CN113668384A - Bridge inspection vehicle - Google Patents
Bridge inspection vehicle Download PDFInfo
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- CN113668384A CN113668384A CN202110902017.6A CN202110902017A CN113668384A CN 113668384 A CN113668384 A CN 113668384A CN 202110902017 A CN202110902017 A CN 202110902017A CN 113668384 A CN113668384 A CN 113668384A
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- 238000007689 inspection Methods 0.000 title claims abstract description 216
- 230000004888 barrier function Effects 0.000 claims abstract description 40
- 238000001514 detection method Methods 0.000 claims description 31
- 238000000926 separation method Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 9
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 4
- 239000004917 carbon fiber Substances 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical group C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 4
- 239000011435 rock Substances 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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Abstract
The invention provides a bridge inspection vehicle which comprises a walking device, an inspection device, a first obstacle avoidance telescopic device and a second obstacle avoidance telescopic device. When the bridge is inspected, if the first obstacle avoidance telescopic device meets an obstacle, the first obstacle avoidance telescopic device contracts and is separated from the inspection device to form a gap. After passing through the obstacle, the first obstacle avoidance telescopic device extends and is connected with the inspection device again. When the second obstacle avoidance telescopic device meets an obstacle, the working process of the second obstacle avoidance telescopic device is the same as that of the first obstacle avoidance telescopic device. Need not to pack up the inspection arm like this, detour, avoid the bridge limit barrier, utilize first obstacle telescoping device, the second of keeping away to keep away the obstacle telescoping device and just can avoid the barrier, easy operation has improved the work efficiency of whole inspection car greatly, also can avoid the inspection car to remove the in-process simultaneously and lead to whole truss class structure to rock aloft, has improved the stability of whole device under operating condition, avoids appearing the security problem.
Description
Technical Field
The invention relates to the technical field of bridge structure inspection, in particular to a bridge inspection vehicle.
Background
Bridge inspection is divided into regular inspection, and special inspection.
Regular and special inspections of bridges, which are generally known to be effective, usually refer to close inspection and testing of the main structure by personnel who have arrived under the bridge with special equipment. However, such inspections are often expensive and have poor flexibility. Meanwhile, manual detection is performed, the labor intensity is high, potential safety hazards exist, and the detection efficiency is low. Therefore, most bridges fail to meet the requirement of one-time periodic inspection for three years.
The frequent inspection is usually carried out by human eyes or by using a telescope for remote observation, but the visual inspection is carried out on bridges crossing rivers, valleys and having higher bridge positions, the obtained result is often not clear and definite, the traceability is lacked, and the bridge condition can be judged only on site. The requirement on the professional level of inspectors is high, and the structural damage degree related to bridge safety is difficult to judge timely and accurately. Moreover, the work intensity of inspectors is high, the time consumption is high, the requirement on the physical quality of workers is high, personal safety accidents are easy to happen, and the frequent inspection of bridges is mostly tangible and unrealistic. Therefore, an economical and efficient bridge inspection device is produced.
However, a large number of stay cables are arranged on the bridge, or facilities such as a sound barrier and a lamp post are arranged, or wiring or greening shielding is disturbed due to local privacy. When the existing bridge inspection device encounters the obstacles, the inspection arm extending to the bottom of the bridge needs to be retracted to the bridge floor, moved to the middle of the bridge, and extended to the bottom of the bridge to continue inspection after bypassing the obstacles. This will undoubtedly increase the operational complexity of the whole inspection device, affecting its working efficiency and safety in use.
Disclosure of Invention
The invention aims to provide a bridge inspection vehicle, which is used for solving the problems in the prior art.
The invention provides a bridge inspection vehicle, comprising:
a traveling device capable of traveling on a road surface;
the inspection device is used for inspecting the bridge;
the first end of the first obstacle avoidance telescopic device is connected with the walking device, the second end of the first obstacle avoidance telescopic device is detachably connected with the inspection device, and the second end of the first obstacle avoidance telescopic device can perform telescopic motion along the axial direction of the first obstacle avoidance telescopic device, so that the first obstacle avoidance telescopic device and the inspection device can be switched between a connection state and a separation state, and therefore obstacles can be avoided;
the second keeps away barrier telescoping device, first end with running gear is connected, the second end with but inspection device split joint, the second keeps away barrier telescoping device with first keep away barrier telescoping device follows running gear's walking direction interval distribution, just the second keeps away barrier telescoping device's second end and can make concertina movement along its axial, so that the second keeps away the barrier telescoping device with inspection device can be between connection state and separation state to can avoid the barrier.
