CN112171692B - Intelligent bridge deflection detection device and method - Google Patents
Intelligent bridge deflection detection device and method Download PDFInfo
- Publication number
- CN112171692B CN112171692B CN202011100599.8A CN202011100599A CN112171692B CN 112171692 B CN112171692 B CN 112171692B CN 202011100599 A CN202011100599 A CN 202011100599A CN 112171692 B CN112171692 B CN 112171692B
- Authority
- CN
- China
- Prior art keywords
- flying
- bridge
- adsorption
- deflection
- detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000001179 sorption measurement Methods 0.000 claims abstract description 69
- 238000007789 sealing Methods 0.000 claims abstract description 41
- 238000012360 testing method Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 6
- 230000001502 supplementing effect Effects 0.000 claims description 4
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004677 Nylon Substances 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 230000036544 posture Effects 0.000 claims description 2
- 239000010426 asphalt Substances 0.000 abstract description 4
- 230000009897 systematic effect Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000001276 controlling effect Effects 0.000 description 13
- 230000003068 static effect Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
Abstract
The invention discloses an intelligent bridge deflection detection device and method, comprising a flying adsorption robot frame, a flying device, an adsorption device, a detection device, a control device, a direct current motor, a rotor wing, a sealing device, a sealing lining, a sealing skirt, a centrifugal device, a centrifugal pump, a brushless motor, an air pressure sensor, a camera, a laser radar, a sensor group and an airborne singlechip. The beneficial effects of the invention are as follows: the laser radar is used as detection equipment for remotely detecting deflection, and the deflection of each position of the bridge is monitored in real time by constructing a three-dimensional point cloud model, so that manual reading errors are avoided, and labor intensity is reduced. The flying adsorption robot is selected for carrying detection equipment, can fly fast and is fixed to the detection position under the bridge, so that the influence of unmanned aerial vehicle shaking on detection precision is avoided, meanwhile, the systematic error of the bridge deck asphalt layer on the deflection detection result is eliminated, the detection coverage is enlarged, the detection precision is improved, and the potential safety hazard is eliminated.
Description
Technical Field
The invention relates to a detection device, in particular to an intelligent detection device and method for bridge deflection, and belongs to the technical field of bridge detection.
Background
The laser radar is an active remote sensing device which uses a laser as an emission light source to emit laser beams to a detection target, and can acquire the positions of all points on the surface of an object to be detected in real time by analyzing the positions of the detection target, so as to construct a three-dimensional point cloud model. The laser radar is primarily applied to the field of bridge detection, and can be used for measuring deformation of a bridge over time or load.
The flying adsorption robot combines the advantages of the unmanned aerial vehicle and the wall climbing robot, can randomly switch the flying state and the adsorption state, can make up the defects that the unmanned aerial vehicle is difficult to approach the bridge surface, the airborne detection equipment is low in stability and poor in cruising ability, and can solve the problems that the wall climbing robot is difficult to surmount an obstacle and the detection coverage area is small.
The bridge structure can deform under the action of dead weight and external load in the long-term use process, and the bridge deflection is the vertical line displacement of each point after deformation and is an important index for evaluating the operation safety of the bridge. The static load test of the bridge is a bridge detection method for judging bridge design and construction quality, and parameters such as deflection and strain of each control section under the action of a static load are actually measured by applying the static load on a designated position of the bridge, so that the bearing capacity and the service condition of a bridge structure are analyzed. In the bridge static load test, the deflection change of the beam body before and after loading needs to be measured to reflect whether the bridge bearing capacity meets the design requirement or not, and the traditional deflection detection generally adopts the following method:
1. the scaffold or the steel wire is erected at the bottom of the beam body, a fixed base point is arranged, and a displacement meter such as a dial gauge is erected at the base point to directly measure deflection. The method can not be detected in environments where fixed base points cannot be erected, such as river bridges with water under the bridge or line bridges across the valley, and the like, and has the advantages of high detection cost, long time, high labor intensity and potential safety hazard.
