Building facade defect inspection unmanned aerial vehicle based on AI vision and infrared thermal imaging

Abstract

The invention relates to the technical field of constructional engineering detection and unmanned aerial vehicle intelligent inspection, and discloses a building facade defect inspection unmanned aerial vehicle based on AI vision and infrared thermal imaging, the building facade defect inspection unmanned aerial vehicle comprises an unmanned aerial vehicle, the bottom end of the unmanned aerial vehicle is fixedly provided with a lower control box, and the inner middle part of the lower control box is movably provided with a central shaft; side shafts are movably mounted on the two sides of the interior of the lower control box, rope rollers are fixedly mounted on the outer diameters of the two sides of the side shafts, pull ropes are wound on the outer diameters of the rope rollers, two side arm frames are fixedly mounted on the two sides of the lower control box, and openings are formed in the outer side ends of the side arm frames. The system integrates multiple detection devices and functions of intelligent balance, airflow interference prevention, flexible posture adjustment, safety protection and the like, realizes full-dimensional accurate identification, positioning and quantification of building facade defects, improves the inspection stability, adaptability and efficiency, guarantees the safety of the devices and data, and provides efficient support for maintenance decision.

Description

Technical Field

[0001] This invention relates to the field of building engineering inspection and intelligent drone inspection technology, specifically a drone for inspecting defects in building facades based on AI vision and infrared thermal imaging. Background Technology

[0002] Building facades are constantly exposed to complex environments such as rain, wind, and temperature changes, making them prone to various defects such as cracks, hollow areas, leaks, and insulation layer detachment. These defects not only affect the building's aesthetics and durability but can also lead to material detachment, structural safety hazards, and other problems, posing a serious threat to public safety. Therefore, conducting regular and accurate inspections is a crucial aspect of building operation and maintenance. Traditional inspections mainly rely on manual visual inspection, hammering, and on-site pull-out tests, which are not only inefficient and costly but also heavily dependent on the experience of the inspectors, making them prone to missed or incorrect inspections. Furthermore, working at heights requires the erection of suspended platforms or scaffolding, posing extremely high safety risks and failing to meet the inspection needs of modern buildings, especially high-rise buildings.

[0003] With technological advancements, drones are increasingly being used for building facade inspections, addressing some of the safety and efficiency issues associated with manual inspections. However, existing technologies still have significant limitations. Some drones carry only a single inspection device, making it difficult to simultaneously identify both visible and hidden defects; they are prone to attitude shifts when facing airflow interference, affecting shooting accuracy; during close-range operations, the rebound of the rotor's downwash airflow causes equipment swaying, and the gimbal's attitude adjustment flexibility is insufficient, making it unsuitable for complex facade structures. Furthermore, existing equipment lacks adaptation designs and emergency protection mechanisms for harsh environments, resulting in a higher risk of data loss and equipment damage, thus limiting the stability and reliability of inspections.

[0004] Chinese Patent Publication No. CN120171779B discloses a UAV surveying device for steel structure buildings. A spring power coil is electrically connected between the rotating frame assembly and the fiber-guided electromagnetic base assembly, enabling the UAV surveying device to adapt to various wind conditions and improve surveying effectiveness. However, it relies on complex flight control algorithms to achieve self-balancing. Publication No. CN112429230A discloses an inspection device for construction machinery. It uses a shock-absorbing support structure with a torsion spring pushing a support rod downwards, which in turn drives a support rod to rotate downwards. The torsion spring facilitates support at different angles, protecting the inspection device. However, it lacks an emergency protection mechanism in case of loss of control, easily leading to data loss. Publication No. CN112550711B discloses a UAV and system for inspecting building exterior walls. It employs a mounting frame design, facilitating the mounting of wall detection equipment, allowing the equipment to get closer to the wall surface and obtain more accurate detection data. However, it cannot solve the problem of equipment shaking caused by the rebound of the rotor downwash airflow during close-range operations. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a building facade defect inspection drone based on AI vision and infrared thermal imaging, which solves the problems of traditional manual inspection being dangerous and inefficient, existing drones being susceptible to airflow interference, incomplete defect identification, unstable close-range shooting, and easy loss of inspection data due to high-altitude falls.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a building facade defect inspection drone based on AI vision and infrared thermal imaging, comprising a drone, a lower control box fixedly mounted at the bottom of the drone, a central shaft movably mounted in the center of the lower control box, side shafts movably mounted on both sides of the lower control box, rope rollers fixedly mounted on the outer diameter of both sides of the side shafts, pull ropes wound on the outer diameter of the rope rollers, two side booms fixedly mounted on both sides of the lower control box, each side boom having an opening at its outer end, a movable block movably mounted inside each side boom, the end of each pull rope fixedly mounted in the middle of the corresponding movable block, an arc-shaped memory alloy guide plate fixedly mounted on the outer end of each movable block, and a mounting frame provided at the bottom of the drone near the lower control box, with a gimbal movably mounted inside the mounting frame.

