CN112623221A - Bridge intellectual detection system flying robot - Google Patents
Bridge intellectual detection system flying robot Download PDFInfo
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- CN112623221A CN112623221A CN202110157123.6A CN202110157123A CN112623221A CN 112623221 A CN112623221 A CN 112623221A CN 202110157123 A CN202110157123 A CN 202110157123A CN 112623221 A CN112623221 A CN 112623221A
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- 238000001514 detection method Methods 0.000 title claims abstract description 51
- 238000004364 calculation method Methods 0.000 claims abstract description 13
- 238000012546 transfer Methods 0.000 claims abstract description 11
- 230000009194 climbing Effects 0.000 claims description 27
- 238000012544 monitoring process Methods 0.000 claims description 10
- 230000007704 transition Effects 0.000 claims description 10
- 238000004458 analytical method Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 230000007547 defect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000000926 separation method Methods 0.000 claims 1
- 201000010099 disease Diseases 0.000 abstract description 12
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 12
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000011156 evaluation Methods 0.000 abstract 1
- 238000005086 pumping Methods 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/022—Tethered aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D22/00—Methods or apparatus for repairing or strengthening existing bridges ; Methods or apparatus for dismantling bridges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention relates to a bridge detection device, in particular to an intelligent bridge detection flying robot which comprises a transfer vehicle, a calculation station, a guy cable, an aircraft, a wall-climbing robot and an automatic crack monitor, wherein the transfer vehicle is provided with the calculation station, the transfer vehicle is connected with the aircraft and the guy cable for the wall-climbing robot and supplies power to the aircraft, the aircraft supports the wall-climbing robot, the automatic crack monitor is arranged on an arm of the wall-climbing robot, the aircraft navigates to a position to be detected according to the maximum flying height measured and limited, after the wall-climbing robot is adsorbed at the position to be detected, the aircraft is separated from the wall-climbing robot according to a sensor instruction, the wall-climbing robot detects according to a set route and sends detected images and data to the calculation station by adopting a 5G technology at any time, and after the detection is finished, the aircraft connects the wall-climbing robot to the ground. The patent provides a bridge detection device which is urgently needed in China at present, and provides technical support for quality safety of existing operation bridge diseases and evaluation.
Description
Technical Field
The invention relates to a bridge detection device, in particular to an intelligent bridge detection flying robot.
Background
The administrative department of the national iron group business is responsible for the railway operation safety of the existing line, and the bridge inspection team of each railway transportation administration is responsible for the bridge quality detection of the administered area, so that various diseases of the bridge can be found and solved in time, and the railway operation safety can be ensured. At present, bridge quality detection and monitoring are mainly carried out through the following three modes:
a) splicing and erecting the scaffold under the beam: the advantages are that: the detection personnel can walk conveniently; the disadvantages are as follows: the engineering quantity is large;
b) a suspension cable hanging basket: the advantages are that: can move horizontally and also can move vertically; the disadvantages are as follows: the moving detection is inconvenient and the danger is high;
c) "spider man": the advantages are that: the method is simple; the disadvantages are as follows: horizontal motion detection is not possible.
At present, the existing bridge inspection team adopts a manual detection method, the detection efficiency is low, the task is heavy and the engineering quantity is large, the traditional backward detection method can not meet the requirement of the sudden increase of the bridge detection task caused by the rapid development of the current railway construction, and particularly, the fatal problems of incapability of realizing big data statistical analysis and the like exist.
The intelligent and efficient existing beam detection technology is a fundamental measure for guaranteeing the operation safety of the bridge, and quality and operation safety accidents are caused if no new technical means is available for timely finding and repairing the diseases.
Disclosure of Invention
Aiming at the defects, the invention provides a bridge detection device which is urgently needed in China at present, and provides technical guarantee for quality safety such as existing operation bridge diseases, service life assessment and the like.
The invention is realized by the following technical scheme:
bridge intellectual detection system flying robot includes transition car, calculation station, guy cable, aircraft, wall climbing robot and crack automatic monitoring appearance, the last calculation station of ann of transition car, transition car and aircraft, wall climbing robot are with guy cable junction to for its power supply, install wall climbing robot on the aircraft, install crack automatic monitoring appearance on the wall climbing robot arm, the aircraft is according to the maximum flight height who measures and restrict, the navigation flies to the position of wanting to detect, adsorb after waiting to locate the position when wall climbing robot, the aircraft breaks away from with wall climbing robot according to the sensor instruction, wall climbing robot detects according to setting for the route, and at any time with the image that detects, data adopt 5G technique to send for the calculation station, detect the back aircraft that finishes and wall climbing robot connects back to ground.
