CN104762877A - Bridge quality fast detection device based on unmanned aircraft system - Google Patents
Bridge quality fast detection device based on unmanned aircraft system Download PDFInfo
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- CN104762877A CN104762877A CN201510215371.6A CN201510215371A CN104762877A CN 104762877 A CN104762877 A CN 104762877A CN 201510215371 A CN201510215371 A CN 201510215371A CN 104762877 A CN104762877 A CN 104762877A
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- unmanned plane
- bridge
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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
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention discloses a bridge quality fast detection device based on an unmanned aircraft system. The bridge quality fast detection device based on the unmanned aircraft system comprises delivery equipment, an unmanned aircraft detection platform and bridge quality detection equipment. The bridge quality detection equipment is carried on the unmanned aircraft detection platform, and a detection mechanical arm is arranged on the delivery equipment. The mechanical arm is provided with an unmanned take-off and landing platform and an unmanned operation monitoring device, and the unmanned aircraft detection platform flies to an area to be detected of the bridge through the unmanned take-off and landing platform. The bridge quality fast detection device based on the unmanned aircraft system has the advantages of being simple and convenient in operation, convenient, quick, wide in application range, high in security, good in reliability and the like.
Description
Technical field
The present invention is mainly concerned with bridge maintenance preservation & testing technical field, refers in particular to a kind of bridge quality device for fast detecting based on UAS.
Background technology
For the engineering constructions such as bridge, need regularly to carry out maintenance, maintenance work, in this process, need the quality examination that bridge is routinized.At present, general bridge quality examination adopts " bridge machinery special-purpose vehicle " mostly, and this bridge machinery special-purpose vehicle utilizes mechanical arm testing staff to be transported to pontic place to be checked, is then detected by artificial hand-held instrument.But, above-mentioned this bridge machinery mode, is used for assisting the bridge machinery special-purpose vehicle price very high (as: 700 ~ 8,000,000, domestically-made vehicle price is 200 ~ 3,000,000 to imported vehicle price) carrying out detecting, and also there is self safety problems many in testing staff, belongs to high-risk work post; Specialty for testing staff requires also higher, and labour intensity is large, the bridge especially under some specific environments, and working environment is severe especially, and cannot ensure all energy normal operations in a variety of weather conditions.
For this reason, have practitioner to propose a kind of mode adopting mechanical arm lift-launch instrument to detect pontic, this mode is also in industry progressively promoted.Although do not need survey crew field survey, people has been requested to be the risk of operation, but due to mechanical arm length limited, the scope measured and speed are a greater impact, in addition the volume of this kind of device is often comparatively large simultaneously, and the fast and easy being difficult to realize bridge (such as: in complicated urban traffic) under various complex environment detects.
Summary of the invention
The technical problem to be solved in the present invention is just: the technical problem existed for prior art, the invention provides the bridge quality device for fast detecting based on UAS of a kind of easy and simple to handle, fast and easy, applied widely, good reliability.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of bridge quality device for fast detecting based on UAS, comprise Transporting equipment, unmanned plane detection platform and bridge quality detection apparatus, described bridge quality detection apparatus is equipped in unmanned plane detection platform, described Transporting equipment is arranged detection mechanical arm, described detection mechanical arm has unmanned plane landing platform, described unmanned plane detection platform is taken off to the region to be measured of bridge through unmanned plane landing platform.
As a further improvement on the present invention: described detection mechanical arm is provided with the unmanned plane during flying monitor for monitoring the motion of unmanned plane detection platform and job state.
As a further improvement on the present invention: described unmanned plane during flying monitor is an image collecting device with multiple degree of freedom.
As a further improvement on the present invention: described Transporting equipment is a vehicle, described vehicle is provided with detection mechanical arm, described mechanical detection arm is that employing one saves or the telescopic arm assembly of multi-stage telescopic arms composition, adopts the hinged or telescopic sleeve of rotary shaft to connect between each joint telescopic arm.
As a further improvement on the present invention: described vehicle is provided with processing platform for controlling whole device work and is used for as all parts in device carries out the power supply unit of powering.
As a further improvement on the present invention: described unmanned plane detection platform with between processing platform, unmanned plane detection platform is connected with communication cable by powering with between power supply unit, described power supply and communication cable are as mooring cable.