The bridge inspection vehicle provided by the invention further comprises:
the edge following detection device is used for detecting the distance between the walking device and the bridge edge;
the control device is in communication connection with the edge following detection device and the walking device, and the control device controls the walking device to walk along the bridge according to detection signals of the edge following detection device.
The bridge inspection vehicle further comprises a first obstacle identification device for detecting whether an obstacle exists or not, wherein the first obstacle identification device and the first obstacle avoidance telescopic device are in communication connection with the control device, and the control device controls the first obstacle avoidance telescopic device to do telescopic motion according to a detection signal of the first obstacle identification device; and/or the presence of a gas in the gas,
the obstacle avoidance control system is characterized by further comprising a second obstacle identification device used for detecting whether an obstacle exists or not, the second obstacle identification device and the second obstacle avoidance telescopic device are in communication connection with the control device, and the control device controls the second obstacle avoidance telescopic device to conduct telescopic motion according to detection signals of the second obstacle identification device.
According to the bridge inspection vehicle provided by the invention, the first obstacle avoidance telescopic device comprises:
the first fixed seat is arranged on the walking device;
the first end of the supporting arm is rotatably connected with the first fixed seat;
the first end of the first telescopic arm is connected with the second end of the supporting arm, the second end of the first telescopic arm is detachably connected with the inspection device, and the second end of the first telescopic arm can perform telescopic motion along the axial direction of the first telescopic arm, so that the first telescopic arm and the inspection device can be switched between a connection state and a separation state; and/or the presence of a gas in the gas,
the second keeps away barrier telescoping device includes:
the second fixed seat is arranged on the walking device;
the first end of the second telescopic arm is connected with the second fixing seat, the second end of the second telescopic arm is detachably connected with the inspection device, and the second end of the second telescopic arm can do telescopic motion along the axial direction of the second telescopic arm, so that the second telescopic arm and the inspection device can be switched between a connection state and a separation state.
According to the bridge inspection vehicle provided by the invention, the inspection device is provided with a first connecting part for inserting the first telescopic arm, and the first telescopic arm is inserted into the first connecting part when the first telescopic arm and the inspection device are in a connected state; the first telescopic arm is separated from the first connecting part to form a gap for an obstacle to pass through when the first telescopic arm and the inspection device are in a separated state; and/or the presence of a gas in the gas,
the inspection device is provided with a second connecting part for inserting the second telescopic arm, and the second telescopic arm is inserted in the second connecting part when the second telescopic arm and the inspection device are in a connected state; the second telescopic arm is separated from the second connecting portion to form a gap through which an obstacle passes in a state where the second telescopic arm and the inspection apparatus are separated.
According to the bridge inspection vehicle provided by the invention, the edge following detection device is a distance measurement sensor, and the distance measurement sensor is arranged on one side of the walking device close to the bridge edge.
According to the bridge inspection vehicle provided by the invention, the inspection device comprises:
the first obstacle avoidance telescopic device and the second obstacle avoidance telescopic device are detachably connected with the vertical inspection arm, and the vertical inspection arm can do telescopic motion along the axial direction of the vertical inspection arm;
the transverse inspection arm is arranged along the horizontal direction, is hinged with the bottom end of the vertical inspection arm and can rotate along any direction;
the camera shooting assembly is arranged on the transverse inspection arm and used for shooting bridge inspection videos and images.
According to the bridge inspection vehicle provided by the invention, the camera shooting assembly comprises:
the camera is used for shooting bridge inspection videos and images;
and the third fixing seat is arranged on the transverse inspection arm, and the camera is rotatably connected to the third fixing seat.
According to the bridge inspection vehicle provided by the invention, at least two cameras are arranged, and each camera is rotatably connected with the third fixed seat.
According to the bridge inspection vehicle provided by the invention, at least one of the first obstacle avoidance telescopic device, the second obstacle avoidance telescopic device, the vertical inspection arm and the transverse inspection arm is made of carbon fiber.
