CN105783997B - Automatic detection device and detection method inside a kind of bridge box and beam - Google Patents
Automatic detection device and detection method inside a kind of bridge box and beam Download PDFInfo
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- CN105783997B CN105783997B CN201610222064.5A CN201610222064A CN105783997B CN 105783997 B CN105783997 B CN 105783997B CN 201610222064 A CN201610222064 A CN 201610222064A CN 105783997 B CN105783997 B CN 105783997B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention discloses automatic detection device inside a kind of bridge box and beam and detection method, it is related to bridge machinery field, the device is provided with car body platform, car body platform both sides are provided with the mechanical arm perpendicular to direction of advance, mechanical arm one end is provided with rotatable mechanical arm wrist, mechanical arm wrist is provided with image collecting device and lamp, and the device also includes mechanical walking device, sensor, data storage device and control system；The detection method includes step：Automatic detection device walking parameter is set；The action parameter of stretching, extension manipulator and the running parameter of sensor are set；Mileage coder is reset；Start automatic detection device；Export detection data.Automatic detection device and method realize the quick unmanned automatic detection of bridge inside the bridge box and beam of the present invention, it instead of the field operation of people, the safety coefficient of detection is improved, detection inside box beam is realized standardization, the subjective factor for avoiding artificial detection from bringing influences.
Description
Technical field
The present invention relates to bridge machinery field, and in particular to automatic detection device and detection side inside a kind of bridge box and beam
Method.
Background technology
It is completed in China or in the large span cable-supported bridge built, has significant proportion to apply box structure master
Beam, bridge box and beam are typically made up of multiple connected chambers, the characteristics of due to steel box-girder itself, cause its make, installation
During the problems such as external coating scratch, welding burn easily occurs.Meanwhile natural environment residing for Longspan Bridge compares evil
It is bad, the dynamic load functions such as vehicular load, wind load are born for a long time, easily occur corroding and fatigue damage.Master inside steel box-girder
Damage：The rust swollen bubbling for causing film, film and steel construction crackle, film in film efflorescence, coating come off, coating and
Steel plate gets rusty, steel box-girder makes, scratch caused by erection stage etc..
The examination and maintenance of Loads of Long-span Bridges steel box-girder part are concentrated mainly on outside at present, also possess various advanced detections
Instrument and equipment.Inspection inside steel box-girder belongs to the inspection at bridge structure disguise position, currently mainly manually carries out, adopts
Employment carries out visual observations inside box beam.But artificial detection is much limited, such as inside southern summer steel box-girder
Temperature may be up to 50-60 DEG C or so, and manually operation is abnormally dangerous under such adverse circumstances.While steel box-girder internal structure is not
Just walk, some is configured without illuminating, and some steel box-girders also have rubbish heap of constructing to build, and artificial detection also receives many objective condition
Interference, it is also very big by artificial subjective impact.In consideration of it, it is badly in need of carrying out Automatic Measurement Technique research inside steel box-girder.
The content of the invention
For defect present in prior art, it is an object of the invention to provide automatic detection inside a kind of bridge box and beam
Device and detection method, realize the unmanned automatic detection inside bridge box and beam.
To achieve the above objectives, the present invention adopts the technical scheme that automatic detection device inside a kind of bridge box and beam, institute
Stating automatic detection device inside bridge box and beam includes：The car body platform being arranged in bridge box and beam, the car body platform both sides are set
There is mechanical arm, the mechanical arm is provided with rotatable mechanical arm wrist, the manipulator away from described car body platform one end
Wrist is provided with image collecting device and lamp, and the car body platform is provided with mechanical walking device, sensor, data storage device
And control system.
On the basis of above-mentioned technical proposal, the mechanical arm is perpendicular to the car body platform direction of advance.
On the basis of above-mentioned technical proposal, the mechanical walking device includes：Wheel, lithium battery, stepper motor, mileage
Encoder, the wheel are provided with car body platform, are provided with stepper motor between the wheel, the lithium battery is arranged on car body platform
Lower section, the stepper motor connect the lithium battery, and the wheel is provided with mileage coder.
On the basis of above-mentioned technical proposal, the sensor includes：Temperature sensor, humidity sensor, PM10 monitorings
Sensor, PM2.5 monitoring sensors.
