A kind of unmanned aerial vehicle equipment for wall surface hollow detection

Abstract

This invention provides a drone device for detecting hollow spots in walls, relating to the field of building inspection technology. It includes: a drone body; a striking mechanism installed at the bottom of the drone body, comprising a hammer controlled by a drive motor to perform reciprocating linear motion to strike the wall; and an adsorption mechanism installed on both sides of the drone body, having multi-degree-of-freedom articulated arms and an end-effector suction cup assembly. The adsorption mechanism is configured to actively adhere to the wall surface and generate adsorption force to maintain the stable posture of the drone body when the striking mechanism is in operation. This invention achieves stable high-altitude anchoring of the drone through multi-degree-of-freedom articulated arms and end-effector suction cup assembly, while simultaneously improving the safety and accuracy of hollow spot detection in high-rise buildings by precisely controlling the striking force and frequency using the striking mechanism.

Description

Technical Field

[0001] This utility model relates to the field of building inspection technology, specifically to a drone device for detecting hollow walls. Background Technology

[0002] In modern construction engineering, the problem of hollow areas in the exterior wall finish is a significant hidden danger affecting the structural safety and service life of buildings. If hollow areas (i.e., voids or separation between the internal wall material and the base layer) are not detected and addressed in a timely manner, they may lead to the peeling off of the finish over time. This not only affects the building's appearance but may also pose a safety threat to pedestrians and vehicles below, especially for high-rise buildings where this risk is even more pronounced.

[0003] Traditional methods of detecting hollow spots mainly rely on manual operation. Inspectors need to use scaffolding, suspended platforms, or other high-altitude equipment to reach a designated height, tap on the wall, and judge whether hollow spots exist based on the sound. This manual inspection method has drawbacks such as low efficiency, poor safety, limited coverage, and reliance on the operator's experience and judgment for the test results.

[0004] While there have been attempts to apply drone technology to building inspection, these efforts have primarily focused on exterior image acquisition or infrared thermal imaging detection. Infrared detection technology, in particular, is significantly affected by factors such as ambient temperature and lighting, resulting in limited accuracy in identifying hollow areas and difficulty in precise localization.

[0005] Therefore, there is an urgent need for a drone inspection device that can replace manual labor, adapt to complex environments, and be accurate, so as to achieve automated, safe, and precise detection of hollow areas in the exterior walls of high-rise buildings and make up for the shortcomings of existing technologies. Utility Model Content

[0006] To address the aforementioned technical problems, this utility model provides a drone device for detecting hollow spots in walls, comprising:

[0007] The main body of the drone;

[0008] A striking mechanism, installed at the bottom of the drone's main body, includes a hammer head controlled by a drive motor to reciprocate linearly to strike a wall; and

[0009] The adsorption mechanism, installed on both sides of the drone body, has multi-degree-of-freedom articulated arms and end suction cups. The adsorption mechanism is configured to actively adhere to the wall surface and generate adsorption force to maintain the stable posture of the drone body when the tapping mechanism is working.

[0010] Furthermore, the suction cup assembly is fixed to the wall using vacuum adsorption or electromagnetic adsorption.

[0011] Furthermore, the multi-degree-of-freedom articulated arm includes at least two rotary joints and one swing joint, allowing the suction cup assembly's adsorption plane to be dynamically adjusted to be parallel to the wall surface.

[0012] Furthermore, the multi-degree-of-freedom articulated arm includes:

[0013] The first articulated arm is connected to the main body of the UAV via a first articulated servo motor and a first articulated motor. The first articulated servo motor drives the first articulated arm to swing, and the first articulated motor drives the first articulated arm to rotate.

[0014] The second articulated arm is rotatably connected to the first articulated arm via a second articulated servo motor.

[0015] The suction cup support is oscillatingly connected to the second joint arm via a third joint servo motor. The suction cup support is also equipped with a suction cup motor, which drives the suction cup support to rotate.

