CN110145989A - Distress in concrete detection device and detection method based on unmanned plane - Google Patents
Distress in concrete detection device and detection method based on unmanned plane Download PDFInfo
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- CN110145989A CN110145989A CN201910502811.4A CN201910502811A CN110145989A CN 110145989 A CN110145989 A CN 110145989A CN 201910502811 A CN201910502811 A CN 201910502811A CN 110145989 A CN110145989 A CN 110145989A
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- measuring scale
- concrete
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/14—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- General Physics & Mathematics (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The distress in concrete detection device based on unmanned plane that the invention discloses a kind of, including drone body, the invention also includes for drone body to be adsorbed in the adsorbing mechanism of concrete surface and Crack Detection mechanism at crack to be detected, Crack Detection mechanism includes the rotary drive motor being fixed in drone body and is fixed on video camera and measuring scale of the drone body towards crack side to be detected, the output end of rotary drive motor is connect through rotation axis with measuring scale, and measuring scale is bonded with concrete surface at crack to be detected.The distress in concrete detection device based on unmanned plane of the present invention using the above structure, by the Crack Detection mechanism for being provided with rotatable measuring scale, the length and width in crack can be directly read through measuring scale, is not necessarily to later period a large amount of data processing, and measurement method is simple；The three-dimensional spatial position information that crack is recorded by setting positioning mechanism realizes the observation of crack long-term follow.
Description
Technical field
The present invention relates to a kind of distress in concrete detection technique more particularly to a kind of distress in concrete inspections based on unmanned plane
Survey device and detection method.
Background technique
Crack is the key factor for endangering concrete structure safety, in order to grasp its development, is needed periodically to concrete
It is detected in crack.And some cracks positioned at such as beam bottom portion, high pier stud privileged sites are by the shadow of the factors such as space, position
It rings, is often difficult to carry out direct artificial observation.
Currently, generally being seen using hoistable platform or the detection vehicle with cantilever for observing limited distress in concrete
It surveys, this method low efficiency, and somewhat expensive.
With the development of unmanned air vehicle technique, a kind of trend, mesh are had become using the detection that unmanned plane carries out concrete diseases
Preceding unmanned machine testing crack generally passes through shooting crack photo, is then based on image analysis technology, analyzes width, the length in crack
Deng this method is affected by factors such as shooting angle, pixel resolutions, causes error larger, and not intuitive enough.And as specially
Sharp number " 201720825746.5 " provide " for detecting the unmanned plane with bow and crossbow of concrete structural surface fracture width ", main
Wanting principle is to project a front end using unmanned plane to have at the arrow to crack of scale, shoots the photo of arrow and crack, the later period answers
With PS technology, fracture width on the scale PS to crack in photo, will be then read, this method need to emit early period with a scale
Arrow, later period also need using PS technology, and complicated for operation, detection efficiency is low.
Summary of the invention
The distress in concrete detection device based on unmanned plane that the object of the present invention is to provide a kind of, can be revolved by being provided with
Turn the Crack Detection mechanism of measuring scale, the length and width in crack can be directly read through measuring scale, is not necessarily to later period a large amount of data
Processing, measurement method are simple；By setting positioning mechanism record crack three-dimensional spatial position information, realize crack for a long time with
Track observation.
To achieve the above object, the distress in concrete detection device based on unmanned plane that the present invention provides a kind of, including by
Rack, the propeller being set in the rack, propeller driving motor and remote controler for driving the propeller rotational
The drone body of composition, the invention also includes for the drone body to be adsorbed in concrete surface at crack to be detected
Adsorbing mechanism and Crack Detection mechanism for detecting the crack to be detected, the Crack Detection mechanism include being fixed on institute
It states the rotary drive motor in drone body and is fixed on the drone body towards the crack side to be detected
The output end of video camera and measuring scale, the rotary drive motor is connect through rotation axis with the measuring scale, the measuring scale with
Concrete surface is bonded at the crack to be detected.
