Wall lossless unmanned aerial vehicle detection device based on phased array ultrasonic waves and control method of wall lossless unmanned aerial vehicle detection device

Abstract

The invention belongs to the technical field of inspection unmanned aerial vehicles, and particularly relates to a wall nondestructive unmanned aerial vehicle detection device based on phased array ultrasonic waves and a control method thereof, and the wall nondestructive unmanned aerial vehicle detection device comprises an inspection unmanned aerial vehicle, an inspection instrument and a battery replacement platform; the inspection unmanned aerial vehicle comprises undercarriages, the undercarriages are installed on the two sides of the bottom of the inspection unmanned aerial vehicle, the undercarriages are connected with the bottom of the unmanned aerial vehicle through telescopic rods, and the undercarriages are slidably connected to the bottoms of the telescopic rods through springs; when the inspection unmanned aerial vehicle flies laterally, the undercarriage is forcibly abutted against the wall surface to keep the fuselage stable, the wings are far away from the wall surface to avoid collision, and if the detection steps are relatively simple, the inspection unmanned aerial vehicle flies up and down to form the effect that the inspection unmanned aerial vehicle slides on the wall surface while keeping the undercarriage abutted against the wall surface. The inspection unmanned aerial vehicle resists the influence of air blowing in a manner of abutting against the wall surface to generate friction force, so that the detection stability is improved, and the detection accuracy is improved.

Description

Technical Field

[0001] This invention belongs to the field of inspection drone technology, specifically a non-destructive drone inspection device for walls based on phased array ultrasonic waves and its control method. Background Technology

[0002] Phased array ultrasonic testing is an advanced non-destructive testing technology based on electronically controlled beam deflection, focusing, and scanning. Compared with traditional ultrasonic testing, it has significant advantages in terms of flexibility, imaging quality, testing efficiency, and defect characterization capabilities. It is widely used in non-destructive testing scenarios in fields such as transportation pipelines, ship structures, and buildings. As an important load-bearing component of buildings, walls are inspected using drones combined with phased array ultrasonic technology. The core of this technology is to use drones equipped with phased array ultrasonic testing equipment to detect surface and internal defects in walls, such as hollow areas, cracks, internal voids, and steel corrosion.

[0003] During inspection, walls, especially the exterior walls of high-rise buildings, are prone to forming wall-attached airflow or turbulence. While drones do not need to get close during routine inspections, they are susceptible to being sucked in or impacted by airflow when operating at close range during detailed inspections of problematic walls. This can lead to unstable flight attitude or even collisions with the wall, resulting in damage to both the drone and the inspection equipment. Furthermore, strong direct sunlight can cause reflections on the wall surface, obscuring minor defects such as cracks and hollow areas. Backlighting can cause an imbalance in the contrast between light and dark areas, resulting in the loss of details in the shadows. Moreover, hidden cracks in the wall surface can be easily obscured by dust, exterior wall plaster, and other impurities, interfering with the accuracy of the inspection and affecting its overall accuracy. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies and solve the aforementioned technical problems, this invention proposes a non-destructive unmanned aerial vehicle (UAV) inspection device for walls based on phased array ultrasonic waves and its control method.

[0005] The technical solution adopted by this invention to solve its technical problem is as follows: This invention proposes a non-destructive unmanned aerial vehicle (UAV) inspection device for walls based on phased array ultrasonic waves and its control method, including an inspection UAV, inspection instruments, and a control platform; the inspection UAV includes:

[0006] The landing gear is installed on both sides of the bottom of the inspection drone and is connected to the bottom of the drone by a telescopic rod. The landing gear is slidably connected to the bottom of the telescopic rod by a spring. The two ends of the landing gear are vertically set, and a stabilizing pin is slidably connected to the vertical part of the landing gear. The stabilizing pin passes through the landing gear from top to bottom. A pin-removing plate is sleeved on the outside of the stabilizing pin. A pin-removing rod is provided on one side of the pin-removing plate. The part of the pin-removing rod near the stabilizing pin is hinged to the landing gear. A No. 1 rope is provided at the end of the pin-removing rod away from the pin-removing plate. One end of the No. 1 rope is wound around the pin-removing motor installed on the landing gear.

[0007] A sleeve is fitted over the outside of the stabilizing nail. A nail-removing rod passes through the sleeve. A hammer block is slidably connected to the inside of the sleeve via a spring, and one end of the hammer block is equipped with a rack. An incomplete gear is rotatably connected to the sleeve and contacts the rack. The incomplete gear is connected to a collision motor. A collision block is slidably connected to the stabilizing nail, and the collision block is away from the nail-removing plate. A collection bag is installed at the bottom of the landing gear, and the opening of the collection bag is located below the stabilizing nail. Adhesive tape is attached to the inner wall of the collection bag.