2. The deflection is measured by adopting a precise level gauge erected on the bridge deck, the deflection measured by the method is common deformation of the bridge deck asphalt layer and the beam body during loading, the influence of the deformation of the bridge deck asphalt layer can not be eliminated, and a systematic error exists in a measuring result. Meanwhile, as the deflection measuring points are arranged on the bridge deck, the deflection measuring points are often occupied by a loading vehicle in the detection process, and a proper position erection level is difficult to find.
3. The deflection is measured by adopting a total station, the method is based on the principle of triangular elevation, the horizontal distance and the vertical angle between two points on a bridge are measured by the total station, then the height difference is calculated, and the deflection is measured indirectly. The method has the limitations that the measurement accuracy is low, the view angle of the total station cannot be shielded by obstacles near the bridge, and the method is greatly influenced by the environment near the bridge.
And 4, measuring deflection by a GPS positioning method, installing a GPS positioner on a bridge deflection measuring point, and measuring deflection change by utilizing GPS satellite positioning information. The method has the advantages of low sampling frequency, long response time, high cost and insufficient precision in the deflection detection of the middle-small span bridge.
Disclosure of Invention
The invention aims to solve the problem and provide an intelligent detection device and method for bridge deflection, wherein the device is free from environmental influence, high in precision, high in detection speed and low in cost, and can remotely monitor deflection changes of all positions of a bridge in real time.
The invention realizes the above purpose through the following technical scheme: the intelligent bridge deflection detection device comprises a flying adsorption robot frame, a flying device, an adsorption device, a control device and a detection device; the flying adsorption robot frame four corners are equipped with the flying device respectively, just the flying device is used for controlling the flight state, the adsorption equipment is installed to flying adsorption robot frame bottom, just the adsorption equipment is used for adsorbing the bridge surface, flying adsorption robot frame center rest lower floor is equipped with controlling means, just controlling means is used for flight position and gesture control, detection device is installed to flying adsorption robot frame center rest upper strata, just detection device is used for bridge deflection detection.
As still further aspects of the invention: the flying device comprises a direct current motor and a rotor wing, wherein an output shaft of the direct current motor is connected with a rotor wing rotating shaft, the rotating direction of the rotor wing is changed by controlling the rotating direction of the direct current motor, the lifting force of the rotor wing is changed by controlling the rotating speed of the direct current motor, and the flying state of the flying adsorption robot is controlled by matching and rotating the four rotor wings.
As still further aspects of the invention: the adsorption device comprises a sealing device and a centrifugal device, the sealing device comprises a sealing lining and a sealing skirt, the sealing lining is made of wear-resistant nylon materials, the sealing lining is adhered to a chassis of a frame of the flying adsorption robot, a sealing cavity is formed by enclosing the sealing lining and the wall when the flying adsorption robot adsorbs the flying adsorption robot on the wall, the sealing skirt is made of carbon fiber yarn materials and is designed into a brush type structure, and the sealing skirt is attached to the edge of the sealing lining.
As still further aspects of the invention: the centrifugal device comprises a centrifugal pump, a brushless motor and an air pressure sensor, wherein the centrifugal pump is arranged on a frame of the flying adsorption robot, a centrifugal impeller is rotationally arranged in the centrifugal pump, the centrifugal pump is provided with the brushless motor, an output shaft of the brushless motor is connected with the centrifugal impeller, the centrifugal impeller rotationally extracts gas in a sealing cavity to form continuous negative pressure so as to achieve adsorption, and the air pressure sensor is arranged in the negative pressure cavity.
As still further aspects of the invention: the control device comprises a sensor group and an onboard singlechip and is used for controlling the flying position and the attitude; the sensor group comprises a position sensor, a triaxial accelerometer, a triaxial gyroscope, a magnetometer and an air pressure altimeter, and is used for providing position, speed and flight attitude information for the flight adsorption robot; the airborne singlechip is responsible for the operation and judgment of the gesture of the flying adsorption robot, and simultaneously controls the sensor and the direct current motor.
As still further aspects of the invention: the detection device comprises a camera and a laser radar, wherein the camera and the laser radar are fixed through a stability-increasing cradle head, the laser radar is used for acquiring position information of each point at the bottom of a bridge in real time by constructing a bridge three-dimensional point cloud model, and the camera is used for monitoring a flight environment in real time.
