Bridge detection and flaw detection device based on unmanned aerial vehicle

Abstract

The utility model provides a kind of bridge detection flaw detection device based on unmanned plane, including unmanned plane body, the front end of unmanned plane body is provided with infrared camera and the acoustic emission module with acoustic emission sensor, battery holder is provided on unmanned plane body, battery box is provided on battery holder, battery holder includes the support rod being set on unmanned plane body, the mounting plate being set on support rod, the mounting hole being opened on mounting plate, connecting plate is provided on the outer side wall of battery box, connecting hole is opened in connecting plate, quick release device is arranged in mounting hole and connecting hole, connecting plate is detachably set on mounting plate by quick release device. The bridge detection flaw detection device based on unmanned plane adopts battery box of replacement, and the mode of "spare battery+recycling replacement" is supported, the endurance limit of single battery box is broken away, continuous bridge flaw detection work can be carried out, which is beneficial to reduce the detection period of bridge flaw detection.

Description

Technical Field

[0001] This utility model relates to the technical field of bridge inspection and flaw detection devices, and in particular to a bridge inspection and flaw detection device based on unmanned aerial vehicles (UAVs). Background Technology

[0002] With rapid socio-economic development, bridge construction has entered a stage of high-quality development, with its construction scale, coverage, and structural span continuously breaking records. However, along with the surge in the number of bridges and their increasing service life, various safety accidents occur frequently, threatening the safety of passing vehicles and pedestrians. The causes of bridge accidents include both external environmental factors such as extreme weather and vehicle overloading, and internal performance degradation such as material aging and structural cracks. Among these, the failure to detect inherent structural defects in the bridge itself often becomes a key factor in the occurrence of accidents. Therefore, early identification and accurate location of internal safety hazards in bridges are a core prerequisite for ensuring their long-term stable operation.

[0003] Against this backdrop, acoustic emission technology, with its unique advantages, has been widely used in the field of bridge inspection and flaw detection. This technology does not require destructive intervention to the bridge structure. It can capture acoustic emission signals generated in real time when stress is released and cracks propagate inside the bridge through acoustic emission sensors, and then process the acoustic emission signals to determine whether the structure is damaged, the location of the damage, and the severity.

[0004] Chinese Patent CN216247808U discloses a UAV bridge inspection and flaw detection device based on acoustic emission technology. The device includes a UAV body, an acoustic emission module, an infrared camera, and a power module. The power module is located below the UAV body. The acoustic emission module and the infrared camera are connected to the power module. The acoustic emission module includes a shell and an acoustic emission sensor. Inside the shell, there are a preamplifier, a signal conditioning circuit, an A / D conversion circuit, an FPGA circuit, an ARM processor circuit, and a WIFI circuit. The acoustic emission sensor is connected to the preamplifier, the preamplifier is connected to the signal conditioning circuit, the signal conditioning circuit is connected to the A / D conversion circuit, the A / D conversion circuit is connected to the FPGA circuit, and the FPGA circuit and the WIFI circuit are connected to the ARM processor circuit.

[0005] The existing technical solutions mentioned above have the following drawbacks: In the UAV bridge inspection and flaw detection device based on acoustic emission technology, the power module mostly uses rechargeable lithium batteries. Due to the limited battery capacity, a single full charge is insufficient to support the full-section flaw detection of the entire bridge. When the battery life is insufficient, it is necessary to return to the ground to charge for 1-2 hours, which will significantly extend the bridge flaw detection cycle and increase the cost of equipment scheduling and personnel on duty. Utility Model Content

[0006] The present invention aims to address the aforementioned shortcomings in the existing technology by providing a bridge inspection and flaw detection device based on unmanned aerial vehicles (UAVs), which solves the problem of long inspection cycles in the existing technology.

[0007] The above-mentioned utility model objective is achieved through the following technical solution: a bridge inspection and flaw detection device based on a drone, comprising a drone body, an infrared camera and an acoustic emission module with an acoustic emission sensor at the front end of the drone body, a battery rack on the drone body, a battery box on the battery rack, the battery rack including a support rod on the drone body, a mounting plate on the support rod, and mounting holes on the mounting plate, a connecting plate on the outer wall of the battery box, a connecting hole on the connecting plate, and a quick-release device passing through the mounting hole and the connecting hole, the connecting plate being detachably mounted on the mounting plate via the quick-release device.