On the basis of above-mentioned technical proposal, the data storage device connect respectively temperature sensor, humidity sensor,
PM10 monitorings sensor, PM2.5 monitoring sensors and image collecting device.
On the basis of above-mentioned technical proposal, the control system connects lithium battery, stepper motor, mileage coding respectively
Device, mechanical arm, sensor, image collecting device.
On the basis of above-mentioned technical proposal, automatic detection device is included with I-steel in box beam inside the bridge box and beam
The track that interior centre position is longitudinally laid along bridge.
To achieve the above objectives, the present invention adopts the technical scheme that a kind of inspection of automatic detection device inside bridge box and beam
Survey method, it comprises the following steps：
S1, automatic detection device inside bridge box and beam is placed in box beam, the box beam includes multiple connected chambers；
Automatic detection device is travelled to the centre position of first chamber inside S2, bridge box and beam；
S3, sensor collection case house data, mechanical arm is stretched, rotate mechanical arm wrist, image collecting device is collected
View data in chamber, complete automatic detection device inside image data collection axle casing box beam and travel to next chamber again
Collecting box off-the-air picture data, until last chamber.
On the basis of above-mentioned technical proposal, automatic inspection inside bridge box and beam is set according to the total length of box beam to be detected
It is S to survey the total forward travel distance of device, and the travel speed of bridge box and beam inside automatic detection device is v, from initial position to first
The distance in the centre position of individual chamber is s1, and bridge box and beam inside automatic detection device is opened from the middle position of first chamber
Begin often to walk to stop after length d and carry out detection work, stop detection n times altogether, the residence time of each chamber is T, before completion
Enter automatic detection device inside distance S axle casings box beam to make a return voyage automatically；Wherein N is the number of chamber, and d is the length of single chamber
Degree.
On the basis of above-mentioned technical proposal, in S3, mechanical arm starts to extend to most long, and image collecting device is down
Gather the photo of chamber bottom；Rotating machine arm wrist, the photo of harvester collection chamber side；Mechanical arm is retracted to most
It is short, image collecting device upward, and the photo in vasculum ceiling portion；Rotating machinery arm, make mechanical arm anterior towards chamber；
Rotating machine arm wrist, image collecting device are anterior towards chamber；Image acquisition device chamber front portion photo；Rotating machinery
Arm, make mechanical arm towards chamber rear portion；Rotating machine arm wrist, image collecting device is towards chamber rear portion；IMAQ
Device collection chamber rear portion photo；Mechanical arm recovers initial attitude after being retracted to shortest length.
Compared with prior art, the advantage of the invention is that：
(1) automatic detection device and method realize the fast of bridge disguise structure position inside bridge box and beam of the invention
The unmanned automatic detection of speed.
(2) automatic detection device and method are made inside box beam by pre-setting for program inside bridge box and beam of the invention
Detection is automatically performed, and has avoided the problem of radio magnetic wave signal in steel box-girder is difficult to propagate over long distances.
(3) automatic detection device and method instead of the field operation of people inside bridge box and beam of the invention, improve inspection
The safety coefficient of survey.
(4) automatic detection device and method make detection inside box beam realize standardization, rule inside bridge box and beam of the invention
Generalized, the subjective factor for avoiding artificial detection from bringing influence.
Brief description of the drawings
Fig. 1 is the structural representation of automatic detection device inside Bridge of embodiment of the present invention box beam；
Fig. 2 is the work operation schematic diagram of automatic detection device inside Bridge of embodiment of the present invention box beam；
Fig. 3 is the workflow diagram of automatic testing method inside Bridge of embodiment of the present invention box beam.
In figure：1- diaphragm plates, 2- hole positions, 3- tracks, 4- bridge box and beams inside automatic detection device, 5- car body platforms, 6-
Mechanical arm, 7- mechanical arm wrists, 8- sensors, 9- image collecting devices, 10- lamps, 11- stepper motors, 12- mileages coding
Device, 13- lithium batteries, 14- wheels, 15- data storage devices, 16- control systems, 17- temperature sensors, 18- humidity sensors,
19-PM10 monitors sensor, 20-PM2.5 monitoring sensors, 21- mechanical walking devices.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
Shown in Figure 1, the embodiment of the present invention provides automatic detection device inside a kind of bridge box and beam, including car body platform
5, the both sides of car body platform 5 are provided with the mechanical arm 6 perpendicular to the direction of advance of car body platform 5, and mechanical arm 6 is away from car body platform 5
One end is provided with rotatable mechanical arm wrist 7, and mechanical arm wrist 7 is provided with image collecting device 9 and lamp 10, on car body platform 5
Provided with mechanical walking device 21, sensor 8, data storage device 15 and control system 16.Automatic detection inside this bridge box and beam
Device 4 instead of the field operation of people, improve the safety coefficient of detection.
