Magnetic adsorption wall surface unmanned aerial vehicle

Abstract

The utility model provides a magnetic adsorption wall surface unmanned aerial vehicle, which relates to the technical field of unmanned aerial vehicles and comprises an unmanned aerial vehicle body and a knocking detection device, a knocking detection device is arranged at the front end of the unmanned aerial vehicle body and used for knocking detection of a steel structure and collection of vibration and sound wave data. The knocking detection device comprises a rotating frame, a knocking mechanism and a data acquisition sensor module; the rear end of the rotating frame is pivoted to the front end of the unmanned aerial vehicle body; a knocking mechanism and a data acquisition sensor module are mounted at the front end of the rotating frame; the knocking mechanism is used for knocking the detected steel structure; the data acquisition sensor module is used for acquiring vibration and sound wave data; a magnetic adsorption part is mounted at the front end of the rotating frame, so that the front end of the rotating frame is adsorbed on the surface of the detected steel structure through the magnetic adsorption part. The magnetic adsorption component is adsorbed on the target part of the detected steel structure to assist the unmanned aerial vehicle in stably hovering, so that the target part can be accurately knocked, and the detection precision and efficiency are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field especially is involved in a kind of magnetic adsorption wall unmanned plane. BACKGROUND

[0002] The wide application of unmanned aerial vehicle (UAV) technology in the field of data acquisition covers multiple fields such as agriculture, building monitoring, disaster relief, and gradually develops various data acquisition methods. In traditional technology, the detection of steel structure using unmanned aerial vehicle relies on image and laser scanning technology to obtain on-site information, but these technologies have certain limitations in dealing with steel structure surface crack detection and internal material defect identification, especially in terms of detection accuracy and efficiency.

[0003] In the prior art, the detection technology of detecting steel structure damage by knocking has been preliminarily applied in the field of civil engineering. Knocking detection usually knocks the steel structure to make it vibrate and generate sound wave data, and identifies potential defects on the surface and inside of the steel structure through vibration and sound wave data. However, the technology of setting a knocking detection device on an unmanned aerial vehicle to detect the steel structure by knocking is not mature, and it is difficult for the unmanned aerial vehicle carrying the knocking detection device to detect and collect data in a complex environment at the detection site, especially when knocking the steel structure, the unmanned aerial vehicle is difficult to maintain a stable hovering state, which causes the knocking detection device to be unable to accurately knock the target part of the steel structure, seriously affecting the accuracy of vibration and sound wave data obtained by knocking the steel structure in this way, and further causing the accuracy of the steel structure damage detection data obtained by knocking detection in this way to be poor. SUMMARY

[0004] The purpose of the utility model is to provide a kind of magnetic adsorption wall unmanned plane, to solve at least one above-mentioned technical problem existing in prior art.

[0005] To solve the above technical problems, the utility model provides a kind of magnetic adsorption wall unmanned plane, comprising: unmanned plane body and knocking detection device;

[0006] The front end of the unmanned plane body is provided with the knocking detection device, which is used for knocking detection of steel structure and collecting vibration and sound wave data;

[0007] The knocking detection device comprises a rotating frame, a knocking mechanism and a data acquisition sensor module;

[0008] The rear end of the rotating frame is pivotally connected to the front end of the unmanned plane body;

[0009] The front end of the rotating frame is provided with the knocking mechanism and the data acquisition sensor module;

[0010] The knocking mechanism is used for knocking the detected steel structure, so as to perform knocking detection on the steel structure;

[0011] The data acquisition sensor module is used for acquiring vibration and sound wave data;

[0012] The front end of the rotating frame is further provided with a magnetic adsorption component, and the front end of the rotating frame is adsorbed on the surface of the detected steel structure through the magnetic adsorption component;

[0013] When the steel structure is subjected to knocking detection, the rotating frame is unfolded, the front end of the rotating frame is adsorbed on the target position on the surface of the detected steel structure through the magnetic adsorption component, the unmanned aerial vehicle body is assisted to maintain a stable hovering state, the target position is precisely knocked by the knocking mechanism, and the vibration and sound wave data generated by the knocking are acquired by the data acquisition sensor module, so that the surface and internal damage of the steel structure are detected according to the vibration and sound wave data.

[0014] The magnetic adsorption component is arranged on the rotating frame, the target position on the surface of the detected steel structure is adsorbed by the magnetic adsorption component during knocking detection, the unmanned aerial vehicle body is assisted to maintain a stable hovering state, the target position on the surface of the steel structure is precisely knocked by the knocking detection device, the accuracy of the acquired vibration and sound wave data is ensured, the detection precision and efficiency are greatly improved, and the accuracy of the knocking detection is ensured.