[0008] The present invention is further configured such that: the quick-release device includes a quick-release outer shell that passes through the connecting hole and the mounting hole from top to bottom, the quick-release outer shell has an inner groove, the upper part of the outer side wall of the quick-release outer shell is provided with an upper pressure plate that abuts against the top surface of the connecting plate, the lower part of the outer side wall of the quick-release outer shell is provided with a plurality of locking plate sliding holes, a lower locking plate that abuts against the bottom surface of the mounting plate is slidably disposed in the locking plate sliding holes, and a locking plate driving assembly is provided in the inner groove of the outer shell that drives the lower locking plate to reciprocate linearly along the locking plate sliding holes by pushing and pulling the lower locking plate.

[0009] The present invention is further configured such that: the locking plate driving assembly includes a driving central shaft, an inner hinge seat, and a driving connecting rod; a central shaft hole is provided on the top surface of the quick-release housing; the driving central shaft is rotatably disposed in the inner groove of the housing and its top passes through the central shaft hole; the inner hinge seat is disposed on the driving central shaft; the inner end of the driving connecting rod is hinged to the inner hinge seat; and the outer end of the driving connecting rod is hinged to the lower locking plate.

[0010] The present invention is further configured such that: an inner hinge groove is provided on the side wall of the inner hinge seat, an inner hinge shaft is vertically inserted through the inner hinge groove on the inner hinge seat, and inner retaining springs are sleeved on both ends of the inner hinge shaft by means of slotting, and the inner end of the drive connecting rod extends into the inner hinge groove and is hinged to the inner hinge seat through the inner hinge shaft.

[0011] The present invention is further configured such that: an external hinge groove is provided on the side wall of the lower locking plate facing the driving connecting rod; an external hinge shaft is vertically inserted through the external hinge groove on the lower locking plate; external snap rings are sleeved on both ends of the external hinge shaft by means of slotting; the outer end of the driving connecting rod extends into the external hinge groove and is hinged to the lower locking plate through the external hinge shaft.

[0012] The present invention is further configured such that: a limiting rotating groove is provided circumferentially on the groove wall of the inner groove of the outer shell, and a limiting turntable is coaxially provided on the drive shaft to rotate in cooperation with the limiting rotating groove.

[0013] The present invention is further configured such that a lever is provided after the drive shaft passes through the shaft hole.

[0014] The present invention is further configured such that: a locking slot is provided on the top of the outer wall of the quick-release housing; a latching slot is provided at the end of the lever away from the drive shaft; a connecting pin is horizontally inserted through the latching slot on the lever; and a locking buckle is rotatably provided on the connecting pin to engage with the locking slot.

[0015] In summary, the beneficial technical effects of this utility model are as follows: This UAV-based bridge inspection and flaw detection device adopts a battery swapping type battery box, which supports the "backup battery + cyclic replacement" mode, gets rid of the endurance limitation of a single battery box, and can continuously carry out bridge flaw detection work, which helps to reduce the inspection cycle of bridge flaw detection. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the bridge inspection and flaw detection device based on UAV in this utility model; Figure 2 This is an exploded structural diagram of the battery rack, battery box, and quick-release device in this utility model; Figure 3 This is a cross-sectional view of the medium-speed disassembly device of this utility model; Figure 4 This is a schematic diagram of the structure of the medium-speed disassembly tool of this utility model after removing one and a half of the outer shell.

[0017] In the above attached diagrams: 1. UAV body; 2. Battery rack; 3. Support rod; 4. Mounting plate; 5. Heat dissipation hole; 6. Mounting hole; 7. Battery box; 8. Connecting plate; 9. Connecting hole; 10. Quick release mechanism; 11. Quick release outer shell; 111. Half shell; 12. Upper pressure plate; 13. Inner groove of the outer shell; 14. Locking plate sliding hole; 15. Lower locking plate; 16. Central shaft hole; 17. Drive central shaft; 18. Internal hinge. 19. Drive linkage; 20. Inner hinge slot; 21. Inner hinge shaft; 22. Inner snap ring; 23. Outer hinge slot; 24. Outer hinge shaft; 25. Outer snap ring; 26. Limiting slot; 27. Limiting turntable; 28. Locking slot; 29. ​​Lever; 30. Buckle slot; 31. Buckle pin; 32. Locking buckle; 33. Infrared camera; 34. Acoustic emission module; 35. Acoustic emission sensor. Detailed Implementation

[0018] To make the technical means, creative features, objectives and effects of this utility model clearer and easier to understand, the present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0019] like Figure 1 and 2 As shown, this utility model proposes a bridge inspection and flaw detection device based on a drone, including a drone body 1, a battery frame 2, and a battery box 7.