Mechanical walking device 21 includes：Wheel 14, lithium battery 13, stepper motor 11, mileage coder 12, set on wheel 14
There is car body platform 5, stepper motor 11 is provided between wheel 14, stepper motor 11 connects lithium battery 13, and control system 16 connects respectively
Lithium battery 13, stepper motor 11, make dolly installed under the control of control system 16 pre-set advanced, stop and after
Move back, lithium battery 13 is arranged on the lower section of car body platform 5, and wheel 14 is provided with mileage coder 12.
Sensor 8 includes：Temperature sensor 17, humidity sensor 18, PM10 monitorings sensor 19, PM2.5 monitoring sensings
Device 20, automatic data collection detection data while mechanical arm 6 and mechanical arm wrist 7 act.
Data storage device 15 connect respectively temperature sensor 17, humidity sensor 18, PM10 monitoring sensor 19,
PM2.5 monitors sensor 20 and image collecting device 9.
Control system 16 connect respectively lithium battery 13, stepper motor 11, mileage coder 12, mechanical arm 6, sensor 8,
Image collecting device 9.Detection inside box beam is automatically performed by pre-setting for program, has avoided wireless electromagnetic in steel box-girder
The problem of ripple signal is difficult to propagate over long distances.
Automatic detection device 4 includes with I-steel what the centre position in box beam was longitudinally laid along bridge inside bridge box and beam
Track 3.
Shown in Figure 2, in the embodiment of the present invention, bridge box and beam includes some chambers, between each chamber by diaphragm plate 1 every
Open, some hole positions 2 are provided with diaphragm plate 1, track 3, bridge case are longitudinally laid in centre position along bridge in box beam with I-steel
Automatic detection device 4 moves along track 3 inside beam.
Shown in Figure 3, the embodiment of the present invention provides a kind of detection method of automatic detection device inside bridge box and beam, it
Comprise the following steps：
S1, automatic detection device 4 inside bridge box and beam is placed in box beam, the box beam includes multiple connected chambers.
Automatic detection device 4 is travelled to the centre position of first chamber inside S2, bridge box and beam.Inside bridge box and beam certainly
The travel speed of motion detection device automatic detection device 4 is v, and the distance from initial position to the centre position of first chamber is
s1。
S3, the collecting box house data of sensor 8, mechanical arm 6 is stretched, rotate mechanical arm wrist 7, image collecting device 9
Collecting box off-the-air picture data, view data include photo and video, complete automatic inside image data collection axle casing box beam
Detection means 4 is travelled to next chamber collecting box off-the-air picture data again, until last chamber.Mechanical arm 6 is opened
Beginning, it is most long to extend to, and image collecting device 9 gathers the photo of chamber bottom down；Rotating machine arm wrist 7, harvester 9 are adopted
Collect the photo of chamber side；Mechanical arm 6 be retracted to it is most short, image collecting device 9 upward, and the photo in vasculum ceiling portion；
Rotating machinery arm 6, make mechanical arm 6 anterior towards chamber；Rotating machine arm wrist 7, image collecting device 9 is towards before chamber
Portion；Image collecting device 9 gathers chamber front portion photo；Rotating machinery arm 6, make mechanical arm 6 towards chamber rear portion；Whirler
Tool hand wrist 7, image collecting device 9 is towards chamber rear portion；Image collecting device 9 gathers chamber rear portion photo.Mechanical arm 6 contracts
Recover initial attitude after being back to shortest length.The total forward travel distance of automatic detection device 4 is S inside bridge box and beam, bridge case
The travel speed of automatic detection device 4 be v inside beam, and bridge box and beam inside automatic detection device 4 is from the centre of first chamber
Opening position starts to stop after every walking length d to carry out detection work, stops detection n times altogether, and the residence time of each chamber is
T, wherein N are the number of chamber, and d is the length of single chamber.Automatic detection device 4 makes a return voyage automatically after completing forward travel distance S.