[0008] Preferably, the telescopic pole includes a first pole and a second pole. The first pole is connected to the landing gear, and the second pole is connected to the inspection drone. The first pole and the second pole are slidably connected to each other. A cleaning plate is slidably connected to the second pole by a spring. A vibration groove is provided on one side of the first pole. The vibration groove is wavy. One end of the cleaning plate contacts the vibration groove, and the other end is rounded.

[0009] Preferably, the cleaning plate has cleaning strips evenly distributed on one side, and the cleaning strips are curved.

[0010] Preferably, the cleaning plate is provided with a water bladder, and the water bladder is in contact with the second rod. The cleaning plate is provided with nozzles evenly, and the nozzles are connected to the water bladder through water pipes.

[0011] Preferably, a sliding rod is slidably connected to the second rod via a spring, and a roller is rotatably connected to one end of the sliding rod. A displacement sensor is provided between one end of the sliding rod and the second rod.

[0012] Preferably, a spiral groove is formed on the inner wall of the sleeve, and a rotating block is slidably connected in the spiral groove. One end of the rotating block is connected to the nail-lifting piece, and a locking block is provided on one side of the nail-lifting piece to engage with the recess on the nail-stabilizing nail. The nail-lifting piece is rotatably connected to the nail-lifting rod.

[0013] Preferably, one end of the landing gear is provided with a limiting strip, and the limiting strip is hinged to one end of the landing gear by a torsion spring.

[0014] Preferably, the landing gear is provided with a squeeze tank, and one end of the squeeze tank is provided with a nozzle, and the squeeze tank stores sealant.

[0015] Preferably, the landing gear is hinged with a swing tube by a torsion spring, with one end of the swing tube facing the tip of the stabilizing pin and the other end connected to the nozzle.

[0016] A method for controlling an unmanned aerial vehicle (UAV), comprising the following steps:

[0017] S1: Preliminary preparation and scheme planning, including analysis of the test object, equipment selection and debugging and flight path planning, followed by on-site environmental investigation and safety deployment;

[0018] S2: The inspection drone takes off along a preset route and hovers precisely at the detection starting point through the positioning system. It adjusts its attitude so that the phased array ultrasonic probe is aligned with the detection area. The probe emits ultrasonic waves toward the wall through coupling agent spray or air coupling technology, receives the ultrasonic signals reflected from inside the wall, and transmits them to the airborne data module or ground station in real time.

[0019] S3: Ground operators observe the ultrasonic signal waveform and the flight status of the inspection drone in real time. If the signal is abnormal, the flight path can be paused for focused rescanning. After the inspection is completed, the inspection drone returns to base and exports the onboard stored raw ultrasonic data and synchronized optical images.

[0020] S4: Generate wall cross-sectional diagrams and 3D imaging diagrams using phased array imaging algorithms, combine optical images to calibrate positions, identify the defect type, size, and depth corresponding to areas with abnormal signals; label and classify defect data, generate inspection reports, and clarify defect locations, severity, and recommended treatment solutions.

[0021] The beneficial effects of this invention are as follows:

[0022] 1. The present invention discloses a non-destructive drone inspection device and control method for walls based on phased array ultrasonic waves. During defect detection, the inspection drone, carrying its landing gear, approaches the problem wall. At this time, the vertical part of the landing gear rests against the wall. Since the length of the landing gear is greater than the wing spacing of the inspection drone, the drone can fly sideways, pressing the landing gear firmly against the wall to maintain fuselage stability, while keeping the wings away from the wall to avoid collision. If the inspection steps are relatively simple, the inspection drone can maintain the landing gear against the wall while flying up and down, creating the effect of the inspection drone sliding on the wall. By generating friction against the wall, the inspection drone can resist the influence of wind, improving the stability of the inspection and thus improving the accuracy of the inspection.

[0023] 2. The non-destructive unmanned aerial vehicle (UAV) inspection device and its control method for walls based on phased array ultrasonic waves described in this invention, when the inspection area is obstructed by wall plaster, dust, or other impurities, activates the collision motor to drive the incomplete gear to rotate. The toothed part of the incomplete gear drives the hammer block away from the wall surface through the rack. The spring between the hammer block and the sleeve is compressed until the toothless part of the incomplete gear approaches the rack. The rack is no longer driven, and the hammer block moves rapidly under the influence of the spring to collide with the stabilizing nail. The stabilizing nail drives the collision block to strike the wall surface. By striking, the impurities on the wall surface are cleaned, improving the cleanliness of the problematic wall surface, highlighting defects such as cracks, and improving the accuracy of the inspection. Attached Figure Description

[0024] The invention will now be further described with reference to the accompanying drawings.

