CN113673722A - Accurate decision making system and method for maintenance of expansion joint - Google Patents
Accurate decision making system and method for maintenance of expansion joint Download PDFInfo
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Abstract
The invention relates to an accurate decision-making system and method for maintenance of an expansion joint, and belongs to the technical field of detection of highways, municipal roads and bridges. The decision system comprises a driving walking system, a data acquisition module and an analysis decision system; the data acquisition module comprises a high-definition image acquisition device, a laser displacement testing device, an infrared temperature sensing device, a wireless transmission module, a control system and a storage module; the analysis decision system judges the type of the disease of the expansion joint through data analysis; comprehensively calculating to obtain whether maintenance or replacement is needed, if so, accurately analyzing maintenance contents, and acquiring expansion joint information according to the serial number of the bridge or the road section and the serial number of the position of the expansion joint; and then calculating the damaged volume and the raw material consumption for repairing or replacing the expansion joint according to the disease type of the expansion joint. The invention can dynamically and accurately collect various diseases of the expansion joint in real time, and realize dynamic monitoring and early warning.
Description
Technical Field
The invention belongs to the technical field of detection of highways, municipal roads and bridges, and relates to an accurate decision-making system and method for maintenance of expansion joints.
Background
After a highway, a municipal road or a bridge is built and put into use, regular detection must be carried out regularly to ensure traffic safety. Conventional inspection of a road, town road or bridge involves inspection of the road, town road or bridge expansion joint.
At present, no decision system specially aiming at the maintenance time of the bridge expansion joint exists. The existing maintenance method is to manually detect the damage of the bridge expansion joint, manually judge the time for replacing parts, then inquire the model of a component and the like. At present, no decision system specially aiming at the maintenance time of the bridge expansion joint exists.
The existing detection method has the following defects: (1) the maintenance and inspection frequency is lower; (2) rated once a year; (3) in daily maintenance, manual inspection is carried out, long-time disease fine inspection is generally carried out in the middle of the expansion joint in consideration of safety problems, and sometimes diseases are difficult to find in time; (4) the maintenance personnel can not directly estimate the model of the expansion joint, the replacement process, the pre-estimated manufacturing cost, the material storage condition and the like.
Therefore, a new system and method for accurately determining the maintenance time of an expansion joint are needed to solve the above problems.
Disclosure of Invention
In view of the above, the present invention provides an accurate decision making system and method for maintaining an expansion joint, which can realize normalized monitoring and accurately collect damages of different parts through laser scanning; the safety risk during manual daily inspection is reduced; the disease collection frequency and efficiency are improved, and the labor cost is reduced; accurately providing maintenance schemes of different components; the material waste is reduced, unnecessary work content is reduced, and the engineering cost is saved; the misjudgment of diseases is reduced; and predicting and timely and accurately obtaining a treatment scheme.
In order to achieve the purpose, the invention provides the following technical scheme:
an accurate decision-making system for maintenance of an expansion joint comprises a driving and walking system, a data acquisition module and an analysis decision-making system; the data acquisition module comprises a high-definition image acquisition device, a laser displacement testing device, an infrared temperature sensing device, a wireless transmission module, a power distribution device, a control system, a movable storage module, a USB device, a remote control system and the like; the driving walking system comprises a detachable supporting frame, a fixed movable spring, a driving device, a lateral wheel, a driving wheel, a pedestal and the like.
The data acquisition module is fixed on the driving and walking system and acquires images of the expansion joints, laser measurement data and infrared temperature sensing data by adjusting the supporting heights and the swinging angles of the high-definition image acquisition device, the laser displacement testing device and the infrared temperature sensing device; the analysis decision system carries out calculation and analysis according to the collected expansion joint image, the laser measurement data and the infrared temperature sensing data, judges the type and the severity of the diseases of the expansion joint and obtains a maintenance scheme and a construction method suggestion.
If the decision making system is not placed on the guardrail, the detachable bracket can be detached and directly placed on the road surface for walking detection.
Further, the drive wheels may be arranged in a steerable solution; or the driving wheels and the lateral wheels are replaced by crawler-type driving walking systems.
