timely adjust the extension length of the electric push rod 3, and change the detection angle of the detection camera 22 to realize the detection of cracks at different positions, especially for detecting cracks at different heights and inclined directions on the surface of the slope.

[0038] The support frame 5 is integrated with a servo steering engine 56, the output end of the servo steering engine 56 is connected with the support bracket 21 through a coupling, the coupling is selected as an elastic coupling, the vibration generated during the operation of the servo steering engine 56 can be effectively buffered, and the influence on the support bracket 21 and the detection camera 22 is reduced. The servo steering engine 56 can accurately control the rotation angle of the output shaft, the control accuracy can reach 0.1 degree, and the requirement of fine adjustment of the detection camera 22 is met. When it is necessary to further adjust the detection direction of the detection camera 22, the worker sends a control signal to the servo steering engine 56 through the control system of the unmanned aerial vehicle 2, the output shaft of the servo steering engine 56 drives the support bracket 21 to rotate around the connecting point according to the instruction, and the support bracket 21 drives the detection camera 22 at the top to synchronously rotate during the rotation process, the rotation speed can be adjusted through the control system, and the image blurred by the detection camera 22 due to too fast rotation is avoided. During the fine adjustment process, the worker can observe whether the detection camera 22 is aligned to the crack through the real-time image, if not, the control signal can be continuously sent for adjustment until the detection camera 22 is accurately aligned to the crack position on the slope, and it is ensured that the crack image shot is clear and accurate.

[0039] As Figure 5As shown, the support frame 5 specifically consists of the connecting seat I 51, the connecting seat III 54, the connecting guide pipe 53, the connecting rotating shaft 57, the connecting seat IV 55 and the connecting seat II 52. The connecting seat I 51 and the connecting seat III 54 are both fixed on one side of the support bracket 21 through bolts, high-strength bolts are selected, and a gasket needs to be installed between the bolt and the connecting seat during installation to enhance the sealing and stability of the connection. A through mounting hole is formed in the top of the connecting seat III 54, the inner wall of the mounting hole needs to be finished to ensure smoothness of the surface, the connecting guide pipe 53 is rotatably installed in the mounting hole through a bearing, the bearing is a deep groove ball bearing with good wear resistance and rotation accuracy, the connecting guide pipe 53 can freely rotate around its own axis without obvious jamming during rotation. The connecting guide pipe 53 is hollow, the connecting rotating shaft 57 is arranged inside the connecting guide pipe 53, the surface of the connecting rotating shaft 57 is chrome-plated to improve the rust resistance and surface hardness, and the connecting rotating shaft 57 is rotatably connected with the connecting guide pipe 53 through bearings, two bearings are respectively installed at both ends of the connecting guide pipe 53 to ensure the coaxiality of the connecting rotating shaft 57 during rotation. The connecting seat IV 55 is rotatably sleeved on the outer wall of the bottom end of the connecting rotating shaft 57, and the connecting seat IV 55 is also rotatably connected with the connecting rotating shaft 57 through a bearing, the bearing is a thrust ball bearing that can bear certain axial force to ensure the stability of the connecting seat IV 55. The servo steering engine 56 is fixed on the bottom of the connecting seat IV 55 through bolts, the installation position of the bolt needs to avoid the heat dissipation hole of the servo steering engine 56 to prevent affecting the heat dissipation effect, the output end of the servo steering engine 56 is fixedly connected with the bottom end of the connecting rotating shaft 57 through a flat key, the gap between the flat key and the key groove needs to be controlled within a reasonable range to ensure smooth power transmission, when the servo steering engine 56 works, the output end can drive the connecting rotating shaft 57 to rotate in the connecting guide pipe 53 and the connecting seat IV 55. The connecting seat II 52 is fixed on the top of the connecting guide pipe 53 through welding, the welding needs to ensure that the connecting seat II 52 is perpendicular to the connecting guide pipe 53, the top end of the connecting rotating shaft 57 penetrates through a reserved hole in the connecting seat II 52, the diameter of the reserved hole is slightly larger than the diameter of the connecting rotating shaft 57 to avoid friction during rotation, and the connecting rotating shaft 57 is fixedly connected with the connecting seat I 51 in a detachable manner, when the connecting rotating shaft 57 rotates, it can drive the connecting seat I 51 and the support bracket 21 fixedly connected therewith to rotate synchronously, thereby realizing adjustment of the detection direction of the detection camera 22, and the rotation angle of the connecting rotating shaft 57 can be monitored in real time through the control system during adjustment to ensure the adjustment accuracy.