A detection method of an intelligent bridge deflection detection device comprises the following steps:
step one: reference point cloud acquisition
The method comprises the steps of adopting two flying adsorption robots to fly and adsorb on bridge piers on two sides of a bridge to be detected respectively, collecting initial point clouds at the bottom of the bridge when the bridge is not loaded by using the carried laser radars, mutually supplementing the point clouds collected by the two laser radars, and obtaining corrected bridge initial point clouds.
Step two: loading vehicle
And selecting a proper loading vehicle and loading mode, and carrying out loading test on the bridge to be tested.
Step three: point cloud acquisition after loading
And after the loading of the vehicle is completed, collecting the bottom point cloud of the loaded bridge beam by using the laser radars on the two flying adsorption robots again, and supplementing the point cloud collected by the two laser radars to obtain the corrected loaded bridge point cloud.
Step four: deflection calculation
The deflection value of each position of the bottom surface of the bridge can be measured through the point cloud acquired by the laser radar, and the deflection measuring method comprises the following steps:
the Hausodoff distance between each point B in the loaded point cloud B and the reference point cloud A is calculated, wherein the Hausodoff distance is the nearest distance between each point B in the point cloud B and the reference point cloud A, and the calculation formula is as follows:
H(b，A)＝min a∈A ||b-a||
wherein a is any point in the reference point cloud, B is any point in the loaded point cloud B, and H (B, A) is the nearest distance from the point B to the reference point cloud A, namely the deflection value of the point B.
The beneficial effects of the invention are as follows: the intelligent detection device and the intelligent detection method for the bridge deflection are reasonable in design, and the laser radar is adopted as detection equipment to remotely detect the deflection, so that the problem that a traditional deflection detection method cannot be used under the condition that a bracket cannot be erected when water exists under the bridge or a river-crossing line-crossing valley bridge is arranged under the bridge is solved, deflection of each position of the bridge is monitored in real time by constructing a three-dimensional point cloud model, manual reading errors are avoided, and labor intensity is reduced. The flying adsorption robot is selected for carrying detection equipment, can fly fast and is fixed to the detection position under the bridge, so that the influence of unmanned aerial vehicle shaking on detection precision is avoided, meanwhile, the systematic error of the bridge deck asphalt layer on the deflection detection result is eliminated, the detection coverage is enlarged, the detection precision is improved, and the potential safety hazard is eliminated.
Drawings
FIG. 1 is a schematic view of the structure of a flying device and a detecting device of the present invention;
FIG. 2 is a schematic diagram of an adsorption apparatus according to the present invention;
FIG. 3 is a schematic diagram of a control device according to the present invention;
fig. 4 is a schematic diagram of the static load test deflection detection process of the bridge static load test of the invention.
In the figure: 1. flying adsorption robot frame, 2, flying device, 21, direct current motor, 22, rotor, 3, adsorption device, 31, sealing device, 311, sealed inside lining, 312, sealed skirt, 32, centrifugal device, 321, centrifugal pump, 322, brushless motor, 323, air pressure sensor, 4, detection device, 41, camera, 42, laser radar, 5, controlling means, 51, sensor group and 52, on-board singlechip.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 4, an intelligent bridge deflection detection device comprises a flying adsorption robot frame 1, a flying device 2, an adsorption device 3, a control device 5 and a detection device 4; the four corners of the flying adsorption robot frame 1 are respectively provided with a flying device 2, the flying devices 2 are used for controlling flying states, the bottom of the flying adsorption robot frame 1 is provided with an adsorption device 3, the adsorption device 3 is used for adsorbing the surface of a bridge, the lower layer of the central support of the flying adsorption robot frame 1 is provided with a control device 5, the control device 5 is used for controlling flying positions and postures, the upper layer of the central support of the flying adsorption robot frame 1 is provided with a detection device 4, and the detection device 4 is used for detecting the deflection of the bridge.