As a further improvement on the present invention: described unmanned plane detection platform comprises flight-control component, power supply part, blade, blade and duct parts; Described flight-control component has been used for the control of whole flight course, and described power supply part is used for as each parts are powered, and described blade and blade are used for realizing the flight of unmanned plane detection platform as the driver part that flies.
As a further improvement on the present invention: described unmanned plane detection platform adopts the battery-operated driven by two energy sources mode combined with Power supply mode.
As a further improvement on the present invention: described unmanned plane detection platform is also provided with protection and walking mechanism; described protection and walking mechanism comprise two poles; one end of described pole is articulated with one end, top of unmanned plane detection platform; the other end of described pole is provided with universal wheel, is also provided with extension spring between the end of described pole and unmanned plane detection platform.
As a further improvement on the present invention: described bridge quality detection apparatus is installed on the top of unmanned plane detection platform, be provided with between described bridge quality detection apparatus and unmanned plane detection platform multiple degrees of freedom sensor carrying on mechanism is installed.
Compared with prior art, the invention has the advantages that:
1, the bridge quality device for fast detecting based on UAS of the present invention, utilize the design of unmanned plane detection platform, substantially increase detection efficiency and the scope of application of whole checkout gear, can realize at the bottom of bridge floor, bridge, the quick detection of the regional such as pontic, greatly reduce the labour intensity of operating personnel, improve reliability.
2, the present invention adopts and installs the stronger duct unmanned aerial vehicle platform of the wind resistance of stabilized walking mechanism additional, forms detecting sensor loading device, realizes the comprehensive detection flexibly and fast of bridge floor, pars basilaris pontis and pontic; There is the unmanned aerial vehicle platform of stabilized walking mechanism, unmanned plane lift can be utilized, recline/bottom bridge, carry out free and stable motion, utilize unmanned plane top multiple degrees of freedom sensor to detect bottom bridge; This unmanned plane stabilized walking mechanism advantage is, prevents unmanned plane from colliding bottom bridge, and presses close to bridge floor detection for unmanned plane and provide stable operation ability.
3, the present invention adopts unmanned plane top to carry multiple degrees of freedom image collecting device, be conducive to bottom bridge, the position such as crossstructure and bridge pier detects, this device has stabilization and increases steady function, possesses the ability obtaining image or video information clearly in unmanned plane running.
Accompanying drawing explanation
Fig. 1 is structure of the present invention composition frame principles schematic diagram.
Fig. 2 is the structural principle schematic diagram of the present invention in embody rule example.
Fig. 3 is the structural principle schematic diagram of the present invention's unmanned plane detection platform in embody rule example.
Marginal data:
1, Transporting equipment; 2, unmanned plane detection platform; 201, flight-control component; 202, power supply part; 203, blade; 204, blade; 205, duct parts; 206, pole; 207, universal wheel; 208, spacing deck; 209, extension spring; 210, detecting sensor device; 211, rise and fall support; 3, mechanical arm is detected; 4, unmanned plane during flying monitor; 5, bridge; 6, unmanned plane landing platform; 7, processing platform; 8, vehicle; 9, power supply and communication cable; 10, bridge quality detection apparatus; 11, protection and walking mechanism.
Detailed description of the invention
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
As shown in Figure 1, Figure 2 and Figure 3, bridge quality device for fast detecting based on UAS of the present invention, comprise Transporting equipment 1, unmanned plane detection platform 2 and bridge quality detection apparatus 10, bridge quality detection apparatus 10 is equipped in unmanned plane detection platform 2, Transporting equipment 1 is arranged and detects mechanical arm 3, detect on mechanical arm 3 and have unmanned plane landing platform 6, unmanned plane detection platform 2 is taken off to the region to be measured of bridge 5 through unmanned plane landing platform 6.
In the present embodiment, detect and mechanical arm 3 is provided with for the unmanned plane during flying monitor 4 that unmanned plane detection platform 2 is moved and job state monitors.Unmanned plane during flying monitor 4 is an image collecting device with multiple degree of freedom, and is connected with host computer or processing platform 7 by wireless or wired mode; Can be used to observation unmanned plane detection platform 2 in bridge 5 floor detection process, for survey crew manipulation provides visual image information.