[0040] In order to facilitate the disassembly between the connecting seat 151 and the connecting shaft 57, a slot is formed at the top end of the connecting seat 151 and the connecting shaft 57, the depth and width of the two slots are the same, and the center lines are aligned, the clamping block 58 is inserted into the two slots at the same time, the material of the clamping block 58 is the same as that of the connecting seat 151 and the connecting shaft 57, so as to avoid the difference of thermal expansion and cold shrinkage coefficient caused by different materials, and affect the connection stability. A threaded hole is formed in the top of the clamping block 58, the size of the threaded hole matches the connecting bolt 59, the connecting bolt 59 is screwed into the threaded hole at the top end of the connecting shaft 57, the head of the connecting bolt 59 is provided with a spring washer, which prevents the connecting bolt 59 from loosening due to vibration during the working process of the device. By tightening the connecting bolt 59, the clamping block 58 can be firmly fixed on the connecting seat 151 and the connecting shaft 57, further preventing the relative loosening between the connecting seat 151 and the connecting shaft 57. After the device is used for a period of time, the tightening condition of the connecting bolt 59 can be checked regularly by the staff, and if loosening is found, it can be tightened in time to ensure reliable connection.

[0041] The mounting position of the electric push rod 3 is specifically on one side of the connecting seat Ⅳ 55, and the connecting seat Ⅳ 55 is provided with a mounting hole matched with the outer wall of the electric push rod 3 on one side, and the inner wall of the mounting hole is provided with anti-skid lines to increase the friction between the electric push rod 3 and the connecting seat Ⅳ 55. After the electric push rod 3 passes through the mounting hole, it is fixed on the connecting seat Ⅳ 55 by a nut, and an elastic washer is added between the nut and the connecting seat Ⅳ 55 to further improve the fixing effect. It can ensure the stability of the electric push rod 3 during work, avoid displacement of the electric push rod 3 due to vibration, and affect the adjustment accuracy of the detection direction. During the working process of the electric push rod 3, the working state can be monitored by the control system, and if abnormal conditions such as jamming and abnormal noise occur, the use is stopped in time and the maintenance is carried out to prevent the fault from expanding.

[0042] The hanging assembly 4 is composed of two extension connecting rods 41, two fixed bases 42 and a connecting strut 44. One end of the two extension connecting rods 41 is fixed on one side of the connecting seat II 52 by bolts respectively, and the two extension connecting rods 41 are symmetrically arranged. The length of the extension connecting rod 41 can be selected according to the actual hanging requirement, so as to ensure that the connecting strut 44 can be accurately hung with the locking nut 13. The other end of the extension connecting rod 41 is fixed with the fixed base 42 by welding. When welding, it is necessary to ensure that the extension connecting rod 41 is perpendicular to the fixed base 42, so as to avoid the inclination of the connecting strut 44 after installation. The fixed base 42 adopts a block structure, and the material is the same as the support frame 5, so as to ensure the consistency and strength of the overall structure. The opposite side of the two fixed bases 42 is provided with a mounting groove. The depth and width of the mounting groove are matched with the size of the connecting strut 44. The two ends of the connecting strut 44 are embedded in the two mounting grooves respectively. The connecting strut 44 and the fixed base 42 are fixedly connected by welding. After welding, the welding part needs to be treated for corrosion, and anti-rust paint is applied to prolong the service life. When hanging, the staff controls the unmanned aerial vehicle 2 through the control system of the unmanned aerial vehicle 2, and places the connecting strut 44 on the locking nut 13. During the placing process, slow operation is required to avoid damage caused by collision between the connecting strut 44 and the locking nut 13. The connection between the hanging assembly 4 and the anchor assembly 1 is realized, and then the positioning of the unmanned aerial vehicle 2 on the slope is completed. After positioning, whether the unmanned aerial vehicle 2 is stable can be checked through the attitude sensor of the unmanned aerial vehicle 2. If there is shaking, the position of the unmanned aerial vehicle 2 can be adjusted slightly.