The transition vehicle has cross-country capability and can be suitable for various underbridge pavements; and the transition vehicle is provided with a high-power engine to generate power, so that a continuous power supply is provided for the whole set of equipment.
The computer station has software program to control the programs of all the detection devices automatically, has the calculation capabilities of data input, analysis, discrimination, output and the like, has the functions of remote monitoring of data images and signal transceiving communication, and automatically prints detection reports.
The guy cable is used for limiting the maximum flying height of the aircraft and providing a power supply for the aircraft and the wall-climbing robot.
The aircraft is a high-load aircraft, and bridge detection instruments such as the wall-climbing robot and the crack automatic detector are sent to a working position or are connected back from the working position.
And a bridge detection instrument is arranged on the wall-climbing robot.
And a signal transceiving instrument is arranged on the wall climbing robot and is responsible for sending detection information and receiving a working instruction transmitted by the computing station.
And the wall-climbing robot is adsorbed on the surface of the detected operation beam and walks according to the program instruction.
The automatic crack monitoring instrument is provided with two high-power lenses and a common lens for shooting at the same time, the high-power lenses shoot small diseases such as cracks, and the common lenses are responsible for shooting obvious diseases such as damages.
After the aircraft and the wall-climbing robot are automatically separated, the aircraft hovers in the air below the side of the wall-climbing robot so as to prevent the wall-climbing robot from being accidentally dropped and damaged.
The following description is made with reference to the drawings.
Drawings
FIG. 1 is a working diagram of a whole set of device of the bridge intelligent detection flying robot.
Fig. 2 is a flight diagram of the aircraft carrying the wall-climbing robot.
Fig. 3 is a manual drawing of the wall climbing robot of the present invention.
Wherein: 1. a transfer vehicle; 2. a computing station; 3. a guy cable; 4. an aircraft; 5. a wall climbing robot; 6. automatic crack monitor.
Detailed Description
As shown in fig. 1, 2, and 3, the intelligent bridge detection flying robot in the present embodiment includes a transfer car 1, a computing station 2, a guy cable 3, an aircraft 4, a wall-climbing robot 5, and an automatic crack monitor 6. The transfer car 1 bears a computing station 2, a guy cable 3 is connected with an aircraft 4 and a wall-climbing robot 5, the aircraft 4 bears the wall-climbing robot 5 in a clutch mode, an arm of the wall-climbing robot 5 is provided with an automatic crack monitor 6, the guy cable 3 is used as a working cable of the aircraft 4 and the wall-climbing robot 5, a power supply is provided by a generator arranged on the transfer car 1, a far infrared distance meter is used for determining the maximum flight height of the aircraft 4 and limiting the flight height by the guy cable 3, the aircraft 4 flies to a specified detection position according to Beidou navigation, when the wall-climbing robot 5 is adsorbed on a beam body bottom plate to be detected, a gravity sensor issues an instruction, the aircraft 4 is automatically separated from the wall-climbing robot 5, the wall-climbing robot 5 carries out crack and other disease detection according to a route specified by a program on the beam bottom plate, and transmits detected images and data to the computing station 2 by adopting a 5G technology at any time, after the detection is finished, the aircraft 4 is lifted, automatically connected with the wall-climbing robot 5 and returned to the ground together.
The transfer vehicle 1 is transportation equipment, adopts an improved sand motorcycle, has cross-country capability, is suitable for various road environments under a bridge, and is responsible for the work of a flying robot for intelligent bridge detection to go back and forth and the detection transfer; and a high-power engine arranged on the transition vehicle 1 is used for driving a diesel generator to generate electricity, so that a continuous power supply is provided for the whole set of device.
The computing station 2 in this embodiment is a control device, and mainly comprises a control cabinet. The control cabinet is arranged on the transfer car 2 and consists of a computer station and an image display screen.