[0015] Further, the knocking mechanism comprises a fixed plate, a Y-shaped transmission frame, a driving mechanism, two linkage rods and two knocking heads;

[0016] The fixed plate is installed at the front end of the rotating frame, and the bottom of the fixed plate is provided with a guide rail, and the rear end of the Y-shaped transmission frame is slidably arranged in the guide rail;

[0017] The two knocking heads are symmetrically arranged at the front end of the fixed plate and can be relatively rotated, the front end of the fixed plate is provided with a connecting rod, and the rear end of the two knocking heads is rotatably connected to the front end of the connecting rod, and the two knocking heads are used for knocking the detected steel structure;

[0018] The two linkage rods are symmetrically arranged on both sides of the connecting rod, one end of the linkage rod is connected with the Y-shaped transmission frame, the other end is connected with the knocking head, and the relative rotation of the two knocking heads is realized through the linkage rod;

[0019] The driving mechanism is used for driving the Y-shaped transmission frame to move along the guide rail, and then driving the relative rotation of the two knocking heads through the two linkage rods.

[0020] Further, the driving mechanism comprises a rudder and a compression spring;

[0021] The rudder is mounted on one side of the bottom of the fixed plate, a gear is mounted on the output shaft of the rudder, a tooth structure is arranged at the bottom of the rear end of the Y-shaped transmission frame, the gear is engaged with the tooth structure, the Y-shaped transmission frame is driven to move backward by the rudder, and then two knocking heads are driven to swing back by two connecting rods.

[0022] The compression spring is sleeved outside the connecting rod and the two connecting rods, a spring limiting rod is arranged on the connecting rod, the rear end of the compression spring abuts against the spring limiting rod, and the front end of the compression spring abuts against the two knocking heads, so that the two knocking heads are forced to swing towards each other by the elastic force of the compression spring, the steel structure to be detected is knocked, and the compression spring provides buffering during knocking, so that the knocking force can be controlled and damage to the steel structure to be detected is avoided.

[0023] In use, the output shaft of the rudder rotates forward, the Y-shaped transmission frame is driven to move backward by the gear engaged with the tooth structure, the two connecting rods drive the two knocking heads to swing back, and the compression spring is compressed, and the output shaft of the rudder is locked after the compression spring is compressed to a certain extent.

[0024] During knocking, the output shaft of the rudder is released, the two knocking heads are forced to swing towards each other by the elastic force of the compression spring, and the steel structure to be detected is knocked.

[0025] Further, the data acquisition sensor module comprises an acceleration sensor and a sound sensor.

[0026] The acceleration sensor is used for acquiring vibration data generated by knocking detection.

[0027] The sound sensor is used for acquiring sound wave data generated by knocking detection.

[0028] Preferably, the sound sensor is usually a microphone.

[0029] Further, the unmanned aerial vehicle body is a multi-rotor unmanned aerial vehicle, a plurality of rotor mechanisms are arranged on the unmanned aerial vehicle body, the unmanned aerial vehicle body is driven to fly by the rotor mechanisms, and flight power of the unmanned aerial vehicle body is provided.

[0030] Preferably, the frame structure of the unmanned aerial vehicle body is made of lightweight and high-strength materials such as carbon fibers, so as to ensure the stability and safety of the frame structure of the unmanned aerial vehicle body.

[0031] Further, the magnetic adsorption wall surface unmanned aerial vehicle further comprises a rigid protection frame, the rigid protection frame is arranged around the unmanned aerial vehicle body and connected with the unmanned aerial vehicle body, and is used for protecting the unmanned aerial vehicle body.

[0032] Preferably, the protective frame is in the shape of a cube.

[0033] Further, wheels are installed at the corners of the rigid protective frame for wall-attached walking of the magnetic-adsorption wall-surface unmanned aerial vehicle, reducing friction and impact when contacting the surface of the detected steel structure, and enhancing the safety and adaptability of the magnetic-adsorption wall-surface unmanned aerial vehicle.

[0034] Further, the magnetic-adsorption wall-surface unmanned aerial vehicle further comprises a high-resolution visible light camera arranged at the bottom of the unmanned aerial vehicle body for collecting surface images of the detected steel structure, and further collecting image data of surface damage, cracks, etc. of the detected steel structure, so as to detect surface damage of the steel structure according to the surface crack images.