The bridge inspection vehicle provided by the invention comprises a walking device, a walking device and a bridge inspection vehicle, wherein the walking device can walk on a road surface; the inspection device is used for inspecting the bridge; the first end of the first obstacle avoidance telescopic device is connected with the walking device, the second end of the first obstacle avoidance telescopic device is detachably connected with the inspection device, and the second end of the first obstacle avoidance telescopic device can perform telescopic motion along the axial direction of the first obstacle avoidance telescopic device, so that the first obstacle avoidance telescopic device and the inspection device can be switched between a connection state and a separation state, and obstacles can be avoided; the second keeps away barrier telescoping device, and first end is connected with running gear, but the second end is connected with the inspection device split, and the second keeps away barrier telescoping device and first obstacle telescoping device of keeping away and follows running direction interval distribution of running gear, and the second of second keeps away barrier telescoping device holds and can make concertina movement along its axial to make the second keep away barrier telescoping device and inspection device can switch between connection state and separation state, thereby can avoid the barrier.
So set up, when the inspection bridge, if first keep away barrier telescoping device and meet the barrier, then first keep away barrier telescoping device shrink, separate with inspection device, form the clearance. After passing through the obstacle, the first obstacle avoidance telescopic device extends and is connected with the inspection device again. When the second obstacle avoidance telescopic device meets an obstacle, the working process of the second obstacle avoidance telescopic device is the same as that of the first obstacle avoidance telescopic device. Need not to pack up the inspection arm like this, detour, avoid the bridge limit barrier, utilize first obstacle telescoping device, the second of keeping away to keep away the obstacle telescoping device and just can avoid the barrier, easy operation has improved the work efficiency of whole inspection car greatly, also can avoid the inspection car to remove the in-process simultaneously and lead to whole truss class structure to rock aloft, has improved the stability of whole device under operating condition, avoids appearing the security problem.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a perspective view of a bridge inspection vehicle provided by the present invention;
FIG. 2 is a front view of a bridge inspection vehicle provided by the present invention;
FIG. 3 is a side view of a bridge inspection vehicle provided by the present invention;
reference numerals:
1: a traveling device; 2: a first obstacle avoidance telescopic device; 3: a second obstacle avoidance telescopic device;
4: a vertical inspection arm; 5: a transverse inspection arm; 6: a camera assembly;
7: a lamp post; 8: a bridge; 11: an edge tracking detection device;
21: a first fixed seat; 22: a support arm; 23: a first telescopic arm;
31: a second fixed seat; 32: a second telescopic arm; 41: a first obstacle recognition device;
42: a first connection portion; 43: a second obstacle recognition device; 44: a second connecting portion;
45: an expansion joint; 46: a connecting shaft; 51: a third fixed seat;
52: and a fourth fixed seat.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The bridge inspection vehicle of the present invention will be described with reference to fig. 1 to 3.
As shown in fig. 1, an embodiment of the present invention provides a bridge inspection vehicle, which includes a traveling device 1, an inspection device, a first obstacle avoidance telescopic device 2, and a second obstacle avoidance telescopic device 3. Wherein, running gear 1 can be the walking dolly, can go on the road surface, is convenient for observe and test. The inspection device is used for inspecting the bridge 8 to complete the monitoring of the main structure of the bridge, and workers do not need to go to the underbridge for inspection, so that the labor intensity and the danger of the workers are reduced. The first end of the first obstacle avoidance telescopic device 2 is connected with the walking device 1, and the second end of the first obstacle avoidance telescopic device is detachably connected with the inspection device. And the second end of the first obstacle avoidance telescopic device 2 can do telescopic motion along the axial direction thereof, so that the first obstacle avoidance telescopic device 2 and the inspection device can be switched between a connection state and a separation state, and thus, an obstacle can be avoided. It should be noted that, regarding the placement position of the bridge inspection vehicle shown in fig. 1, the left end of the first obstacle avoidance telescopic device 2 in the drawing is the first end of the first obstacle avoidance telescopic device 2, and the right end of the first obstacle avoidance telescopic device 2 in the drawing is the second end of the first obstacle avoidance telescopic device 2.
The first end of the second obstacle avoidance telescopic device 3 is connected with the walking device 1, and the second end of the second obstacle avoidance telescopic device is detachably connected with the inspection device. The first obstacle avoidance telescopic device 2 and the second obstacle avoidance telescopic device 3 are distributed at intervals along the walking direction of the walking device 1, so that the two obstacle avoidance telescopic devices can successively meet obstacles, and it is guaranteed that one obstacle avoidance telescopic device is connected with the inspection device all the time when the obstacle passes through, and the whole safety and reliability of the inspection vehicle can be guaranteed to work. And the second end of the second obstacle avoidance telescopic device 3 can do telescopic motion along the axial direction thereof, so that the second obstacle avoidance telescopic device 3 and the inspection device can be switched between a connection state and a separation state, and thus, an obstacle can be avoided. It should be noted that, regarding the placement position of the bridge inspection vehicle shown in fig. 1, the left end of the second obstacle avoidance telescopic device 3 in the drawing is the first end of the second obstacle avoidance telescopic device 3, and the right end of the second obstacle avoidance telescopic device 3 in the drawing is the second end of the second obstacle avoidance telescopic device 3.
