CN111719425A - Bridge bottom surface detection method and bridge bottom surface detection system - Google Patents
Bridge bottom surface detection method and bridge bottom surface detection system Download PDFInfo
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- CN111719425A CN111719425A CN202010629504.5A CN202010629504A CN111719425A CN 111719425 A CN111719425 A CN 111719425A CN 202010629504 A CN202010629504 A CN 202010629504A CN 111719425 A CN111719425 A CN 111719425A
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- bridge
- arm
- fixed
- bearing track
- roadbed
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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
Abstract
The embodiment of the application discloses a bridge bottom surface detection method and a bridge bottom surface detection system, which can build a bearing track on the bottom surface of a bridge. The method implemented by the application comprises the following steps: a first fixed arm and a second fixed arm are respectively arranged on two sides of the bridge roadbed and are controlled to extend towards the lower part of the bridge roadbed; a bearing track with one end fixed on the first fixed arm and the other end fixed on the second fixed arm is arranged below the bridge roadbed; controlling a detection robot to move on the bearing track so that the detection robot acquires information of the bottom surface of the bridge subgrade along the transverse direction of the bridge subgrade; and/or controlling the bearing track to move longitudinally along the bridge roadbed so that the detection robot collects the information of the bottom surface of the bridge roadbed longitudinally of the bridge roadbed.
Description
Technical Field
The embodiment of the application relates to the field of bridge engineering, in particular to a bridge bottom surface detection method and a bridge bottom surface detection system.
Background
With the rapid development of social economy in China, road and bridge engineering is greatly improved and developed. After the bridge is built and the vehicle is communicated, the safety degree of the bridge is reduced along with the time due to various factors, so that the safety of the vehicle operation is influenced. Therefore, it is necessary to frequently detect the bridge, repair the bridge in time, and improve the safety of the bridge.
In the detection of bridges, local detection methods are often used. The method generally adopts an apparent detection method or an instrument detection method using X rays, ultrasonic waves and a microscope, and the detection is carried out close to the bottom surface of the bridge.
In bridge inspection work, the bottom of the bridge is difficult to reach. The traditional detection scheme often adopts truss-like or folding arm-type bridge detection car of formula, will carry on the platform that detects the workman through hydraulic drive's arm and send to the bridge bottom position, and then detect the bridge bottom by the handheld flaw detection equipment of workman. The scheme has poor stability and high cost, and particularly when a wider bridge is detected, the platform has poor stability and shakes due to the fact that the mechanical arm is too long.
Disclosure of Invention
In order to solve the problems, the application provides a bridge bottom surface detection method and a bridge bottom surface detection system for detecting the bridge bottom surface.
The application provides a bridge bottom surface detection method in a first aspect, which comprises the following steps:
a first fixed arm and a second fixed arm are respectively arranged on two sides of the bridge roadbed and are controlled to extend towards the lower part of the bridge roadbed;
a bearing track with one end fixed on the first fixed arm and the other end fixed on the second fixed arm is arranged below the bridge roadbed;
controlling a detection robot to move on the bearing track so that the detection robot acquires information of the bottom surface of the bridge subgrade along the transverse direction of the bridge subgrade; and/or controlling the bearing track to move longitudinally along the bridge roadbed so that the detection robot collects the information of the bottom surface of the bridge roadbed longitudinally of the bridge roadbed.
Optionally, bridge roadbed below sets up one end and is fixed in first fixed arm and the other end are fixed in the bearing track of second fixed arm includes:
and one end of the bearing track is fixed on the first fixing arm, an aircraft is controlled to pull the other end of the bearing track to the second fixing arm, and the other end of the bearing track is fixed on the second fixing arm.
Optionally, bridge roadbed below sets up one end and is fixed in first fixed arm and the other end are fixed in the bearing track of second fixed arm includes:
a rope with one end fixed on the first fixed arm and the other end fixed on the second fixed arm is arranged below the bridge roadbed;
one end of the bearing track is guided to the second fixing arm through the rope, one end of the bearing track is fixed to the second fixing arm, and the other end of the bearing track is fixed to the first fixing arm.
Optionally, the guiding one end of the bearing rail to the second fixing arm by the rope includes:
fixing one end of the bearing track to one point of the rope; and drawing the rope to one side of the second fixing arm so as to guide one end of the bearing track to the second fixing arm.