[0035] Further, the magnetic-adsorption wall-surface unmanned aerial vehicle further comprises two infrared thermal imagers arranged respectively at the front ends of the two rotor mechanisms at the front end of the unmanned aerial vehicle body for temperature detection of the detected steel structure surface, collecting temperature distribution data of the detected steel structure surface, identifying potential temperature abnormal areas, and accurately detecting temperature abnormal changes of the detected steel structure surface, especially suitable for finding temperature hot spots and heat loss points in curtain walls or bridge structures.

[0036] Further, the magnetic-adsorption wall-surface unmanned aerial vehicle further comprises a 3D laser scanner arranged at the front end of the unmanned aerial vehicle body for three-dimensional modeling of the detected steel structure or the on-site environment. In use, the 3D laser scanner collects spatial geometric data of the detected steel structure or the on-site environment, and further generates a three-dimensional point cloud model of the detected steel structure or the on-site environment according to the collected spatial geometric data, so as to detect and analyze the deformation of the detected steel structure.

[0037] Further, the magnetic-adsorption wall-surface unmanned aerial vehicle further comprises a positioning and obstacle avoidance module installed on the unmanned aerial vehicle body for positioning and obstacle avoidance of the magnetic-adsorption wall-surface unmanned aerial vehicle.

[0038] The positioning and obstacle avoidance module comprises a global navigation satellite system (GNSS) positioner and a plurality of laser radars.

[0039] The global navigation satellite system positioner is used for positioning of the magnetic-adsorption wall-surface unmanned aerial vehicle and the detected steel structure, and navigation of the magnetic-adsorption wall-surface unmanned aerial vehicle. In use, the global navigation satellite system positioner provides global navigation satellite system positioning information for the magnetic-adsorption wall-surface unmanned aerial vehicle.

[0040] The laser radar is used for obstacle avoidance of the magnetic adsorption wall surface unmanned aerial vehicle, so that the magnetic adsorption wall surface unmanned aerial vehicle can effectively avoid obstacles during flight, and the safety of detection is ensured.

[0041] Further, the magnetic adsorption wall surface unmanned aerial vehicle further comprises an inertial measurement unit (IMU) arranged on the unmanned aerial vehicle body and electrically connected with the positioning and obstacle avoidance module, used for monitoring the flight attitude of the unmanned aerial vehicle body in real time, adjusting the output of the rotor mechanism, and then controlling the flight attitude of the unmanned aerial vehicle body, so as to maintain the balance and flight stability of the unmanned aerial vehicle body.

[0042] The inertial measurement unit comprises a multi-axis accelerometer and a multi-axis gyroscope.

[0043] The multi-axis accelerometer is used for detecting acceleration data of the unmanned aerial vehicle body in multiple directions.

[0044] The multi-axis gyroscope is used for detecting angular velocity data of the unmanned aerial vehicle body in multiple directions.

[0045] In use, the multi-axis accelerometer and the multi-axis gyroscope can assist the global navigation satellite system positioner in positioning and navigation.

[0046] By adopting the above technical scheme, the utility model has the following beneficial effects:

[0047] The magnetic adsorption wall surface unmanned aerial vehicle provided by the utility model can adsorb on the target position on the surface of the steel structure to be detected by the magnetic adsorption part on the rotating frame during knocking detection, and assist the unmanned aerial vehicle body in maintaining a stable hovering state, so that the knocking detection device can accurately knock the target position on the surface of the steel structure, and the accuracy of collected vibration and sound wave data is ensured, the detection precision and efficiency are greatly improved, and the accuracy of knocking detection is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the specific embodiments of the utility model or the technical scheme in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced as follows, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0049] Figure 1 The structure schematic view of the magnetic adsorption wall surface unmanned aerial vehicle provided by the utility model when the knocking detection device is unfolded is shown in the figure.

[0050] Figure 2 The magnetic adsorption wall surface unmanned aerial vehicle provided by the utility model can adsorb on the target position on the surface of the steel structure to be detected by the magnetic adsorption part on the rotating frame during knocking detection, and assist the unmanned aerial vehicle body in maintaining a stable hovering state, so that the knocking detection device can accurately knock the target position on the surface of the steel structure, and the accuracy of collected vibration and sound wave data is ensured, the detection precision and efficiency are greatly improved, and the accuracy of knocking detection is ensured. Figure 1The front view of the magnetic adsorption wall surface unmanned aerial vehicle shown in the figure;

[0051] Figure 3 The structural schematic view of the magnetic adsorption wall surface unmanned aerial vehicle provided by the embodiment of the utility model when the knocking detection device is folded up;

[0052] Figure 4 For Figure 3 The front view of the magnetic adsorption wall surface unmanned aerial vehicle shown in the figure;

[0053] Figure 5 The structural schematic view of the knocking mechanism and the data acquisition sensor module of the magnetic adsorption wall surface unmanned aerial vehicle provided by the embodiment of the utility model;

[0054] Figure 6 For Figure 5 The bottom view of the knocking mechanism and the data acquisition sensor module shown in the figure.