Further, the step of the data acquisition module acquiring data comprises: firstly, adjusting the supporting height and the swinging angle of a data acquisition module, and then shooting expansion joint pictures at different angles through a high-definition image acquisition device; detecting the width of the expansion joint through a laser displacement testing device, and simultaneously detecting the damage condition and the blockage condition of a waterstop of the expansion joint; the temperature of the expansion joint is detected through the infrared temperature sensing device.
Further, the data acquisition module has a focusing function and comprises an automatic mode or a manual mode; the automatic mode is that laser scanning is adopted, when abnormal information is found, the focal length is automatically adjusted by matching with a high-definition image acquisition device, real-time images are transmitted to a remote control system, and the images can be automatically photographed and stored in corresponding folders in a classified manner without manual operation.
Further, the driving and traveling system can travel on an anti-collision guardrail or flat ground.
Further, the analysis decision system firstly judges the type of the diseases of the expansion joint and the evaluation score corresponding to each disease through data analysis; then, calculating a comprehensive assessment score according to the assessment scores of various diseases; finally, obtaining the maintenance time and the maintenance or replacement content of the expansion joint according to the comprehensive evaluation score, and obtaining the expansion joint information according to the number of the bridge or the road section and the number of the position of the expansion joint; in addition, according to the evaluation score of each disease, the damaged volume and the raw material consumption for repairing or replacing the expansion joint are calculated.
Furthermore, the analysis decision system can also calculate the actual expansion amount according to the expansion joint temperature detected by the infrared temperature sensing device and corresponding parameters and formulas in the specification (general specification for highway bridge and culvert design and specification for highway reinforced concrete and prestressed concrete bridge and culvert design), compare the actual expansion amount with the designed expansion amount, and analyze and evaluate whether the working state of the expansion device is normal.
As shown in fig. 11, the calculation formula of the expansion joint height difference H is:
H＝cosβ3·(l5-l6)
wherein l5、l6Respectively the distance between the laser displacement testing device and the lowest part and the highest part of the expansion joint, beta3Is the included angle between the laser emission direction and the vertical direction;
as shown in fig. 10, the calculation formula of the concrete damage area a is:
A＝bL＝b(sinβ1l1-sinβ2l2)
wherein L is the length of the concrete damaged section, b is the width of the single-side anchoring area of the expansion joint, L1、l2Respectively measuring the distance from the laser displacement testing device to the two ends of the damaged section in the length direction; beta is a1、β2Respectively is the included angle between the laser shooting direction and the vertical direction;
the calculation method of the expansion joint deformation comprises the following steps:
expansion joint elongation caused by temperature rise
The calculation formula of (2) is as follows:
wherein alpha iscThe expansion coefficient of the concrete material of the beam body is the linear expansion coefficient, l is the beam body length adopted by the expansion amount of an expansion joint device, and is determined according to the length subsection of the bridge and the arrangement condition of the support; t ismaxThe temperature is the local highest effective air temperature value, and T is the current temperature measured by the infrared temperature sensing device;
expansion joint contraction caused by temperature drop
The calculation formula of (2) is as follows:
wherein, TminThe local minimum effective air temperature value;
third expansion joint closed volume C+The calculation formula of (2) is as follows:
wherein beta is the expansion amount increasing coefficient of the expansion device;
expansion joint opening amount C-The calculation formula of (2) is as follows:
judging:
if the actual test value C of the width of the expansion joint<C+If the width of the expansion joint is too narrow, the expansion joint is easy to be resisted and needs to be replaced;
if the actual test value C of the width of the expansion joint>C+And the expansion joint is too wide, so that safety risk exists and replacement is required.
The analysis decision system can also collect dynamic data, obtain the deformation of the expansion joint when the vehicle runs in real time and predict the damage condition of the expansion joint in time.
The analysis decision system can also obtain a disease development trend analysis report according to the development change rule of the expansion joint diseases for many times, predict the safety risk, obtain a preventive maintenance suggestion and the like.
