Intelligent unmanned aerial vehicle camera device for road surface or bridge arch ring crack identification

Abstract

The utility model relates to the technical field of crack detection, in particular to an intelligent unmanned aerial vehicle camera device for identifying cracks of a road surface or a bridge arch ring. Comprising an unmanned aerial vehicle, the unmanned aerial vehicle comprises a vehicle body, the interior of the vehicle body is of a cavity structure, a signal transceiver, a data integration module and a power source are arranged in the cavity, the upper side of the vehicle body is of a platform structure, a top camera is installed in the center of the platform structure, and an RTK-GPS positioning device is fixedly installed at the top of the vehicle body and located on the right side of the top camera; a lateral camera is arranged on the right side surface of the machine body; an ultrasonic detection part is arranged at the bottom of the machine body; the unmanned aerial vehicle provided by the utility model can replace manpower to detect a bridge, and the top camera and the lateral camera which are carried by the unmanned aerial vehicle are matched with each other, so that the bridge can be shot in all directions without dead angles, and the detection is not limited by the shape of the bridge in cooperation with the maneuverability of the unmanned aerial vehicle; and the efficiency can be greatly improved while the safety of workers is ensured.

Description

Technical Field

[0001] This utility model relates to the field of crack detection technology, specifically an intelligent unmanned aerial vehicle (UAV) camera device for identifying cracks in road surfaces or bridge arches. Background Technology

[0002] Roads and bridges are among the key infrastructures used for transportation. Due to various factors such as geological changes, groundwater levels, load effects, shrinkage deformation, and foundation deformation, cracks inevitably appear on road surfaces or bridge arches. These cracks affect the stability and safety of the structure, so these facilities need to be inspected regularly. The existing inspection methods generally involve moving workers to the inspection location using cables or other equipment. After discovering cracks, workers measure and record the width and depth of the cracks to determine the extent of damage to the road and bridge.

[0003] However, existing construction methods have the following problems that need to be addressed: 1. Manually inspecting the entire bridge is a massive undertaking, extremely time-consuming and labor-intensive, especially for large bridges. Furthermore, manual inspection is unlikely to detect minute cracks, and these potential hazards are easily overlooked, making it impossible to conduct comprehensive, efficient, and safe inspections. 2. For bridges with special shapes (such as arch bridges), the arch crown beneath the deck is a difficult area to reach. Workers must constantly look up to inspect it, which easily leads to fatigue over time. Since this is high-altitude work, worker fatigue poses a safety hazard. Moreover, due to the significant variations in arch height, inspections require constant adjustments to the height based on the arch's shape, which is both unsafe and inefficient. Therefore, introducing automation technology and intelligent inspection systems is an inevitable trend for improving the safety of roads and bridges. Summary of the Invention

[0004] To achieve the above objectives, this utility model provides the following technical solution: It includes a drone, the drone comprising a body with a hollow structure inside, a signal transceiver, a data integration module, and a power supply disposed within the cavity; the upper side of the body is a platform structure, a top camera is installed at the center of the platform structure, an RTK-GPS positioning device is fixedly installed on the top of the body and to the right of the top camera, a side camera is disposed on the right side of the body, and an ultrasonic detection unit is disposed at the bottom of the body;

[0005] The top camera includes a top gimbal fixedly mounted on the upper platform structure of the machine body. A top camera is set above the top gimbal. The top camera and the top gimbal are connected by a transmission. Driven by the top gimbal, the top camera can perform horizontal rotation and vertical tilt shooting.

[0006] As a preferred technical solution of this utility model, the body is quadrilateral in shape, with extension arms fixedly installed at its four opposite corners. A drive motor is installed at the end of the extension arm away from the body, and a propeller is installed on the output shaft of the drive motor. A collision protection strip is fixedly installed on the extension arm and around the propeller. The collision protection strip is ring-shaped and surrounds the propeller. Its interior is filled with a non-Newtonian fluid material. A landing support frame is fixedly installed on the side of the collision protection strip away from the propeller.

[0007] As a preferred technical solution of this utility model, the side camera includes a side pan-tilt unit fixedly installed on the right side of the body, a side camera installed on the right side of the side pan-tilt unit, and the side camera and the side pan-tilt unit are also connected by transmission. An illumination module is installed on the side of the side camera. The illumination module includes a photosensitive sensor and an LED module with independently adjustable color temperature, and matches the ambient brightness in real time through the photosensitive sensor.