[0025] Figure 1 This is a perspective view of the present invention;

[0026] Figure 2 It is a 3D view of the landing gear from one perspective;

[0027] Figure 3 This is a 3D view of the landing gear from another perspective;

[0028] Figure 4 It is a cross-sectional view of the landing gear from the front view;

[0029] Figure 5 yes Figure 4 A schematic diagram of the impact of the hammer block against the stabilizing nail;

[0030] Figure 6 yes Figure 4 A diagram illustrating how the middle-mounted nail puller removes the securing nail;

[0031] Figure 7 yes Figure 4 A schematic diagram of the telescopic rod extending and retracting;

[0032] Figure 8 This is a schematic diagram showing how the nail-lifting plate moves and rotates the stabilizing nail.

[0033] In the diagram: Inspection drone 1, Inspection instrument 11, Landing gear 12, Telescopic rod 13, Stabilizing nail 14, Nail-removing plate 15, Nail-removing rod 16, Rope No. 1 17, Nail-removing motor 18, Sleeve 19, Hammering block 2, Rack 21, Incomplete gear 22, Collision motor 23, Collision block 24, Collection bag 25, Rod No. 1 26, Rod No. 2 27, Cleaning plate 28, Vibration groove 29, Cleaning strip 3, Water bag 31, Nozzle 32, Sliding rod 33, Roller 34, Spiral groove 35, Rotating block 36, Locking block 37, Depression 38, Limiting strip 39, Squeezing can 4, Spray pipe 41, Swing pipe 42. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Example 1:

[0036] To effectively solve the above problems, see the attached diagram in the instruction manual. Figures 1-8As shown, a non-destructive testing device for walls based on phased array ultrasonic waves includes an inspection drone 1, an inspection instrument 11, and a control platform. The inspection instrument 11 includes lightweight testing instruments such as a camera and a phased array ultrasonic testing module. The phased array ultrasonic testing module includes components such as a phased array ultrasonic crystal, a pulse transmitting and receiving unit, a high-speed analog-to-digital converter (ADC), a digital signal processor (DSP), and an external computer interface. The workflow of these components is as follows: the DSP sets a delay rule according to the detection scheme, and the pulse transmitting unit generates a high-voltage electric pulse accordingly. After precise delay, an excitation signal is emitted to excite the various crystals in the probe. The probe receives the returned ultrasonic waves and converts them into electrical signals. The pulse receiving unit amplifies and performs preliminary processing on the signals. The ADC receives the analog electrical signals at high speed and converts them into digital signals. The DSP processes the digital signals, applies imaging algorithms to generate images, and transmits the results to an external computer through the external computer interface.

[0037] Inspection drone 1 includes:

[0038] The landing gear 12 is installed on both sides of the bottom of the inspection drone 1, and the landing gear 12 is connected to the bottom of the drone through a telescopic rod 13. The landing gear 12 is slidably connected to the bottom of the telescopic rod 13 by a spring. The two ends of the landing gear 12 are vertically set, and a stabilizing nail 14 is slidably connected to the vertical part of the landing gear 12. The stabilizing nail 14 passes through the landing gear 12 from top to bottom. A nail-removing plate 15 is sleeved on the outside of the stabilizing nail 14. A nail-removing rod 16 is provided on one side of the nail-removing plate 15. The part of the nail-removing rod 16 near the stabilizing nail 14 is hinged to the landing gear 12. A first rope 17 is provided at the end of the nail-removing rod 16 away from the nail-removing plate 15. One end of the first rope 17 is wrapped around the nail-removing motor 18 installed on the landing gear 12.

[0039] A sleeve 19 is fitted over the outside of the stabilizing nail 14. A nail-removing rod 16 passes through the sleeve 19. A hammer block 2 is slidably connected inside the sleeve 19 via a spring, and one end of the hammer block is provided with a rack 21. An incomplete gear 22 is rotatably connected to the sleeve 19 and contacts the rack 21. The incomplete gear 22 is connected to the collision motor 23. A collision block 24 is slidably connected to the stabilizing nail 14 and is located away from the nail-removing piece 15. A collection bag 25 is installed at the bottom of the landing gear 12, and the opening of the collection bag 25 is located below the stabilizing nail 14. Adhesive tape is attached to the inner wall of the collection bag 25.