So set up, when inspection bridge 8, if first keep away barrier telescoping device 2 and meet the barrier, then first keep away barrier telescoping device 2 shrink, with the inspection device separation, form the clearance. After passing through the obstacle, the first obstacle avoidance telescopic device 2 extends and is connected with the inspection device again. When the second obstacle avoidance telescopic device 3 meets an obstacle, the working process of the second obstacle avoidance telescopic device is the same as that of the first obstacle avoidance telescopic device 2. Need not to pack up the inspection arm like this, detour, avoid the bridge limit barrier, utilize first obstacle telescoping device 2, the second to keep away obstacle telescoping device 3 and just can avoid the barrier, easy operation has improved the work efficiency of whole inspection car greatly, also can avoid the inspection car to remove the in-process simultaneously and lead to whole truss class structure to rock aloft, has improved the stability of whole device under operating condition, avoids appearing the security problem.
In the embodiment of the invention, the bridge inspection vehicle further comprises an edge following detection device 11 and a control device. The edge-following detection device 11 may be a distance measuring sensor for detecting the distance between the traveling device 1 and the bridge edge. As shown in fig. 2, the edge following detection device 11 may be installed at the bottom of the traveling device 1 on a side near the bridge edge, so as to measure the distance therebetween. The edge-following detection device 11 and the walking device 1 are both in communication connection with the control device, and the control device controls the walking device 1 to walk along the bridge edge according to a detection signal of the edge-following detection device 11. The control device is a conventional device, and the electrical connection relationship and the control logic relationship between the control device and the edge tracking detection device 11 and the walking device 1 are conventional mature technologies. Like this through following the distance of limit detection device 11 discernment running gear 1 and bridge limit, can paste the limit walking, it is little to occupy the road surface, does not influence the bridge floor and normally passes, still can realize that the unmanned automation of inspection car goes simultaneously, degree of automation is high.
In the embodiment of the present invention, the bridge inspection vehicle further includes a first obstacle recognition device 41 for detecting whether there is an obstacle. The first obstacle recognition device 41 may be an infrared sensor, a travel switch, or the like, and is capable of detecting whether there is an obstacle and sending out a corresponding detection signal. The first obstacle identification device 41 and the first obstacle avoidance extending device 2 are in communication connection with the control device, and the control device controls the first obstacle avoidance extending device 2 to make extending movement according to a detection signal of the first obstacle identification device 41. When an obstacle is found, if the first obstacle identification device 41 sends a signal to the control device when the obstacle meets the lamp post 7 at the bridge edge, the first obstacle avoidance telescopic device 2 contracts and is separated from the inspection device, and the inspection vehicle continues to move forward. When the first obstacle recognition device 41 detects that the obstacle passes through the obstacle, the first obstacle avoidance telescopic device 2 is extended to be connected with the inspection device, and the whole inspection vehicle is guaranteed to smoothly advance.
The bridge inspection vehicle further includes a second obstacle recognition device 43 for detecting whether there is an obstacle. The second obstacle recognition device 43 may be an infrared sensor, a travel switch, or the like, and is capable of detecting whether there is an obstacle and sending out a corresponding detection signal. The second obstacle identification device 43 and the second obstacle avoidance extending device 3 are both in communication connection with the control device, and the control device controls the second obstacle avoidance extending device 3 to make extending and retracting movement according to a detection signal of the second obstacle identification device 43. When an obstacle is found, the second obstacle recognition device 43 sends a signal to the control device, and the second obstacle avoidance extending device 3 contracts and separates from the inspection device, so that the inspection vehicle continues to advance. When the second obstacle recognition device 43 detects that the obstacle passes through the obstacle, it sends a signal to the control device again, and the second obstacle avoidance stretching device 3 stretches and is connected with the inspection device, so that the inspection vehicle avoids the obstacle.
Like this bridge inspection car has the intelligence and keeps away the barrier function, and first barrier recognition device 41 and second barrier recognition device 43 can automatic identification the place ahead barrier, discover the barrier after, feed back to controlling means, and then the first barrier telescoping device 2 and the second of keeping away of automatic control keeps away barrier telescoping device 3 and carries out the flexible operation respectively, and the guarantee bridge inspection car is current smoothly, need not to avoid the barrier by-pass.