[0008] As a preferred technical solution of this utility model, the ultrasonic detection unit includes a rotary motor fixedly installed at the bottom of the machine body, an ultrasonic detector is provided on the lower side of the rotary motor, the output shaft of the rotary motor is connected to the ultrasonic detector for transmission, and the rotary motor drives the ultrasonic detector to rotate in the horizontal direction when it rotates.

[0009] As a preferred technical solution of this utility model, the bottom of the extension arm is embedded with an electronic stability control system, which has a built-in nine-axis attitude sensor. The electronic stability control system and the drive motor form a closed-loop control.

[0010] As a preferred technical solution of this utility model, the machine body integrates a multi-channel data integration module, which is connected to the ultrasonic detector, the side camera, the top camera and the RTK-GPS positioning device respectively through shielded twisted pair cables. The machine body is equipped with a signal transceiver and an integrated edge computing unit that can generate crack three-dimensional point cloud data in real time. The power supply is connected to each power-consuming component through wires.

[0011] As a preferred technical solution of this utility model, the top camera is a black light camera, the side camera is a motion camera, and the lenses of both the top camera and the side camera are coated with hydrophobic coating, and waterproof rubber rings are provided at the joints of the drone body and all its components. Beneficial effects

[0012] I. The drone provided by this utility model can replace manual inspection of bridges. Its side camera and top camera work together to capture the bridge from all angles without blind spots. Combined with the drone's mobility, the inspection is no longer limited by the shape of the bridge. It can ensure the safety of workers and greatly improve efficiency. The top camera is mainly used to capture the shape of small cracks, while the side camera is used for multi-angle and large-area image acquisition. The two work together to be competent for both routine inspections and key inspections, which greatly improves the universality of this utility model.

[0013] Second, this utility model can easily detect tiny cracks that are difficult to detect manually through the ultrasonic detection unit. It can also provide real-time feedback on the width and depth of the cracks. In conjunction with the RTK-GPS positioning device, it can achieve precise positioning of cracks and can directly transmit the processing results to the mobile terminal, enabling workers to complete the inspection tasks more quickly, easily and comprehensively while ensuring safety.

[0014] Third, the electronic stability control system set up in this utility model enables it to resist light winds, while the hydrophobic coating on the top and side camera lenses and the waterproof rubber ring at the seam work together to enable it to adapt to common light rain. The combination of the above two allows this utility model to operate normally in all weather conditions except for strong winds, heavy rain, hail and other extreme weather. Even in light rain, workers can operate the drone normally from the control room, thus improving the workers' working environment. Attached Figure Description

[0015] Figure 1 A schematic diagram of a three-dimensional structure for a device that collects the location and shape of cracks in roads and bridges;

[0016] Figure 2 for Figure 1 Enlarged view of point I;

[0017] Figure 3 A bottom view of a device for collecting the location and shape of cracks in roads and bridges;

[0018] Figure 4 for Figure 3 Enlarged view at point II;

[0019] Figure 5 This is a schematic diagram of the internal structure of a device for collecting the location and shape of cracks in roads and bridges.

[0020] The attached figures are labeled as follows: 1. Airframe; 11. Signal transceiver; 12. Data integration module; 13. Power supply; 14. RTK-GPS positioning device; 15. Drive motor; 151. Propeller; 152. Anti-collision strip; 153. Landing support frame; 16. Electronic stability control system; 2. Top camera; 21. Top gimbal; 22. Top camera; 3. Side camera; 31. Side gimbal; 32. Side camera; 33. Illumination module; 4. Ultrasonic detection unit; 41. Rotary motor; 42. Ultrasonic detector. Detailed Implementation

[0021] As attached Figure 1 , Figure 3 As shown, an intelligent unmanned aerial vehicle (UAV) camera device for identifying cracks in road surfaces or bridge arches includes a UAV. The UAV includes a body 1 with a hollow structure inside. A signal transceiver 11, a data integration module 12, and a power supply 13 are installed inside the hollow structure. The upper side of the body 1 is a platform structure, and a top camera 2 is installed at the center of the platform structure. An RTK-GPS positioning device 14 is fixedly installed on the top of the body 1 and to the right of the top camera 2. A side camera 3 is installed on the right side of the body 1. An ultrasonic detection unit 4 is installed at the bottom of the body 1.