[0055] Reference signs:

[0056] 100 unmanned aerial vehicle body; 101 rotor mechanism; 200 rigid protection frame; 201 wheel; 301 high-resolution visible light camera; 302 infrared thermal imager; 303 3D laser scanner; 400 positioning and obstacle avoidance module; 401 global navigation satellite system positioner; 500 inertial measurement unit; 600 knocking mechanism; 601 knocking head; 602 compression spring; 603 steering engine; 604 rotating frame; 605 fixed plate; 606 guide rail; 607 connecting rod; 608 Y-shaped transmission frame; 609 connecting rod; 610 gear; 611 gear structure; 612 spring limiting rod; 613 magnetic adsorption part; 614 data acquisition sensor module. DETAILED DESCRIPTION

[0057] The technical solutions of the utility model will be described clearly and completely below in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by the ordinary skilled in the art without creative labor fall within the protection scope of the utility model.

[0058] In the description of the utility model, it needs to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or position relation based on the orientation or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the device or element indicated must have a particular orientation, a particular orientation and operation, therefore, it cannot be understood as a limitation on the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0059] In the description of the utility model, it needs to explain, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0060] The utility model will be further explained in combination with specific embodiments.

[0061] It also needs to be explained that the following specific examples or specific embodiments are a series of optimized setting modes listed by the utility model to further explain the specific utility model content, and these setting modes can be used in combination or correlation with each other.

[0062] Example 1

[0063] As Figures 1-6 shown, the magnetic adsorption wall surface unmanned aerial vehicle provided in the embodiment comprises: an unmanned aerial vehicle body 100 and a knocking detection device; the front end of the unmanned aerial vehicle body 100 is provided with the knocking detection device, which is used for knocking detection of steel structure and collection of vibration and sound wave data; the knocking detection device comprises: a rotating frame 604, a knocking mechanism 600 and a data acquisition sensor module 614; the rear end of the rotating frame 604 is pivotally connected to the front end of the unmanned aerial vehicle body 100; the front end of the rotating frame 604 is provided with the knocking mechanism 600 and the data acquisition sensor module 614; the knocking mechanism 600 is used for knocking the detected steel structure, so as to knock the steel structure; the data acquisition sensor module 614 is used for collecting vibration and sound wave data; the front end of the rotating frame 604 is also provided with a magnetic adsorption part 613, which is used for the front end of the rotating frame 604 to be adsorbed on the surface of the detected steel structure through the magnetic adsorption part 613;

[0064] When the steel structure is subjected to the knocking detection, the rotating frame 604 is unfolded, the front end of the rotating frame 604 is adsorbed on the target position on the surface of the steel structure to be detected by the magnetic adsorption component 613, the unmanned aerial vehicle body 100 is assisted to maintain a stable hovering state, the target position is precisely knocked by the knocking mechanism 600, and the vibration and sound wave data generated by the knocking are collected by the data acquisition sensor module 614, so that the surface and internal damage of the steel structure are detected according to the vibration and sound wave data.

[0065] The magnetic adsorption component 613 is arranged on the rotating frame 604, the target position on the surface of the steel structure to be detected is adsorbed by the magnetic adsorption component 613 during the knocking detection, the unmanned aerial vehicle body 100 is assisted to maintain a stable hovering state, the target position on the surface of the steel structure is precisely knocked by the knocking detection device, the accuracy of the collected vibration and sound wave data is ensured, the detection precision and efficiency are greatly improved, and the accuracy of the knocking detection is ensured.