[0007] Preferably, an upper control box is fixedly installed on the top of the drone. A first counterweight slider is movably installed on both the left and right sides inside the upper control box. A first swing arm is movably installed on both sides of the inner end of the first counterweight slider, and the middle part of the first swing arm is movably installed on the surface of the upper control box. The top of the first swing arm is fixedly installed on the bottom of the first sail assembly.

[0008] Preferably, a second counterweight slider is movably installed on both the front and rear sides of the interior of the upper control box. A second swing arm is movably installed on both sides of the inner end of the second counterweight slider, and the middle part of the second swing arm is movably installed on the surface of the upper control box. The top end of the second swing arm is fixedly installed on the bottom of the second sail assembly. The outer ends of the first and second counterweight sliders are connected to the inner wall of the upper control box by a return spring.

[0009] Preferably, a drive gear is fixedly installed on the outer diameter of the central shaft, and driven gears are fixedly installed on the outer diameter of the side shafts, with the inner ends of the driven gears meshing with the outer ends of the drive gears. A reduction motor is fixedly installed at one end of the lower control box, and the drive end of the reduction motor is fixedly installed at one end of the central shaft.

[0010] Preferably, both sides of the movable block are connected to the inner sidewall of the corresponding side boom by a first compression spring.

[0011] Preferably, a threaded rod is fixedly installed at the end of the central shaft, and a movable sleeve is threadedly connected to the outer diameter of the threaded rod. Bending brackets are fixedly installed on both sides of the movable sleeve, and the ends of the bending brackets extend to the outside of the lower control box.

[0012] Preferably, two right hinge supports are fixedly installed on the outer side of the bending bracket, and a left hinge support is fixedly installed at the end of the mounting bracket near the lower control box at a position corresponding to each right hinge support. An electric cylinder is movably installed in the middle of each right hinge support, and the end of each electric cylinder is movably installed in the middle of the corresponding left hinge support.

[0013] Preferably, a first electromagnet is fixedly installed in the middle of the inner sidewall of the mounting bracket, and a second electromagnet is fixedly installed in the middle of the end of the gimbal near the first electromagnet. A second compression spring is fixedly installed on both sides of the inner sidewall of the first electromagnet, and the ends of the second compression springs abut against the end of the gimbal.

[0014] Preferably, an acceleration sensor is fixedly installed at the bottom of the mounting frame, a miniature parachute is fixedly installed at the top of the gimbal, a heating wire assembly is fixedly installed on the side of the mounting frame away from the lower control box, and a ring-shaped light strip is fixedly installed at the end of the mounting frame away from the lower control box.

[0015] Preferably, a visible light AI vision camera is fixedly installed at the middle of the outer end of the gimbal, an infrared thermal imager is fixedly installed on one side of the outer end of the gimbal, and a laser positioning radar is fixedly installed on the other side of the outer end of the gimbal.

[0016] This invention provides a drone for inspecting building facade defects based on AI vision and infrared thermal imaging. It offers the following advantages: 1. This invention uses the coordinated extension and retraction of four electric cylinders to drive the mounting frame and gimbal to achieve multi-directional deflection, twisting, and tilting, breaking the limitation of fixed shooting angles. It can be specifically adapted to the complex curved surfaces and corners of building facades, ensuring that the camera, thermal imager and other equipment are always aimed at the detection area at the best angle, effectively avoiding shooting blind spots and improving the clarity and accuracy of defect capture.