[0022] The drone provided by this invention can take pictures of the bridge from all angles without blind spots. With the drone's mobility, the inspection is no longer limited by the shape of the bridge, which can greatly improve efficiency. Moreover, this invention can easily find tiny cracks that are difficult to detect manually. It can also provide real-time feedback on the width and depth of the cracks. In conjunction with the RTK-GPS positioning device 14, it can accurately locate the cracks and transmit the processing results directly to the mobile device, so that workers can complete the inspection work more quickly, easily and safely.

[0023] Specifically, after the staff controls the drone to take off, the RTK-GPS positioning device 14 generates centimeter-level track coordinates in real time. After arriving at the detection area, the side camera 3 collects images from multiple angles, while the top camera 2 captures the microscopic crack morphology. The image data acquired by both are automatically bound to the spatial coordinates. The ultrasonic detection unit 4 begins to scan the crack and calculates the crack depth through a time-frequency analysis algorithm. When an internal defect is detected, the scanning density of the area is automatically increased. All data are fused in real time by the data integration module 12 to generate a crack feature matrix containing position coordinates, crack surface morphology, and crack internal depth. The matrix is ​​then transmitted to the remote monitoring platform through the signal transceiver 11.

[0024] As attached Figure 1As shown, the top camera 2 includes a top gimbal 21 fixedly mounted on the upper platform structure of the body 1. A top camera 22 is arranged above the top gimbal 21. The top camera 22 is connected to the top gimbal 21 by transmission. Under the drive of the top gimbal 21, the top camera 22 can perform horizontal rotation and vertical tilt shooting. The top camera 22 is a black light camera.

[0025] The top camera 22 of this utility model can capture detailed images of cracks in the bridge from all angles. Combined with the mobility of the drone, the inspection is no longer limited by the shape of the bridge, which can ensure the safety of workers and greatly improve efficiency. In addition, the top camera 22 of this utility model is a black light camera, which can capture detailed images in dark environments.

[0026] Specifically, after the staff controls the drone to take off and arrive at the detection area, they can control the drone to hover and remotely control the top gimbal 21 to drive the top camera 22 to make horizontal rotation and vertical tilting movements as needed, so as to aim the lens at the crack to be photographed, in order to ensure the accuracy of the shooting position and the clarity of the image. After the shooting is completed, the data will be integrated by the data integration module 12 and then encrypted and transmitted to the remote monitoring platform through the signal transceiver 11.

[0027] As attached Figure 1 As shown, the body 1 has a quadrilateral shape, with extension arms fixedly installed at its four opposite corners. A drive motor 15 is installed at the end of the extension arm away from the body 1, and a propeller 151 is installed on the output shaft of the drive motor 15. A crash bar 152 is fixedly installed on the extension arm and around the propeller 151. The crash bar 152 is annular and surrounds the propeller 151. Its interior is filled with a non-Newtonian fluid material. A landing support frame 153 is fixedly installed on the side of the crash bar 152 away from the propeller 151.

[0028] The non-Newtonian fluid material filled inside the anti-collision strip 152 of this utility model can instantly harden and absorb impact energy when a collision occurs, so as to prevent damage to the equipment during landing. The annular anti-collision strip 152 can protect the propeller 151 in the horizontal direction to prevent the propeller 151 from hitting the bridge surface, and further adapt to the complex environment under various bridges.

[0029] As attached Figures 1-2 As shown, the side camera 3 includes a side gimbal 31 fixedly installed on the right side of the body 1. A side camera 32 is installed on the right side of the side gimbal 31. The side camera 32 and the side gimbal 31 are also connected by a transmission. An illumination module 33 is installed on the side of the side camera 32. The illumination module 33 includes a photosensitive sensor and an LED module with independently adjustable color temperature. The photosensitive sensor matches the ambient brightness in real time. The side camera 32 is a motion camera.