[0020] like Figure 1 and 2 As shown, the battery rack 2 includes support rods 3 and mounting plate 4. There are four support rods 3, which are arranged in a rectangular shape. The support rods 3 are fixedly connected to the top surface of the UAV body 1. The mounting plate 4 is fixedly connected to the top of the four support rods 3. A heat dissipation hole 5 is provided in the middle of the mounting plate 4. The bottom of the battery box 7 is cooled through the heat dissipation hole 5. Two circular mounting holes 6 are symmetrically provided on the top surface of the mounting plate 4.

[0021] like Figure 1 and 2 As shown, the battery box 7 is mounted on the battery rack 2. A connecting plate 8 is fixedly connected to the bottom of the outer wall of the battery box 7. The bottom surface of the connecting plate 8 abuts against the top surface of the mounting plate 4. Two circular connecting holes 9 are symmetrically opened on the top surface of the connecting plate 8. The two connecting holes 9 are respectively aligned above the two mounting holes 6. The diameter of the connecting holes 9 is the same as the diameter of the mounting holes 6.

[0022] like Figure 2 and 3 As shown, a quick-release device 10 is installed in the mounting hole 6 and the connecting hole 9. The connecting plate 8 is detachably mounted on the mounting plate 4 through the quick-release device 10. The quick-release device 10 includes a quick-release housing 11, which is cylindrical. The quick-release housing 11 can pass through the connecting hole 9 and the mounting hole 6 from top to bottom. The quick-release housing 11 is composed of a pair of half-housing shells 111 spliced ​​together. The two half-housing shells 111 are glued together by applying glue to the mating surfaces.

[0023] like Figure 3 and 4 As shown, an upper pressure plate 12 is fixedly connected to the upper part of the outer wall of the quick-release housing 11. The upper pressure plate 12 has a circular cross-section and is arranged in two halves on the two halves of the housing 111. When the quick-release device 10 is installed, the bottom surface of the upper pressure plate 12 abuts against the top surface of the connecting plate 8, and the upper pressure plate 12 presses the connecting plate 8 tightly and fixes it on the mounting plate 4.

[0024] like Figure 3 and 4As shown, the quick-release housing 11 has a cylindrical inner groove 13 inside, which is split in half on the two halves of the housing 111. Two locking plate sliding holes 14 are symmetrically formed on the lower part of the outer wall of the quick-release housing 11. The locking plate sliding holes 14 communicate with the inner groove 13. The cross-section of the locking plate sliding holes 14 is rectangular, and each locking plate sliding hole 14 is slidably disposed in the two halves of the housing 111. When the quick-release device 10 is installed, the lower locking plate 15 slides out of the locking plate sliding hole 14, and the top surface of the lower locking plate 15 abuts against the bottom surface of the mounting plate 4. At this time, the battery box 7 and the connecting plate 8 are restricted from separating from the mounting plate 4.

[0025] like Figure 3 and 4 As shown, a locking plate drive assembly is provided in the inner groove 13 of the outer casing. The locking plate drive assembly drives the lower locking plate 15 to reciprocate linearly along the locking plate sliding hole 14 by pushing and pulling the lower locking plate 15. The locking plate drive assembly includes a drive shaft 17, an inner hinge seat 18, and a drive connecting rod 19. A circular shaft hole 16 is opened at the center of the top surface of the quick-release outer casing 11. The shaft hole 16 communicates with the inner groove 13 of the outer casing. The drive shaft 17 is cylindrical and is rotatably set at the center of the inner groove 13 of the outer casing. The top of the drive shaft 17 passes through the shaft hole 16. Two mutually symmetrical inner hinge seats 18 are fixedly connected to the lower part of the drive shaft 17. The inner end of the drive connecting rod 19 is hinged to the inner hinge seat 18, and the outer end of the drive connecting rod 19 is hinged to the lower locking plate 15.

[0026] like Figure 3 and 4 As shown, an inner hinge groove 20 is formed on the side wall of the inner hinge seat 18. An inner hinge shaft 21, which passes through the inner hinge groove 20, is vertically inserted through the inner hinge seat 18. Inner retaining springs 22 are fitted on both ends of the inner hinge shaft 21 by means of slots. The inner retaining springs 22 abut against the upper and lower end faces of the inner hinge seat 18, thereby restricting the axial sliding of the inner hinge shaft 21. The inner end of the drive connecting rod 19 extends into the inner hinge groove 20 and is hinged to the inner hinge seat 18 through the inner hinge shaft 21.