Further, the determined expansion joint disease types comprise: the expansion joint is uneven, the anchoring area has defects, the rubber strip is damaged or the expansion joint is invalid, and the corresponding score is U1～U4；
The calculation formula of the comprehensive assessment score is as follows:
when U is turnediLess than or equal to 60 minutes, and the curing time is as follows: performing single evaluation and maintenance corresponding to the disease type;
when D is more than 75 and less than or equal to 100 minutes, the curing time is as follows: performing daily maintenance;
when D is more than 50 and less than or equal to 75 minutes, the curing time is as follows: the inspection is enhanced, the disease development condition is observed, and local maintenance is carried out in due time according to the disease condition;
when D is more than 0 and less than or equal to 50 minutes, the curing time is as follows: carrying out safety influence and comprehensive evaluation, judging the necessity of replacement, and if the replacement is not necessary, carrying out disease maintenance treatment in time;
when D is 0 min, the curing time is as follows: and immediately replacing and maintaining the expansion joint device.
Further, (1) the expansion joint is unsmooth, specifically includes:
a. the expansion joint is intact, and the evaluation score U is given1100 points are obtained;
b. and judging that the height difference H of the expansion joint is less than or equal to 1 cm: slightly uneven, and a rating score U1And (5) dividing the standard into 75 points, and maintaining the scheme: daily maintenance is carried out, and the inspection and observation frequency is improved;
c. h is more than 1cm and less than or equal to 3cm of the height difference of the expansion joint, and the judgment is that: obvious unevenness, evaluation score U160 points, maintenance scheme: if the vehicle jumps to a certain extent, checking the disease development condition and evaluating whether the vehicle needs to be replaced;
d. and judging that the height difference H of the expansion joint is more than 3 cm: severe roughness, evaluation score U1And (5) dividing into 50 points, and maintaining the scheme: analyzing reasons, and replacing and repairing in time;
(2) the anchor zone defects specifically include:
a. the anchoring zone is intact, and a score U is assessed2100 points are obtained;
b. the damaged area A of the concrete is less than or equal to 10 percent, and bolts in an anchoring area fall off: b is less than or equal to 10 percent, and is judged as: slight damage of the anchoring zone, score U2And (5) dividing the standard into 75 points, and maintaining the scheme: the inspection frequency is enhanced, and the disease development condition is concerned;
c. the damaged area of the concrete is more than 10 percent and A is less than or equal to 20 percent, and the bolts in the anchoring area fall off: b is more than 10% and less than or equal to 20%, and the judgment is that: slight damage to the anchoring zone, evaluation score U260 points, maintenance scheme: performing local repair;
d. the damaged area A of the concrete is more than 20 percent, and bolts in an anchoring area fall off: b is more than 10% and less than or equal to 20%, and the judgment is that: large area damage of the anchoring zone, evaluation score U2And (5) dividing into 50 points, and maintaining the scheme: replacing and repairing the damaged area in a block shape;
(3) the rubber strip breakage includes:
a. the rubber strip is intact, and the evaluation score U3100 points are obtained;
b. the damaged and aged length S of the rubber strip is less than or equal to 20 percent, and the rubber strip is judged as follows: the rubber strip was slightly aged and the score U was evaluated3And (5) dividing the standard into 75 points, and maintaining the scheme: maintaining in daily life, and enhancing the inspection frequency;
c. the aging peeling length of the rubber strip is more than 20% < S < 100%, and the rubber strip is judged as follows: large area aging and damage of rubber strip, and evaluation of score U360 points, maintenance scheme: partial repair or partial replacement;
d. the rubber strip aging peeling length S is 100%, and the judgment is: failure of rubber strip, evaluation score U3And (5) dividing into 50 points, and maintaining the scheme: replacing the rubber strip;
(4) the expansion joint failure includes:
a. the expansion joint has good deformation, namely the maximum contraction amount l is designedminLess than delta l and less than or equal to the designed maximum elongation lmaxAnd judging that: expansion amount of expansion jointNormality, assessment score U3100 points are obtained;
b. the expansion joint deformation is more than 5mm and less than or equal to 10mm or delta l>Design maximum elongation lmaxAnd judging that: abnormal expansion and contraction of expansion joint, and evaluating the score U3And (5) dividing the standard into 75 points, and maintaining the scheme: evaluating the driving safety and judging the necessity of replacing the expansion joint;
c. and (3) judging that the expansion joint deformation is more than 0mm and less than delta l and less than or equal to 5 mm: the expansion and contraction amount of the expansion joint is seriously abnormal, and the score U is evaluated360 points, maintenance scheme: evaluating the driving safety and replacing the expansion joint in due time;
d. the expansion joint deformation amount delta l is 0mm, and the following judgment is made: the expansion joint is completely resisted and can not be freely deformed, and the evaluation score U is3And (5) dividing into 50 points, and maintaining the scheme: and replacing the expansion joint and pouring the anchoring area again.