[0040] Because of the thickness of the building's exterior walls, even if nails are driven in, it will not affect the overall structure of the exterior walls. If large sections of the wall fall off simply because nails are driven in, it will warn people that the wall structure in this area is brittle and create a safety hazard. The stabilizing nail 14 is a conventional reusable wall fixing nail. The inspection drone 1 uses the stabilizing nail 14 to fix it in cement or low-strength walls. The nail remover 15 is a conventional tool used to remove nails from the wall, such as the nail remover horn of a claw hammer. Under the lever principle, the hinge point of the nail remover 16 is close to the nail remover 15, which reduces the force applied by the nail remover motor 18 and the first rope 17 to the nail remover 16 to remove the stabilizing nail 14, making it easier to remove the nail and other follow-up work. The tape is located on the inner wall of the collection bag 25 and is double-sided tape. It helps the collection bag 25 to store the collected dust and impurities through adhesion. The nail remover motor 18, the collision motor 23 and other components are all made of lightweight materials to reduce the load and extend the operation time.

[0041] Specific workflow: The inspection is divided into problem collection and defect detection. During large-area inspection, the telescopic pole 13 is removed from the inspection drone 1 to reduce the load on the inspection drone 1, extend the inspection time and range of a single inspection, and achieve the screening goal of light load and fast cruise. During defect detection, the telescopic pole 13 is reinstalled on the inspection drone 1, and the inspection drone 1, carrying the landing gear 12 and other components, flies to the problem wall area to carry out the inspection.

[0042] During defect detection, the inspection drone 1, carrying landing gear 12, approaches the wall with the defect. The vertical part of the landing gear 12 is pressed against the wall. Because the length of the landing gear 12 is greater than the wing spacing of the inspection drone 1, the drone flies sideways, pressing the landing gear 12 firmly against the wall to maintain stability, while keeping the wings away from the wall to avoid collision. If the inspection procedure is relatively simple, the inspection drone 1 can keep the landing gear 12 pressed against the wall while moving up and down, creating the effect of the drone sliding on the wall. This friction generated by pressing against the wall helps the drone 1 resist the influence of wind, improving the stability and accuracy of the inspection. Personnel can also install rollers on the vertical surface of the landing gear 12. These rollers reduce the friction generated by the landing gear 12 sliding up and down on the wall, and the rubber outer ring of the rollers also prevents the landing gear 12 and rollers from slipping due to wind.

[0043] If the detection area is obstructed by wall plaster, dust, or other impurities, the collision motor 23 is activated to drive the incomplete gear 22 to rotate. The toothed part of the incomplete gear 22 drives the hammer block away from the wall through the rack 21. The spring between the hammer block and the sleeve 19 is compressed until the toothless part of the incomplete gear 22 approaches the rack 21. The rack 21 is no longer driven, and the hammer block moves rapidly due to the influence of the spring to collide with the stabilizing nail 14. The stabilizing nail 14 drives the collision block 24 to strike the wall. By striking, the impurities on the wall are cleaned, improving the cleanliness of the problematic wall, highlighting defects such as cracks, and improving the accuracy of detection. Furthermore, the cleaned impurities fall into the collection bag 25 and are adhered to the inner wall of the collection bag 25 by tape, preventing the impurities from being blown out by the wind and affecting the detection work.

[0044] If the inspection process is complex or time-consuming, the inspection drone 1 can use the hammer block to drive the stabilizing nail 14 to repeatedly hammer the wall surface, driving the stabilizing nail 14 into the wall. The landing gear 12 is fixed to the vertical wall surface by the stabilizing nail 14. The fixed landing gear 12 improves the stability of the inspection process and thus improves the inspection accuracy. In addition, personnel can replace the collision motor 23 with a lightweight electric hammer or other devices to drive the stabilizing nail 14 into the wall surface.

[0045] Furthermore, after the inspection is completed, the nail-removing motor 18 is activated to wind up the first rope 17. The first rope 17 drives the nail-removing rod 16 to swing at the hinge. The nail-removing rod 16, through the nail-removing plate 15, lifts the stabilizing nail 14 away from the wall and resets it. The inspection drone 1 can then fly to the next inspection area. In addition, personnel can also preset the nail-removing motor 18 to frequently pull the first rope 17 during the nail-removing process, turning the continuous and slow nail-removing process into a process of multiple forceful pulls. This is because when removing nails slowly and continuously, a force slightly higher than that required must always be applied. Peak force is required to pull a nail, placing high demands on the tool's load capacity. The multiple-pulling method, however, utilizes the instantaneous superposition effect of force through short-duration impact. In a single pull, the force is more concentrated, and the instantaneous force can briefly exceed the peak resistance, similar to a sudden pull. Furthermore, it overcomes resistance and loosens the nail without requiring sustained high load. Subsequent pulls reduce the contact area between the nail and the substrate, gradually decreasing resistance and further reducing the difficulty of applying force, thus improving nail removal efficiency and overall inspection efficiency.