Optionally, set up one end below bearing bridge road bed and connect in first fixed arm, the other end is connected the rope of second fixed arm includes:
a control aircraft pulls the cable from the first stationary arm to the second stationary arm such that the cable is connected between the first stationary arm and the second stationary arm.
Optionally, the bearing track includes a plurality of sub-tracks, and the sub-tracks are connected in a chain manner through movable joints;
after a bearing track with one end fixed to the first fixing arm and the other end fixed to the second fixing arm is arranged below the bridge roadbed, the method further comprises the following steps:
and controlling movable joints between the sub-tracks to be locked so as to fixedly connect the sub-tracks.
Optionally, set up first fixed arm and second fixed arm respectively in the both sides of bridge road bed, include:
arranging moving devices on two sides of a bridge roadbed, and arranging the first fixed arm and the second fixed arm on the moving devices;
the control bear the weight of the track along bridge road bed longitudinal movement includes:
and controlling the movement device to move longitudinally along the bridge roadbed so as to drive the bearing track to move longitudinally along the bridge roadbed.
Optionally, the method further includes:
adjusting the length of the first fixed arm and the second fixed arm extending to the lower part of the bridge roadbed;
and/or adjusting the extending length of the first fixing arm and the second fixing arm towards two sides of the bridge roadbed.
In order to implement the bridge bottom surface detection method, the application also provides a bridge bottom surface detection system, which includes:
the device comprises a first fixing arm, a second fixing arm, a bearing track and a detection robot;
the first fixed arm and the second fixed arm are respectively arranged at two sides of the bridge roadbed and extend towards the lower part of the bridge roadbed;
the bearing track is arranged below the bridge roadbed, and one end of the bearing track is fixed on the first fixed arm and the other end of the bearing track is fixed on the second fixed arm;
the detection robot is used for moving on the bearing track to collect information of the bottom surface of the bridge roadbed along the transverse direction of the bridge roadbed; and/or the information of the bottom surface of the bridge roadbed is acquired along the longitudinal direction of the bridge roadbed based on the movement of the bearing track along the longitudinal direction of the bridge roadbed.
Optionally, the bearing rail is provided with a rail for the detection robot to run, the rail forms a rail for the detection robot to run after the bearing rail deforms, the detection robot can run along the detection rail, the bridge bottom is scanned through the visual sensing module, and data is stored. The number of trolleys running on the rail can be multiple, each inspection robot can be provided with a plurality of vision modules and form an array, and an inspection area with a width T is formed. After the bridge bottom detection device runs along the chain type track, the transport vehicle is integrally started to a fixed distance D, the fixed distance D is approximately equal to 70-80% multiplied by T, and then the next detection cycle is carried out until the bridge bottom detection of one bridge pier span is completed. The detection robot may further include modules such as a laser position sensor, an ultrasonic radar, two zoom 2D cameras, and an auxiliary light source. It can be understood that the present application provides a stable bearing track for the inspection robot, so that the inspection robot can carry various instruments for inspecting the bottom surface of the bridge, and the present application is not limited herein.
Optionally, the system further comprises an aircraft and a first controller; the aircraft is used for pulling the other end of the bearing track to the second fixing arm; the first controller is used for sending an electric signal to the bearing track, so that the executing structure of the bearing track fixes one end of the bearing track to the first fixing arm and fixes the other end of the bearing track to the second fixing arm.
Optionally, the bridge bottom surface detection system further includes an aircraft, a rope, a first winch disposed on one side of the first fixed arm, and a second winch disposed on one side of the second fixed arm;
the first fixing arm is used for fixing one end of the rope;
the aircraft is used for pulling the other end of the rope to the second fixed arm;
the second fixing arm is used for fixing the other end of the rope;
the first winch is used for lowering the rope from the first fixing arm;
the second winch is used for pulling the rope to one side of the second fixed arm so that one end of a bearing track fixed on the rope is guided to the second fixed arm;
the second fixing arm is also used for fixing one end of the bearing track.
The joints are connected in a chain manner; the system further comprises a second controller;
and the second controller is used for sending a locking signal to the movable joints between the sub-tracks so as to fixedly connect the sub-tracks.