[0027] like Figure 3 and 4 As shown, the lower locking plate 15 has an outer hinge groove 23 on its side wall facing the drive connecting rod 19. An outer hinge shaft 24 is vertically inserted through the outer hinge groove 23 on the lower locking plate 15. Outer retaining springs 25 are fitted onto both ends of the outer hinge shaft 24 by means of slots. The outer retaining springs 25 abut against the upper and lower end faces of the lower locking plate 15, thereby restricting the axial sliding of the outer hinge shaft 24. The outer end of the drive connecting rod 19 extends into the outer hinge groove 23 and is hinged to the lower locking plate 15 via the outer hinge shaft 24.

[0028] like Figure 3 and 4As shown, a limiting groove 26 is circumferentially formed on the wall of the inner groove 13 of the outer shell, and the limiting groove 26 is formed in half on the two halves of the outer shell 111. A limiting turntable 27 is coaxially fixed to the middle of the drive shaft 17. The limiting turntable 27 is disc-shaped, and the limiting turntable 27 rotates with the limiting groove 26, which not only improves the rotational stability of the drive shaft 17, but also limits the axial runout of the drive shaft 17.

[0029] like Figure 3 and 4 As shown, a locking slot 28 is provided on the top of the outer wall of the quick-release housing 11. The locking slot 28 is a rectangular slot, and it is split in half on the two halves of the housing 111. The drive shaft 17 passes through the shaft hole 16 and is fixedly connected to a lever 29. The lever 29 provides a force point for the user to rotate the drive shaft 17. A latching slot 30 is provided at the end of the lever 29 away from the drive shaft 17. A latching pin 31 passes horizontally through the latching slot 30 on the lever 29. A locking buckle 32 is rotatably mounted on the latching pin 31 and can be engaged in the locking slot 28. When the quick-release device 10 is installed, the locking buckle 32 is partially engaged in the locking slot 28, at which time the lever 29 and the drive shaft 17 are restricted from rotating.

[0030] like Figure 1 As shown, an infrared camera 33 and an acoustic emission module 34 with an acoustic emission sensor 35 are connected to the front end of the UAV body 1 by screws. The infrared camera 33 and the acoustic emission module 34 with the acoustic emission sensor 35 are existing technologies and will not be described in detail here. The power cord of the infrared camera 33 is electrically connected to the DC socket of the battery box 7 through a DC plug, and the power cord of the acoustic emission module 34 is electrically connected to the DC socket of the battery box 7 through a DC plug.

[0031] The detailed replacement process of battery box 7 in this embodiment is as follows: S1, the user pulls the locking buckle 32 out of the locking slot 28, and then rotates the drive shaft 17 through the lever 29. The rotation of the drive shaft 17 will drive the lower locking plate 15 to move closer to the drive shaft 17 through the drive linkage 19 until the outer end of the lower locking plate 15 is locked into the locking plate sliding hole 14. At this time, pull the quick release device 10 upward to remove the quick release device 10. Then disconnect the power cord of the infrared camera 33 and the power cord of the acoustic emission module 34 from the battery box 7 to remove the battery box 7 which is out of power. S2, the user places the fully charged battery box 7 on the battery rack 2, aligning the connection hole 9 of the connecting plate 8 with the mounting hole 6 of the mounting plate 4. Then, the quick-release device 10 is passed through the connection hole 9 and the mounting hole 6 from top to bottom until the bottom surface of the upper pressure plate 12 abuts against the top surface of the connecting plate 8. Next, the user rotates the drive shaft 17 by lever 29. The rotation of the drive shaft 17 will push the lower locking plate 15 away from the drive shaft 17 through the drive linkage 19 until the lower locking plate 15 slides out of the locking plate sliding hole 14 and the top surface of the lower locking plate 15 abuts against the bottom surface of the mounting plate 4. At this time, the battery box 7 and the connecting plate 8 are restricted from separating from the mounting plate 4. Then, the power cord of the infrared camera 33 and the power cord of the acoustic emission module 34 are connected to the battery box 7 to complete the battery swapping operation.