[0046] Furthermore, continuously and slowly removing nails will cause the wall surface to crack and peel off due to continuous stress, while multiple small pulls can gradually release the stress in the substrate by loosening it step by step. Each pull only moves the nail a short distance, and the surrounding substrate will undergo slight deformation, rather than being subjected to huge tensile force at once, which will lead to brittle failure, thereby improving the protection of the wall.

[0047] Furthermore, when components such as the landing gear 12 are in operation, the vibration generated by the landing gear 12 during operation is filtered by the spring because the landing gear 12 is slidably connected to the bottom of the telescopic rod 13 via a spring, thus avoiding affecting the operation of the telescopic rod 13 or the inspection instrument 11. Personnel can also replace the spring with damping springs or damping rubber components to further improve the damping capacity, thereby improving the stability during testing.

[0048] Example 2:

[0049] Based on Embodiment 1, the telescopic rod 13 includes a first rod 26 and a second rod 27. The first rod 26 is connected to the landing gear 12, and the second rod 27 is connected to the inspection drone 1. The first rod 26 and the second rod 27 are slidably connected to each other. A cleaning plate 28 is slidably connected to the second rod 27 via a spring. A vibration groove 29 is provided on one side of the first rod 26. The vibration groove 29 is wavy. One end of the cleaning plate 28 contacts the vibration groove 29, and the other end is rounded. The first rod 26 and the second rod 27 can also be slidably connected to each other via a spring, so that when the inspection drone 1 is in flight, the first rod 26 and the second rod 27 retract, reducing the volume and thus reducing the impact of wind.

[0050] The cleaning plate 28 is provided with cleaning strips 3 evenly on one side, and the cleaning strips 3 are curved.

[0051] The cleaning plate 28 is provided with a water bag 31, and the water bag 31 is in contact with the second rod 27. The cleaning plate 28 is provided with nozzles 32 evenly, and the nozzles 32 are connected to the water bag 31 through a water pipe.

[0052] A sliding rod 33 is slidably connected to the second rod 27 via a spring, and a roller 34 is rotatably connected to one end of the sliding rod 33. A displacement sensor is provided between one end of the sliding rod 33 and the second rod 27. The sensor is used to detect the displacement of the sliding rod 33 as it slides past the second rod 27, thereby measuring the distance between the second rod 27 and the wall.

[0053] Specific workflow: After the inspection drone 1 is fixed below the problem wall, the inspection drone 1 drives the inspection instrument 11 to fly up. As the second pole 27 slides away from the first pole 26, the second pole 27 drives the cleaning plate 28 to scrape along the wall, removing impurities and cleaning the wall, improving the cleanliness of the wall and thus improving the detection accuracy. When the cleaning plate 28 rises, the wave-shaped vibration groove 29 drives the cleaning plate 28 to slide away from the wall and then releases the cleaning plate 28. The cleaning plate 28 is reset by the spring and hits the wall, increasing the cleaning force of the wall and breaking down and exposing areas such as hidden cracks and bulges on the wall, thereby improving the detection accuracy. Furthermore, by setting one end of the cleaning plate 28 to a rounded corner, the cleaning plate 28 can be squeezed and slid when it comes into contact with bulges or protrusions on the wall, so that the cleaning plate 28 can move along the protruding parts of the wall, avoiding the situation where the cleaning plate 28 gets stuck.

[0054] The cleaning board 28 is mainly designed to remove visible impurities and defects such as floating dust, large attached objects, and hidden cracks and bulges on the wall surface. However, it has limited ability to clean hidden and minute impurities such as dust accumulated in gaps, dust layers attached to the surface, and residual dirt in the depressions 38. These impurities can directly interfere with the signal acquisition and image recognition of testing equipment such as ultrasonic probes and high-definition cameras. Therefore, by setting up cleaning strips 3, which have a certain degree of elasticity and flexibility, it can penetrate into areas that the rigid cleaning board 28 cannot reach, such as tiny cracks, brick joints, and paint joints on the wall surface. This allows it to remove dust, sand, and other impurities from the gaps, preventing impurities from filling the gaps and causing misjudgments of no defects or concealing the depth of cracks during testing.