The invention has the beneficial effects that:
1) collecting diseases and development characteristics of different parts of the expansion joint accurately in time, monitoring disease states and predicting disease state change trends;
2) the expansion joint disease normalized detection is realized, and the data can be used for analyzing the disease development trend;
3) the safety risk of disease detection is reduced, and particularly the safety risk of workers in the maintenance process when the expansion joints of the bridges (particularly expressways) are inspected is reduced;
4) the driving walking system can walk on the guardrail, so that the influence caused by traffic closure in the detection process is reduced;
5) accurately collecting and storing various diseases of the expansion joint in a classified manner.
6) The detection data can be transmitted in real time or transmitted by adopting a medium, so that an engineer can remotely analyze the diseases;
7) the analysis decision system can accurately obtain maintenance and repair time, and driving safety risk caused by too serious damage of the expansion joint is avoided;
8) economic loss caused by too early maintenance and repair is avoided;
9) the operation is simple, the disease identification device can be used after being trained simply, a professional technical engineer is not required to identify the disease on site, and the labor cost is reduced;
10) the accurate assessment of the maintenance, the maintenance or the replacement opportunity of different positions of the expansion joint is realized, an accurate scheme is provided, and the method comprises accurate disease positions, accurate disease types, accurate disease quantity, accurate material models, accurate material performance, accurate material consumption, accurate maintenance opportunity, accurate expense estimation, accurate personnel and equipment suggestion and the like.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a block diagram of an accurate decision-making system for maintaining an expansion joint according to the present invention;
FIG. 2 is a flow diagram of an analytical decision system;
fig. 3 is a schematic view of an overall structure of an accurate decision-making system in maintenance of an expansion joint in embodiment 1;
FIG. 4 is a side view of FIG. 3;
FIG. 5 is a schematic diagram of a remote control system;
FIG. 6 is a schematic view showing the traveling drive system according to embodiment 1 mounted on a guardrail for inspection;
fig. 7 is a schematic view of the walking drive system of embodiment 2 for performing inspection on a road surface;
FIG. 8 is a schematic view showing the traveling drive system according to embodiment 3 mounted on a guardrail for inspection;
fig. 9 is a schematic view of the walking drive system of embodiment 4 for performing inspection on a road surface;
fig. 10 is a schematic view of the walking drive system of embodiment 2 measuring expansion joint variable parameters;
fig. 11 is a schematic view of the walking drive system of embodiment 2 for measuring the height change of the expansion joint;
reference numerals: 1-solar panel, 2-control system, 3-rotation device, 4-laser displacement testing device, 5-high definition image acquisition device, 6-high power zoom camera, 7-reflective warning device, 8-remote control and data transmission antenna, 9-wireless network card, 10-screw, 11-supporting base, 12-USB interface device, 13-movable storage medium, 14-telescopic supporting arm, 15-pedestal, 16-driving wheel, 17-side wheel, 18-driving device, 19-power supply device, 20-fixed movable spring, 21-supporting mechanism, 22-telescopic detachable supporting frame, 23-supporting frame connecting rod, 24-fixed connecting rod, 25-driving connecting rod, 26-reflective warning device fixer, 27-a data acquisition module angle controller, 28-a wireless remote control antenna, 29-a walking controller, 30-a display screen, 31-a starting switch, 32-an emergency stop switch and 33-an infrared temperature sensing device.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 7, the present invention provides an accurate decision-making system for maintaining an expansion joint, as shown in fig. 1, the decision-making system includes a driving and walking system, a data acquisition module and an analysis decision-making system.