Optionally, the first fixing arm includes a first adjustment structure, and the second fixing arm includes a second adjustment structure;
the first adjusting structure is used for adjusting the length of the first fixing arm extending to the lower side of the bridge subgrade;
and the second adjusting structure is used for adjusting the length of the second fixing arm extending to the lower part of the bridge subgrade.
Optionally, the first fixing arm includes a third adjustment structure, and the second fixing arm includes a fourth adjustment structure;
the third adjusting structure is used for adjusting the length of the first fixing arm extending out of the two sides of the bridge subgrade;
and the fourth adjusting structure is used for adjusting the length of the second fixing arm extending out of two sides of the bridge roadbed.
Optionally, the bridge detection system further comprises a moving device;
the moving devices are arranged on two sides of the bridge roadbed, and the first fixed arm and the second fixed arm are arranged on the moving devices;
the moving device is used for moving longitudinally along the bridge roadbed so as to drive the bearing track to move longitudinally along the bridge roadbed.
According to the technical scheme, the embodiment of the application has the following advantages: this application is through setting up fixed track at the bridge bottom surface, arranges the detection robot who carries the instrument of detecting a flaw on the track and carries out the detection of bridge bottom surface, can provide more stable testing platform for detecting instrument.
Drawings
FIG. 1 is a schematic view of an embodiment of a bridge bottom detection method according to the present application;
FIG. 2 is a schematic view of an embodiment of the bridge bottom detection method of the present application;
FIG. 3 is a schematic view of an embodiment of the bridge bottom detection method of the present application;
FIG. 4 is a schematic view of an embodiment of the bridge bottom detection method of the present application;
FIG. 5 is a schematic view of an embodiment of the bridge bottom detection method of the present application;
FIG. 6 is a schematic view of an embodiment of the bridge bottom detection method of the present application;
FIG. 7 is a schematic view of an embodiment of the bridge bottom detection method of the present application;
FIG. 8 is a schematic view of an embodiment of the bridge bottom detection method of the present application;
FIG. 9 is a schematic view of an embodiment of the bridge bottom detection method of the present application;
FIG. 10 is a schematic view of an embodiment of the bridge bottom detection method of the present application;
FIG. 11 is a schematic view of an embodiment of the bridge bottom detection method of the present application;
fig. 12 is a schematic view of an embodiment of the bridge bottom surface detection method according to the present application.
Detailed Description
The application designs a bridge detection method and a system which have high adaptability to the width and the cross section shape of a bridge, high precision and a wider reachable range.
The embodiment of the application provides a bridge bottom surface detection method, which can reach the bottom of a bridge to detect the bottom surface of the bridge. The bridge bottom surface detection method comprises the following steps:
101. a first fixed arm and a second fixed arm are respectively arranged on two sides of the bridge roadbed and are controlled to extend towards the lower part of the bridge roadbed;
a first fixed arm is fixedly arranged on one side of a roadbed of the bridge respectively, a second fixed arm is arranged on the opposite side of the roadbed, and the two fixed arms extend out of the edge of the bridge respectively and extend out of the roadbed of the bridge by a certain length.
102. A bearing track with one end fixed on the first fixed arm and the other end fixed on the second fixed arm is arranged below the bridge roadbed;
the first fixed arm and the second fixed arm are both provided with a connecting structure at a position lower than the bridge roadbed, and a section of bearing track is fixed between the first connecting arm and the second connecting arm through the connecting structure. The length of the bearing track is approximately equal to that of a bridge, one section of the bearing track is fixedly connected with the first fixing arm, the other end of the bearing track is fixedly connected with the second fixing arm, and therefore a section of stable track is formed between the first fixing arm and the second fixing arm and penetrates through the bridge bottom. Should bear track both ends respectively fixed connection on first fixed arm and second fixed arm, difficult emergence is rocked.
103. Controlling a detection robot to move on the bearing track so that the detection robot acquires information of the bottom surface of the bridge subgrade along the transverse direction of the bridge subgrade; and/or controlling the bearing track to move longitudinally along the bridge roadbed so that the detection robot collects the information of the bottom surface of the bridge roadbed longitudinally of the bridge roadbed.