[0055] When faced with tiny protrusions on the wall, the cleaning strip 3 at the protrusion is squeezed and bent, while the bristles in other areas remain in contact with the wall, continuously cleaning impurities around the protrusion to ensure no blind spots in cleaning. Furthermore, it can sweep away small debris generated by impacts, preventing debris from covering hidden cracks and thus improving detection accuracy. Moreover, if there are hairline cracks on the wall, some of the cleaning strip 3 may become embedded in the crack, causing the cleaning path to break. The broken cleaning strip 3 serves as a warning, helping to locate the tiny cracks. Additionally, the cleaning plate 28 and cleaning strip 3 are positioned above the inspection instrument 11's field of view, ensuring they do not obstruct the detection area and also shield the area from strong light, preventing strong light from affecting imaging and other detection work.

[0056] As the cleaning plate 28 moves back and forth, it causes the water bag 31 to frequently contact the second rod 27 and generate pressure, squeezing the water in the water bag 31 through the nozzle 32. The nozzle 32 sprays the water towards the detection area. The water mist combines with the floating dust in the cleaning area to reduce dust and improve the clarity of the image. Furthermore, after the dry wall surface absorbs water, the moisture will penetrate into the gaps and the surrounding wall material, causing these areas to darken. If the gap itself is hollow or the filling material does not absorb water, it will form light-colored lines in the dark wet area, or the moisture will accumulate at the edge of the gap to form a clear outline boundary. This visual contrast highlights the location and direction of the gap, making it easier to detect the wall surface and improving the accuracy of the detection. After spraying water, a flashlight can be used to shine it at an angle to enhance the outline of the gap using light and shadow, or the surface can be observed when it is half dry to improve the detection effect. Moreover, before ultrasonic testing, spraying water can achieve a rapid initial screening of cracks, determine the specific problem wall area, shorten the detection and investigation time, and speed up the detection efficiency.

[0057] The inspection drone 1 raises pole 27, which in turn raises slide bar 33 and roller 34. Slide bar 33 slides along the wall via roller 34, monitoring the distance between inspection instrument 11 and the wall. Roller 34 is in direct contact with the wall, and the length of slide bar 33 can be preset to the optimal working distance of the detection instrument. During the drone's ascent, if distance fluctuations occur due to airflow interference or drone vibration, the displacement sensor can detect the range of distance fluctuations between inspection instrument 11 and the wall, providing a basis for subsequent correction of detection results and thus improving detection accuracy.

[0058] Furthermore, during simple testing, if the fuselage tilts, such as the left side moving closer to the wall and the right side moving away, the slide bar 33 will be subjected to the lateral reaction force of the wall. The connected sensors capture the change in the angle between the slide bar 33 and the fuselage in real time and feed the data back to the flight control system. The flight control system can immediately adjust the rotor speed, such as increasing the power of the right rotor and decreasing the power of the left rotor, to correct the fuselage attitude and ensure that the fuselage and the wall remain parallel at all times, avoiding one-sided collisions.

[0059] Example 3:

[0060] Based on Embodiment 2, a spiral groove 35 is provided on the inner wall of the sleeve 19, and a rotating block 36 is slidably connected in the spiral groove 35. One end of the rotating block 36 is connected to the nail-removing piece 15. A locking block 37 is provided on one side of the nail-removing piece 15, which engages with the recess 38 on the stabilizing nail 14. The nail-removing piece 15 is rotatably connected to the nail-removing rod 16. Multiple rotating blocks 36 are distributed in a ring on the outer ring of the nail-removing piece 15, and the distributed rotating blocks 36 are located in the spiral groove 35.

[0061] The landing gear 12 is provided with a limiting strip 39 evenly at one end, and the limiting strip 39 is hinged to one end of the landing gear 12 by a torsion spring;

[0062] The landing gear 12 is equipped with a squeeze tank 4, and one end of the squeeze tank 4 is equipped with a nozzle 41. The squeeze tank 4 contains sealant; the sealant is a material commonly used in engineering to repair holes in the exterior wall.

[0063] The landing gear 12 is hinged to a swing tube 42 by a torsion spring, with one end of the swing tube 42 facing the tip of the stabilizing pin 14 and the other end connected to the nozzle 41.