In the present embodiment, Transporting equipment 1 is a vehicle 8, vehicle 8 is provided with and detects mechanical arm 3, detect the telescopic arm assembly that mechanical arm 3 can adopt a joint or multi-stage telescopic arms composition according to actual needs, the hinged or telescopic sleeve design of rotary shaft between each joint, can be adopted.In order to guarantee all to carry out effective in real time detection to regional on bridge 5, detection mechanical arm 3 has the degree of freedom in multiple directions.
Further, the processing platform 7 being used for controlling whole device work is also installed on vehicle 8, and this processing platform 7 is used for the collection of the data such as motion and functional realiey, unmanned plane during flying monitor 4 and unmanned plane detection platform 2 of all parts in control device; Meanwhile, vehicle 8 also comprises power supply unit further, be used for as all parts in device is powered.
In the present embodiment; unmanned plane landing platform 6 is positioned on the rear (i.e. telescopic end) of detection mechanical arm 3; stop for unmanned plane detection platform 2 or take off; it is shut down to meet unmanned plane, plays degradation requirement for type design; to take off flexibly for unmanned plane and (such as, can consider electromagnetic attraction device) is provided convenience in recovery of landing.
Wired or wireless mode can be adopted between unmanned plane detection platform 2 and processing platform 7 to carry out data communication, in this example, unmanned plane detection platform 2 is directly connected with power supply unit with processing platform 7 with communication cable 9 by power supply, and power supply and communication cable 9 can be arranged along detecting mechanical arm 3.Like this, power supply and communication cable 9 play the effect of mooring mechanism, and its one end connects the power supply unit (vehicular energy equipment, as generator) detecting vehicle 8, the other end connects unmanned plane detection platform 2, and the testing process for unmanned plane detection platform 2 provides energy resource supply and information transmission.On this basis, detect mechanical arm 3 and be responsible for power supply and the automatic deploying and retracting of communication cable 9, fix hawser for testing process and alleviate the mooring load of unmanned plane detection platform 2.
As preferred embodiment, in the present embodiment, unmanned plane detection platform 2 comprises flight-control component 201, power supply part 202, blade 203, blade 204 and duct parts 205; Flight-control component 201 has been used for the control of whole flight course, power supply part 202 is used for as each parts are powered, the blade in blade 204 and blade 203(tetra-controlled motion directions) be used for realizing the flight of unmanned plane detection platform 2 as the driver part that flies.Duct parts 205 and blade 204(coaxial double-oar) constitute executing agency of flying, guarantee that unmanned aerial vehicle platform obtains large and stable lift, there is good wind resistance simultaneously, can in the environment of the complicated wind direction in bridge side and bottom, the positions such as implementation platform carries that checkout equipment flies to bridge, crossstructure and bridge pier are detected.
Further, unmanned plane detection platform 2 can also adopt driven by two energy sources mode, when carrying out pontic detection above bridge floor and bridge floor, adopt battery-operated, facilitate unmanned plane flexible motion, cruising time is shorter, and (battery-operated is about 20 minutes, it is 2 hours that fuel oil drives), adopt mooring energy resource supply mode, can be bottom the bridge 5 of unmanned plane detection platform 2 below bridge floor and bridge pier detects time, long operating power source is provided.
Further; unmanned plane detection platform 2 is also provided with protection and walking mechanism 11; protection and walking mechanism 11 comprise four poles 206; one end of pole 206 is articulated with one end, top of unmanned plane detection platform 2; the other end of pole 206 is provided with universal wheel 207, is also provided with extension spring 209 and limiting card base device 208 between the end of pole 206 and unmanned plane detection platform 2.The advantage of this protection and walking mechanism 11 is just, can prevent unmanned plane detection platform 2 from colliding the bottom of bridge 5, and the floor detection of pressing close to bridge 5 for unmanned plane detection platform 2 provides stable operation ability.
In the present embodiment, bridge quality detection apparatus 10 is installed on the top of unmanned plane detection platform 2, is provided with sensor installation carrying on mechanism between the two, and it has 360 degree, horizontal plane, vertical plane 240 degree of two-freedom locomitivities.Bridge quality detection apparatus 10 is provided with detecting sensor device 210.