Preferably, the adsorbing mechanism includes the vacuum pump being fixed in the drone body, and the vacuum pump is successively
Communicated through vacuum tube, support leg pipe with sucker, the suction inlet of the sucker towards the direction of concrete, the sucker with it is described to be detected
Concrete surface is attracted at crack.
Preferably, the bleeding point of the vacuum pump and exhaust outlet are respectively through exhaust tube and exhaust pipe and the vacuum tube phase
It is logical, reversing solenoid valve is provided on the exhaust tube and the exhaust pipe.
Preferably, the support leg pipe is fixedly connected with the rack.
Preferably, the invention also includes the positioning mechanism being fixed in the drone body, the positioning mechanism is GPS
Positioning system.
Preferably, it is fixedly connected in the middle part of the rotation axis and the measuring scale.
Preferably, the rotation axis and the material of the sucker are rubber material.
Preferably, the rotary drive motor and the propeller driving motor are servo motor.
A kind of detection method of the distress in concrete detection device based on unmanned plane, comprising the following steps:
S1, whole observation
Start drone body and video camera, flies through remote control control drone body to the coagulation for having crack to be detected
Soil structure bottom, and observe by video camera the distribution situation in crack to be detected on concrete to be detected；
S2, fixed drone body
Fly the wherein Slit bottom to be detected detected into step S1 through remote control control drone body, and makes
Drone body is close to crack to be detected, until sucker comes into contact with concrete surface at crack to be detected, while opening true
Sky pump and the reversing solenoid valve in exhaust tube, start to be evacuated, until concrete surface adsorbs at sucker and crack to be detected
Reliably, vacuum pump and propeller are closed；
S3, the length and width for detecting crack to be detected
S30, the width for detecting crack to be detected
It is then controlled through rotary drive motor rotation measuring ruler so that measuring scale is parallel with fracture width direction to be detected
Video camera shooting；
S31, the length for detecting crack to be detected
By cameras view crack to be detected, through rotary drive motor rotation measuring ruler so that measuring scale with it is to be detected
Fracture length direction is parallel, then controls video camera shooting；
S4, the next crack to be detected of detection
After current crack shooting to be detected, start drone body, the reversing solenoid valve closed in exhaust tube is simultaneously beaten
Begin to rehearse endotracheal reversing solenoid valve, air is injected into sucker, while being detached from current fracture under drone body tractive force,
The reversing solenoid valve in vacuum pump and exhaust pipe is closed, flies away from current fracture to next to be checked through remote control control drone body
Crack is surveyed, step S1-S4 is repeated, until detection finishes；
S5, image procossing
S50, width value are read
After detection, the show value for reading measuring scale in measuring scale photo parallel with fracture width direction to be detected is width
Angle value；
S51, length value are read
When the length of measuring scale on photo is more than or equal to fracture length to be detected, reads measuring scale and crack to be detected is long
The show value for spending measuring scale in the parallel photo in direction is width value；
Alternatively, reading measuring scale and crack to be detected when the length of measuring scale on photo is less than fracture length to be detected
The length ratio of the show value of measuring scale and crack to be detected, calculates crack physical length to be detected in the parallel photo of length direction.
Preferably, step S2 fixes the position that also located mechanism after drone body records current crack to be detected.
Beneficial effects of the present invention are as follows:
(1) transformation being directly based upon on unmanned plane, development cost is low, operating method simple possible, it is practical, convenient for pushing away
Wide application；
(2) it is based on vacuum adsorption principle, vacuum pump and 8 support leg pipes with rubber suction cups are set, inhale unmanned plane securely
It is attached to concrete surface, and inject air to be detached from concrete surface easily；
(3) by setting Crack Detection mechanism, measuring scale can be placed directly against the concrete surface in crack to be detected, pass through rotation
Turn driving motor wheel measuring ruler, and then change the angle between measuring scale and crack to be detected, to measure crack to be detected
Length and width, avoid in later image treatment process because the pixel of photo or shooting angle are to the shadow of testing result
It rings, improves Crack Detection precision.