In the embodiment of the present invention, the first obstacle avoidance telescopic device 2 includes a first fixing seat 21, a supporting arm 22, and a first telescopic arm 23. As shown in fig. 1, the first fixing base 21 is installed on the top of the walking device 1. The first end of the supporting arm 22 is rotatably connected with the first fixing seat 21, and the second end is connected with the first end of the first telescopic arm 23. For example, the support arm 22 may be driven by a motor and may be electrically connected to a control device to effect automatic rotation. The second end of the first telescopic arm 23 is detachably connected with the inspection device, and the second end of the first telescopic arm 23 can perform telescopic movement along the axial direction of the first telescopic arm, so that the first telescopic arm 23 and the inspection device can be switched between a connection state and a separation state, a gap for passing an obstacle can be formed between the first telescopic arm 23 and the inspection device, and the size of the gap can be specifically determined according to actual application conditions. For example, the first telescopic arm 23 may be a common electric telescopic rod. The first telescopic arm 23 is electrically connected to a control device so as to control the first telescopic arm 23 to automatically extend or retract. Rotating the support arm 22 in this way enables the inspection device to be swung to adjust its position, facilitating extension and retraction of the inspection device under the bridge and onto the deck. It should be noted that, regarding the placement position of the bridge inspection vehicle shown in fig. 1, the lower end of the support arm 22 is the first end of the support arm 22, and the upper end of the support arm 22 is the second end of the support arm 22; the left end of the first telescopic arm 23 in the figure is the first end of the first telescopic arm 23, and the right end of the first telescopic arm 23 in the figure is the second end of the first telescopic arm 23.
The second obstacle avoidance telescopic device 3 includes a second fixed seat 31 and a second telescopic arm 32. The second fixing seat 31 can be arranged at the top of the walking device 1, the first end of the second telescopic arm 32 is connected with the second fixing seat 31, and the second end of the second telescopic arm is detachably connected with the inspection device. Wherein the second telescopic arm 32 is angled with respect to the first telescopic arm 23 in order to be simultaneously connected to the examination apparatus. And the second end of the second telescopic arm 32 can make telescopic movement along the axial direction thereof, so that the second telescopic arm 32 and the inspection device can be switched between a connection state and a separation state, and a gap for obstacles to pass through can be formed between the second telescopic arm 32 and the inspection device. For example, the second telescoping arm 32 may be a conventional electric telescoping rod. Second telescoping arm 32 is electrically connected to a control device for controlling automatic extension or retraction of second telescoping arm 32. In the arrangement position of the bridge inspection vehicle shown in fig. 1, the left end of the second telescopic arm 32 in the drawing is the first end of the second telescopic arm 32, and the right end of the second telescopic arm 32 in the drawing is the second end of the second telescopic arm 32.
In the embodiment of the present invention, the inspection apparatus is provided with the first connecting portion 42 into which the first telescopic arm 23 is inserted. In the connected state of the first telescopic arm 23 and the inspection device, the first telescopic arm 23 is inserted into the first connecting portion 42. In the state where the first telescopic arm 23 and the inspection apparatus are separated, the first telescopic arm 23 is separated from the first connecting portion 42 to form a gap through which an obstacle passes. The inspection apparatus is also provided with a second connecting portion 44 into which the second telescopic arm 32 is inserted. In the connected state of the second telescopic arm 32 and the examination apparatus, the second telescopic arm 32 is plugged into the second connection portion 44. In the state where the second telescopic arm 32 and the inspection apparatus are separated, the second telescopic arm 32 is separated from the second connecting portion 44 to form a gap through which an obstacle passes. In order to ensure reliable connection, a limiting member, such as a pin, may be disposed on the first connecting portion 42 and the second connecting portion 44. When the telescopic arm is inserted into the connecting part, the pin shaft on the connecting part is inserted into the telescopic arm. If the telescopic arm is withdrawn from the connecting part, the pin shaft is separated from the telescopic arm firstly. Of course, the limiting structure is not limited thereto, and can be adaptively adjusted according to actual design requirements.