[0066] Referring to Figure 5 , Figure 6 As shown in the above technical scheme, further preferably, the knocking mechanism 600 comprises a fixed plate 605, a Y-shaped transmission frame 608, a driving mechanism, two linkage rods 609 and two knocking heads 601; the fixed plate 605 is installed at the front end of the rotating frame 604, the bottom of the fixed plate 605 is provided with a guide rail 606, and the rear end of the Y-shaped transmission frame 608 is slidably arranged in the guide rail 606; the two knocking heads 601 are symmetrically arranged at the front end of the fixed plate 605 and can relatively swing, the front end of the fixed plate 605 is provided with a connecting rod 607, the rear end of the two knocking heads 601 is rotatably connected to the front end of the connecting rod 607, and the two knocking heads 601 are used for knocking the steel structure to be detected; the two linkage rods 609 are symmetrically arranged on the two sides of the connecting rod 607, one end of the linkage rod 609 is connected with the Y-shaped transmission frame 608, the other end is connected with the knocking head 601, and the linkage rod 609 is used for relative swinging of the two knocking heads 601; and the driving mechanism is used for driving the Y-shaped transmission frame 608 to move along the guide rail 606, and then driving the relative swinging of the two knocking heads 601 through the two linkage rods 609.

[0067] The driving mechanism comprises a steering wheel 603 and a compression spring 602; the steering wheel 603 is installed on one side of the bottom of the fixed plate 605, a gear 610 is installed on the output shaft of the steering wheel 603, the rear end bottom of the Y-shaped transmission frame 608 is provided with a tooth structure 611, the gear 610 is engaged with the tooth structure 611, and the Y-shaped transmission frame 608 is driven to move backward by the steering wheel 603, so that the two knock heads 601 are driven to swing back by the two connecting rods 609; in use, the knocking force and frequency of the knocking mechanism 600 are controlled by the steering wheel 603, so that a controllable impact force can be generated in each knocking, to ensure that the required mechanical stimulation of knocking detection is met; the compression spring 602 is sleeved outside the connecting rod 607 and the two connecting rods 609, a spring limiting rod 612 is arranged on the connecting rod 607, the rear end of the compression spring 602 abuts against the spring limiting rod 612, and the front end of the compression spring 602 abuts against the two knock heads 601, so that the two knock heads 601 are forced to swing towards each other by the elastic force of the compression spring 602, to knock the detected steel structure; the compression spring 602 provides buffering during knocking, to ensure that the knocking force is controllable and the detected steel structure is not damaged by knocking detection.

[0068] In use, the output shaft of the steering wheel 603 rotates forward, the Y-shaped transmission frame 608 is driven to move backward by the engagement of the gear 610 and the tooth structure 611, the two connecting rods 609 drive the two knock heads 601 to swing back, and the compression spring 602 is compressed; after the compression spring 602 is compressed to a certain extent, the output shaft of the steering wheel 603 is locked; during knocking, the output shaft of the steering wheel 603 is released, and the two knock heads 601 are forced to swing towards each other by the elastic force of the compression spring 602, to knock the detected steel structure.

[0069] In addition, the data acquisition sensor module 614 comprises an acceleration sensor and a sound sensor; the acceleration sensor is used to acquire vibration data generated by knocking detection, to identify subtle abnormalities of the surface and internal structure of the detected steel structure; the sound sensor is used to acquire sound wave data generated by knocking detection, to further supplement the acquired vibration data, to improve the identification ability of the detected steel structure; the detection data generated by knocking detection is acquired by the acceleration sensor and the sound sensor, to effectively improve the accuracy of knocking detection, so that micro cracks or delamination that cannot be found by traditional technology can be detected; the vibration and sound wave data generated by knocking detection can effectively reveal the material properties, integrity and potential structure problems of the detected steel structure; in use, the knocking force can be adjusted according to the material and thickness of the detected steel structure, to improve the accuracy of the detection data. The sound sensor is usually a microphone.

[0070] In an embodiment, the unmanned aerial vehicle body 100 is provided with a plurality of rotor mechanisms 101 for driving the unmanned aerial vehicle body 100 to fly, providing flight power for the unmanned aerial vehicle body 100; the unmanned aerial vehicle body 100 is a multi-rotor unmanned aerial vehicle, which has good hovering stability and flexible maneuverability, so that the unmanned aerial vehicle body 100 can detect the detected steel structure in a complex environment of the detection site; in this embodiment, the unmanned aerial vehicle body 100 is provided with four rotor mechanisms 101, and the flight power provided by the four rotor mechanisms 101 can support the unmanned aerial vehicle body 100 to carry the knocking detection device to perform knocking detection and data acquisition in a complex environment of the detection site, while ensuring the endurance of the unmanned aerial vehicle body 100 in a large range of detection. More preferably, the frame structure of the unmanned aerial vehicle body 100 is made of lightweight high-strength materials such as carbon fiber, to ensure the stability and safety of the frame structure of the unmanned aerial vehicle body 100.