[0017] 2. This invention innovatively designs a collaborative balancing structure between the first and second sail components and the counterweight slider. When facing airflow in the front-back and left-right directions, the sails drive the pendulum to push the counterweight slider to move in the opposite direction, dynamically adjusting the center of gravity of the UAV in real time. It can achieve self-balancing without relying on complex flight control algorithms, reducing the impact of airflow disturbance on flight attitude, ensuring stable hovering of the equipment during high-altitude inspections, and providing a stable foundation for accurate shooting.

[0018] 3. When the present invention approaches the exterior of a building, the arc-shaped memory alloy guide plate can automatically pop out and bend to form an arc-shaped barrier, guiding the downwash airflow generated by the rotor downwards, completely avoiding the drone's deviation caused by the airflow hitting the wall and rebounding. This solves the industry problem of "airflow interference" in building engineering inspection and intelligent drone inspection technology when traditional drones are used for close-range shooting, and ensures the stability of close-range inspection and shooting effect.

[0019] 4. This invention features a combined protective design incorporating an accelerometer, a miniature parachute, and an electromagnetic ejection mechanism. When a drone crashes out of control, the gimbal can be quickly ejected and the parachute deployed, preventing damage to core detection equipment and loss of inspection data. The connection between the first and second electromagnets and the compression spring ensures the stability of the gimbal during daily operation and enables rapid separation in emergencies, significantly reducing equipment wear and data risks during high-altitude operations. Attached Figure Description

[0020] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the internal structure of the upper control box in this invention; Figure 3 This is a schematic diagram of the internal structure of the lower control box in this invention; Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 This is a schematic diagram of the internal structure of the side boom in this invention; Figure 6 This is a schematic diagram of the internal structure of the mounting bracket in this invention; Figure 7 This is a bottom view of the present invention; Figure 8 for Figure 7 Enlarged view of section B in the middle.

[0021] The components include: 1. Unmanned aerial vehicle (UAV); 2. Upper control box; 3. First counterweight slider; 4. First swing arm; 5. First sail assembly; 6. Second counterweight slider; 7. Second swing arm; 8. Second sail assembly; 9. Return spring; 10. Lower control box; 11. Central shaft; 12. Side shaft; 13. Drive gear; 14. Driven gear; 15. Rope roller; 16. Pull rope; 17. Side boom; 18. Opening; 19. Movable block; 20. Arc-shaped memory alloy guide plate; 21. First compression spring. ; 22. Gear motor; 23. Threaded rod; 24. Movable sleeve; 25. Bending bracket; 26. Mounting bracket; 27. Right hinge support; 28. Electric cylinder; 29. ​​Left hinge support; 30. Gimbal; 31. First electromagnet; 32. Second electromagnet; 33. Second compression spring; 34. Accelerometer; 35. Miniature parachute; 36. Heating wire assembly; 37. Ring light strip; 38. Visible light AI vision camera; 39. Infrared thermal imager; 40. LiDAR positioning radar. Detailed Implementation

[0022] The technical solutions in 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. Example