[0043] As Figure 4As shown, the locking nut 13 is designed as a hexagonal structure, which is convenient for rotating operation with a wrench and better matches the hanging assembly 4. Each face of the hexagonal structure can be used as a force receiving surface, which is convenient for operation at different angles. An insertion slot 15 is formed on one side of the top of the locking nut 13, and the inner wall of the insertion slot 15 is polished to reduce the resistance when the insertion strip 16 is inserted. The size of the insertion strip 16 is matched with the insertion slot 15. The insertion strip 16 is inserted into the two insertion slots 15, which can limit the rotation of the locking nut 13 relative to the anchoring rod body 11 and prevent the locking nut 13 from loosening due to vibration during use. The top of the insertion strip 16 is provided with a limiting stopper 14 formed integrally. The size of the limiting stopper 14 is greater than the opening size of the insertion slot 15, which can prevent the insertion strip 16 from falling off from the insertion slot 15. The surface of the limiting stopper 14 is provided with anti-skid lines, which is convenient for workers to hold when installing and disassembling. A screw hole is formed on the limiting stopper 14, and the position of the screw hole avoids the insertion strip 16 to prevent damage to the insertion strip 16 when drilling. The limiting stopper 14 is fixed with the locking nut 13 through the screw passing through the screw hole and being screwed, and a cross slot screw is selected to facilitate the operation of a cross screwdriver. A U-shaped notch 17 is formed on the top of the limiting stopper 14, and the size of the U-shaped notch 17 is matched with the connecting branch rod 44. When hanging, the connecting branch rod 44 is embedded in the U-shaped notch 17.

[0044] As shown in Figure 6 The installation hole is parallel to the center line of the U-shaped notch 17. A rotating shaft 19 is rotatably installed in the installation hole through a bearing. The bearing is a rolling bearing with a low friction coefficient, which ensures that the rotating shaft 19 can rotate flexibly around its axis. Limiting rings are arranged at both ends of the rotating shaft 19 to prevent axial movement of the rotating shaft 19 during rotation. An arc-shaped rod body 20 is fixedly sleeved on the outer wall of the rotating shaft 19. The curvature of the arc-shaped rod body 20 is matched with the curvature of the outer wall of the connecting branch rod 44. When the connecting branch rod 44 is embedded in the U-shaped notch 17, the arc-shaped rod body 20 can be flipped downward under the action of the connecting branch rod 44, so that the upper end of the arc-shaped rod body 20 seals the top end of the U-shaped notch 17, further fixing the connecting branch rod 44 in the U-shaped notch 17. Limiting support columns 18 are arranged on both sides of the limiting stopper 14 and below the rotating shaft 19 through welding. The height of the limiting support column 18 is determined according to the rotation range of the arc-shaped rod body 20, so that the arc-shaped rod body 20 can contact the limiting support column 18 when the arc-shaped rod body 20 rotates to the maximum angle, limiting the rotation angle of the arc-shaped rod body 20 and preventing the arc-shaped rod body 20 from rotating excessively and failing to cooperate with the connecting branch rod 44. Figure 7As shown, the outer wall of the rotating shaft 19 is further sleeved with a torsion spring 191, one end of the torsion spring 191 is embedded in the inner wall of the limiting stopper 14, and the other end is in contact with the outer wall of the rotating shaft 19. When installing the torsion spring 191, a certain pre-tightening force needs to be applied in advance, so that the rotating shaft 19 has a tendency to rotate in the direction of the connecting branch 44. Under the elastic force of the torsion spring 191, the rotating shaft 19 will drive the arc-shaped rod body 20 to always tightly fit the outer wall of the connecting branch 44. Even if the connecting branch 44 is slightly vibrated, the arc-shaped rod body 20 can always fix it, further enhancing the stability of the hanging connection.

[0045] The outer side of each fixed base 42 is fixed with a guide positioning plate 43 by welding. The surface of the guide positioning plate 43 is polished to remove burrs and sharp edges, preventing scratches on the locking nut 13 or workers during the hanging process. When the hanging assembly 4 is hung with the anchor assembly 1, if there is a deviation between the connecting branch 44 and the U-shaped slot 17, the guide positioning plate 43 will first contact the inclined surface of the locking nut 13. As the unmanned aerial vehicle 2 continues to approach the anchor assembly 1, the interaction force between the two inclined surfaces will guide the connecting branch 44 to gradually adjust the position and accurately embed into the U-shaped slot 17, realizing the rapid positioning of the connecting branch 44 and reducing the operation difficulty of the workers. At the same time, after hanging, the inclined surface of the guide positioning plate 43 is in close contact with the inclined surface of the locking nut 13, which can support the connecting branch 44 to some extent, distribute the tension borne by the connecting branch 44, and improve the stability of the overall structure. Especially in an environment with strong wind, it can effectively reduce the shaking of the unmanned aerial vehicle 2.