[0071] In an embodiment, the magnetic adsorption wall surface unmanned aerial vehicle further comprises a rigid protection frame 200, which is arranged around the unmanned aerial vehicle body 100 and connected with the unmanned aerial vehicle body 100 for protecting the unmanned aerial vehicle body 100. In this embodiment, the protection frame is in the shape of a cube. More preferably, the rigid protection frame 200 is provided with wheels 201 at the corners, which are used for wall walking of the magnetic adsorption wall surface unmanned aerial vehicle, reducing friction and impact when contacting the surface of the detected steel structure, and enhancing the safety and adaptability of the magnetic adsorption wall surface unmanned aerial vehicle.

[0072] In an embodiment, the magnetic adsorption wall surface unmanned aerial vehicle further comprises a high-resolution visible light camera 301, which is arranged at the bottom of the unmanned aerial vehicle body 100 and used for collecting surface images of the detected steel structure, and then collecting image data of surface damage, cracks, etc. of the detected steel structure, so as to detect surface damage of the steel structure according to the surface crack image.

[0073] In an embodiment, the magnetic adsorption wall surface unmanned aerial vehicle further comprises two infrared thermal imagers 302, which are respectively arranged at the front ends of the two rotor mechanisms 101 at the front end of the unmanned aerial vehicle body 100, and used for temperature detection of the surface of the detected steel structure, collecting temperature distribution data of the surface of the detected steel structure, identifying potential temperature abnormal areas, and accurately detecting temperature abnormal changes of the surface of the detected steel structure, especially suitable for finding temperature hot spots and heat loss points in curtain walls or bridge structures.

[0074] In an implementable embodiment, the magnetic adsorption wall surface UAV further comprises a 3D laser scanner 303 arranged at the front end of the UAV body 100, which is used for three-dimensional modeling of the detected steel structure or the site environment. In use, the 3D laser scanner 303 collects spatial geometric data of the detected steel structure or the site environment, and then generates a three-dimensional point cloud model of the detected steel structure or the site environment according to the collected spatial geometric data, so as to detect and analyze the deformation of the detected steel structure.

[0075] More preferably, the high-resolution visible light camera 301, the infrared thermal imager 302 and the 3D laser scanner 303 are all mounted on the UAV body 100 through a vibration-proof structure to ensure the accuracy of data collection.

[0076] In an implementable embodiment, the magnetic adsorption wall surface UAV further comprises a positioning and obstacle avoidance module 400 mounted on the UAV body 100, which is used for positioning and obstacle avoidance of the magnetic adsorption wall surface UAV. The positioning and obstacle avoidance module 400 comprises a global navigation satellite system (GNSS) locator 401 and a plurality of laser radars. The GNSS locator 401 is used for positioning of the magnetic adsorption wall surface UAV and the detected steel structure, and navigation of the magnetic adsorption wall surface UAV. In use, the GNSS locator 401 provides the magnetic adsorption wall surface UAV with GNSS positioning information. The laser radars are used for obstacle avoidance of the magnetic adsorption wall surface UAV, so as to effectively avoid obstacles during flight of the magnetic adsorption wall surface UAV and ensure safe detection.

[0077] In an implementable embodiment, the magnetic adsorption wall surface UAV further comprises an inertial measurement unit 500 arranged on the UAV body 100 and electrically connected with the positioning and obstacle avoidance module 400, which is used for real-time monitoring of flight attitude of the UAV body 100, adjusting output of the rotor mechanism 101, and then controlling flight attitude of the UAV body 100, so as to maintain balance and flight stability of the UAV body 100. The inertial measurement unit 500 comprises a multi-axis accelerometer and a multi-axis gyroscope. The multi-axis accelerometer is used for detecting acceleration data of movement of the UAV body 100 in multiple directions. The multi-axis gyroscope is used for detecting angular velocity data of movement of the UAV body 100 in multiple directions. In use, the multi-axis accelerometer and the multi-axis gyroscope can assist the GNSS locator 401 in positioning and navigation, and then control the UAV body 100.