[0064] Specific workflow: During nail removal, the nail remover 15 drives the rotating block 36 to move within the sleeve 19. The rotating block 36, guided by the spiral groove 35, drives the nail remover 15 to rotate within the sleeve 19. At this time, the nail remover 15 and the anchor nail 14 are in close contact. The locking block 37 on the nail remover 15 engages in the recess 38 within the anchor nail 14, causing the nail remover 15 to move the anchor nail 14 away from the wall while simultaneously rotating the anchor nail 14, thus pulling the anchor nail 14 out of the wall. During rotation, the force mainly acts on the circumference of the nail body. The nail is removed by slow loosening rather than violent pulling. The wall only bears local frictional stress, rather than concentrated tensile stress, which can effectively prevent the mortar layer from peeling off due to stress concentration and protect the wall. Furthermore, during rotation, the nail body rubs against the wall due to circumferential motion, causing the contact surface between the nail and the wall to change from an adhesive state to a loose state, improving nail removal efficiency and thus improving inspection efficiency.

[0065] By setting limit strips 39, when the landing gear 12 is close to the wall, the limit strips 39 are squeezed and unfold to stick to the wall, expanding the support of the landing gear 12 in the vertical state on the wall. For example, the straight bar is supported by the support bars arranged around the perimeter and the straight bar is perpendicular to the ground to prevent the situation of tilting, thereby improving the stability of the landing gear 12 and thus improving the stability of the testing process.

[0066] When the stabilizing nail 14 is pulled out of the wall, the swing block on the landing gear 12 is no longer squeezed by the wall, causing it to swing due to the torsion spring. The open end of the swing block swings to align with the hole created by the removal of the stabilizing nail 14. At this time, the electrically controlled extrusion tank 4 is activated, and the sealant in the extrusion tank 4 is forced into the spray pipe 41. The sealant enters the hole through the spray pipe 41 and the swing pipe 42 to complete the filling action, repairing the hole and marking the defective part, so that personnel can go to the designated location to complete the subsequent repair work according to the marking. The extrusion tank 4 is replaced with a conventional storage tank, and the on and off are controlled by a solenoid valve to achieve the purpose of supplying sealant.

[0067] Example 4:

[0068] A method for controlling an unmanned aerial vehicle (UAV), comprising the following steps:

[0069] S1: Preliminary preparation and scheme planning, including analysis of the test object, equipment selection and debugging and flight path planning, followed by on-site environmental investigation and safety deployment;

[0070] S2: The inspection drone 1 takes off along the preset route, hovers precisely at the detection starting point through the positioning system, adjusts its attitude so that the phased array ultrasonic probe is aligned with the detection area, and the probe emits ultrasonic waves toward the wall through coupling agent spray or air coupling technology, receives the ultrasonic signals reflected from inside the wall, and transmits them to the airborne data module or ground station in real time.

[0071] S3: Ground operators observe the ultrasonic signal waveform and the flight status of inspection drone 1 in real time. If the signal is abnormal, the flight path can be paused for focused rescanning. After the inspection is completed, inspection drone 1 returns to base and exports the onboard stored raw ultrasonic data and synchronized optical images.

[0072] S4: Generate wall cross-sectional diagrams and 3D imaging diagrams using phased array imaging algorithms, combine optical images to calibrate positions, identify the defect type, size, and depth corresponding to areas with abnormal signals; label and classify defect data, generate inspection reports, and clarify defect locations, severity, and recommended treatment solutions.

[0073] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wall non-destructive unmanned machine detection device based on phased array ultrasonic waves, comprising a patrol unmanned machine (1), a patrol instrument (11) and a control platform; characterized in that, The utility model provides an inspection unmanned plane (1) includes: The landing gear (12) is installed to both sides of the bottom of inspection unmanned plane (1), and the landing gear (12) is connected between the bottom of unmanned plane through telescopic link (13), and the landing gear (12) is connected to the bottom of telescopic link (13) through spring sliding, and the both ends of landing gear (12) are vertically arranged, and the vertical part of landing gear (12) is slidably connected with the stable nail (14), and the stable nail (14) penetrates the landing gear (12) up and down, and the stable nail (14) is externally sleeved with the nail sheet (15), and one side of nail sheet (15) is provided with the nail rod (16), and the part of nail rod (16) close to stable nail (14) is hinged with landing gear (12), and one end of nail rod (16) away from nail sheet (15) is provided with no. The sleeve (19) is sleeved on the outside of the stable nail (14), and the nail rod (16) penetrates the sleeve (19), and the sleeve (19) is slidably connected with the hammering block (2) in the sleeve (19) through spring, and the one end of hammering block is provided with the rack (21), and the sleeve (19) is rotatably connected with the incomplete gear (22) and the rack (21) contact, and the incomplete gear (22) is connected with the collision motor (23), and the stable nail (14) is slidably connected with the collision block (24), and the collision block (24) is away from the nail sheet (15), and the bottom of landing gear (12) is provided with the collection bag (25), and the opening of collection bag (25) is below the stable nail (14), and the inner wall of collection bag (25) is pasted with adhesive tape.