The data acquisition module comprises a high-definition image acquisition device, a laser displacement testing device, an infrared temperature sensing device, a wireless transmission module, a power distribution device, a control system, a movable storage module, a USB device, a remote control system and the like. The data acquisition module can adjust the supporting height, shoot the expansion joint pictures at different angles, the laser system can detect the width of the expansion joint, and can detect the damage condition and the blockage condition of a waterstop of the expansion joint, and the infrared temperature sensing device detects the temperature of the expansion joint; the data acquisition system swings up and down and left and right, and the focal length can be adjusted, so that the high-definition image acquisition device can acquire the characteristics of detailed images; in the data acquisition process, can select automatic mode or manual mode, automatic mode, then accessible laser scanning, when discovering abnormal information, the cooperation high definition image acquisition device, the automatic adjustment focus transmits remote control unit's display screen with real-time picture, does not carry out manual operation also can automatic categorised the storage to corresponding folder of shooing.
The driving and walking system comprises a detachable supporting frame, a fixed movable spring, a driving device, a lateral wheel, a driving wheel and a pedestal. Mainly regard bridge anticollision barrier as the track, walk along anticollision barrier, can advance and retreat, and 4 side direction wheels of lateral direction play the fixed action, and four drive wheels at top play support and drive effect. The fixed movable spring of the supporting mechanism mainly ensures that the lateral wheels clamp the anti-collision guardrail and ensures the stability of the equipment. Wherein, drive wheel and side direction wheel include but not limited to with crawler-type running gear, like the protection steel sheet disappearance damage of picture expansion joint position anticollision barrier, direct crawler-type tire can pass through smoothly.
And the decision system gives out accurate expansion joint models, main physical and mechanical property parameters of materials, accurate use amount of the materials and estimated cost according to the identified disease types, severity and maintenance schemes, and gives out recommended equipment and tool parameters and personnel allocation suggestions. As shown in fig. 2, the decision process of the analysis decision system is as follows: and (3) extracting the disease type through data analysis, and identifying the disease type according to the disease condition as follows: and (3) obtaining the evaluation score of each disease, and then calculating to obtain a comprehensive evaluation score according to the evaluation scores of various diseases. And then, obtaining the maintenance time and the maintenance or replacement content of the expansion joint according to the comprehensive evaluation scores, accurately analyzing the maintenance content if the maintenance is needed, and directly knowing the model and the price of the expansion joint according to the serial number of the bridge and the serial number of the position of the expansion joint. And finally, according to the damaged area of the anchoring area and the area needing to be replaced, the required concrete volume is accurately obtained, and construction tool equipment and the like are suggested to be equipped. In addition, the decision system can also collect dynamic data and the deformation of the expansion joint when the vehicle runs. For a bridge with a special structure, if the state data of the expansion joint is specially collected, equipment can be fixed at the corresponding position of one side of the expansion joint, and when certain diseases develop and change, early warning can be performed.
Example 1:
the embodiment provides an accurate decision-making system for maintenance of an expansion joint, which comprises a driving and walking system, a data acquisition module and an analysis decision-making system. As shown in fig. 5 and 7, in this embodiment, the data acquisition module includes: the device comprises a control system 2, a laser displacement testing device 4, a high-definition image acquisition device 5, an infrared temperature sensing device 33, a wireless transmission module (comprising a remote control and data transmission antenna 8 and a wireless network card 9), a storage device (such as a movable storage medium 13), a power supply device 19, a solar panel 1, a remote control system and the like. Control system 2, laser displacement testing arrangement 4, high definition image acquisition device 5 and infrared temperature sensing device 33 set up at scalable support arm 14 (linear type) top, and scalable support arm 14 bottom is fixed and is being supported base 11 (support base 11 has certain weight, corresponds the counter weight according to the length and the shape of scalable support arm 14, prevents that whole device from turning on one's side). The telescopic supporting arm 14 is provided with a light reflecting warning device 7. The wireless transmission module and the storage device are connected with the control system through the USB interface device 12. The remote control system comprises a data acquisition module angle controller 27, a wireless remote control antenna 28, a walking controller 29 (for remotely controlling the steering of the driving wheels), a display screen 30, a starting switch 31 and an emergency stop switch 32.