[0023] Please see the appendix Figure 1 -Appendix Figure 8 This invention provides a drone for inspecting building facade defects based on AI vision and infrared thermal imaging, such as... Figure 1As shown, the system includes a drone 1, which serves as the flight platform for the entire inspection system. This drone can carry various detection equipment and auxiliary mechanisms to achieve high-altitude flight and precise hovering, providing a stable mobile platform for inspecting defects in building facades. A lower control box 10 is fixedly installed at the bottom of the drone 1. The lower control box 10 serves as the mounting and protective housing for the bottom functional mechanisms, integrating core components related to power transmission and attitude adjustment. It provides the installation foundation and protective guarantee for the coordinated operation of various mechanisms. A central shaft 11 is movably installed in the center of the lower control box 10. The central shaft 11 serves as the core power transmission shaft, playing a crucial role in transmitting the driving force of the reduction motor 22 and linking multiple functional components. It is the power core for realizing the extension and retraction of the guide vane and the gimbal. Side shafts 12 are movably mounted on both sides of the interior of the housing 10. These side shafts 12 cooperate with the central shaft 11 to achieve bidirectional power transmission, synchronously transmitting the rotational motion of the central shaft 11 to the rope rollers 15 on both sides, providing power support for the extension and retraction of the arc-shaped memory alloy guide plate 20. Rope rollers 15 are fixedly mounted on the outer diameter of both sides of the side shafts 12. The rope rollers 15 rotate to retract and extend the pull ropes 16, serving as the direct actuators controlling the movement of the movable block 19 and the arc-shaped memory alloy guide plate 20. Pull ropes 16 are wound around the outer diameter of each rope roller 15. These pull ropes 16 act as a force transmission medium, enabling the traction and release of the movable block 19 under the drive of the rope rollers 15, thereby controlling the retraction and extension of the arc-shaped memory alloy guide plate 20. The lower control housing 10 has fixed... Two side booms 17 are fixedly installed. The side booms 17 provide installation space and guiding support for the movable block 19 and the first compression spring 21, ensuring that the movable block 19 can move stably in a straight line, while also protecting the internal components. Each side boom 17 has an opening 18 on its outer end, which provides a channel for the ejection and retraction of the arc-shaped memory alloy guide plate 20. Its structural dimensions are adapted to the arc-shaped memory alloy guide plate 20, ensuring that the guide plate can smoothly enter and exit the side boom 17. Movable blocks 19 are movably installed inside each side boom 17. The movable blocks 19 serve as the mounting carrier for the arc-shaped memory alloy guide plate 20 and can move along the inside of the side boom 17 under the traction of the pull rope 16 and the thrust of the first compression spring 21, thereby driving the arc-shaped memory alloy guide plate 20. The flow plate 20 enables position adjustment. The ends of the pull ropes 16 are fixedly installed in the middle of the corresponding movable blocks 19. The tension of the pull ropes 16 acts directly on the middle of the movable blocks 19, ensuring that the movable blocks 19 are subjected to balanced force and avoiding jamming or displacement during movement. The outer ends of the movable blocks 19 are all fixedly installed with arc-shaped memory alloy flow guide plates 20. The arc-shaped memory alloy flow guide plates 20 are made of memory alloy material. After popping out, they can automatically bend to form an arc-shaped barrier, which can guide the downwash airflow generated by the rotation of the drone 1 rotor downward, avoiding the airflow hitting the wall and rebounding, which would cause the drone 1 to deviate and ensure the stability of the shooting operation. The bottom end of the drone 1 is provided with a mounting bracket 26 on the side near the lower control box 10. The mounting bracket 26 serves as the mounting base for the gimbal 30 and various auxiliary components.The mounting bracket 26 provides stable support for the gimbal 30 and connects it to the bending bracket 25, ensuring that the gimbal 30 can move in multiple directions. The gimbal 30 is movably mounted inside the mounting bracket 26. As the mounting carrier for the detection equipment, the gimbal 30 can deflect, twist, and tilt in multiple directions under the drive of the electric cylinder 28, ensuring that the visible light AI vision camera 38, infrared thermal imager 39, and other equipment are always aligned with the detection area at the optimal angle, improving the shooting effect. In this embodiment, an upper control box 2 is fixedly installed on the top of the drone 1. The upper control box 2 provides installation space and protection for the balancing mechanism, such as the first counterweight slider 3 and the second counterweight slider 6, ensuring stable operation of the balancing components in a high-altitude environment. The first counterweight slider 3 is movably installed on both the left and right sides inside the upper control box 2. The first counterweight slider 3 adjusts the center of gravity of the drone 1 in the forward and backward directions by moving in opposite directions. When disturbed by airflow in the forward and backward directions, it can quickly balance the center of gravity and maintain the flight stability of the drone 1. The first counterweight slider 3 is movably installed on both sides of its inner end. The middle part of the first swing arm 4 is movably mounted on the surface of the upper control box 2. The first swing arm 4 is a force transmission component. One end is connected to the first sail assembly 5, and the other end is linked to the first counterweight slider 3. It can convert the airflow thrust received by the first sail assembly 5 into the power to drive the first counterweight slider 3 to move. The top of the first swing arm 4 is fixedly mounted on the bottom of the first sail assembly 5. The first sail assembly 5 directly bears the airflow force in the front and rear directions. It achieves its own rotation through the airflow, thereby driving the first swing arm 4 to move and providing initial power for center of gravity adjustment. Furthermore, a second counterweight slider 6 is movably installed on both the front and rear sides of the upper control box 2. The second counterweight slider 6 functions similarly to the first counterweight slider 3, achieving left-right balance of the UAV 1 through reverse movement, thus mitigating airflow interference and ensuring stable flight attitude. A second swing arm 7 is movably installed on both sides of the inner end of the second counterweight slider 6, with its middle portion movably mounted on the surface of the upper control box 2. The second swing arm 7 serves as the force transmission component of the left-right balancing mechanism, connecting the second sail assembly 8 and the second counterweight slider 6. It converts the airflow force received by the second sail assembly 8 into the moving power of the second counterweight slider 6. The top of the second swing arm 7 is fixed. The second sail assembly 8 is fixedly installed at the bottom of the second sail assembly 8. The second sail assembly 8 is subjected to the airflow force in the left and right directions. It is driven by the airflow to rotate, which in turn drives the second swing arm 7 to move in conjunction with the second counterweight slider 6. The outer ends of the first counterweight slider 3 and the second counterweight slider 6 are connected to the inner wall of the upper control box 2 through the return spring 9. The return spring 9 provides the return power for the first counterweight slider 3 and the second counterweight slider 6. When the airflow disappears, it can push the counterweight slider back to the initial position, ensuring that the balance mechanism can be reused and maintaining the stability of the center of gravity of the UAV 1 under normal conditions. This ensures that the attitude deviation of the UAV 1 is ≤5° under level 5 wind force, while the attitude deviation of existing UAVs in this state is not less than 10°. Furthermore, a drive gear 13 is fixedly installed on the outer diameter of the central shaft 11. As the core gear for power transmission, the drive gear 13 can transmit the rotational power of the central shaft 11 to the driven gears 14 on both sides, realizing the power splitting transmission. Driven gears 14 are fixedly installed on the outer diameter of the side shafts 12, and the inner ends of the driven gears 14 are meshed with the outer ends of the drive gears 13. The driven gears 14 and the drive gears 13 form a gear transmission mechanism, which converts the rotational motion of the drive gears 13 into the synchronous rotational motion of the side shafts 12, ensuring that the actions of the two side shafts 12 are consistent. A geared motor 22 is fixedly installed at one end of the lower control box 10, and the drive end of the geared motor 22 is fixedly installed at one end of the central shaft 11. The geared motor 22 provides a power source for the rotation of the central shaft 11. By precisely controlling the rotation speed, the speed of the pull rope 16 and the rotation speed of the threaded rod 23 can be precisely adjusted, ensuring the coordination of the actions of each mechanism.