(4) by setting GPS positioning mechanism, the three-dimensional localization for realizing crack can quickly be tracked convenient for the later period in crack
Monitoring.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is a kind of side view of the distress in concrete detection device based on unmanned plane of the embodiment of the present invention；
Fig. 2 is a kind of top view of the distress in concrete detection device based on unmanned plane of the embodiment of the present invention；
Fig. 3 is a kind of bottom view of the distress in concrete detection device based on unmanned plane of the embodiment of the present invention.
Wherein: 1, crack to be detected；2, rack；3, rotary drive motor；4, rotation axis；5, measuring scale；6, propeller；7,
Sucker；8, support leg pipe；9, vacuum tube；10, vacuum pump；11, propeller driving motor；12, positioning mechanism；13, video camera.
Specific embodiment
Below with reference to attached drawing, the invention will be further described, it should be noted that the present embodiment is with this technology side
Premised on case, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to this reality
Apply example.
Fig. 1 is a kind of side view of the distress in concrete detection device based on unmanned plane of the embodiment of the present invention, and Fig. 2 is this
A kind of top view of the distress in concrete detection device based on unmanned plane of the embodiment of invention, Fig. 3 are the embodiment of the present invention one
The bottom view of distress in concrete detection device of the kind based on unmanned plane, as shown in Figure 1, Figure 2 and Figure 3, structure of the invention, including
By rack 2, the propeller being set in rack 26, propeller driving motor 11 and remote controler for driving propeller 6 to rotate
The drone body of composition, the invention also includes for drone body to be adsorbed in concrete surface at crack 1 to be detected
Adsorbing mechanism and Crack Detection mechanism for detecting crack 1 to be detected, Crack Detection mechanism include being fixed on drone body
On rotary drive motor 3 and be fixed on video camera 13 and measuring scale 5 of the drone body towards 1 side of crack to be detected,
The output end of rotary drive motor 3 is connect through rotation axis 4 with measuring scale 5, it is preferred that fixed in the middle part of rotation axis 4 and measuring scale 5 to connect
It connects, measuring scale 5 is bonded with concrete surface at crack 1 to be detected.Specifically, adsorbing mechanism includes being fixed in drone body
Vacuum pump 10, vacuum pump 10 successively communicates through vacuum tube 9, support leg pipe 8 with sucker 7, and the suction inlet of sucker 7 is towards the side of concrete
To concrete surface is attracted at sucker 7 and crack 1 to be detected.And the bleeding point and exhaust outlet of vacuum pump 10 are respectively through exhaust tube
It is communicated with exhaust pipe with vacuum tube 9, is provided with reversing solenoid valve on exhaust tube and exhaust pipe.Preferably, support leg pipe 8 and rack
2 are fixedly connected, and support leg pipe 8 is fixedly connected close to one end of vacuum tube 9 with rack 2, side of the other end to close crack 1 to be detected
To bending, and the vacuum pump 10 of the application connects eight along the equally distributed support leg pipe 8 of rack 2, every support leg pipe through vacuum tube 9
8 tail end is communicated with sucker 7, so that the absorption of unmanned plane main body is more stable.
Preferably, the invention also includes the positioning mechanism 12 being fixed in drone body, positioning mechanism 12 is GPS positioning
System.
Preferably, rotation axis 4 and the material of sucker 7 are rubber material, so as to be concrete at crack 1 to be detected
Buffer function is played when contacting in surface.
Preferably, rotary drive motor 3 and propeller driving motor 11 are servo motor.