[0016] Furthermore, the suction cup support is provided with the suction cup assembly, which includes a plurality of suction cups.

[0017] Furthermore, the striking mechanism also includes a crank-slider assembly, the crank-slider assembly comprising:

[0018] A crank fixedly connected to the output shaft of the drive motor;

[0019] A connecting rod hinged to the free end of the crank;

[0020] A slide rod that moves linearly along the constraint direction of the slide rod fixing seat, with one end of the slide rod connected to the connecting rod and the other end equipped with the hammer head.

[0021] Furthermore, the slide bar fixing seat is rigidly connected to the main body of the drone; the slide bar passes through the sleeve of the slide bar fixing seat to form a sliding bearing pair, allowing the slide bar to move linearly along the same axis as the hammer head in the direction of impact.

[0022] Furthermore, the main body of the drone includes:

[0023] Support frame;

[0024] The frame has brushless motors and propellers connected to each other at its ends;

[0025] The cabin, integrated on top of the frame, houses the flight control system and acoustic sensors.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] This invention achieves stable high-altitude anchoring of drones through a multi-degree-of-freedom articulated arm and an end-effector suction cup assembly. At the same time, it combines a striking mechanism to precisely control the striking force and frequency, thereby improving the safety and accuracy of hollow detection in high-rise buildings. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure disclosed in the embodiment of this utility model;

[0029] Figure 2 This is a bottom view of the overall structure disclosed in the embodiment of this utility model;

[0030] Figure 3 This is a schematic diagram of the adsorption mechanism disclosed in an embodiment of the present invention, showing the positions of the first joint servo motor, the second joint servo motor, and the third joint servo motor;

[0031] Figure 4 This is a schematic diagram of the adsorption mechanism disclosed in an embodiment of the present invention, showing the distribution of the suction cups;

[0032] Figure 5 This is a partial structural diagram of the adsorption mechanism disclosed in an embodiment of the present utility model, showing the structure of the suction cup support;

[0033] Figure 6 This is a schematic diagram of the striking mechanism disclosed in an embodiment of the present utility model.

[0034] In the picture:

[0035] 100. Main body of the drone; 110. Support frame; 120. Frame; 121. Brushless motor; 122. Propeller; 130. Cabin;

[0036] 200. Adsorption mechanism; 210. Multi-degree-of-freedom articulated arm; 211. First articulated arm; 212. Second articulated arm; 213. Suction cup support; 214. Suction cup; 221. First articulated motor; 222. First articulated servo motor; 223. Second articulated servo motor; 224. Third articulated servo motor; 225. Suction cup motor;

[0037] 300. Striking mechanism; 311. Drive motor; 312. Crank; 313. Connecting rod; 314. Slide rod fixing seat; 315. Slide rod; 316. Hammer head. Detailed Implementation

[0038] To make the technical solutions and effects of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0039] This invention aims to provide a drone device for detecting hollow spots in walls, addressing the shortcomings of existing infrared detection drones. Please refer to... Figure 1 It mainly includes the drone body 100 and the adsorption mechanism 200 and the knocking mechanism 300 set on the drone body 100.

[0040] First, the main body 100 of the unmanned aerial vehicle disclosed in this embodiment will be described.

[0041] Please see Figure 2 The drone body 100 has aerial maneuverability and hovering capabilities. The drone body 100 includes a support frame 110, a frame 120, and a cabin 130 integrated on top of the frame 120. The support frame 110 is used for ground contact when the drone returns to the ground; the frame 120 has four symmetrically arranged brushless motors 121 and propellers 122 connected to each other, with the brushless motors 121 driving the corresponding propellers 122 to generate lift; the cabin 130 houses the flight control system and acoustic sensors.