The bearing rails can be installed longitudinally along the bridge or transversely on both sides of the bridge. And (3) putting a detection robot matched with the bearing track along the bearing track, carrying corresponding detection equipment by the detection robot, moving the detection robot along the bearing track, and recording the information of the bottom surface of the bridge on the path by using the detection equipment.
Based on the embodiment shown in fig. 1, please refer to fig. 2, the present application provides a more specific embodiment of a bridge bottom detection method, which includes:
201. a first fixed arm and a second fixed arm are respectively arranged on two sides of the bridge roadbed and are controlled to extend towards the lower part of the bridge roadbed;
a first fixed arm is fixedly arranged on one side of a roadbed of the bridge respectively, a second fixed arm is arranged on the opposite side of the roadbed, and the two fixed arms extend out of the edge of the bridge respectively and extend out of the roadbed of the bridge by a certain length.
202. A rope with one end connected to the first fixed arm and the other end connected to the second fixed arm is arranged below the bridge roadbed;
a long rope is arranged below the bridge subgrade from the first fixing arm to the second fixing arm, and the rope can slide along the first fixing arm and the second fixing arm. Specifically, two winches can be arranged on the bridge floor respectively, the first winch is arranged at the first fixing arm, the second winch is arranged at the second fixing arm, the rope is placed down by the first winch, the first fixing arm is placed down to the bridge bottom, and then the rope penetrates through the bridge bottom and is connected to the second winch through the second fixing arm.
The rope is preferably drawn from the first connecting arm to the second connecting arm by an unmanned aerial vehicle, and the aerial vehicle is controlled to draw the rope from the first fixed arm to the second fixed arm, so that the rope is connected between the first fixed arm and the second fixed arm, and the first winch and the second winch control the winding and unwinding length of the rope.
203. One end of the bearing track is guided to the second fixing arm through the rope, one end of the bearing track is fixed to the second fixing arm, and the other end of the bearing track is fixed to the first fixing arm.
The bearing track is thrown to the rope along the first fixed arm from the bridge floor, and after the bearing track is guided to move to the second fixed arm along the rope, one end of the bearing track is fixedly connected with the first fixed arm, and the other end of the bearing track is connected with the second fixed arm. The specific implementation method can be that the head end of the bearing track is fixed on the rope from the first fixing arm, then the rope below the first fixing arm is continued, the rope is retracted from the second fixing arm, so that the rope slides towards the second fixing arm along the first fixing arm, in the sliding process, as one end of the bearing track is fixed and connected with the rope, under the driving of the rope, the bearing track also moves to the second connecting arm from the first connecting arm along the rope, and then the two ends of the bearing track are fixed together with the first fixing arm and the second fixing arm respectively. The bearing rail is provided with a plurality of movable joints, the shape of the bearing rail can be changed by adjusting the movable joints, the bearing rail is better adapted to the shape of the bottom surface of the bridge, and after the shape of the bearing rail is adjusted, all joints of the bearing rail are locked, so that the stable bearing rail is formed.
204. And controlling the detection robot to move on the bearing track so as to enable the detection robot to collect the information of the bottom surface of the bridge roadbed along the bridge roadbed.
The bearing rails can be installed longitudinally along the bridge or transversely on both sides of the bridge. And (3) putting a detection robot matched with the bearing track along the bearing track, carrying corresponding detection equipment by the detection robot, moving the detection robot along the bearing track, and recording the information of the bottom surface of the bridge on the path by using the detection equipment.
As an improvement to the embodiment shown in fig. 2, please refer to fig. 3, the method for detecting a bridge bottom surface shown in fig. 3 may further adjust the shapes of the first telescopic arm and the second telescopic arm, so that the bearing rail is more attached to the shape of the bridge bottom surface, and the detection robot may be closer to the bridge bottom surface for performing a fine detection.
The bridge bottom surface detection method of the embodiment shown in fig. 3 comprises the following steps:
301. a first fixed arm and a second fixed arm are respectively arranged on two sides of the bridge roadbed and are controlled to extend towards the lower part of the bridge roadbed;
302. a rope with one end connected to the first fixed arm and the other end connected to the second fixed arm is arranged below the bridge roadbed;
303. one end of the bearing track is guided to the second fixing arm through the rope, one end of the bearing track is fixed to the second fixing arm, and the other end of the bearing track is fixed to the first fixing arm.