[0046] In actual use, the device needs to determine the installation position of the anchor assembly 1 according to the survey report of the slope, and preferentially select the area with relatively flat surface and stable rock-soil structure to avoid installation in the area with dense cracks or loose soil layer. After completing the installation of the anchor assembly 1 on the slope, the worker needs to control the unmanned aerial vehicle 2 in the safe area to fly to the vicinity of the slope, carrying the detection camera 22 and related components, and needs to avoid obstacles and maintain a safe flight height during the flight. After reaching the vicinity of the anchor assembly 1, the relative position of the hanging assembly 4 and the limiting block 14 is observed through the camera of the unmanned aerial vehicle 2, the position of the unmanned aerial vehicle 2 is slowly adjusted, the connecting strut 44 in the hanging assembly 4 is embedded into the U-shaped notch 17 of the limiting block 14, and stable hanging is realized under the action of the arc-shaped rod body 20 and the torsional spring 191. After the hanging is completed, the approximate detection direction of the detection camera 22 is adjusted by starting the electric push rod 3 through the remote controller, and the worker can observe whether the crack enters the shooting range through the real-time image transmitted by the unmanned aerial vehicle 2. If not, continue to adjust the extension length of the electric push rod 3. When the crack roughly enters the shooting range, the angle of the detection camera 22 is finely adjusted by starting the servo steering engine 56 to accurately aim the lens of the detection camera 22 at the crack. The real-time image can be viewed frame by frame during the fine adjustment to ensure that the crack is located at the center position of the image. Finally, the magnification function of the detection camera 22 is turned on, and the magnification is adjusted according to the size of the crack. Generally, a higher magnification can be selected when the crack width is smaller, and the magnification can be appropriately reduced when the crack width is larger to ensure that the crack detail image can be clearly shot. After shooting is completed, the worker can control the unmanned aerial vehicle 2 to retract the electric push rod 3 to release the connection between the hanging assembly 4 and the anchor assembly 1, and control the unmanned aerial vehicle 2 to return to the specified landing point. The whole device is simple to operate, does not need the worker to closely contact the dangerous slope, reduces the operation risk, can quickly realize the detection and magnification of the slope crack, has high detection accuracy, is suitable for slope crack detection scenes of different slopes and different environments such as highway slope, railway slope and mine slope, and provides strong support for daily maintenance and safety monitoring of the slope.

[0047] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit it. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the technical solutions, which should be covered in the scope of the claims of the present application.