In the embodiment of the invention, the inspection device comprises a vertical inspection arm 4, a transverse inspection arm 5 and a camera assembly 6. As shown in fig. 2, the vertical inspection arm 4 is arranged along the vertical direction, and the first obstacle avoidance extending device 2 and the second obstacle avoidance extending device 3 are detachably connected with the vertical inspection arm 4. Specifically, the upper end of the vertical inspection arm 4 is provided with a first connecting portion 42 inserted into the first telescopic arm 23 and a second connecting portion 44 inserted into the second telescopic arm 32. And vertical inspection arm 4 can make concertina movement along its axial, is convenient for adjust the observation position, does not need personnel to arrive under the bridge, has avoided high altitude construction, and the security is high. Vertical inspection arm 4 can be common telescopic link, including multistage telescopic joint 45, can extend or shorten step by step, satisfies the observation demand of not co-altitude department.
As shown in fig. 2, the transverse inspection arm 5 is disposed in a horizontal direction and is hinged to the bottom end of the vertical inspection arm 4. Moreover, the transverse checking arm 5 can be turned in any direction. The camera assembly 6 is arranged on the transverse inspection arm 5, and the camera assembly 6 is used for shooting bridge inspection videos and images. Specifically, the lowermost end of the vertical inspection arm 4 is provided with a connecting shaft 46, the right end of the transverse inspection arm 5 is provided with a fourth fixing seat 52 hinged to the connecting shaft 46, and the camera assembly 6 is located at the left end of the transverse inspection arm 5. For example, the connecting shaft 46 is articulated to the fourth fixed mount 52 by a universal joint, so that the transverse inspection arm 5 can be rotated in any direction. Set up like this, can change the turned angle and the direction of horizontal inspection arm 5 at will according to the observation demand to subassembly 6 of making a video recording shoots the task under the bridge. In the arrangement position of the bridge inspection vehicle shown in fig. 2, the vertical direction in the drawing is a vertical direction, and the horizontal direction is a horizontal direction.
In the embodiment of the present invention, the camera module 6 includes a camera and a third fixing base 51. The camera is used for shooting bridge inspection videos and images, has ultrahigh resolution, is high in visualization degree, and can record and shoot in real time. The camera can be electrically connected with the control device, automatically record and shoot, upload data and transmit the data to the control device in real time or remotely transmit the data to a control center of an office place. In addition, time, coordinates, classification information and the like can be added to the image picture to visualize the inspection data record, so that the inspection data is electronized, archives and systematized. The third fixing base 51 is arranged at the left end of the transverse inspection arm 5, and the camera is rotatably connected to the third fixing base 51, so that the camera can be rotated, and the inspection range is wide.
Further, there are at least two cameras, and each camera is rotatably connected with the third fixing seat 51. Therefore, all the members of the bridge can be inspected by the plurality of cameras, the inspection range is fully covered, and missing inspection is avoided.
In the embodiment of the present invention, at least one of the first obstacle avoidance telescopic device 2, the second obstacle avoidance telescopic device 3, the vertical inspection arm 4, and the horizontal inspection arm 5 is made of carbon fiber. For example, the support arm 22, the first telescopic arm 23, the second telescopic arm 32, the vertical inspection arm 4 and the horizontal inspection arm 5 are all made of carbon fiber materials, so that the device has the characteristics of high strength, light weight and the like, and is safe and reliable to use.
In summary, the present invention provides a bridge inspection vehicle, which includes a traveling device 1, an inspection device, a first obstacle avoidance telescopic device 2, a second obstacle avoidance telescopic device 3, an edge tracking detection device 11, a first obstacle identification device 41, a second obstacle identification device 43, and a control device. When the bridge inspection vehicle works, the bridge inspection vehicle is assembled at the starting point of the bridge to be inspected, then the working mode is selected, and manual operation or full-automatic unmanned operation is selected. If the full-automatic unmanned operation is selected, an inspection program including the movement route and the movement speed of each mechanism needs to be set in advance. If manual operation is selected, a worker sits in the walking trolley and controls the walking trolley in real time according to the inspection requirement through the in-trolley monitoring system and the operating handle.
After the inspection is started, the vertical inspection arm 4 is extended to a specified length, then the horizontal inspection arm 5 is controlled to rotate, and a plurality of cameras in the camera shooting assembly 6 are adjusted to rotate by different angles, so that the maximum area can be covered by shooting at each time, the focal length of the cameras is adjusted, and the sufficient definition is guaranteed. During the advance, if the first obstacle identifying device 41 detects an obstacle in front, such as a light pole 7, the first telescopic arm 23 automatically retracts to separate from the vertical inspection arm 4. When the first obstacle recognizing device 41 detects the passage of an obstacle, the first telescopic arm 23 is automatically extended and connected to the vertical inspection arm 4 again. Continuing to advance, when the second obstacle recognizing device 43 detects an obstacle in front, the second telescopic arm 32 is automatically retracted, being separated from the vertical checking arm 4. When the second obstacle recognizing device 43 detects the passage of an obstacle, the second telescopic arm 32 is automatically extended and reconnected to the vertical inspection arm 4.