In the present embodiment, the bottom of unmanned plane detection platform 2 is provided with the support 211 that rises and falls.
Operating principle: Transporting equipment 1 rests in the side at bridge 5 edge, release detects mechanical arm 3.By detecting the extension of mechanical arm 3, the unmanned plane detection platform 2 be fixed on unmanned plane landing platform 6 is delivered to the lateral location below bridge 5.Unmanned plane detection platform 2 is taken off by unmanned plane landing platform 6 after powered up, to move to below bridge 5, the region such as bottom bridge pier and bridge 5 according to detection demand.Now, the bridge quality detection apparatus 10 unmanned plane detection platform 2 carried utilizes its detecting sensor (as industrial grade high definition camera, ultrasonic wave etc.) to detect bridge 5 regional area.In the process, unmanned plane detection platform 2 utilizes sensor carrying on mechanism to be provided with multi-direction turning power, horizontal direction 360 degree, in vertical direction 270 degree (install multi-degree-of-freedom flexible turntable additional and can obtain wider visual field performance), possess upwards with forward and the downward observing capacity of part.Unmanned plane detection platform 2 is by obtaining electric energy as the power supply of mooring cable and communication cable 9 from the electric supply installation of Transporting equipment 1.Simultaneously, processing platform 7 also obtains observation information by power supply and communication cable 9 from bridge quality detection apparatus 10, carry out data processing, the situation of bridge 5 is analyzed (as the crack situation analysis based on image, based on hyperacoustic cracking degree analysis etc.).Detection mechanical arm 3 can carry out appropriateness to a certain extent with power supply with the folding and unfolding of communication cable 9 and regulate.Unmanned plane detection platform 2 is by climbing power and by protection and walking mechanism 11; carry out observing and moving in the bottom of bridge 5; protection and walking mechanism 11 not only protect unmanned plane detection platform 2 avoid with bridge 5 bottom direct collision impaired, and for unmanned plane detection platform 2 load to bottom bridge 5 closely observe stable support and service ability are provided.Unmanned plane manipulation personnel utilize unmanned plane during flying monitor 4(as high definition high speed monitoring camera), can the running status of real-time monitored unmanned plane, for the manipulation of unmanned plane provides real time information.After completing detection operation, unmanned plane detection platform 2 returns unmanned plane landing platform 6, reclaims the power supply as mooring cable and communication cable 9 simultaneously.After recovery unmanned plane detection platform 2, Transporting equipment 1 reclaims and detects mechanical arm 3, unmanned plane detection platform 2 is recycled to Transporting equipment 1, completes whole detection work flow.
Below be only the preferred embodiment of the present invention, protection scope of the present invention be not only confined to above-described embodiment, all technical schemes belonged under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be considered as protection scope of the present invention.
Claims (10)
1. the bridge quality device for fast detecting based on UAS, it is characterized in that, comprise Transporting equipment (1), unmanned plane detection platform (2) and bridge quality detection apparatus (10), described bridge quality detection apparatus (10) is equipped in unmanned plane detection platform (2), described Transporting equipment (1) is arranged and detects mechanical arm (3), described detection mechanical arm (3) has unmanned plane landing platform (6), and described unmanned plane detection platform (2) is taken off to the region to be measured of bridge (5) through unmanned plane landing platform (6).
2. the bridge quality device for fast detecting based on UAS according to claim 1, it is characterized in that, described detection mechanical arm (3) being provided with the unmanned plane during flying monitor (4) for monitoring unmanned plane detection platform (2) motion and job state.
3. the bridge quality device for fast detecting based on UAS according to claim 2, is characterized in that, described unmanned plane during flying monitor (4) is an image collecting device with multiple degree of freedom.
4. the bridge quality device for fast detecting based on UAS according to claim 1 or 2 or 3, it is characterized in that, described Transporting equipment (1) is a vehicle (8), described vehicle (8) is provided with and detects mechanical arm (3), described detection mechanical arm (3) is that employing one saves or the telescopic arm assembly of multi-stage telescopic arms composition, adopts the hinged or telescopic sleeve of rotary shaft to connect between each joint telescopic arm.