2. The wall non-destructive unmanned detection device based on phased array ultrasonic waves according to claim 1, characterized in that: The telescopic link (13) includes a first rod (26) and a second rod (27), the first rod (26) is connected with the landing gear (12), the second rod (27) is connected with the inspection unmanned plane (1), and the first rod (26) and the second rod (27) are slidably connected with each other, the second rod (27) is slidably connected with the cleaning plate (28) through a spring, one side of the first rod (26) is provided with a vibration groove (29), the vibration groove (29) is wavy, one end of the cleaning plate (28) contacts the vibration groove (29), and the other end is provided with a round corner.

3. The wall non-destructive unmanned device based on phased array ultrasonic wave according to claim 2, characterized in that: The cleaning plate (28) is uniformly provided with cleaning strips (3) on one side, and the cleaning strips (3) are curvedly arranged.

4. The wall non-destructive unmanned detection device based on phased array ultrasonic waves according to claim 3, characterized in that: The cleaning plate (28) is provided with a water bag (31), and the water bag (31) contacts the second rod (27), the cleaning plate (28) is uniformly provided with a nozzle (32), and the nozzle (32) is communicated with the water bag (31) through a water pipe.

5. The wall non-destructive unmanned detection device based on phased array ultrasonic waves according to claim 4, characterized in that: The second rod (27) is slidably connected with a slide rod (33) through a spring, one end of the slide rod (33) is rotatably connected with a roller (34), and a displacement sensor is arranged between one end of the slide rod (33) and the second rod (27).

6. The wall non-destructive unmanned device based on phased array ultrasonic wave according to claim 1, characterized in that: The sleeve (19) is provided with a spiral groove (35) on the inner wall, and a rotating block (36) is slidably connected in the spiral groove (35), one end of the rotating block (36) is connected with the nail lifting piece (15), one side of the nail lifting piece (15) is provided with a clamping block (37) which is clamped with a recess (38) on the stable nail (14), and the nail lifting piece (15) is rotationally connected with the nail lifting rod (16).

7. The wall non-destructive unmanned device based on phased array ultrasonic wave according to claim 6, characterized in that: The landing gear (12) is uniformly provided with a limiting strip (39) at one end, and the limiting strip (39) is hinged to one end of the landing gear (12) through a torsion spring.

8. The wall non-destructive unmanned device based on phased array ultrasonic wave according to claim 7, characterized in that: The landing gear (12) is provided with a squeeze tank (4), one end of the squeeze tank (4) is provided with a spray pipe (41), and the squeeze tank (4) stores a joint sealing agent.

9. The wall non-destructive unmanned device based on phased array ultrasonic wave according to claim 8, characterized in that: The landing gear (12) is hinged with a swing pipe (42) through a torsion spring, one end of the swing pipe (42) faces the tip of the stable nail (14), and the other end communicates with the spray pipe (41).

10. A drone control method using the detection device according to any one of claims 1 to 9, characterized by: The control method comprises the following steps: S1: preliminary preparation and scheme planning, including object analysis, equipment selection and debugging, and route planning, then on-site environment investigation and security deployment; S2: the inspection unmanned plane (1) ascends according to the preset route, hovers to the detection starting point accurately through the positioning system, adjusts the attitude to make the phased array ultrasonic probe align with the detection area, the probe emits ultrasonic waves to the wall through coupling agent spray or air coupling technology, receives the ultrasonic signals reflected inside the wall, and transmits them to the airborne data module or ground station in real time; S3: the ground operator observes the ultrasonic signal waveform and the flight state of the inspection unmanned plane (1) in real time, if the signal is abnormal, the route can be paused for key rescan; after the detection is completed, the inspection unmanned plane (1) returns, and the ultrasonic raw data and synchronous optical images stored in the airborne are exported; S4: the phased array imaging algorithm is used to generate the wall cross-section graph and three-dimensional imaging graph, the position is calibrated combined with the optical image, the defect type, size and depth corresponding to the signal abnormal area are identified; The defect data is labeled and classified, a detection report is generated, and the defect position, severity and recommended treatment scheme are determined.

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