This detection method realizes the quick unmanned automatic detection of bridge disguise structure position, makes detection inside box beam real
Now standardize, standardize, the subjective factor for avoiding artificial detection from bringing influences.
The present invention is not limited to the above-described embodiments, for those skilled in the art, is not departing from
On the premise of the principle of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as the protection of the present invention
Within the scope of.The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (7)
- A kind of 1. automatic detection device inside bridge box and beam, it is characterised in that automatic detection device (4) inside the bridge box and beam Including：The car body platform (5) being arranged in bridge box and beam, car body platform (5) both sides are provided with mechanical arm (6), the machinery Arm (6) is provided with rotatable mechanical arm wrist (7) away from described car body platform (5) one end, is set on the mechanical arm wrist (7) There are image collecting device (9) and lamp (10), the car body platform (5) is provided with mechanical walking device (21), sensor (8), number According to storage device (15) and control system (16)；The process of automatic detection is as follows inside bridge box and beam：Automatic detection device (4) inside bridge box and beam is placed in box beam, bridge box and beam includes some chambers, between each chamber by Diaphragm plate (1) is separated, and some hole positions (2) are provided with diaphragm plate (1), and with I-steel, centre position is longitudinally spread along bridge in box beam If track (3), automatic detection device (4) is mobile along track (3) inside bridge box and beam；To the centre position of first chamber, bridge box and beam inside is automatic to be examined automatic detection device (4) traveling inside bridge box and beam The travel speed for surveying device (4) is v, and the distance from initial position to the centre position of first chamber is s1；Sensor (8) collecting box house data, stretching, extension mechanical arm (6), rotate mechanical arm wrist (7), image collecting device (9) Collecting box off-the-air picture data, view data include photo and video, automatic inside bridge box and beam after completing image data collection Detection means (4) traveling is to next chamber, collecting box off-the-air picture data again, until last chamber；Mechanical arm (6) starts to extend to most long, and image collecting device (9) gathers the photo of chamber bottom down；Rotating machinery Hand wrist (7), the photo of image collecting device (9) collection chamber side；Mechanical arm (6) is retracted to most short, image collector Put (9) upward, the photo in vasculum ceiling portion；Rotating machinery arm (6), make mechanical arm (6) anterior towards chamber；Whirler Tool hand wrist (7), image collecting device (9) is anterior towards chamber, collection chamber front portion photo；Rotating machinery arm (6), makes machine Tool arm (6) is towards chamber rear portion；Rotating machine arm wrist (7), image collecting device (9) gather chamber towards chamber rear portion Rear portion photo；Mechanical arm (6) recovers initial attitude after being retracted to shortest length；The total forward travel distance of automatic detection device (4) be S inside bridge box and beam, bridge box and beam inside automatic detection device (4) Travel speed be v, automatic detection device (4) is often walked since the middle position of first chamber inside bridge box and beam Stopped after length d, carry out detection work, stop detection n times altogether, the residence time of each chamber is T, and wherein N is chamber Number, d are the length of single chamber, and after completing forward travel distance S, automatic detection device (4) makes a return voyage automatically.
- 2. automatic detection device inside bridge box and beam as claimed in claim 1, it is characterised in that：The mechanical arm (6) is hung down Directly in car body platform (5) direction of advance.
- 3. automatic detection device inside bridge box and beam as claimed in claim 1, it is characterised in that the mechanical walking device (21) include：Wheel (14), lithium battery (13), stepper motor (11), mileage coder (12), the wheel (14) are provided with car Body platform (5), stepper motor (11) being provided between the wheel (14), the lithium battery (13) is arranged on below car body platform (5), The stepper motor (11) connects the lithium battery (13), and the wheel (14) is provided with mileage coder (12).
- 4. automatic detection device inside bridge box and beam as claimed in claim 1, it is characterised in that the sensor (8) includes： Temperature sensor (17), humidity sensor (18), PM10 monitoring sensors (19), PM2.5 monitoring sensors (20).
- 5. automatic detection device inside bridge box and beam as claimed in claim 4, it is characterised in that：The data storage device (15) temperature sensor (17), humidity sensor (18), PM10 monitoring sensors (19), PM2.5 monitoring sensors are connected respectively And image collecting device (9) (20).
- 6. automatic detection device inside bridge box and beam as claimed in claim 3, it is characterised in that：The control system (16) point Lian Jie not lithium battery (13), stepper motor (11), mileage coder (12), mechanical arm (6), sensor (8), image collector Put (9).