[0032] This UAV-based bridge inspection and flaw detection device uses a battery swapping battery box 7, which supports a "backup battery + cyclic replacement" mode, eliminating the battery life limitation of a single battery box 7 and enabling continuous bridge flaw detection work, which helps to reduce the inspection cycle of bridge flaw detection.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A bridge inspection and flaw detection device based on an unmanned aerial vehicle (UAV), comprising an UAV body (1), wherein an infrared camera (33) and an acoustic emission module (34) with an acoustic emission sensor (35) are provided at the front end of the UAV body (1), characterized in that: The UAV body (1) is provided with a battery rack (2), and the battery rack (2) is provided with a battery box (7). The battery rack (2) includes a support rod (3) provided on the UAV body (1), a mounting plate (4) provided on the support rod (3), and a mounting hole (6) opened on the mounting plate (4). A connecting plate (8) is provided on the outer side wall of the battery box (7). A connecting hole (9) is opened on the connecting plate (8). A quick-release device (10) is provided in the mounting hole (6) and the connecting hole (9). The connecting plate (8) can be detachably mounted on the mounting plate (4) through the quick-release device (10).

2. The bridge inspection and flaw detection device based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that: The quick-release device (10) includes a quick-release outer shell (11) that passes through the connecting hole (9) and the mounting hole (6) from top to bottom. The quick-release outer shell (11) has an inner groove (13). The upper part of the outer wall of the quick-release outer shell (11) is provided with an upper pressure plate (12) that abuts against the top surface of the connecting plate (8). The lower part of the outer wall of the quick-release outer shell (11) is provided with several locking plate sliding holes (14). A lower locking plate (15) that abuts against the bottom surface of the mounting plate (4) is slidably arranged in the locking plate sliding holes (14). The inner groove (13) of the outer shell is provided with a locking plate driving assembly that drives the lower locking plate (15) to reciprocate linearly along the locking plate sliding holes (14) by pushing and pulling the lower locking plate (15).

3. The bridge inspection and flaw detection device based on unmanned aerial vehicles (UAVs) according to claim 2, characterized in that: The locking plate drive assembly includes a drive shaft (17), an inner hinge seat (18), and a drive link (19). A shaft hole (16) is provided on the top surface of the quick-release housing (11). The drive shaft (17) is rotatably disposed in the inner groove (13) of the housing and its top passes through the shaft hole (16). The inner hinge seat (18) is disposed on the drive shaft (17). The inner end of the drive link (19) is hinged to the inner hinge seat (18), and the outer end of the drive link (19) is hinged to the lower locking plate (15).

4. The bridge inspection and flaw detection device based on unmanned aerial vehicles (UAVs) according to claim 3, characterized in that: The inner hinge seat (18) has an inner hinge groove (20) on its side wall. An inner hinge shaft (21) that passes through the inner hinge groove (20) is vertically inserted into the inner hinge seat (18). Inner snap rings (22) are fitted on both ends of the inner hinge shaft (21) by means of slotting. The inner end of the drive connecting rod (19) extends into the inner hinge groove (20) and is hinged to the inner hinge seat (18) through the inner hinge shaft (21).

5. A bridge inspection and flaw detection device based on an unmanned aerial vehicle (UAV) according to claim 3, characterized in that: The lower locking plate (15) has an outer hinge groove (23) on its side wall facing the drive link (19). An outer hinge shaft (24) that passes through the outer hinge groove (23) is vertically inserted on the lower locking plate (15). Outer snap rings (25) are fitted on both ends of the outer hinge shaft (24) by means of slotting. The outer end of the drive link (19) extends into the outer hinge groove (23) and is hinged to the lower locking plate (15) through the outer hinge shaft (24).

6. A bridge inspection and flaw detection device based on an unmanned aerial vehicle (UAV) according to claim 3, characterized in that: The inner groove (13) of the outer shell has a circumferentially ...

7. A bridge inspection and flaw detection device based on an unmanned aerial vehicle (UAV) according to claim 3, characterized in that: The drive shaft (17) passes through the shaft hole (16) and is equipped with a lever (29).

8. A bridge inspection and flaw detection device based on an unmanned aerial vehicle (UAV) according to claim 7, characterized in that: The top of the outer wall of the quick-release housing (11) is provided with a locking slot (28), and the end of the lever (29) away from the drive shaft (17) is provided with a latching slot (30). A latching pin (31) is horizontally inserted through the latching slot (30) on the lever (29), and a locking buckle (32) that engages with the locking slot (28) is rotatably provided on the latching pin (31).

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