[0030] The side-facing camera 32 of this invention is used for multi-angle, wide-range image acquisition. The side-facing camera 32 can quickly capture images of the bridge surface. Since the side-facing camera 32 is a motion camera, it can ensure the stability of the image when the drone is moving. The side-facing camera 32, combined with the maneuverability of the drone, makes the inspection no longer limited by the shape of the bridge, which can ensure the safety of workers and greatly improve efficiency. In addition, the side-facing camera 32 of this invention is equipped with an illumination module 33, which can detect the ambient brightness in real time and increase or decrease the power of the LED module, thereby improving the battery life while ensuring the image quality.

[0031] Specifically, after the staff controls the drone to take off and arrive at the detection area, they can remotely control the side gimbal 31 to drive the side camera 32 to make vertical pitch movements as needed. After the lens is adjusted, the drone can be controlled to move and take pictures of the area to be photographed. When the present invention enters a relatively dark (or bright) environment, the photosensitive sensor of the lighting module 33 will detect the change in ambient brightness and control the LED module to increase (or decrease) the power to improve the lighting brightness and ensure the clarity of the picture. When a crack is found, the control room can obtain the location of the crack through the RTK-GPS positioning device, and then control the drone to hover and take detailed pictures of the crack through the top camera 22.

[0032] As attached Figures 3-4 As shown, the ultrasonic detection unit 4 includes a rotary motor 41 fixedly installed at the bottom of the body 1. An ultrasonic detector 42 is provided on the lower side of the rotary motor 41. The output shaft of the rotary motor 41 is connected to the ultrasonic detector 42 in a transmission manner. When the rotary motor 41 rotates, it drives the ultrasonic detector 42 to rotate in the horizontal direction.

[0033] This invention uses an ultrasonic detection unit to easily detect tiny cracks that are difficult to detect manually, and can also provide real-time feedback on the width and depth of the cracks.

[0034] Specifically, after the staff controls the drone to take off and arrive at the detection area, they can turn on the ultrasonic detector 42. Driven by the rotary motor 41, the ultrasonic detector 42 rotates and emits ultrasonic waves to perform a three-dimensional scan of the surrounding area. Since it detects the target area through ultrasonic waves, even small cracks cannot escape detection. When it detects a crack, it calculates the crack depth and width through a time-frequency analysis algorithm, and then fuses the data in real time through the data integration module 12 and transmits it to the remote monitoring platform through the signal transceiver 11.

[0035] As attached Figures 1-3As shown, the bottom of the extension arm is embedded with an electronic stability control system 16, which has a built-in nine-axis attitude sensor. The electronic stability control system 16 and the drive motor 15 form a closed-loop control. The lenses of the top camera 22 and the side camera 32 are coated with hydrophobic coating, and waterproof rubber rings are provided at the seams of the body 1 of the drone and all its components.

[0036] The electronic stability control system 16 of the utility model enables it to withstand light winds, while the hydrophobic coating on the lenses of the top camera 22 and the side camera 32, together with the waterproof rubber ring at the seam, allows the utility model to adapt to common light rain weather. The combination of the above two allows the utility model to operate normally in all weather conditions except for extreme weather such as strong winds, heavy rain, and hail. Even in light rain, workers can operate the drone normally from the control room, thus improving the working environment for workers.

[0037] Specifically, when it is windy, the drone will inevitably tilt. At this time, the electronic stabilization control system 16 will automatically control the corresponding drive motor 15 to increase or decrease the speed to counteract the tilting force and stabilize the drone, making it easier to shoot. In rainy weather, raindrops will fall on the lens. However, due to the presence of hydrophobic coating, the raindrops will slide off directly after falling on it, avoiding the problem of raindrops affecting the shooting quality.

[0038] As attached Figure 5 As shown, the body 1 integrates a multi-channel data integration module 12, which is connected to the ultrasonic detector 42, the side camera 32, the top camera 22 and the RTK-GPS positioning device 14 respectively through shielded twisted pair cables. The body 1 is equipped with a signal transceiver 11 and integrates an edge computing unit to generate crack three-dimensional point cloud data in real time. The power supply 13 is connected to each power-consuming component through wires.