- 7. the detection method of automatic detection device inside a kind of bridge box and beam as claimed in any one of claims 1 to 6, it is special Sign is that it comprises the following steps：S1, automatic detection device (4) inside bridge box and beam is placed in box beam, the box beam includes multiple connected chambers；Automatic detection device (4) is travelled to the centre position of first chamber inside S2, bridge box and beam；S3, sensor (8) collecting box house data, stretching, extension mechanical arm (6), rotate mechanical arm wrist (7), image collecting device (9) collecting box off-the-air picture data, complete automatic detection device (4) inside image data collection axle casing box beam and travel to next Individual chamber collecting box off-the-air picture data again, until last chamber；It is S to set the forward travel distance that automatic detection device (4) is total inside bridge box and beam according to the total length of box beam to be detected, bridge The travel speed of automatic detection device (4) is v inside spar-box beam, from initial position to the distance in the centre position of first chamber For s1, bridge box and beam inside automatic detection device (4) stops since the middle position of first chamber after every walking length d Detection work is carried out, stops detection n times altogether, the residence time of each chamber is T, is completed in forward travel distance S axle casing box beams Portion's automatic detection device (4) makes a return voyage automatically；Wherein N is the number of chamber, and d is the length of single chamber；In S3, mechanical arm (6) starts to extend to most long, and image collecting device (9) gathers the photo of chamber bottom down；Rotating machine arm wrist (7), the photo of harvester (9) collection chamber side；Mechanical arm (6) be retracted to it is most short, image collecting device (9) upward, and the photo in vasculum ceiling portion；Rotating machinery arm (6), make mechanical arm (6) anterior towards chamber；Rotating machine arm wrist (7), image collecting device (9) it is anterior towards chamber；Image collecting device (9) collection chamber front portion photo；Rotating machinery arm (6), make mechanical arm (6) towards chamber rear portion；Rotating machine arm wrist (7), image collecting device (9) towards chamber rear portion；Image collecting device (9) collection chamber rear portion photo；Mechanical arm (6) recovers initial attitude after being retracted to shortest length.
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| CN201610222064.5A CN105783997B (en) | 2016-04-11 | 2016-04-11 | Automatic detection device and detection method inside a kind of bridge box and beam |
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| CN201610222064.5A CN105783997B (en) | 2016-04-11 | 2016-04-11 | Automatic detection device and detection method inside a kind of bridge box and beam |
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| CN105783997B true CN105783997B (en) | 2018-03-16 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107816975B (en) * | 2017-11-30 | 2023-09-19 | 中铁第六勘察设计院集团有限公司 | Automatic detection system for suspended empty rail bridge |
| CN110231349A (en) * | 2019-07-17 | 2019-09-13 | 深圳市卫飞科技有限公司 | A kind of airfield pavement multifunctional examining measuring car |
| CN110722553A (en) * | 2019-08-24 | 2020-01-24 | 湖南桥康智能科技有限公司 | Automatic detection system for bridge box body |
| CN110578293A (en) * | 2019-09-26 | 2019-12-17 | 中铁大桥科学研究院有限公司 | Concrete box girder inspection robot |
| CN111270608B (en) * | 2020-03-09 | 2021-11-16 | 浙江大学 | Wall-climbing robot for detection in steel box girder of large-span bridge |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11294065A (en) * | 1998-04-06 | 1999-10-26 | Kajima Corp | Tunnel wall surface image photographing method and device |
| CN101446203B (en) * | 2007-11-28 | 2011-09-28 | 上海市电力公司电缆输配电公司 | Method for checking dangerous environment of urban electric network tunnel by robot |
| CN101468664A (en) * | 2007-12-24 | 2009-07-01 | 上海市电力公司电缆输配电公司 | Small-sized caterpillar belt inspect robot system for cable tunnel hazardous environment |
| KR100942911B1 (en) * | 2008-03-21 | 2010-02-16 | 한국도로공사 | Bridge inspecting robot using rail in Steel box |
| CN102768517A (en) * | 2012-07-11 | 2012-11-07 | 华北电力大学 | Cable tunnel monitoring robot system |
| CN104683732A (en) * | 2013-11-26 | 2015-06-03 | 天津市天下数码视频有限公司 | Novel remote monitoring camera |
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