In the embodiment of the present invention, the flying device 2 includes a dc motor 21 and a rotor 22, where an output shaft of the dc motor 21 is connected to a rotating shaft of the rotor 22, the rotating direction of the rotor 22 is changed by controlling the rotating direction of the dc motor 21, the lift force of the rotor 22 is changed by controlling the rotating speed of the dc motor 21, and the flying state of the flying adsorption robot is controlled by the coordinated rotation of the four rotors 22, so as to implement vertical, pitching, rolling, yaw, front-back, and lateral movements of the flying adsorption robot.
In the embodiment of the invention, the adsorption device 3 comprises a sealing device 31 and a centrifugal device 32, the sealing device 31 comprises a sealing lining 311 and a sealing skirt 312, the sealing lining 311 is made of wear-resistant nylon materials, the sealing lining 311 is adhered to the chassis of the flying adsorption robot frame 1, a sealing cavity is formed by enclosing the flying adsorption robot on the wall, the sealing skirt 312 is made of carbon fiber wire materials, is designed into a brush structure, and the sealing skirt 312 is attached to the edge of the sealing lining 311 and is used for reducing air leakage in the sealing cavity and maintaining the air pressure in the cavity to be stable.
In the embodiment of the invention, the centrifugal device 32 comprises a centrifugal pump 321, a brushless motor 322 and an air pressure sensor 323, wherein the centrifugal pump 321 is arranged on the flying adsorption robot frame 1, a centrifugal impeller is rotatably arranged on the centrifugal pump 321, the centrifugal pump 321 is provided with the brushless motor 322, an output shaft of the brushless motor 322 is connected with the centrifugal impeller, the centrifugal impeller rotates to extract air in the sealing cavity to form continuous negative pressure so as to achieve adsorption, and the air pressure sensor 323 is arranged in the negative pressure cavity and is used for detecting the air pressure value in the sealing cavity and feeding back to the centrifugal pump, regulating the negative pressure in real time and controlling the dynamic balance of the adsorption force.
In the embodiment of the invention, the control device 5 comprises a sensor group 51 and an onboard singlechip 52, and is used for controlling the flying position and the attitude; the sensor group 51 comprises a position sensor, a triaxial accelerometer, a triaxial gyroscope, a magnetometer and an air pressure altimeter, and is used for providing position, speed and flight attitude information for the flight adsorption robot; the onboard singlechip 52 is responsible for the operation and judgment of the gesture of the flying adsorption robot, and simultaneously controls the sensor and the direct current motor.
In the embodiment of the invention, the detection device 4 comprises a camera 41 and a laser radar 42, the camera 41 and the laser radar 42 are fixed through a stability-increasing cradle head, the detection stability is improved, the laser radar 42 acquires the position information of each point at the bottom of a bridge in real time by constructing a bridge three-dimensional point cloud model, and then the deflection of the bridge is measured, and the camera 41 is used for monitoring the flight environment in real time, so that the flight safety is improved.
A detection method of an intelligent bridge deflection detection device comprises the following steps:
step one: reference point cloud acquisition
Two flying adsorption robots are adopted to fly and adsorb on bridge piers on two sides of a bridge to be detected respectively, the laser radars 42 carried by the flying adsorption robots are used for collecting initial point clouds at the bottom of the bridge when the bridge is not loaded, and the point clouds collected by the two laser radars 42 are mutually complemented to obtain corrected initial point clouds of the bridge.
Step two: loading vehicle
And selecting a proper loading vehicle and loading mode, and carrying out loading test on the bridge to be tested.
Step three: point cloud acquisition after loading
And after the loading of the vehicle is completed, acquiring the bottom point cloud of the loaded bridge beam by using the laser radars 42 on the two flying adsorption robots again, and mutually supplementing the point cloud acquired by the two laser radars 42 to obtain the corrected loaded bridge point cloud.