Steps 301 to 303 are similar to steps 201 to 203 of the embodiment shown in fig. 2, and are not described again here.
304. Adjusting the length of the first fixed arm and the second fixed arm extending to the lower part of the bridge roadbed;
and/or adjusting the extending length of the first fixing arm and the second fixing arm towards two sides of the bridge roadbed.
Lifting devices can be arranged on the first fixing arm and the second fixing arm, and the height of the first fixing arm and the height of the second fixing arm can be adjusted up and down. The first fixing arm and the second fixing arm may be articulated mechanical arms or structural members with high bearing capacity and three degrees of freedom, and may move up and down and horizontally. Through the gesture of adjusting first fixed arm and second fixed arm, can change the orbital position and the height of bearing to a certain extent for bear the orbital bridge bottom surface of pressing close to more accurately.
304. And controlling the detection robot to move on the bearing track so as to enable the detection robot to collect the information of the bottom surface of the bridge roadbed along the bridge roadbed.
Step 304 is similar to step 204 of the embodiment shown in FIG. 2, and is not described here again.
The application also provides a bridge bottom surface detecting system for checking the bottom surface of a bridge, the system includes:
the device comprises a first fixing arm, a second fixing arm, a bearing track and a detection robot;
the first fixed arm and the second fixed arm are respectively arranged at two sides of the bridge roadbed and extend a certain length to the lower part of the bridge roadbed after being arranged on the bridge roadbed;
the bearing track is arranged below the bridge roadbed, one end of the bearing track is fixed on the first fixed arm, and the other end of the bearing track is fixed on the second fixed arm;
the detection robot is used for moving on the bearing track to collect information of the bottom surface of the bridge roadbed along the transverse direction of the bridge roadbed; and/or the information of the bottom surface of the bridge roadbed is acquired along the longitudinal direction of the bridge roadbed based on the movement of the bearing track along the longitudinal direction of the bridge roadbed.
The bridge bottom surface detection system can comprise a first fixing arm, a second fixing arm, a bearing track, a detection robot, an aircraft and a first controller.
The aircraft is used for pulling the other end of the bearing track to the second fixing arm;
the first controller is used for sending an electric signal to the bearing track, so that the executing structure of the bearing track fixes one end of the bearing track to the first fixing arm and fixes the other end of the bearing track to the second fixing arm.
Optionally, the bridge bottom surface detection system further includes an aircraft, a rope, a first winch disposed on one side of the first fixed arm, and a second winch disposed on one side of the second fixed arm; the first fixing arm is used for fixing one end of the rope; the aircraft is used for pulling the other end of the rope to the second fixed arm; the second fixing arm is used for fixing the other end of the rope; the first winch is used for lowering the rope from the first fixing arm; the second winch is used for pulling the rope to one side of the second fixed arm so that one end of a bearing track fixed on the rope is guided to the second fixed arm; the second fixing arm is also used for fixing one end of the bearing track.
Optionally, the bearing track includes a plurality of sub-tracks, and the sub-tracks are connected in a chain manner through movable joints; the system further comprises a second controller; and the second controller is used for sending a locking signal to the movable joints between the sub-tracks so as to fixedly connect the sub-tracks.
Optionally, the first fixing arm includes a first adjustment structure, and the second fixing arm includes a second adjustment structure; the first adjusting structure is used for adjusting the length of the first fixing arm extending to the lower side of the bridge subgrade; and the second adjusting structure is used for adjusting the length of the second fixing arm extending to the lower part of the bridge subgrade.
Optionally, the first fixing arm includes a third adjustment structure, and the second fixing arm includes a fourth adjustment structure; the third adjusting structure is used for adjusting the length of the first fixing arm extending out of the two sides of the bridge subgrade; and the fourth adjusting structure is used for adjusting the length of the second fixing arm extending out of two sides of the bridge roadbed.
Optionally, the bridge detection system further comprises a moving device; the moving devices are arranged on two sides of the bridge roadbed, and the first fixed arm and the second fixed arm are arranged on the moving devices; the moving device is used for moving longitudinally along the bridge subgrade to drive the carried track to move longitudinally along the bridge subgrade, and the moving device can be a transport vehicle carrying the bridge detection system as shown in fig. 4.