A kind of detection method of the distress in concrete detection device based on unmanned plane, comprising the following steps:
S1, whole observation
Start drone body and video camera 13, flies through remote control control drone body to crack 1 to be detected
Concrete structure bottom, and observe by video camera 13 distribution situation in crack 1 to be detected on concrete to be detected；
S2, fixed drone body
Fly wherein 1 bottom of crack to be detected detected into step S1 through remote control control drone body, and makes
It obtains drone body and is opened simultaneously close to crack to be detected until sucker 7 comes into contact with concrete surface at crack 1 to be detected
Vacuum pump 10 and the reversing solenoid valve in exhaust tube are opened, starts to be evacuated, until concrete at sucker 7 and crack 1 to be detected
Adsorption is reliable, closes vacuum pump 10 and propeller 6；
S3, the length and width for detecting crack 1 to be detected
S30, the width for detecting crack 1 to be detected
Through 3 rotation measuring ruler 5 of rotary drive motor, so that measuring scale 5 is parallel with 1 width direction of crack to be detected, then
Video camera 13 is controlled to shoot；
S31, the length for detecting crack 1 to be detected
Observe crack 1 to be detected by video camera 13, through 3 rotation measuring ruler 5 of rotary drive motor so that measuring scale 5 with
1 length direction of crack to be detected is parallel, then controls video camera 13 and shoots；
S4, the next crack 1 to be detected of detection
After current crack 1 to be detected is shot, start drone body, the reversing solenoid valve closed in exhaust tube is simultaneously beaten
Begin to rehearse endotracheal reversing solenoid valve, and air is injected into sucker 7, while being detached under drone body tractive force and currently splitting
Seam closes the reversing solenoid valve in vacuum pump 10 and exhaust pipe, flies away from current fracture under through remote control control drone body
One crack 1 to be detected repeats step S1-S4, until detection finishes；
S5, image procossing
S50, width value are read
After detection, the show value of measuring scale 5 in the photo parallel with 1 width direction of crack to be detected of measuring scale 5 is read
For width value；
S51, length value are read
When the length of measuring scale 5 on photo is more than or equal to 1 length of crack to be detected, reads measuring scale 5 and split with to be detected
The show value for stitching measuring scale 5 in the parallel photo of 1 length direction is width value；
Alternatively, reading measuring scale 5 when the length of measuring scale 5 on photo is less than 1 length of crack to be detected and being split with to be detected
It is practical to calculate crack 1 to be detected for the length ratio for stitching the show value of measuring scale 5 and crack 1 to be detected in the parallel photo of 1 length direction
Length.
Preferably, also located mechanism 12 records the position in currently crack 1 to be detected after the fixed drone body of step S2.
Therefore, the distress in concrete detection device based on unmanned plane of the present invention using the above structure, by being provided with
The Crack Detection mechanism of rotatable measuring scale can directly read the length and width in crack through measuring scale, a large amount of without the later period
Data processing, measurement method are simple；The three-dimensional spatial position information that crack is recorded by setting positioning mechanism, it is long to realize crack
Phase tracking observation.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than is limited,
Although the present invention is described in detail with reference to preferred embodiments, those skilled in the art should understand that: its according to
So can be with modification or equivalent replacement of the technical solution of the present invention are made, and these modifications or equivalent replacement cannot also make to repair
Technical solution after changing is detached from the spirit and scope of technical solution of the present invention.
Claims (10)
1. a kind of distress in concrete detection device based on unmanned plane, including by rack, the propeller being set in the rack,
For driving the propeller driving motor of the propeller rotational and the drone body of remote controler composition, it is characterised in that: also
Including for the drone body to be adsorbed in the adsorbing mechanism of concrete surface at crack to be detected and is used to detect described
The Crack Detection mechanism in crack to be detected, the Crack Detection mechanism include the rotation driving being fixed in the drone body
Motor and it is fixed on video camera and measuring scale of the drone body towards the crack side to be detected, the rotation is driven
The output end of dynamic motor is connect through rotation axis with the measuring scale, concrete surface at the measuring scale and the crack to be detected
Fitting.