After the inspection operation on one side of the bridge 8 is completed, the transverse inspection arm 5 horizontally rotates to the direction along the bridge direction, then the vertical inspection arm 4 retracts to the shortest position, the second telescopic arm 32 retracts, and the supporting arm 22 drives the vertical inspection arm 4 and the transverse inspection arm 5 to rotate to the inner side of the bridge 8. The first telescopic arm 23 is then retracted and the operator takes the entire inspection device off, completing the inspection operation. If the other side of the bridge 8 needs to be checked, the working process is repeated.
The bridge inspection vehicle is novel and ingenious in structure, light in weight, narrow in occupied road surface and high in intelligent degree, and can automatically avoid obstacles, automatically record videos, photograph and upload data in real time. The device is easy to disassemble and assemble, flexible to operate and high in detection efficiency, can replace common equipment for frequently checking bridges such as a ladder, a telescope, a digital camera, a record form, a boat and the like, and is suitable for underbridge checking operation of most of highway and railway bridges. The bridge inspection system can realize unmanned operation, greatly reduces the labor intensity and the danger of workers, improves the working efficiency of frequent bridge inspection, and has the characteristics of recordability, traceability, economy, applicability and the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A bridge inspection vehicle, comprising:
a traveling device capable of traveling on a road surface;
the inspection device is used for inspecting the bridge;
the first end of the first obstacle avoidance telescopic device is connected with the walking device, the second end of the first obstacle avoidance telescopic device is detachably connected with the inspection device, and the second end of the first obstacle avoidance telescopic device can perform telescopic motion along the axial direction of the first obstacle avoidance telescopic device, so that the first obstacle avoidance telescopic device and the inspection device can be switched between a connection state and a separation state, and therefore obstacles can be avoided;
the second keeps away barrier telescoping device, first end with running gear is connected, the second end with but inspection device split joint, the second keeps away barrier telescoping device with first keep away barrier telescoping device follows running gear's walking direction interval distribution, just the second keeps away barrier telescoping device's second end and can make concertina movement along its axial, so that the second keeps away the barrier telescoping device with inspection device can switch between connection status and separation status to can avoid the barrier.
2. The bridge inspection vehicle of claim 1, further comprising:
the edge following detection device is used for detecting the distance between the walking device and the bridge edge;
the control device is in communication connection with the edge following detection device and the walking device, and the control device controls the walking device to walk along the bridge according to detection signals of the edge following detection device.
3. The bridge inspection vehicle of claim 2, further comprising a first obstacle recognition device for detecting whether an obstacle exists, wherein the first obstacle recognition device and the first obstacle avoidance telescopic device are both in communication connection with the control device, and the control device controls the first obstacle avoidance telescopic device to perform telescopic motion according to a detection signal of the first obstacle recognition device; and/or the presence of a gas in the gas,
the obstacle avoidance control system is characterized by further comprising a second obstacle identification device used for detecting whether an obstacle exists or not, the second obstacle identification device and the second obstacle avoidance telescopic device are in communication connection with the control device, and the control device controls the second obstacle avoidance telescopic device to conduct telescopic motion according to detection signals of the second obstacle identification device.
4. The bridge inspection vehicle of claim 1, wherein the first obstacle avoidance telescoping device comprises:
the first fixed seat is arranged on the walking device;
the first end of the supporting arm is rotatably connected with the first fixed seat;
the first end of the first telescopic arm is connected with the second end of the supporting arm, the second end of the first telescopic arm is detachably connected with the inspection device, and the second end of the first telescopic arm can perform telescopic motion along the axial direction of the first telescopic arm, so that the first telescopic arm and the inspection device can be switched between a connection state and a separation state; and/or the presence of a gas in the gas,
the second keeps away barrier telescoping device includes:
the second fixed seat is arranged on the walking device;
the first end of the second telescopic arm is connected with the second fixing seat, the second end of the second telescopic arm is detachably connected with the inspection device, and the second end of the second telescopic arm can do telescopic motion along the axial direction of the second telescopic arm, so that the second telescopic arm and the inspection device can be switched between a connection state and a separation state.