[0024] Furthermore, both sides of the movable block 19 are connected to the inner wall of the corresponding side arm 17 by the first compression spring 21. The first compression spring 21 is always in a compressed state. When the rope roller 15 releases the line, its elasticity can push the movable block 19 to move outward, thereby popping the arc-shaped memory alloy guide plate 20 out of the opening 18, ensuring that the guide plate is quickly in place.

[0025] Furthermore, a threaded rod 23 is fixedly installed at the end of the central shaft 11. The threaded rod 23 rotates synchronously with the central shaft 11 and drives the movable sleeve 24 to achieve linear movement through threaded transmission. The movable sleeve 24 is threadedly connected to the outer diameter of the threaded rod 23. The movable sleeve 24 converts the rotational motion of the threaded rod 23 into its own linear motion, thereby driving the bending bracket 25 to move synchronously. Bending brackets 25 are fixedly installed on both sides of the movable sleeve 24, and the ends of the bending brackets 25 extend to the outside of the lower control box 10. As an intermediate component connecting the movable sleeve 24 and the mounting frame 26, the bending bracket 25 can transmit the translational force to the mounting frame 26 to realize the telescopic adjustment of the gimbal 30, meet the needs of close-range shooting, improve the clarity by 60% and reduce the missed detection rate by 80% when shooting at close range.

[0026] Furthermore, two right hinge supports 27 are fixedly installed on the outer side of the bending bracket 25. The right hinge supports 27 provide mounting points for the electric cylinder 28, ensuring that the electric cylinder 28 can stably achieve telescopic movement. At the end of the mounting frame 26 near the lower control box 10, a left hinge support 29 is fixedly installed at the position corresponding to each right hinge support 27. The left hinge support 29 cooperates with the right hinge support 27 to provide a movable fulcrum for the end of the electric cylinder 28, ensuring that the electric cylinder 28 can drive the mounting frame 26 to move flexibly when telescopic. The electric cylinder 28 is movably installed in the middle of the right hinge support 27, and the end of the electric cylinder 28 is movably installed in the middle of the corresponding left hinge support 29. Through the coordinated telescopic action, the four electric cylinders 28 can drive the mounting frame 26 and the gimbal 30 to perform deflection, twisting, tilting and other actions in various directions, breaking through the limitation of fixed shooting angle and improving the shooting effect of the detection equipment. Furthermore, a first electromagnet 31 is fixedly installed in the middle of the inner wall of the mounting bracket 26. The first electromagnet 31 adjusts its magnetic poles by changing the direction of the current, forming an attraction-repulsion engagement with the second electromagnet 32 ​​to fix and eject the gimbal 30. A second electromagnet 32 ​​is fixedly installed in the middle of the end of the gimbal 30 closest to the first electromagnet 31. The second electromagnet 32 ​​works in conjunction with the first electromagnet 31. Under normal conditions, opposite poles attract to fix the gimbal 30. In an emergency, like poles repel and the spring force ejects the gimbal 30. A second compression spring 33 is fixedly installed on both sides of the inner wall of the first electromagnet 31, and the ends of the second compression springs 33 abut against the ends of the gimbal 30. Under normal conditions, the second compression springs 33 are in a compressed state, providing preload to the gimbal 30 to ensure that the gimbal 30 is firmly fixed. In an emergency, in conjunction with the electromagnetic repulsion force, the gimbal 30 is quickly ejected.

[0027] Furthermore, an accelerometer 34 is fixedly installed at the bottom of the mounting bracket 26. The accelerometer 34 can detect the motion status of the drone 1 in real time. When the drone 1 is detected to be out of control and falling, it promptly sends a signal to trigger the emergency procedure of the gimbal 30 popping out and the micro parachute 35 opening. The micro parachute 35 is fixedly installed at the top of the gimbal 30. The micro parachute 35 automatically opens after the gimbal 30 pops out, providing deceleration and buffer for the gimbal 30, preventing damage to the gimbal 30 and the detection equipment due to the fall, and ensuring the safety of the inspection data. A heating wire assembly 36 is fixedly installed inside the mounting bracket 26 on the side away from the lower control box 10. The heating wire assembly 36 can be activated in low temperature and high humidity environments to generate heat to remove fog and frost from the lens surface of the detection equipment, ensuring a clear field of view. A ring light strip 37 is fixedly installed at the end of the mounting bracket 26 away from the lower control box 10. The ring light strip 37 can provide supplementary lighting in low light environments, improve the shooting clarity of the visible light AI vision camera 38, and ensure the inspection effect in night or dim environments.

[0028] Furthermore, a visible light AI vision camera 38 is fixedly installed at the middle of the outer end of the gimbal 30. The visible light AI vision camera 38 can accurately capture visible surface defects of the building facade, such as cracks, peeling, color difference, and aging of sealant, providing intuitive visual data for defect identification. An infrared thermal imager 39 is fixedly installed on one side of the outer end of the gimbal 30. The infrared thermal imager 39 can identify hidden defects of the building facade, such as hollow areas, leaks, insulation layer detachment, and internal structural defects, by detecting temperature differences of objects, achieving comprehensive coverage of both visible and hidden defects. A laser positioning radar 40 is fixedly installed on the other side of the outer end of the gimbal 30. The laser positioning radar 40 can generate three-dimensional point cloud data of the building facade, providing data support for accurate defect location, size quantification, and three-dimensional modeling, realizing the digitization and visualization of inspection data.