[0039] When a crack is detected and inspected, all data from the ultrasonic detector 42, the side camera 32, the top camera 22, and the RTK-GPS positioning device 14 are fused in real time by the data integration module 12 to generate a crack feature matrix containing the crack location coordinates, surface morphology, and internal depth. This matrix is ​​then encrypted and transmitted to the remote monitoring platform via the signal transceiver 11.

Claims

1. An intelligent unmanned aerial vehicle (UAV) camera device for identifying cracks in road surfaces or bridge arches, comprising a UAV, characterized in that, The drone includes a body (1), which has a cavity structure. A signal transceiver (11), a data integration module (12), and a power supply (13) are installed inside the cavity. The upper side of the body (1) is a platform structure, a top camera (2) is installed at the center of the platform structure, an RTK-GPS positioning device (14) is fixedly installed on the top of the body (1) and to the right of the top camera (2), a side camera (3) is provided on the right side of the body (1), and an ultrasonic detection unit (4) is provided at the bottom of the body (1). The top camera (2) includes a top gimbal (21) fixedly installed on the upper platform structure of the body (1). A top camera (22) is set above the top gimbal (21). The top camera (22) is connected to the top gimbal (21) by transmission. Under the drive of the top gimbal (21), the top camera (22) can perform horizontal rotation and vertical tilt shooting.

2. The intelligent unmanned aerial vehicle (UAV) camera device for identifying cracks in road surfaces or bridge arches according to claim 1, characterized in that, The body (1) is quadrilateral in shape, with extension arms fixedly installed at its four opposite corners. A drive motor (15) is installed at the end of the extension arm away from the body (1). A propeller (151) is installed on the output shaft of the drive motor (15). A crash bar (152) is fixedly installed on the extension arm and around the propeller (151). The crash bar (152) is annular and surrounds the propeller (151). Its interior is filled with non-Newtonian fluid material. A landing support frame (153) is fixedly installed on the side of the crash bar (152) away from the propeller (151).

3. The intelligent unmanned aerial vehicle (UAV) camera device for identifying cracks in road surfaces or bridge arches according to claim 2, characterized in that, The side camera (3) includes a side pan-tilt unit (31) fixedly installed on the right side of the body (1). A side camera (32) is installed on the right side of the side pan-tilt unit (31). The side camera (32) and the side pan-tilt unit (31) are also connected by transmission. An illumination module (33) is installed on the side of the side camera (32). The illumination module (33) includes a photosensitive sensor and an LED module with independently adjustable color temperature. The photosensitive sensor matches the ambient brightness in real time.

4. The intelligent unmanned aerial vehicle (UAV) camera device for identifying cracks in road surfaces or bridge arches according to claim 1, characterized in that, The ultrasonic detection unit (4) includes a rotary motor (41) fixedly installed at the bottom of the body (1). An ultrasonic detector (42) is provided on the lower side of the rotary motor (41). The output shaft of the rotary motor (41) is connected to the ultrasonic detector (42) in a transmission connection. When the rotary motor (41) rotates, it drives the ultrasonic detector (42) to rotate in the horizontal direction.

5. The intelligent unmanned aerial vehicle (UAV) camera device for identifying cracks in road surfaces or bridge arches according to claim 2, characterized in that, The bottom of the extension arm is embedded with an electronic stability control system (16), which has a built-in nine-axis attitude sensor. The electronic stability control system (16) and the drive motor (15) form a closed-loop control.

6. The intelligent unmanned aerial vehicle (UAV) camera device for identifying cracks in road surfaces or bridge arches according to claim 5, characterized in that, The body (1) integrates a multi-channel data integration module (12), which is connected to the ultrasonic detector (42), the side camera (32), the top camera (22) and the RTK-GPS positioning device (14) respectively through shielded twisted pair cables. The body (1) is equipped with a signal transceiver (11) and an integrated edge computing unit that can generate crack three-dimensional point cloud data in real time. The power supply (13) is connected to each power-consuming component through wires.

7. The intelligent unmanned aerial vehicle (UAV) camera device for identifying cracks in road surfaces or bridge arches according to claim 3, characterized in that, The top camera (22) is a black light camera, the side camera (32) is a motion camera, and the lenses of the top camera (22) and the side camera (32) are coated with hydrophobic coatings. The body (1) of the drone and all the seams of its components are provided with waterproof rubber rings.

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