5. The bridge inspection vehicle of claim 4, wherein the inspection device is provided with a first connecting portion into which the first telescopic arm is inserted, and the first telescopic arm is inserted into the first connecting portion in a connected state of the first telescopic arm and the inspection device; the first telescopic arm is separated from the first connecting part to form a gap for an obstacle to pass through when the first telescopic arm and the inspection device are in a separated state; and/or the presence of a gas in the gas,
the inspection device is provided with a second connecting part for inserting the second telescopic arm, and the second telescopic arm is inserted in the second connecting part when the second telescopic arm and the inspection device are in a connected state; the second telescopic arm is separated from the second connecting portion to form a gap through which an obstacle passes in a state where the second telescopic arm and the inspection apparatus are separated.
6. The bridge inspection vehicle of claim 2, wherein the edge-following detection device is a distance measurement sensor, and the distance measurement sensor is arranged on one side of the traveling device close to the bridge edge.
7. The bridge inspection vehicle of claim 1, wherein the inspection device comprises:
the first obstacle avoidance telescopic device and the second obstacle avoidance telescopic device are detachably connected with the vertical inspection arm, and the vertical inspection arm can do telescopic motion along the axial direction of the vertical inspection arm;
the transverse inspection arm is arranged along the horizontal direction, is hinged with the bottom end of the vertical inspection arm and can rotate along any direction;
the camera shooting assembly is arranged on the transverse inspection arm and used for shooting bridge inspection videos and images.
8. The bridge inspection vehicle of claim 7, wherein the camera assembly comprises:
the camera is used for shooting bridge inspection videos and images;
and the third fixing seat is arranged on the transverse inspection arm, and the camera is rotatably connected to the third fixing seat.
9. The bridge inspection vehicle of claim 8, wherein there are at least two cameras, and each camera is rotatably connected to the third mounting bracket.
10. The bridge inspection vehicle of claim 7, wherein the material of at least one of the first obstacle avoidance telescoping device, the second obstacle avoidance telescoping device, the vertical inspection arm, and the lateral inspection arm is carbon fiber.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110902017.6A CN113668384A (en) | 2021-08-06 | 2021-08-06 | Bridge inspection vehicle |
| PCT/CN2022/082124 WO2022171201A1 (en) | 2021-08-06 | 2022-03-22 | Bridge inspection vehicle |
| ZA2022/09574A ZA202209574B (en) | 2021-08-06 | 2022-08-26 | Bridge inspection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110902017.6A CN113668384A (en) | 2021-08-06 | 2021-08-06 | Bridge inspection vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113668384A true CN113668384A (en) | 2021-11-19 |
Family
ID=78541774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110902017.6A Pending CN113668384A (en) | 2021-08-06 | 2021-08-06 | Bridge inspection vehicle |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN113668384A (en) |
| WO (1) | WO2022171201A1 (en) |
| ZA (1) | ZA202209574B (en) |
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| CN114258790A (en) * | 2021-12-18 | 2022-04-01 | 中建八局第二建设有限公司 | Automatic obstacle avoidance trimming device and method for road green belt |
| CN114827422A (en) * | 2022-05-06 | 2022-07-29 | 广东电网有限责任公司 | Device and method for checking power communication tower |
| WO2022171201A1 (en) * | 2021-08-06 | 2022-08-18 | 中交公路规划设计院有限公司 | Bridge inspection vehicle |
| CN115418947A (en) * | 2022-11-07 | 2022-12-02 | 泉州通维科技有限责任公司 | Mechanical arm tail end detection mechanism for railway bridge detection |
| CN116141375A (en) * | 2023-04-19 | 2023-05-23 | 交通运输部公路科学研究所 | Mechanical arm assembly for bridge detection and working method thereof |
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| CN116335025B (en) * | 2023-04-21 | 2024-07-16 | 山东鼎昌复合材料有限公司 | Expressway bridge inspection platform |
| CN117538330B (en) * | 2023-10-27 | 2024-08-09 | 宁波经济技术开发区城建设计有限公司 | Bridge crack measuring device and measuring method thereof |
| CN117738076B (en) * | 2024-02-07 | 2024-04-19 | 山东方正公路工程监理咨询有限公司 | Crack detection device for municipal road and bridge |
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Also Published As
| Publication number | Publication date |
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| WO2022171201A1 (en) | 2022-08-18 |
| ZA202209574B (en) | 2022-11-30 |
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