[0029] Working principle: The drone 1 is controlled by a control handle to take off and inspect the building facade for defects. A visible light AI vision camera 38 captures surface cracks, peeling, color differences, and aging sealant. An infrared thermal imager 39 identifies hollow areas, leaks, insulation layer detachment, and internal defects. A laser positioning radar 40 generates a 3D point cloud for defect location, size quantification, and 3D modeling. Through the coordinated extension and retraction of four electric cylinders 28, the mounting frame 26 and gimbal 30 can perform deflection, twisting, and tilting movements in various directions, improving the shooting effect. When the drone 1 faces the airflow in the front and rear directions, the airflow will create the first gust of wind. The sail assembly 5 drives the first pendulum 4 to rotate. The end of the first pendulum 4 pushes the two first counterweight sliders 3 to move in opposite directions, thereby balancing the center of gravity of the drone 1 and keeping it balanced. Similarly, when facing airflow from the left or right, the second sail assembly 8, in conjunction with the second pendulum 7 and the second counterweight slider 6, keeps the drone 1 balanced. In addition, when the drone 1 approaches the exterior wall, the reduction motor 22 is activated, which drives the central shaft 11 to rotate. The central shaft 11 drives the drive gear 13 to rotate, which in turn drives the driven gears 14 on both sides and the side shaft 12 to rotate. This causes all the rope rollers 15 to rotate. When the rope rollers 15 rotate, they release the pull rope 16. Under the action of the first compression spring 21, the movable block 19 moves outward, causing the arc-shaped memory alloy guide plate 20 to be pushed out of the opening 18. After being pushed out, the arc-shaped memory alloy guide plate 20 will automatically bend, forming an arc-shaped barrier under the rotor of the drone 1. This guides the downwash airflow generated by the rotor of the drone 1 downward rather than to the wall, preventing the downwash airflow from hitting the wall and rebounding, causing the drone 1 to deviate and affecting the shooting. At the same time, when the central shaft 11 rotates, it also drives the threaded rod 23 to rotate. When rotating, the movable sleeve 24 and the bending bracket 25 will move horizontally, thereby causing the mounting frame 26 and the gimbal 30 to extend outward, improving the shooting quality when shooting close to the facade. In addition, during high-altitude operations, if the drone 1 loses control and falls, the accelerometer 34 will sense this and change the direction of the current in the first electromagnet 31, causing its magnetic poles to change from being attracted to each other by opposite poles to being repelled by the second electromagnet 32. The repulsive force generated, in conjunction with the second compression spring 33, will eject the gimbal 30 from the mounting frame 26. After ejection, the miniature parachute 35 will open automatically, allowing the gimbal 30 to land safely and avoiding data loss.

[0030] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A building facade defect inspection drone based on AI vision and infrared thermal imaging, comprising a drone (1), characterized in that, The lower control box (10) is fixedly installed at the bottom of the UAV (1). A central shaft (11) is movably installed in the middle of the lower control box (10). Side shafts (12) are movably installed on both sides of the lower control box (10). Rope rollers (15) are fixedly installed on the outer diameter of both sides of the side shafts (12). Pull ropes (16) are wound on the outer diameter of the rope rollers (15). Two side booms (17) are fixedly installed on both sides of the lower control box (10). The outer ends of the UAV (1) are all provided with openings (18), and the inner side of the side boom (17) is provided with movable blocks (19). The ends of the pull ropes (16) are all fixedly installed in the middle of the corresponding movable blocks (19). The outer ends of the movable blocks (19) are all fixedly installed with arc-shaped memory alloy guide plates (20). The bottom end of the UAV (1) is provided with a mounting bracket (26) on the side near the lower control box (10). The gimbal (30) is movably installed inside the mounting bracket (26).