5. the bridge quality device for fast detecting based on UAS according to claim 4, it is characterized in that, described vehicle (8) is provided with the processing platform (7) for controlling whole device testing and is used for as all parts in device carries out the power supply unit of powering.
6. the bridge quality device for fast detecting based on UAS according to claim 5, it is characterized in that, described unmanned plane detection platform (2) with between processing platform (7), unmanned plane detection platform (2) to be connected with communication cable (9) by powering with between power supply unit, described power supply and communication cable (9) are as mooring cable.
7. the bridge quality device for fast detecting based on UAS according to claim 1 or 2 or 3, it is characterized in that, described unmanned plane detection platform (2) comprises flight-control component (201), power supply part (202), blade (203), blade (204), duct parts (205) and the support that rises and falls (211); Described flight-control component (201) has been used for the control of whole flight course, described power supply part (202) is used for as each parts are powered, and described blade (204) and blade (203) are used for realizing the flight of unmanned plane detection platform (2) as the driver part that flies.
8. the bridge quality device for fast detecting based on UAS according to claim 7, is characterized in that, described unmanned plane detection platform (2) adopts the battery-operated driven by two energy sources mode combined with Power supply mode.
9. the bridge quality device for fast detecting based on UAS according to claim 7, it is characterized in that, described unmanned plane detection platform (2) is also provided with protection and walking mechanism (11), described protection and walking mechanism (11) comprise four poles (206), one end of described pole (206) is articulated with one end, top of unmanned plane detection platform (2), the other end of described pole (206) is provided with universal wheel (207), the spacing deck (208) of extension spring (209) and bottom is also provided with between the end of described pole (206) and unmanned plane detection platform (2).
10. the bridge quality device for fast detecting based on UAS according to claim 7, it is characterized in that, described bridge quality detection apparatus (10) is installed on the top of unmanned plane detection platform (2), is provided with and installs multiple degrees of freedom sensor carrying on mechanism between described bridge quality detection apparatus (10) and unmanned plane detection platform (2).
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| CN105045195A (en) * | 2015-08-26 | 2015-11-11 | 华南理工大学 | Building maintenance system based on drone for maintaining building and building maintenance method thereof |
| CN105059546A (en) * | 2015-08-13 | 2015-11-18 | 刘畅 | Electric unmanned helicopter provided with water and electricity supply pipeline and used for high-rise and mountain forest extinguishment |
| CN106320173A (en) * | 2016-08-24 | 2017-01-11 | 周劲宇 | System and method for detecting daily safety of bridge by vehicle-mounted unmanned aerial vehicle |
| CN106368121A (en) * | 2016-09-29 | 2017-02-01 | 南京祖航航空科技有限公司 | Ceiling type detector |
| CN106774384A (en) * | 2016-12-05 | 2017-05-31 | 王源浩 | A kind of bridge machinery intelligent barrier avoiding robot |
| CN107471225A (en) * | 2017-09-21 | 2017-12-15 | 上海合时安防技术有限公司 | Airport explosive-removal robot |
| CN107985576A (en) * | 2017-12-04 | 2018-05-04 | 长安大学 | A kind of Fei Pa robots for Bridge Crack detection |
| CN107985575A (en) * | 2017-11-28 | 2018-05-04 | 吕福瑞 | A kind of method with multi-rotor unmanned aerial vehicle detection bridge |
| CN109374651A (en) * | 2018-11-02 | 2019-02-22 | 深圳大学 | It is a kind of based on the large bridge detection method and detection device that are tethered at unmanned plane |
| CN116084278A (en) * | 2023-04-10 | 2023-05-09 | 交通运输部公路科学研究所 | Integrated modularized bridge detection operation robot platform and detection method |
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| CN107985576A (en) * | 2017-12-04 | 2018-05-04 | 长安大学 | A kind of Fei Pa robots for Bridge Crack detection |
| CN109374651A (en) * | 2018-11-02 | 2019-02-22 | 深圳大学 | It is a kind of based on the large bridge detection method and detection device that are tethered at unmanned plane |
| CN116084278A (en) * | 2023-04-10 | 2023-05-09 | 交通运输部公路科学研究所 | Integrated modularized bridge detection operation robot platform and detection method |
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