[0042] When the striking mechanism 300 strikes the wall, a normal wall surface produces a high-frequency, short, crisp echo, while a hollow area produces a low-frequency, long reverberation. The acoustic sensor can capture these characteristic acoustic signals in real time and send them to the flight control system for precise location. Therefore, this detection method is unaffected by ambient temperature and lighting conditions, significantly improving the accuracy of hollow area detection compared to infrared detection drone equipment. Furthermore, controlling the drone body 100 to maneuver or hover in the air is a standard technique in this field and will not be elaborated upon here.

[0043] Next, the adsorption mechanism 200 disclosed in this embodiment will be described.

[0044] Please see Figure 3-5 The adsorption mechanism 200 is installed on both sides of the drone body 100, and has a multi-degree-of-freedom articulated arm 210 and an end suction cup assembly. The adsorption mechanism 200 is configured to actively adhere to the wall and generate an adsorption force to counteract the reaction force generated when the striking mechanism 300 strikes the wall, so as to maintain the stable posture of the drone body 100 when the striking mechanism 300 is working.

[0045] The multi-degree-of-freedom articulated arm 210 includes at least two rotary joints and one swing joint, which dynamically adjusts the adsorption plane of the suction cup assembly to be parallel to the wall surface, and the movements of the multi-degree-of-freedom articulated arms 210 on both sides of the drone body 100 are synchronously controlled.

[0046] In this embodiment, the multi-degree-of-freedom articulated arm 210 includes a first articulated arm 211, a second articulated arm 212, and a suction cup support 213, specifically:

[0047] The first articulated arm 211 is connected to the UAV body 100 in sequence via the first articulated servo motor 222 and the first articulated motor 221. The first articulated servo motor 222 drives the first articulated arm 211 to swing, and the first articulated motor 221 drives the first articulated arm 211 to rotate around the axial direction of the cabin 130.

[0048] The second articulated arm 212 is rotatably connected to the first articulated arm 211 via the second articulated servo motor 223.

[0049] The suction cup support 213 is oscillatingly connected to the second joint arm 212 via a third joint servo motor 224. The suction cup support 213 is also equipped with a suction cup motor 225, which drives the suction cup support 213 to rotate, i.e., controls the suction cup support 213 to rotate axially around the second joint arm 212. The suction cup support 213 is equipped with a suction cup assembly, which includes several suction cups 214. Optionally, the suction cup assembly is fixed to the wall using vacuum adsorption or electromagnetic adsorption.

[0050] Next, the striking mechanism 300 disclosed in this embodiment will be described.

[0051] Please see Figure 6 The striking mechanism 300 is installed at the bottom of the drone body 100, including a hammer head 316 that is controlled by a drive motor 311 to perform reciprocating linear motion to strike the wall.

[0052] In a further embodiment, the striking mechanism 300 also includes a crank-slider assembly, which includes a drive motor 311, a crank 312, a connecting rod 313, a slide rod fixing seat 314, a slide rod 315, and a hammer head 316.

[0053] The drive motor 311 is fixed to the bottom of the cabin 130. The speed and torque of the drive motor 311 independently control the striking frequency and force of the hammer 316. One end of the crank 312 is fixedly connected to the output shaft of the drive motor 311, and the other end is hinged to the connecting rod 313. The two ends of the connecting rod 313 are respectively hinged to the free end of the crank 312 and the slide rod 315. One end of the slide rod 315 is connected to the connecting rod 313, and the other end is equipped with the hammer 316. The slide rod fixing seat 314 is rigidly connected to the UAV body 100. The slide rod 315 passes through the sleeve of the slide rod fixing seat 314 to form a sliding bearing pair, so that the slide rod 315 moves linearly along the constraint direction of the slide rod fixing seat 314. In other words, the purpose of setting the slide rod fixing seat 314 is to only allow the slide rod 315 to move linearly along the same axis as the hammer 316 in the striking direction.

[0054] In this embodiment, the frequency of the hammer head 316's reciprocating linear motion is controlled by the rotational speed of the drive motor 311, and the striking force of the hammer head 316 is controlled by the rotational torque of the drive motor 311, thereby realizing the detection of hollow areas in the exterior wall of a building.