Step four: deflection calculation
The deflection value of each position of the bottom surface of the bridge can be measured through the point cloud acquired by the laser radar, and the deflection measuring method comprises the following steps:
the Hausodoff distance between each point B in the loaded point cloud B and the reference point cloud A is calculated, wherein the Hausodoff distance is the nearest distance between each point B in the point cloud B and the reference point cloud A, and the calculation formula is as follows:
H(b，A)＝min a∈A ||b-a||
wherein a is any point in the reference point cloud, B is any point in the loaded point cloud B, and H (B, A) is the nearest distance from the point B to the reference point cloud A, namely the deflection value of the point B.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (2)
1. The intelligent bridge deflection detection method is characterized by comprising a flying adsorption robot frame (1), a flying device (2), an adsorption device (3), a control device (5) and a detection device (4); the method is characterized in that: the device comprises a flying adsorption robot frame (1), wherein four corners of the flying adsorption robot frame (1) are respectively provided with a flying device, the flying devices (2) are used for controlling flying states, an adsorption device (3) is installed at the bottom of the flying adsorption robot frame (1), the adsorption device (3) is used for adsorbing the surface of a bridge, a control device (5) is arranged at the lower layer of a central support of the flying adsorption robot frame (1), the control device (5) is used for controlling flying positions and postures, a detection device (4) is installed at the upper layer of the central support of the flying adsorption robot frame (1), and the detection device (4) is used for detecting the deflection of the bridge;
the flying device (2) comprises a direct current motor (21) and a rotor wing (22), wherein an output shaft of the direct current motor (21) is connected with a rotating shaft of the rotor wing (22), the rotating direction of the rotor wing (22) is changed by controlling the rotating direction of the direct current motor (21), the lifting force of the rotor wing (22) is changed by controlling the rotating speed of the direct current motor (21), and the flying state of the flying adsorption robot is controlled by the cooperation rotation of the four rotor wings (22);
the adsorption device (3) comprises a sealing device (31) and a centrifugal device (32), the sealing device (31) comprises a sealing lining (311) and a sealing skirt (312), the sealing lining (311) is made of wear-resistant nylon materials, the sealing lining (311) is adhered to a chassis of the flying adsorption robot frame (1), a sealing cavity is formed by enclosing the sealing lining (311) with a wall when the flying adsorption robot is adsorbed on the wall, the sealing skirt (312) is made of carbon fiber yarn materials and is designed into a hairbrush structure, and the sealing skirt (312) is attached to the edge of the sealing lining (311);
the centrifugal device (32) comprises a centrifugal pump (321), a brushless motor (322) and an air pressure sensor (323), wherein the centrifugal pump (321) is arranged on a flying adsorption robot frame (1), a centrifugal impeller is rotatably arranged in the centrifugal pump (321), the centrifugal pump (321) is provided with the brushless motor (322), an output shaft of the brushless motor (322) is connected with the centrifugal impeller, the centrifugal impeller rotates to extract gas in a sealing cavity to form continuous negative pressure so as to achieve adsorption, and the air pressure sensor (323) is arranged in the negative pressure cavity;
the detection device (4) comprises a camera (41) and a laser radar (42), wherein the camera (41) and the laser radar (42) are fixed through a stability-increasing cloud platform, the laser radar (42) is used for acquiring position information of each point at the bottom of a bridge in real time by constructing a bridge three-dimensional point cloud model, and the camera (41) is used for monitoring the flight environment in real time;
the detection method comprises the following steps:
step one: reference point cloud acquisition
Two flying adsorption robots are adopted to fly and adsorb on bridge piers on two sides of a bridge to be detected respectively, laser radars (42) carried by the flying adsorption robots are used for collecting initial point clouds at the bottom of the bridge when the bridge is not loaded, and the point clouds collected by the two laser radars (42) are mutually complemented to obtain corrected initial point clouds of the bridge;
step two: loading vehicle
Selecting a proper loading vehicle and loading mode, and carrying out loading test on the bridge to be tested;
step three: point cloud acquisition after loading
After the loading of the vehicle is completed, collecting the bottom point clouds of the loaded bridge beam by using the laser radars (42) on the two flying adsorption robots again, and supplementing the point clouds collected by the two laser radars (42) with each other to obtain corrected loaded bridge point clouds;
step four: deflection calculation
The deflection value of each position of the bottom surface of the bridge can be measured through the point cloud acquired by the laser radar, and the deflection measuring method comprises the following steps:
the Hausodoff distance between each point B in the loaded point cloud B and the reference point cloud A is calculated, wherein the Hausodoff distance is the nearest distance between each point B in the point cloud B and the reference point cloud A, and the calculation formula is as follows:
wherein a is any point in the reference point cloud, B is any point in the loaded point cloud B,the closest distance from the point b to the reference point cloud A is the deflection value of the point b.