Fig. 6 shows a scenario when the system is in operation, the first fixing arm 10 extends from the bridge floor to below the bridge, the rope 40 extends along the first fixing arm 10 to below the bridge floor, and the bearing track 50 is fixed on the rope 40.
The installation process of the system in operation can be seen in fig. 5 to 12.
Fig. 6 shows that the first fixing arm 10 is installed at the edge of one side of the bridge and the second fixing arm 20 is installed at the edge of the other side of the bridge, and both fixing arms are extended downward by a certain length.
Fig. 7 shows that the drone 30 starts from the first fixed arm 10, pulling the rope 40 to the second fixed arm 20 to connect the rope 40 between the first fixed arm 10 and the second fixed arm 20.
Fig. 8 shows that after the head end of the load rail 50 is fixed to the rope 40, the load rail 50 is guided under the deck using a lowering rope from the first fixing arm 10.
Fig. 9 shows a scenario in which the bearing track 50 is completely dropped under the bridge deck, and the first fixing arm 10 and the second fixing arm 20 are respectively connected to two ends of the bearing track 50, so as to form a stable structure.
On the basis of fig. 9, fig. 10 and 11 show that further adjustment can be made to the postures of the rope 40, the first connecting arm 10 and the second connecting arm 20, so as to further adjust the shape of the bearing rail 50 and improve the fit degree with the bottom surface of the bridge.
Fig. 12 shows the recovery process of the load rail 50, and the rope 40 is tightened from the deck along the second connecting arm 20, and the rope 40 drives the load rail 50 to the deck. The rope 40 can be completely retracted from the second connecting arm 20 by continuously tightening the rope 40 along the second connecting arm 20, and then the first connecting arm 10 and the second connecting arm 20 are retracted.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above described systems, systems and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, system and method may be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, systems or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various other media capable of storing program codes.
Claims (15)
1. A bridge bottom surface detection method is characterized by comprising the following steps:
a first fixed arm and a second fixed arm are respectively arranged on two sides of the bridge roadbed and are controlled to extend towards the lower part of the bridge roadbed;
a bearing track with one end fixed on the first fixed arm and the other end fixed on the second fixed arm is arranged below the bridge roadbed;
controlling a detection robot to move on the bearing track so that the detection robot acquires information of the bottom surface of the bridge subgrade along the transverse direction of the bridge subgrade; and/or controlling the bearing track to move longitudinally along the bridge roadbed so that the detection robot collects the information of the bottom surface of the bridge roadbed longitudinally of the bridge roadbed.
2. The bridge bottom surface detection method according to claim 1, wherein a bearing track having one end fixed to the first fixing arm and the other end fixed to the second fixing arm is provided below the bridge subgrade, and the method comprises:
and controlling an aircraft to pull the bearing track from the first fixing arm to the second fixing arm, and fixing one end of the bearing track on the first fixing arm and fixing the other end of the bearing track on the second fixing arm.
3. The bridge bottom surface detection method according to claim 1, wherein a bearing track having one end fixed to the first fixing arm and the other end fixed to the second fixing arm is provided below the bridge subgrade, and the method comprises:
a rope with one end connected to the first fixed arm and the other end connected to the second fixed arm is arranged below the bridge roadbed;
one end of the bearing track is guided to the second fixing arm through the rope, one end of the bearing track is fixed to the second fixing arm, and the other end of the bearing track is fixed to the first fixing arm.
4. The bridge floor detection method according to claim 3, wherein the guiding of one end of the bearing rail to the second fixing arm by the rope includes:
fixing one end of the bearing track to one point of the rope; and drawing the rope to one side of the second fixing arm so as to guide one end of the bearing track to the second fixing arm.
5. The bridge bottom surface detection method according to claim 3, wherein a rope having one end connected to the first fixing arm and the other end connected to the second fixing arm is disposed below the load-bearing bridge subgrade, and the method comprises:
a control aircraft pulls a cable from the first fixed arm to the second fixed arm such that the cable is connected between the first fixed arm and the second fixed arm.