The computer station is provided with a software program which automatically controls all programs of the detection equipment, comprises program software such as a calculation center, an automatic control program, calculation analysis, disease discrimination and the like, and has the functions of data input, analysis, discrimination, output, remote monitoring of data images, signal transceiving communication and automatic printing of detection reports;
the image display screen has the functions of displaying the power-on self-checking result and alarming the self fault of the instrument, and the detection steps of voice broadcasting, displaying the detected data image, the mathematical statistics analysis chart and detecting the disease in real time and giving an alarm in real time.
In this embodiment, the computing station 2 receives the image data sent back by the detector, uploads the image data to the engineering management platform and the service administration department of the national iron group in real time, performs calculation and analysis, generates a detection report, uploads the report after electronic signature confirmation, and automatically prints the report.
The guy cable 3 is a safety power supply device, adopts a steel cable, has enough tensile strength, restricts the flying height of the aircraft 4 from exceeding the height of the bridge deck, and is an important safety guarantee facility. The function of the guy cable 3 is:
1) the height is limited. Because any invasion of flyers is strictly forbidden in a running clearance for running a high-speed rail vehicle, the flying distance and the height of the aircraft 4 are limited by the guy cable 3, and the flying is strictly forbidden to exceed the height of the bridge deck; 2) and (5) supplying power. Because the endurance time of the common aircraft 4 is short, the guy cable 3 is a steel cable, and the power is continuously supplied to the aircraft 4 and the wall-climbing robot 5 while the flight height is limited.
The flying robot mainly comprises an aircraft 4 and a wall-climbing robot 5.
The aircraft 4 is a conveying device, is a high-load aircraft composed of eight-spiral three-blade bearing unmanned aerial vehicles, and is guided by a Beidou satellite navigation flight route. The aircraft 4 is responsible for conveying the wall-climbing robot 5 (including the crack automatic monitor 6) from the ground to a working position or receiving the wall-climbing robot back to the ground from the working position; after the aircraft 4 sends the wall-climbing robot 5 to the beam bottom detection part, the vacuumizing adsorption motor of the wall-climbing robot 5 is automatically started to be adsorbed on the working surface of the beam bottom plate. When the gravity sensor sends out an instruction, the aircraft 4 starts to descend and is automatically separated from the wall-climbing robot 5, so that the interference of flight vibration and pitching motion on the shooting of the automatic crack detector 6 is eliminated.
The wall-climbing robot 5 in this embodiment is composed of a vacuum-pumping system and a walking system, wherein the vacuum-pumping system performs vacuum pumping through a motor and forms negative pressure adsorption by sealing a soft material skirt; the walking system drives four wheels to walk on the surface of the detected beam body by a walking motor and a transmission.
In this embodiment, the wall climbing robot 5 is provided with an infrared distance measuring sensor, a contact sensor, an infrared photoelectric sensor, an anti-collision sensor, an edge detection sensor, an anti-falling sensor, an anti-overheating sensor, a low-power automatic alarm sensor, a photoelectric encoder, an electronic compass, a gyroscope and the like.
In the embodiment, the wall-climbing robot 5 crawls vertically and horizontally and moves horizontally along a beam bottom plate according to a design program and a Beidou satellite navigation route after the advancing force overcomes the adsorption friction force; the wall climbing robot 5 automatically breaks away from the aircraft 4 before working, and influences of flight vibration of the aircraft 4 on shooting are solved, so that the image acquisition definition of the automatic crack monitor 6 is guaranteed.
In this embodiment, a signal transceiver is installed on the wall-climbing robot 5 and is responsible for sending detection information and receiving a work instruction transmitted by the computing station 2.
The automatic crack detector 6 is a main collection device for bridge detection and is responsible for detecting the beam body diseases. The camera has two lenses, namely a high-power lens and a common lens, and can shoot simultaneously. The high-power lens consists of a gigabit network industrial area array CCD (charge coupled device) camera, an industrial lens and a machine vision LED strip light source and is responsible for shooting small diseases such as cracks; the common lens uses an anti-shake, large wide-angle and high-pixel common camera and is responsible for shooting damage and other obvious diseases.
This embodiment 6 collection roof beam face video image of crack automatic monitoring appearance transmits for wall climbing robot 5, passes through 5G signal emission module by wall climbing robot 5, and the calculation station 2 under the roof beam is passed back the photo (or video) file.
Claims (10)
1. The utility model provides a bridge intellectual detection system flying robot, includes transition car, calculation station, guy cable, aircraft, wall climbing robot and crack automatic monitoring appearance, the last calculation station of ann of transition car, transition car and aircraft, wall climbing robot are with guy cable junction to for its power supply, separation and reunion formula bearing wall climbing robot on the aircraft, installation crack automatic monitoring appearance on the wall climbing robot arm, the aircraft is according to the biggest flight height of measuring and restriction, the navigation flies to the position of wanting to detect, adsorb when wall climbing robot and treat the position after, the aircraft breaks away from with wall climbing robot according to the sensor instruction, wall climbing robot detects according to setting for the route, and at any time with the image that detects, data adopt 5G technique to send for the calculation station, the back aircraft that finishes detecting will climb the wall robot and connect back ground.
2. The transfer vehicle of claim 1, having off-road capability, adapted for use on various road surfaces under a bridge; and generating power by using a high-power engine equipped in the transition vehicle to provide a continuous power supply for the whole set of equipment.
3. The intelligent bridge detection flying robot as claimed in claim 1, wherein the computing station has software programs for automatically controlling all detection equipment, has computing capabilities of data input, analysis, discrimination, output and the like, has functions of remote monitoring of data images, signal transceiving and communication, and automatically prints detection reports.
4. The intelligent bridge detection flying robot as claimed in claim 1, wherein the guy cable is used for limiting the maximum flying height of the aircraft and providing a power supply for the aircraft and the wall climbing robot.
5. The intelligent bridge detection flying robot of claim 1, wherein the flying vehicle is a high-load flying vehicle, and bridge detection instruments such as the wall-climbing robot and the automatic crack detector can be sent to or received back from a working position.
6. The intelligent bridge detection flying robot as claimed in claim 1, wherein a bridge detection instrument is mounted on the wall-climbing robot.
7. The wall-climbing robot as claimed in claims 1 and 6 is provided with a signal transceiver for sending detection information and receiving work instructions transmitted from the computing station.
8. The wall-climbing robot as claimed in claims 1, 6 and 7, which is attached to the surface of the detected operation beam and walks according to the programmed instructions.
9. The intelligent bridge detection flying robot as claimed in claim 1, wherein the automatic crack detector has two lenses, a high power lens and a normal lens, for shooting at the same time, the high power lens is responsible for shooting small defects such as cracks, and the normal lens is responsible for shooting obvious defects such as damages.
10. The wall climbing robot as recited in claims 1 and 6, characterized in that in the detection state, after the aircraft is automatically separated from the wall climbing robot, the aircraft hovers in the air below the side of the wall climbing robot in a short distance, so as to prevent the wall climbing robot from being accidentally dropped and damaged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110157123.6A CN112623221A (en) | 2021-02-05 | 2021-02-05 | Bridge intellectual detection system flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110157123.6A CN112623221A (en) | 2021-02-05 | 2021-02-05 | Bridge intellectual detection system flying robot |
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| Publication Number | Publication Date |
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| CN112623221A true CN112623221A (en) | 2021-04-09 |
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| CN202110157123.6A Pending CN112623221A (en) | 2021-02-05 | 2021-02-05 | Bridge intellectual detection system flying robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114604334A (en) * | 2022-03-10 | 2022-06-10 | 山东省交通规划设计院集团有限公司 | Wall-climbing robot and method for detecting diseases of high bridge pier and beam body |
| CN115008485A (en) * | 2022-08-08 | 2022-09-06 | 广东电网有限责任公司肇庆供电局 | Method, system, equipment and storage medium for remotely pasting nameplate |
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| CN211336456U (en) * | 2019-12-11 | 2020-08-25 | 深圳市施罗德工业集团有限公司 | Umbilical cord flying device |
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2021
- 2021-02-05 CN CN202110157123.6A patent/CN112623221A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106542092A (en) * | 2016-12-15 | 2017-03-29 | 济南舜风科技有限公司 | One kind can flight formula work high above the ground robot and its method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114604334A (en) * | 2022-03-10 | 2022-06-10 | 山东省交通规划设计院集团有限公司 | Wall-climbing robot and method for detecting diseases of high bridge pier and beam body |
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| CN115008485A (en) * | 2022-08-08 | 2022-09-06 | 广东电网有限责任公司肇庆供电局 | Method, system, equipment and storage medium for remotely pasting nameplate |
| CN115008485B (en) * | 2022-08-08 | 2022-10-11 | 广东电网有限责任公司肇庆供电局 | Method, system, equipment and storage medium for remotely pasting nameplate |
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