2. The intelligent bridge deflection detection method according to claim 1, wherein the method comprises the following steps: the control device (5) comprises a sensor group (51) and a machine-mounted singlechip (52) and is used for controlling the flying position and the attitude; the sensor group (51) comprises a position sensor, a triaxial accelerometer, a triaxial gyroscope, a magnetometer and an air pressure altimeter, and is used for providing position, speed and flight attitude information for the flight adsorption robot; the airborne singlechip (52) is responsible for the operation and judgment of the gesture of the flying adsorption robot, and simultaneously controls the sensor and the direct current motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011100599.8A CN112171692B (en) | 2020-10-15 | 2020-10-15 | Intelligent bridge deflection detection device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011100599.8A CN112171692B (en) | 2020-10-15 | 2020-10-15 | Intelligent bridge deflection detection device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112171692A CN112171692A (en) | 2021-01-05 |
| CN112171692B true CN112171692B (en) | 2023-12-12 |
Family
ID=73950208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011100599.8A Active CN112171692B (en) | 2020-10-15 | 2020-10-15 | Intelligent bridge deflection detection device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112171692B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112945117B (en) * | 2021-01-26 | 2022-07-08 | 广西建宏工程科技有限公司 | Movable bridge deflection detector for bridge engineering detection |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648516A (en) * | 2015-02-09 | 2015-05-27 | 重庆大学 | Self-adaptive flight adsorption-type wall-climbing robot |
| CN107300452A (en) * | 2017-08-10 | 2017-10-27 | 天津市德力电子仪器有限公司 | A kind of Test on Bridge Loading rapid detection system |
| KR20170136130A (en) * | 2016-05-31 | 2017-12-11 | (주)카이센 | System for measuring bridge deflection |
| CN108106801A (en) * | 2017-11-15 | 2018-06-01 | 温州市交通工程试验检测有限公司 | Bridge tunnel disease non-contact detection system and detection method |
| CN108680924A (en) * | 2018-05-16 | 2018-10-19 | 武汉珈鹰智能科技有限公司 | Wall absorption robot detection device, control system and method based on unmanned plane |
| CN108801570A (en) * | 2018-06-22 | 2018-11-13 | 核工业西南勘察设计研究院有限公司 | A kind of wisdom bridge tube reason system |
| CN109774924A (en) * | 2017-11-10 | 2019-05-21 | 宿迁永泰邦辰知识产权运营管理有限公司 | A kind of dedicated damping type undercarriage of unmanned plane |
| CN109911205A (en) * | 2019-03-18 | 2019-06-21 | 长安大学 | A kind of bridge pier detection unmanned plane device and detection method |
| CN110888143A (en) * | 2019-10-30 | 2020-03-17 | 中铁四局集团第五工程有限公司 | Bridge through measurement method based on unmanned aerial vehicle airborne laser radar |
| US10641898B1 (en) * | 2016-04-01 | 2020-05-05 | Stc.Unm | Structural displacement measurement using unmanned aerial vehicles equipped with lasers |
| CN210793633U (en) * | 2019-07-01 | 2020-06-19 | 代竹先 | Bridge floor detection device |
| CN213259512U (en) * | 2020-10-15 | 2021-05-25 | 吉林大学 | Flying adsorption robot for bridge deflection detection |
-
2020
- 2020-10-15 CN CN202011100599.8A patent/CN112171692B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648516A (en) * | 2015-02-09 | 2015-05-27 | 重庆大学 | Self-adaptive flight adsorption-type wall-climbing robot |
| US10641898B1 (en) * | 2016-04-01 | 2020-05-05 | Stc.Unm | Structural displacement measurement using unmanned aerial vehicles equipped with lasers |
| KR20170136130A (en) * | 2016-05-31 | 2017-12-11 | (주)카이센 | System for measuring bridge deflection |