[0078] Referring to Figure 1 , Figure 2As shown in the figure, when the magnetic adsorption wall surface unmanned aerial vehicle is used for knocking detection of the detected steel structure, the unmanned aerial vehicle body 100 is started, the state of the knocking detection device is checked, the rotating frame 604 is unfolded, and the knocking mechanism 600 is reset (the compression spring 602 is not compressed);

[0079] The target position of the magnetic adsorption wall surface unmanned aerial vehicle and the detected steel structure is located by the global navigation satellite system locator 401, the route of the magnetic adsorption wall surface unmanned aerial vehicle is planned and navigation is performed, the magnetic adsorption wall surface unmanned aerial vehicle can fly from the initial position to the target position of the detected steel structure along the planned route;

[0080] In addition, the complex environment of the detection site can be scanned by the laser radar to help the magnetic adsorption wall surface unmanned aerial vehicle to avoid obstacles, and the magnetic adsorption wall surface unmanned aerial vehicle can fly to the target position of the detected steel structure in a way of avoiding obstacles;

[0081] After the magnetic adsorption wall surface unmanned aerial vehicle flies to the target position of the detected steel structure, the magnetic adsorption wall surface unmanned aerial vehicle is controlled to maintain a hovering state, the magnetic adsorption part 613 is adsorbed on the target position of the detected steel structure, the knocking mechanism 600 knocks the target position, and the acceleration sensor and the sound sensor respectively collect vibration data and sound wave data generated by knocking detection, so as to detect the surface and internal structure damage of the target position;

[0082] At the same time, the surface image and temperature distribution data of the target position can be collected by the high-resolution visible light camera 301 and the infrared thermal imager 302 for surface crack and temperature anomaly detection;

[0083] After the detection of the target position is completed, the magnetic adsorption wall surface unmanned aerial vehicle is guided by the global navigation satellite system locator 401 or the laser radar to fly along the surface of the detected steel structure to the next target position of the detected steel structure for detection, and after the magnetic adsorption wall surface unmanned aerial vehicle completes detection of all target positions, the magnetic adsorption wall surface unmanned aerial vehicle is guided by the global navigation satellite system locator 401 or the laser radar to fly back to the initial position.

[0084] Referring to Figure 3 , Figure 4 As shown in the figure, when the magnetic adsorption wall surface unmanned aerial vehicle is used for 3D laser scanning of the detected steel structure, the unmanned aerial vehicle body 100 is started, the state of the knocking detection device is checked, and the rotating frame 604 is folded;

[0085] The magnetic adsorption wall surface unmanned aerial vehicle is guided by the global navigation satellite system locator 401 or the laser radar to fly from an initial position to a target position of the steel structure to be detected, and 3D laser scanning data of the target position is collected by the 3D laser scanner 303, so that a three-dimensional point cloud model is generated by 3D laser scanning;

[0086] Meanwhile, surface temperature distribution data of the target position can be collected by the infrared thermal imager 302 to perform temperature anomaly detection.

[0087] After detection of the target position, the magnetic adsorption wall surface unmanned aerial vehicle is guided by the global navigation satellite system locator 401 or the laser radar, and the magnetic adsorption wall surface unmanned aerial vehicle moves to a next target position of the steel structure to be detected by walking along the surface of the steel structure to be detected, and the next target position is detected by 3D laser scanning.

[0088] After detection of all target positions by the magnetic adsorption wall surface unmanned aerial vehicle, the magnetic adsorption wall surface unmanned aerial vehicle is guided by the global navigation satellite system locator 401 or the laser radar to fly back to the initial position.

[0089] The target positions that may have damages or defects are detected by knocking, surface image detection, infrared thermal imaging detection and other detection, or 3D laser scanning, so that the steel structure to be detected is detected as comprehensively and finely as possible to ensure detection accuracy, and a technician can analyze the damage degree of the steel structure and determine the health state of the steel structure according to a detection report generated based on detection data collected by the magnetic adsorption wall surface unmanned aerial vehicle.

[0090] If the detection report shows that the steel structure to be detected has structural damages or defects, more fine detection is performed by the magnetic adsorption wall surface unmanned aerial vehicle or other manners, including but not limited to more comprehensive detection of target positions of the steel structure to be detected, or archiving of the detection report for comparison with historical data of steel structure health monitoring.

[0091] The magnetic adsorption wall surface unmanned aerial vehicle is suitable for detecting damages of the steel structure, and can be used for knocking detection and other detection of building structures such as steel-concrete structures and concrete structures in civil engineering and other fields in addition to the steel structure, and has good detection effect.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A magnetic adsorption wall surface unmanned aerial vehicle, characterized in that, The utility model relates to a kind of wall-surface magnetic absorption unmanned aerial vehicle for steel structure detection, including: Unmanned aerial vehicle body and knock detection device; The front end of the unmanned aerial vehicle body is provided with the knock detection device, for the knock detection of steel structure, and vibration, sound wave data are collected; The knock detection device includes: rotating frame, knock mechanism and data acquisition sensor module; The rear end of the rotating frame is pivoted in the front end of the unmanned aerial vehicle body; The front end of the rotating frame is installed with the knock mechanism and the data acquisition sensor module; The knock mechanism is used to knock the steel structure to be detected; The data acquisition sensor module is used to collect vibration, sound wave data; The front end of the rotating frame is also installed with magnetic adsorption component, for the front end of the rotating frame to be adsorbed on the surface of the steel structure to be detected by the magnetic adsorption component.