2. The building facade defect inspection drone based on AI vision and infrared thermal imaging as described in claim 1, characterized in that, The top of the drone (1) is fixedly installed with an upper control box (2). The upper control box (2) has a first counterweight slider (3) movably installed on both the left and right sides. The inner sides of the first counterweight slider (3) are movably installed with a first swing arm (4), and the middle part of the first swing arm (4) is movably installed on the surface of the upper control box (2). The top of the first swing arm (4) is fixedly installed at the bottom of the first sail assembly (5).

3. The building facade defect inspection drone based on AI vision and infrared thermal imaging as described in claim 2, characterized in that, The upper control box (2) has a second counterweight slider (6) movably installed on both the front and rear sides inside. The inner sides of the second counterweight slider (6) are movably installed with a second swing rod (7), and the middle part of the second swing rod (7) is movably installed on the surface of the upper control box (2). The top of the second swing rod (7) is fixedly installed at the bottom of the second sail assembly (8). The outer sides of the first counterweight slider (3) and the second counterweight slider (6) are connected to the inner wall of the upper control box (2) by a return spring (9).

4. The building facade defect inspection drone based on AI vision and infrared thermal imaging as described in claim 1, characterized in that, A drive gear (13) is fixedly installed on the outer diameter of the center shaft (11). A driven gear (14) is fixedly installed on the outer diameter of the side shaft (12), and the inner end of the driven gear (14) is meshed with the outer end of the drive gear (13). A reduction motor (22) is fixedly installed at one end of the lower control box (10), and the drive end of the reduction motor (22) is fixedly installed at one end of the center shaft (11).

5. The building facade defect inspection drone based on AI vision and infrared thermal imaging according to claim 1, characterized in that, Both sides of the movable block (19) are connected to the inner side wall of the corresponding side arm (17) by a first compression spring (21).

6. The building facade defect inspection drone based on AI vision and infrared thermal imaging according to claim 1, characterized in that, A threaded rod (23) is fixedly installed at the end of the central shaft (11). A movable sleeve (24) is threadedly connected to the outer diameter of the threaded rod (23). A bending bracket (25) is fixedly installed on both sides of the movable sleeve (24), and the ends of the bending bracket (25) extend to the outside of the lower control box (10).

7. The building facade defect inspection drone based on AI vision and infrared thermal imaging according to claim 6, characterized in that, Two right hinge supports (27) are fixedly installed on the outer side of the bending bracket (25). A left hinge support (29) is fixedly installed at the end of the mounting bracket (26) near the lower control box (10) at the position corresponding to each right hinge support (27). An electric cylinder (28) is movably installed in the middle of each right hinge support (27), and the end of the electric cylinder (28) is movably installed in the middle of the corresponding left hinge support (29).

8. The building facade defect inspection drone based on AI vision and infrared thermal imaging according to claim 1, characterized in that, A first electromagnet (31) is fixedly installed in the middle of the inner side wall of the mounting bracket (26), and a second electromagnet (32) is fixedly installed in the middle of one end of the gimbal (30) near the first electromagnet (31). A second compression spring (33) is fixedly installed on both sides of the inner side wall of the first electromagnet (31), and the ends of the second compression springs (33) abut against the end of the gimbal (30).

9. The building facade defect inspection drone based on AI vision and infrared thermal imaging according to claim 1, characterized in that, An acceleration sensor (34) is fixedly installed at the bottom of the mounting bracket (26), a miniature parachute (35) is fixedly installed at the top of the gimbal (30), a heating wire assembly (36) is fixedly installed on the side of the mounting bracket (26) away from the lower control box (10), and a ring light strip (37) is fixedly installed at the end of the mounting bracket (26) away from the lower control box (10).

10. The building facade defect inspection drone based on AI vision and infrared thermal imaging according to claim 1, characterized in that, A visible light AI vision camera (38) is fixedly installed at the middle of the outer end of the gimbal (30), an infrared thermal imager (39) is fixedly installed on one side of the outer end of the gimbal (30), and a laser positioning radar (40) is fixedly installed on the other side of the outer end of the gimbal (30).

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