Claims

1. A slope crack detection amplification device based on a UAV, characterized in that, The utility model provides an anchor assembly (1) and a unmanned plane (2) are hung on the anchor assembly (1) are arranged on the slope, The anchor assembly (1) comprises an anchoring rod (11) arranged in the slope, a pressure pad (12) sleeved on the free end of the anchoring rod (11) and abutting against the surface of the slope, and a locking nut (13) threadedly connected to the free end of the anchoring rod (11) and abutting against the pressure pad (12), The bottom of the unmanned plane (2) is provided with a support bracket (21), and the top of the support bracket (21) is provided with a detection camera (22) for amplifying and detecting cracks; the upper side and the lower side of the support bracket (21) on the shooting side of the detection camera (22) are respectively fixedly provided with a connecting seat I (51) and a connecting seat III (54); the lower side of the connecting seat I (51) is rotatably provided with a connecting seat II (52) which is the same in shape as the connecting seat I (51); the lower side of the connecting seat III (54) is rotatably provided with a connecting seat IV (55) which is the same in shape as the connecting seat III (54); the connecting seat III (54) is rotatably provided with a connecting guide pipe (53) which is fixedly connected to the connecting seat II (52) at the top; the connecting guide pipe (53) is rotatably provided with a connecting shaft (57) which is rotatably connected to the connecting seat IV (55) at the bottom; the connecting shaft (57) is fixedly connected to the connecting seat II (52) and the connecting seat I (51) at the top; the bottom of the connecting seat IV (55) is fixedly provided with a servo steering engine (56) which is fixedly connected to the connecting shaft (57) at the output end; the side of the connecting seat IV (55) is rotatably provided with an electric push rod (3); the output end of the electric push rod (3) abuts against the surface of the slope; the detection direction of the detection camera (22) is changed by adjusting the extension length of the electric push rod (3); The top of the connecting seat I (51) and the connecting shaft (57) is inserted with a same clamping block (58); the top of the clamping block (58) is rotatably provided with a connecting bolt (59); the connecting bolt (59) is threadedly connected to the top of the connecting shaft (57); the connecting seat I (51) and the connecting shaft (57) are detachably fixed; the side of the support bracket (21) is provided with a hanging assembly (4) which is hung on the locking nut (13); the hanging assembly (4) comprises two extension connecting rods (41) which are fixedly arranged on the side of the connecting seat II (52); the free end of the extension connecting rod (41) is fixedly provided with a fixed base (42); the same connecting support rod (44) is fixedly arranged between the two fixed bases (42); the connecting support rod (44) is hung on the locking nut (13); the unmanned plane (2) and the anchor assembly (1) are quickly connected and fixed; the locking nut (13) is hexagonal; the top of the locking nut (13) is fixedly provided with a limiting block (14); the top of the limiting block (14) is provided with a U-shaped slot (17) which is hung on the connecting support rod (44). 2.The unmanned aerial vehicle based slope crack detection amplification device according to claim 1, wherein, The side of the connecting seat IV (55) is provided with two electric push rods (3) which are symmetrically arranged on the two sides of the connecting seat IV (55); the free end of the electric push rod (3) is inversely rounded. 3.The UAV-based slope crack detection amplification device of claim 1, wherein, The locking nut (13) is provided with an insertion groove (15) on one side of the top, and an insertion strip (16) is inserted in the insertion groove (15), and the insertion strip (16) is integrally formed on the bottom of the limiting block (14). 4.The UAV-based slope crack detection amplification device of claim 1, wherein, The limiting block (14) is rotatably provided with a rotating shaft (19) on both sides, the rotating shaft (19) is fixedly provided with an arc-shaped rod (20) matched with the connecting rod (44) on the outer wall, the limiting block (14) is fixedly provided with a limiting support (18) for limiting the arc-shaped rod (20) on both sides, and the rotating shaft (19) is provided with a torsion spring (191) on the outer wall, and the two ends of the torsion spring (191) are respectively in contact with the inner wall of the limiting block (14) and the outer wall of the rotating shaft (19). 5.The UAV-based slope crack detection amplification device of claim 1, wherein, The fixed base (42) is fixedly provided with a guide positioning plate (43) matched with the locking nut (13), and the guide positioning plate (43) is in contact with the inclined surface of the locking nut (13) when the unmanned aerial vehicle (2) is hung, so that the connecting rod (44) is accurately embedded in the U-shaped notch (17). 6.The UAV-based slope crack detection amplification device of claim 1, wherein, The detection camera (22) is a camera with high-definition shooting and optical zooming function, and through the coarse positioning of the electric push rod (3) and the fine adjustment of the servo steering engine (56), the multi-angle and high-precision detection of the slope crack is realized.

7. A method of detecting using the unmanned aerial vehicle-based slope crack detection amplification device according to any one of claims 3-6, characterized in that, The method comprises the following steps: S1, installing the anchor assembly (1) on the crack position of the slope, placing the pressure pad (12) into the preset installation hole, sleeving the anchor rod (11) to make it in contact with the surface of the slope, and tightening the locking nut (13) to make it in contact with the anchor rod (11) and fixed; S2, controlling the unmanned aerial vehicle (2) to fly near the anchor assembly (1), and hanging the anchor assembly (1) through the hanging assembly (4), so that the connecting rod (44) is embedded in the U-shaped notch (17) of the limiting block (14); S3, starting the electric push rod (3), so that its output end is in contact with the surface of the slope to form a stable support, and the detection direction of the detection camera (22) is preliminarily adjusted; S4, starting the servo steering engine (56) to finely adjust the shooting angle of the detection camera (22), so that the detection camera (22) is aligned with the crack area; S5, starting the zooming function of the detection camera (22), adjusting the magnification according to the crack size, and shooting the crack image; S6, after the detection is completed, the electric push rod (3) is retracted, the hanging is released, and the unmanned aerial vehicle (2) is controlled to return.

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