| CN107300452A (en) * | 2017-08-10 | 2017-10-27 | 天津市德力电子仪器有限公司 | A kind of Test on Bridge Loading rapid detection system |
| CN109774924A (en) * | 2017-11-10 | 2019-05-21 | 宿迁永泰邦辰知识产权运营管理有限公司 | A kind of dedicated damping type undercarriage of unmanned plane |
| CN108106801A (en) * | 2017-11-15 | 2018-06-01 | 温州市交通工程试验检测有限公司 | Bridge tunnel disease non-contact detection system and detection method |
| CN108680924A (en) * | 2018-05-16 | 2018-10-19 | 武汉珈鹰智能科技有限公司 | Wall absorption robot detection device, control system and method based on unmanned plane |
| CN108801570A (en) * | 2018-06-22 | 2018-11-13 | 核工业西南勘察设计研究院有限公司 | A kind of wisdom bridge tube reason system |
| CN109911205A (en) * | 2019-03-18 | 2019-06-21 | 长安大学 | A kind of bridge pier detection unmanned plane device and detection method |
| CN210793633U (en) * | 2019-07-01 | 2020-06-19 | 代竹先 | Bridge floor detection device |
| CN110888143A (en) * | 2019-10-30 | 2020-03-17 | 中铁四局集团第五工程有限公司 | Bridge through measurement method based on unmanned aerial vehicle airborne laser radar |
| CN213259512U (en) * | 2020-10-15 | 2021-05-25 | 吉林大学 | Flying adsorption robot for bridge deflection detection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112171692A (en) | 2021-01-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN213259512U (en) | Flying adsorption robot for bridge deflection detection | |
| Mirallès et al. | LineDrone Technology: Landing an unmanned aerial vehicle on a power line | |
| KR101252080B1 (en) | The apparatus and method of inspecting with flying robot of quad roter | |
| CN108375463B (en) | Three-dimensional wind field testing system and method for rotor unmanned aerial vehicle | |
| JP5535370B2 (en) | Factory flight | |
| CN105235895B (en) | Many rotor unmanned aircrafts and its brake hard method with emergency braking apparatus | |
| CN106643445A (en) | Track flatness measuring method | |
| CN112986612B (en) | Low-altitude movable wind speed measurement method based on four-rotor unmanned aerial vehicle | |
| KR102118157B1 (en) | Sensor mounting device of unmanned aerial vehicle for meteorological observation, unmanned aerial vehicle for meteorological observation and meteorological observation method thereof and sensor mounting device of unmanned aerial vehicle for meteorological observation | |
| CN112171692B (en) | Intelligent bridge deflection detection device and method | |
| CN114993263B (en) | High-precision unmanned aerial vehicle mapping system for building based on level point positioning | |
| CN105333848A (en) | Device and method for measuring aircraft tire compression amount | |
| CN107101636A (en) | A kind of method that use Kalman filter recognizes many rotor dynamics model parameters | |
| CN113821044A (en) | Bridge detection unmanned aerial vehicle autonomous navigation and stability control method based on reinforcement learning | |
| CN104875882A (en) | Quadrotor | |
| CN110657788A (en) | Dynamic detection method for smoothness of crane track | |
| KR102382888B1 (en) | Flying performance testing apparatus for drone | |
| CN210175142U (en) | Telemetering device with camera shooting function | |
| CN103984339A (en) | Mechanical failure debugging device for rotor craft | |
| CN111216921A (en) | Test system and test method for ground-imitating flight of unmanned aerial vehicle | |
| CN110065642A (en) | A kind of urban viaduct detection unmanned plane | |
| CN104536458A (en) | Portable flight parameter data calibration method and device | |
| CN102072796A (en) | Solar battery array dynamic-measurement system | |
| CN203870468U (en) | Mechanical failure debugging device used for rotorcraft | |
| CN205280389U (en) | Measure airborne equipment of aircraft tire decrement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |