CN107816975B - Automatic detection system for suspended empty rail bridge - Google Patents
Automatic detection system for suspended empty rail bridge Download PDFInfo
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- CN107816975B CN107816975B CN201711232359.1A CN201711232359A CN107816975B CN 107816975 B CN107816975 B CN 107816975B CN 201711232359 A CN201711232359 A CN 201711232359A CN 107816975 B CN107816975 B CN 107816975B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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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
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Bridges Or Land Bridges (AREA)
Abstract
The invention discloses an automatic detection system for a suspended air track bridge, which comprises a control system (11), a sensor signal receiving device (12), a first sensor (13), a non-contact surface temperature sensor (14), a second sensor (15), a web displacement sensor (16) and a vibration signal acquisition device (17), wherein a camera (6) of a track beam (1) is connected to an inspection vehicle body (3) through a telescopic arm (5), the control system (11) is arranged on the inspection vehicle body, the control system (11) controls a lighting device (8), the camera (6), the telescopic arm (5) and the forward, backward and stop of a vehicle, and the non-contact surface temperature sensor (14) and the vibration signal acquisition device (17) of the second sensor (15) are all arranged at the bottom of the inspection vehicle body (3). The invention can be remotely controlled, realizes unmanned operation and is convenient for the external control of the detection personnel.
Description
Technical Field
The invention relates to the technical field of buildings, in particular to an automatic detection system applied to a suspended monorail traffic bridge.
Background
The automatic detection system of the bridge is an important component of the bridge maintenance management system, and plays an important role in guaranteeing the safety of the bridge structure. With the rapid development of the national rail transit industry in recent years, a plurality of novel rail transit systems are developed. Suspended rail transit systems are also known as air rails, for short air rails. The vehicle is suspended below a box-shaped track beam, the track beam is supported in the air by steel columns or reinforced concrete columns, and running wheels and guide wheels of the vehicle are both positioned in the box-shaped beam and run along a track arranged in the beam body.
The track beam is a bearing structure of a train, is a track for running of the train, has multiple functions of bearing, guiding and stabilizing the vehicle, is internally provided with a power supply rail, a running rail, a guide rail and a communication cable, and is a box-shaped steel beam structure with an opening at the lower part. The track beam itself is required to have good strength, rigidity, stability and precision in production and assembly due to factors such as a plane curve and a vertical curve of a line. The steel box girder is affected by factors such as installation errors in the production and assembly process, long-term bearing of vehicle load, acid and alkali in natural environment, and the like, and is easy to generate defects such as connection defects, fatigue cracks, steel corrosion, coating degradation and the like, and the defects can seriously affect the operation safety of suspended rail transit.
The inspection of the steel bridge is divided into four types of daily inspection, periodic inspection (detailed inspection), special inspection and verification test. The daily inspection is mainly carried out by daily inspection, and a visual method is adopted to inspect the bridge main body structure and the abutment. Because the track beam is higher from the ground, the internal space is smaller, and is of an opening section, the daily inspection is not convenient for an inspector to perform in the track beam or at the top. When the line is longer, the periodic inspection or special inspection of a special structure or a special position in the middle of the line also has certain difficulty, has lower efficiency and can influence the normal passing of vehicles on the bridge.
Therefore, an inspection device is needed, so that the daily detection and maintenance of the track beam bridge are facilitated, the safety state of the track beam during the monitoring operation can be identified, and the occurrence of bridge safety accidents is avoided.
Disclosure of Invention
Aiming at the problems, the invention aims to provide an automatic detection system for a suspended empty rail road bridge, which meets the daily detection and maintenance requirements of a suspended rail transit steel box girder and carries out the safety evaluation of the whole rail girder bridge according to the acquired data.
The technical scheme of the invention is as follows: the utility model provides a suspension type air rail road bridge automated inspection system, includes track roof beam 1, leading wheel 2, inspection car automobile body 3, walking wheel 4, telescopic boom 5, camera 6, steel column 7, light 8, seat 9, battery 10, control system 11, sensor signal receiving device 12, first sensor 13, non-contact surface temperature sensor 14, second sensor 15, web displacement sensor 16 and vibration signal collection system 17, walking wheel 4 contacts with the bottom plate of track roof beam 1, leading wheel 2 contacts with track roof beam 1 web, inspection car automobile body 3 overhead seat 9 be equipped with light 8 on the inspection car automobile body 3, camera 6 of track roof beam 1 passes through telescopic boom 5 and connects in inspection car automobile body 3, 360 degrees rotations of camera install control system 11 on the inspection car automobile body, control system 11 control lighting apparatus 8, camera 6, telescopic boom 5 and the forward, backward and stop of vehicle, sensor signal receiving device 12 locates on control system 11, first sensor 13 and telescopic boom 5 and two symmetrical sensor 16 install at the side of two temperature sensor 16, the vibration signal collection system is installed to the second sensor 13 at the side of the vibration signal collection device of web 17.
Further, the first sensor 13 includes an ambient temperature sensor and a humidity sensor.
Further, the second sensor 15 includes a floor displacement sensor, an inclination sensor, and a mileage sensor.
Further, six cameras 6 are arranged in the track beam 1, four of the cameras are arranged at two sides of the upper part of the inspection vehicle body 3, and the top plate and the web plate of the track beam 1 are photographed and sampled; the other two are arranged at the lower part of the front end of the inspection vehicle body 3, and the bottom plate of the track beam 1 is photographed and sampled.
Further, three cameras 6 are arranged outside the track beam 1 and are connected to the lower portion of the vehicle body through telescopic arms 5, and photographing and sampling are conducted on the outer side of the track beam 1 and the steel column 7.
Further, the number of the illuminating lamps 8 is four, and the number of the illuminating lamps is two at the front end and the rear end of the vehicle body respectively.
Further, the control system 11 monitors the running position of the inspection vehicle, and when the inspection vehicle passes through the turnout position, the control system 11 controls the recovery of the telescopic boom 5, and the outer camera 6 is received below the track beam 1, so that the aim of smoothly passing through the turnout is fulfilled.
Compared with the prior art, the invention has the beneficial effects that:
(1) The inspection vehicle can walk on the whole line, the camera can pick up and photograph the inside and the outside of the track beam, and the sensor can acquire vibration signals, temperature and humidity data of the track beam environment, surface temperature of the track beam bottom plate, irregularity of the track steel plate, irregularity of the level and irregularity of the surface of the web plate during walking in real time, so that the safety state and disease condition of the whole line track beam structure can be comprehensively mastered.
(2) The invention can replace manual visual inspection as a main mode of daily inspection to inspect the bridge main body structure and the bridge pier.
(3) The invention can be remotely controlled, realizes unmanned operation and is convenient for the external control of the detection personnel.
(4) The invention can be connected to the empty operation car to run, thereby saving electric power.
Drawings
Fig. 1 is a schematic view of the structure of the present invention in elevation.
Fig. 2 is a side view of the structure of the present invention.
Fig. 3 is a top view of the structure of the present invention.
Fig. 4 is a functional block diagram of the present invention.
In the figure: the device comprises a 1-track beam, a 2-guide wheel, a 3-inspection vehicle body, a 4-travelling wheel, a 5-telescopic arm, a 6-camera, a 7-steel column, an 8-illuminating lamp, a 9-seat, a 10-storage battery, an 11-control system, a 12-sensor signal receiving device, a 13-first sensor, a 14-non-contact surface temperature sensor, a 15-second sensor, a 16-web displacement sensor and a 17-vibration signal acquisition device.
Detailed Description
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention is further described below with reference to the drawings and examples.
As shown in fig. 1-4, the empty rail inspection vehicle of the invention comprises a running wheel 4 contacted with the bottom plate of a rail beam 1 and a guide wheel 2 contacted with the web plate of the rail beam, wherein the running wheel 4 and the guide wheel 2 are made of rubber materials. The seat 9 is arranged on the steel inspection vehicle body 3 and can bear one person. The guide wheel 2 ensures the stability of the advancing direction and the transverse direction of the vehicle, and the running wheel 4 can be used for the vehicle to run and maintain the vertical stability.
There are two ways in which the inspection vehicle can be powered: one way is to connect behind an empty operating vehicle, which powers the inspection vehicle; another way is electrically driven by a battery 10 mounted on the vehicle.
The illuminating lamps 8 are arranged on the vehicle, and the number of the illuminating lamps is four, and the front end and the rear end of the vehicle body are respectively two, so that the requirements of the camera on shooting, photographing and sampling in the track beam 1 can be met. The camera 6 of the track beam 1 is connected to the car body 3 through the telescopic arm 5, and the camera can rotate 360 degrees. Six cameras 6 are arranged in the track beam 1, four of the cameras are arranged at two sides of the upper part of the vehicle body, and the top plate and the web plate of the track beam 1 can be photographed and sampled; the other two are arranged at the lower part of the front end of the inspection vehicle, and can take photos and sample the bottom plate of the track beam 1. The outside cameras 6 of track roof beam 1 have three, connect in automobile body lower part through telescopic boom 5 can take a picture the sample to track roof beam 1 outside and steel column 7.
The control system 11 is arranged on the car body, and an operator can remotely control the car body to drive through the control system. The control system 11 is capable of controlling the forward, backward and stop of the illumination device 8, the camera 6, the telescopic arm 5, and the vehicle. The control system monitors the running position of the inspection vehicle, when the inspection vehicle passes through the turnout position, the control system 11 controls the telescopic boom to recycle, and the outside camera 6 is received below the track beam 1, so that the aim of smoothly passing through the turnout is fulfilled. When the inspection vehicle fails and cannot walk, the control system automatically alarms, and sends position coordinates to wait for rescue.
The inspection vehicle can walk in the track beam, is provided with an automatic inspection device, can be driven by a person or remotely controlled by a remote control, and realizes unmanned operation.
And the ambient temperature and humidity sensor is used for acquiring the information of the ambient temperature and humidity in the track beam and sending the information to the signal receiving device.
And the non-contact surface temperature sensor 14 is used for collecting temperature information of the surface of the rail beam steel plate and sending the temperature information to the signal receiving device.
The base plate displacement sensor, the inclination angle sensor and the mileage sensor process the acquired data to directly obtain high-precision track base plate height irregularity and horizontal irregularity, and the web displacement sensor 16 process the acquired data to directly obtain web surface irregularity.
The vibration signal acquisition device 17 on the inspection vehicle can acquire vibration signals when the inspection vehicle walks and send the vibration signals to the signal receiving device. And the background processor timely discovers and checks the problem part of the track beam by processing and analyzing the acquired information.
The invention can be used as a main mode of daily inspection, and can correct the data result of multiple automatic detection to the environmental temperature, humidity and bridge deck temperature of the same standard, analyze the data result of single detection and compare the average value of the data result of multiple detection to judge whether the variation value is in the preset reference range or not, and judge the working condition of the whole structure and the disease development degree thereof, thereby automatically identifying the safety of special components such as the whole structure of the track girder bridge, the expansion joint and the like.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (7)
1. The utility model provides a suspension type air rail road bridge automatic detection system which is characterized in that, including track roof beam (1), leading wheel (2), inspection car automobile body (3), walking wheel (4), telescopic arm (5), camera (6), steel column (7), light (8), seat (9), battery (10), control system (11), sensor signal receiving arrangement (12), first sensor (13), non-contact surface temperature sensor (14), second sensor (15), web displacement sensor (16) and vibration signal collection device (17), walking wheel (4) and the bottom plate contact of track roof beam (1), leading wheel (2) and track roof beam (1) web contact, inspection car automobile body (3) overhead seat (9) be equipped with light (8) on inspection car automobile body (3), camera (6) of track roof beam (1) are connected to inspection car automobile body (3) through telescopic arm (5), 360 degrees rotations of camera are installed control system (11) on inspection car automobile body, control system (6), camera (8) and car (5) are advanced and are stopped with the camera, the sensor signal receiving device (12) is arranged on the control system (11), the first sensor (13) and the web displacement sensor (16) are symmetrically arranged on the side edges of the two telescopic arms (5), and the non-contact surface temperature sensor (14) and the second sensor (15) vibration signal acquisition device (17) are arranged at the bottom of the inspection vehicle body (3);
there are two ways in which the inspection vehicle can be powered: one way is to connect behind an empty operating vehicle, which powers the inspection vehicle; another way is electrically driven by a battery 10 mounted on the vehicle.
2. A suspended air track bridge automatic detection system according to claim 1, characterized in that the first sensor (13) comprises an ambient temperature sensor and a humidity sensor.
3. A suspended air track bridge automatic detection system according to claim 1, characterized in that the second sensor (15) comprises a floor displacement sensor, an inclination sensor and a mileage sensor.
4. The automatic detection system for the suspended air rail bridge according to claim 1, wherein six cameras (6) are arranged in the track beam (1), four cameras (6) are arranged at two sides of the upper part of the inspection vehicle body (3), and the top plate and the web plate of the track beam (1) are photographed and sampled; the other two cameras (6) are arranged at the lower part of the front end of the inspection vehicle body (3) and are used for photographing and sampling the bottom plate of the track beam (1).
5. The automatic detection system for the suspended air rail bridge according to claim 1, wherein three cameras (6) are arranged outside the track beam (1), the cameras (6) are connected to the lower part of the vehicle body through telescopic arms (5), and photographing and sampling are carried out on the outer side of the track beam (1) and the steel column (7).
6. The automatic detection system for the suspended air track bridge according to claim 1, wherein the number of the illuminating lamps (8) is four, and the number of the illuminating lamps is two at the front end and the rear end of the vehicle body.
7. The automatic detection system for the suspended air track bridge according to claim 1, wherein the control system (11) monitors the running position of the inspection vehicle, and when the inspection vehicle passes through the turnout position, the control system (11) controls the recovery of the telescopic arm (5) to enable the outer camera (6) to be received below the track beam (1) so as to achieve the purpose of smoothly passing through the turnout.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711232359.1A CN107816975B (en) | 2017-11-30 | 2017-11-30 | Automatic detection system for suspended empty rail bridge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711232359.1A CN107816975B (en) | 2017-11-30 | 2017-11-30 | Automatic detection system for suspended empty rail bridge |
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| Publication Number | Publication Date |
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| CN107816975A CN107816975A (en) | 2018-03-20 |
| CN107816975B true CN107816975B (en) | 2023-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711232359.1A Active CN107816975B (en) | 2017-11-30 | 2017-11-30 | Automatic detection system for suspended empty rail bridge |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109572727A (en) * | 2019-01-24 | 2019-04-05 | 成都建工第六建筑工程有限公司 | A kind of sky iron track girder inner wall Inspection and maintenance trolley |
| CN109905667A (en) * | 2019-02-18 | 2019-06-18 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | A kind of video monitoring system suitable for large span special construction bridge |
| CN111267902B (en) * | 2020-02-03 | 2024-01-19 | 中国铁建重工集团股份有限公司 | Detection assembly, control method and device of detection assembly, and readable storage medium |
| CN111855246B (en) * | 2020-07-06 | 2021-12-03 | 大连理工大学 | Vehicle-mounted sensing device and method for measuring vibration displacement of bridge |
| CN111845809A (en) * | 2020-07-13 | 2020-10-30 | 桂林电子科技大学 | Detection device and method for internal structure of suspension type monorail box type track beam |
| CN111907556B (en) * | 2020-07-16 | 2023-02-03 | 合肥德泰科通测控技术有限公司 | Unmanned robot of patrolling and examining based on railway barrier net |
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| JPH08128015A (en) * | 1994-10-31 | 1996-05-21 | Matsushita Electric Ind Co Ltd | Bridge beam inspection facility and its inspection robot |
| DE102011080720A1 (en) * | 2011-08-10 | 2013-02-14 | Robert Bosch Gmbh | Method for predictive monitoring of track in driving assistance system of vehicle, involves detecting environmental data concerning to track section by environment sensor system of vehicle before detecting gradient change |
| CN203700955U (en) * | 2014-01-27 | 2014-07-09 | 桑贤克 | Bridge detection vehicle |
| CN104775342A (en) * | 2015-04-10 | 2015-07-15 | 北京力铁轨道交通设备有限公司 | Quick geometrical state measuring instrument for track |
| CN105783997A (en) * | 2016-04-11 | 2016-07-20 | 中铁大桥科学研究院有限公司 | Automatic detection device and method of bridge box girder |
| CN207515778U (en) * | 2017-11-30 | 2018-06-19 | 中铁第六勘察设计院集团有限公司 | Suspension type sky iron track bridge automatic checkout system |
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2017
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08128015A (en) * | 1994-10-31 | 1996-05-21 | Matsushita Electric Ind Co Ltd | Bridge beam inspection facility and its inspection robot |
| DE102011080720A1 (en) * | 2011-08-10 | 2013-02-14 | Robert Bosch Gmbh | Method for predictive monitoring of track in driving assistance system of vehicle, involves detecting environmental data concerning to track section by environment sensor system of vehicle before detecting gradient change |
| CN203700955U (en) * | 2014-01-27 | 2014-07-09 | 桑贤克 | Bridge detection vehicle |
| CN104775342A (en) * | 2015-04-10 | 2015-07-15 | 北京力铁轨道交通设备有限公司 | Quick geometrical state measuring instrument for track |
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| CN207515778U (en) * | 2017-11-30 | 2018-06-19 | 中铁第六勘察设计院集团有限公司 | Suspension type sky iron track bridge automatic checkout system |
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| CN107816975A (en) | 2018-03-20 |
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