[0055] Finally, the hollow detection method provided in this embodiment will be described.

[0056] Step 1: Control the drone to hover within a preset distance on the wall to be inspected;

[0057] Step 2: Extend the first joint arm 211, the second joint arm 212 and the suction cup support 213 of the adsorption mechanism 200 so that the suction cup assembly is adsorbed onto the wall to form a fixed support.

[0058] Step 3: Activate the striking mechanism 300 to strike the wall at a fixed point, while simultaneously collecting sound wave signals through the acoustic sensor in the cabin 130.

[0059] Step 4: Analyze the wall surface hollow defects based on sound wave signals. After completion, the adsorption mechanism 200 retracts and the drone equipment flies away.

[0060] Although embodiments of the present 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 present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A drone device for detecting hollow spots in walls, characterized in that, include: The main body of the drone (100); A striking mechanism (300), installed at the bottom of the drone body (100), includes a hammer (316) controlled by a drive motor (311) to reciprocate linearly to strike a wall; and The adsorption mechanism (200) is installed on both sides of the drone body (100) and has a multi-degree-of-freedom articulated arm (210) and an end suction cup assembly. The adsorption mechanism (200) is configured to actively adhere to the wall surface and generate adsorption force to maintain the stable posture of the drone body (100) when the tapping mechanism (300) is working.

2. The UAV equipment for detecting hollow walls according to claim 1, characterized in that, The suction cup assembly is fixed to the wall using vacuum adsorption or electromagnetic adsorption.

3. The UAV equipment for detecting hollow walls according to claim 1 or 2, characterized in that, The multi-degree-of-freedom articulated arm (210) includes at least two rotary joints and one swing joint, so that the adsorption plane of the suction cup assembly is dynamically adjusted to be parallel to the wall.

4. The UAV equipment for detecting hollow walls according to claim 1, characterized in that, The multi-degree-of-freedom articulated arm (210) includes: The first articulated arm (211) is connected to the main body of the UAV (100) via the first articulated servo motor (222) and the first articulated motor (221). The first articulated servo motor (222) drives the first articulated arm (211) to swing, and the first articulated motor (221) drives the first articulated arm (211) to rotate. The second articulated arm (212) is rotatably connected to the first articulated arm (211) via a second articulated servo motor (223); The suction cup support (213) is oscillatingly connected to the second joint arm (212) via the third joint servo motor (224). The suction cup support (213) is also equipped with a suction cup motor (225), which drives the suction cup support (213) to rotate.

5. The UAV equipment for detecting hollow walls according to claim 4, characterized in that, The suction cup support (213) is provided with the suction cup group, which includes a plurality of suction cups (214).

6. The UAV equipment for detecting hollow walls according to claim 1, characterized in that, The striking mechanism (300) further includes a crank-slider assembly, the crank-slider assembly comprising: A crank (312) fixedly connected to the output shaft of the drive motor (311). A connecting rod (313) hinged to the free end of the crank (312); A slide rod (315) moves linearly along the constraint direction of the slide rod fixing seat (314). One end of the slide rod (315) is connected to the connecting rod (313), and the other end is equipped with the hammer head (316).

7. The UAV equipment for detecting hollow walls according to claim 6, characterized in that, The slide bar fixing seat (314) is rigidly connected to the UAV body (100); the slide bar (315) passes through the sleeve of the slide bar fixing seat (314) to form a sliding bearing pair, allowing only the slide bar (315) to move linearly in the same direction as the hammer head (316) in the striking direction.

8. The UAV equipment for detecting hollow walls according to claim 1, characterized in that, The main body of the drone (100) includes: Support frame (110); The frame (120) has a brushless motor (121) and a propeller (122) connected to each other at its end. The cabin (130) integrated on top of the frame (120) houses the flight control system and acoustic sensors.

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