2. The magnetic adhesion wall surface drone of claim 1, wherein, The knock mechanism includes: fixed plate, Y-shaped transmission frame, drive mechanism, two linkage rods and two knock heads; The fixed plate is installed in the front end of the rotating frame, the bottom of the fixed plate is provided with guide rail, and the rear end of the Y-shaped transmission frame is slidably arranged in the guide rail; Two knock heads are symmetrically arranged in the front end of the fixed plate, and the rear end of the two knock heads is rotatably connected to the front end of the connecting rod, for knocking the steel structure to be detected; Two linkage rods are symmetrically arranged on both sides of the connecting rod, one end of the linkage rod is connected with the Y-shaped transmission frame, and the other end is connected with the knock head, for the relative swing of two knock heads; The drive mechanism is used to drive the Y-shaped transmission frame to move along the guide rail, and then drive the relative swing of two knock heads through two linkage rods.

3. The magnetic adhesion wall surface drone of claim 2, wherein, The drive mechanism includes: rudder and compression spring; The rudder is installed in the bottom of the fixed plate, the output shaft of the rudder is installed with gear, the rear end of the Y-shaped transmission frame is provided with gear structure, the gear is engaged with the gear structure, for driving the Y-shaped transmission frame to move backward through the rudder, and then driving the reverse swing of two knock heads through two linkage rods; The connecting rod is provided with spring limiting rod, the rear end of the compression spring is abutted with the spring limiting rod, and the front end of the compression spring is abutted with two knock heads, for forcing two knock heads to swing towards by the elastic force of the compression spring.

4. The magnetic adhesion wall surface drone of claim 1, wherein, The data acquisition sensor module includes: acceleration sensor and sound sensor; The acceleration sensor is used to collect vibration data generated by knock detection; The sound sensor is used to collect sound wave data generated by knock detection.

5. The magnetic adhesion wall surface drone of claim 1, wherein, The wall-surface magnetic absorption unmanned aerial vehicle further includes a rigid protection frame, which is arranged around the unmanned aerial vehicle body and connected with the unmanned aerial vehicle body for protecting the unmanned aerial vehicle body. The rigid protection frame is installed with wheels at the corners, for wall-walking of the wall-surface magnetic absorption unmanned aerial vehicle.

6. The magnetic adhesion wall surface drone of claim 1, wherein, It also includes a high-resolution visible light camera, which is arranged at the bottom of the unmanned aerial vehicle body for collecting surface images of the steel structure to be detected.

7. The magnetic adhesion wall surface drone of claim 1, wherein, Two infrared thermal imagers are further included, and the two infrared thermal imagers are arranged at the front end of the unmanned aerial vehicle body respectively, and are used for collecting the temperature of the surface of the detected steel structure.

8. The magnetic adhesion wall surface drone of claim 1, wherein, A 3D laser scanner is further included, and the 3D laser scanner is arranged at the front end of the unmanned aerial vehicle body, and is used for three-dimensional modeling of the detected steel structure or the on-site environment.

9. The magnetic adhesion wall surface drone of claim 1, wherein, A positioning and obstacle avoidance module is further included, and the positioning and obstacle avoidance module is installed on the unmanned aerial vehicle body, and is used for positioning and obstacle avoidance of the magnetic adsorption wall surface unmanned aerial vehicle. The positioning and obstacle avoidance module includes a global navigation satellite system locator and a plurality of laser radars. The global navigation satellite system locator is used for positioning of the magnetic adsorption wall surface unmanned aerial vehicle and the detected steel structure, and navigation of the magnetic adsorption wall surface unmanned aerial vehicle. The laser radars are used for obstacle avoidance of the magnetic adsorption wall surface unmanned aerial vehicle.

10. The magnetic adhesion wall surface drone of claim 1, wherein, The magnetic adsorption wall surface unmanned aerial vehicle further includes an inertial measurement unit, and the inertial measurement unit is arranged on the unmanned aerial vehicle body and is electrically connected with the positioning and obstacle avoidance module, and is used for monitoring the flight attitude of the unmanned aerial vehicle body.

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