6. The bridge bottom surface detection method according to claim 2 or 3, wherein the bearing track comprises a plurality of sub-tracks, and the sub-tracks are connected in a chain manner through movable joints;
after a bearing track with one end fixed to the first fixing arm and the other end fixed to the second fixing arm is arranged below the bridge roadbed, the method further comprises the following steps:
and controlling movable joints between the sub-tracks to be locked so as to fixedly connect the sub-tracks.
7. The bridge bottom surface detection method according to claim 1, wherein a first fixing arm and a second fixing arm are respectively provided on both sides of a bridge subgrade, and the method comprises the following steps:
arranging moving devices on two sides of a bridge roadbed, and arranging the first fixed arm and the second fixed arm on the moving devices;
the control bear the weight of the track along bridge road bed longitudinal movement includes:
and controlling the movement device to move longitudinally along the bridge roadbed so as to drive the bearing track to move longitudinally along the bridge roadbed.
8. The bridge floor detection method of claim 1, further comprising:
adjusting the length of the first fixed arm and the second fixed arm extending to the lower part of the bridge roadbed;
and/or adjusting the extending length of the first fixing arm and the second fixing arm towards two sides of the bridge roadbed.
9. A bridge floor detection system, comprising:
the device comprises a first fixing arm, a second fixing arm, a bearing track and a detection robot;
the first fixed arm and the second fixed arm are respectively arranged at two sides of the bridge roadbed and extend towards the lower part of the bridge roadbed;
the bearing track is arranged below the bridge roadbed, and one end of the bearing track is fixed on the first fixed arm and the other end of the bearing track is fixed on the second fixed arm;
the detection robot is used for moving on the bearing track to collect information of the bottom surface of the bridge roadbed along the transverse direction of the bridge roadbed; and/or the information of the bottom surface of the bridge roadbed is acquired along the longitudinal direction of the bridge roadbed based on the movement of the bearing track along the longitudinal direction of the bridge roadbed.
10. The bridge floor detection system of claim 9, further comprising an aircraft and a first controller;
the aircraft is used for pulling the other end of the bearing track to the second fixing arm;
the first controller is used for sending an electric signal to the bearing track, so that the executing structure of the bearing track fixes one end of the bearing track to the first fixing arm and fixes the other end of the bearing track to the second fixing arm.
11. The bridge floor detection system of claim 9, further comprising an aircraft, a rope, a first hoist disposed on one side of the first fixed arm, and a second hoist disposed on one side of the second fixed arm;
the first fixing arm is used for fixing one end of the rope;
the aircraft is used for pulling the other end of the rope to the second fixed arm;
the second fixing arm is used for fixing the other end of the rope;
the first winch is used for lowering the rope from the first fixing arm;
the second winch is used for pulling the rope to one side of the second fixed arm so that one end of a bearing track fixed on the rope is guided to the second fixed arm;
the second fixing arm is also used for fixing one end of the bearing track.
12. The bridge floor detection system according to claim 10 or 11, wherein the bearing rail comprises a plurality of sub-rails, and the sub-rails are connected in a chain manner through movable joints; the system further comprises a second controller;
and the second controller is used for sending a locking signal to the movable joints between the sub-tracks so as to fixedly connect the sub-tracks.
13. The bridge floor detection system of claim 9, wherein the first stationary arm includes a first adjustment structure and the second stationary arm includes a second adjustment structure;
the first adjusting structure is used for adjusting the length of the first fixing arm extending to the lower side of the bridge subgrade;
and the second adjusting structure is used for adjusting the length of the second fixing arm extending to the lower part of the bridge subgrade.
14. The bridge floor detection system of claim 9, wherein the first stationary arm includes a third adjustment structure and the second stationary arm includes a fourth adjustment structure;
the third adjusting structure is used for adjusting the length of the first fixing arm extending out of the two sides of the bridge subgrade;
and the fourth adjusting structure is used for adjusting the length of the second fixing arm extending out of two sides of the bridge roadbed.
15. The bridge floor detection system of claim 9, further comprising a motive device;
the moving devices are arranged on two sides of the bridge roadbed, and the first fixed arm and the second fixed arm are arranged on the moving devices;
the moving device is used for moving longitudinally along the bridge roadbed so as to drive the bearing track to move longitudinally along the bridge roadbed.
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| CN111719425B (en) | 2022-02-11 |
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