2. a kind of distress in concrete detection device based on unmanned plane according to claim 1, it is characterised in that: the suction
Random structure includes the vacuum pump being fixed in the drone body, and the vacuum pump is successively through vacuum tube, support leg pipe and sucker
It communicates, towards the direction of concrete, the sucker is attracted the suction inlet of the sucker with concrete surface at the crack to be detected.
3. a kind of distress in concrete detection device based on unmanned plane according to claim 2, it is characterised in that: described true
The bleeding point and exhaust outlet of sky pump are communicated through exhaust tube and exhaust pipe with the vacuum tube respectively, the exhaust tube and the exhaust
Reversing solenoid valve is provided on pipe.
4. a kind of distress in concrete detection device based on unmanned plane according to claim 2, it is characterised in that: the branch
Foot tube is fixedly connected with the rack.
5. a kind of distress in concrete detection device based on unmanned plane according to claim 1, it is characterised in that: further include
The positioning mechanism being fixed in the drone body, the positioning mechanism are GPS positioning system.
6. a kind of distress in concrete detection device based on unmanned plane according to claim 1, it is characterised in that: described turn
It is fixedly connected in the middle part of moving axis and the measuring scale.
7. a kind of distress in concrete detection device based on unmanned plane according to claim 2, it is characterised in that: described turn
The material of moving axis and the sucker is rubber material.
8. a kind of distress in concrete detection device based on unmanned plane according to claim 3, it is characterised in that: the rotation
Turning driving motor and the propeller driving motor is servo motor.
9. a kind of based on a kind of distress in concrete detection device based on unmanned plane described in any one of above-mentioned 1-8 claim
Detection method, it is characterised in that: the following steps are included:
S1, whole observation
Start drone body and video camera, flies through remote control control drone body to the concrete knot for having crack to be detected
Structure bottom, and observe by video camera the distribution situation in crack to be detected on concrete to be detected；
S2, fixed drone body
Fly the wherein Slit bottom to be detected detected into step S1 through remote control control drone body, and makes nobody
Machine ontology until sucker comes into contact with concrete surface at crack to be detected, while opening vacuum pump close to crack to be detected
Reversing solenoid valve with being located in exhaust tube, starts to be evacuated, until concrete surface adsorption reliability at sucker and crack to be detected,
Close vacuum pump and propeller；
S3, the length and width for detecting crack to be detected
S30, the width for detecting crack to be detected
Through rotary drive motor rotation measuring ruler, so that measuring scale is parallel with fracture width direction to be detected, then control camera shooting
Machine shooting；
S31, the length for detecting crack to be detected
By cameras view crack to be detected, through rotary drive motor rotation measuring ruler, so that measuring scale and crack to be detected
Length direction is parallel, then controls video camera shooting；
S4, the next crack to be detected of detection
After current crack shooting to be detected, starts drone body, close the reversing solenoid valve in exhaust tube and the row of opening
Endotracheal reversing solenoid valve injects air into sucker, while being detached from current fracture under drone body tractive force, closes
Reversing solenoid valve in vacuum pump and exhaust pipe flies away from current fracture through remote control control drone body and to be detected splits to next
Seam repeats step S1-S4, until detection finishes；
S5, image procossing
S50, width value are read
After detection, the show value for reading measuring scale in measuring scale photo parallel with fracture width direction to be detected is width
Value；
S51, length value are read
When the length of measuring scale on photo is more than or equal to fracture length to be detected, measuring scale and fracture length side to be detected are read
Into parallel photo, the show value of measuring scale is width value；
Alternatively, reading measuring scale and fracture length to be detected when the length of measuring scale on photo is less than fracture length to be detected
The length ratio of the show value of measuring scale and crack to be detected, calculates crack physical length to be detected in the parallel photo in direction.
10. a kind of distress in concrete detection method based on unmanned plane according to claim 9, it is characterised in that: step
Also located mechanism records the position in current crack to be detected after the fixed drone body of S2.
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| Publication number | Publication date |
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| CN110145989B (en) | 2020-12-29 |
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