A data acquisition system: the support height can be adjusted, the expansion joint pictures at different angles can be shot, the laser system can detect the width of the expansion joint, and meanwhile, the damage condition and the blockage condition of a water stop of the expansion joint can be detected; the data acquisition system swings up and down and left and right, and the focal length can be adjusted, so that the high-definition image acquisition device can acquire the characteristics of detailed images; in the data acquisition process, can select automatic mode or manual mode, automatic mode, then accessible laser scanning, when discovering abnormal information, the cooperation high definition image acquisition device, the automatic adjustment focus transmits remote control unit's display screen with real-time picture, does not carry out manual operation also can automatic categorised the storage to corresponding folder of shooing.
The walking driving system comprises four driving wheels 16, a driving device 18, a support frame connecting rod 23, a pedestal 15 and the like. The driving wheel 16 is fixed below the pedestal 15 through a support frame connecting rod 23; the two drive wheels 16 in the front-rear direction are fixedly connected to the drive device 18 via a drive link 25. The support base 11 is fixed above the pedestal 15. The power supply device 19 supplies power to the driving device 18 and the data acquisition module.
Example 2:
as shown in fig. 3 to 6, on the basis of embodiment 1, the walking drive system further comprises a detachable structure including four lateral wheels 17 and a detachable telescopic support frame 22. One end of a detachable telescopic support frame 22 is fixedly connected with a support frame connecting rod 23, and the other end of the detachable telescopic support frame is movably connected with the lateral wheel 17; the detachable telescopic support frames 22 in the front-rear direction are fixedly connected through a fixed link 24. The corner of the detachable telescopic support frame 22 is provided with a support mechanism 21 and a fixed movable spring 20 to ensure that the side wheels 17 clamp the crash barrier.
The drive traveling system of this embodiment is mainly regarded bridge anticollision barrier as the track, and along the walking of anticollision barrier, can advance and retreat, and 4 wheels of lateral side play the fixed action, and four wheels at top play support and drive action. The movable spring of the supporting mechanism mainly ensures that the lateral wheels clamp the anti-collision guardrail and ensures the stability of the equipment.
If the decision-making system is not installed on the guardrail to work (namely, when the decision-making system is placed on the road surface to be inspected), the detachable structure is detached and is directly placed on the road surface to be run and detected, namely, the driving running system of the embodiment 1.
Example 3:
as shown in fig. 8, in addition to embodiment 2, the linear type retractable support arm 14 is replaced with an L-shape.
Example 4:
as shown in fig. 9, in addition to embodiment 1, the linear type retractable support arm 14 is replaced with an L-shape.
Example 5:
the driving wheels 16 or the side wheels 17 in any one of the devices of embodiments 1 to 4 are replaced by crawler-type driven traveling systems or the like. If the protection steel sheet disappearance damage of expansion joint position anticollision barrier uses crawler-type tire to pass through smoothly.
Example 6:
the drive wheels 16 of embodiments 1 or 3 may be arranged in a steerable solution, e.g. as an alternative to universal wheels or the like.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (10)
1. An accurate decision-making system for maintenance of an expansion joint is characterized by comprising a driving and walking system, a data acquisition module and an analysis decision-making system; the data acquisition module comprises a high-definition image acquisition device, a laser displacement testing device, an infrared temperature sensing device, a wireless transmission module, a control system and a storage module;
the data acquisition module is fixed on the driving and walking system and acquires images of the expansion joints, laser measurement data and infrared temperature sensing data by adjusting the supporting heights and the swinging angles of the high-definition image acquisition device, the laser displacement testing device and the infrared temperature sensing device; the analysis decision system carries out calculation and analysis according to the collected expansion joint image, the laser measurement data and the infrared temperature sensing data, judges the type and the severity of the diseases of the expansion joint and obtains a maintenance scheme and a construction method suggestion.
2. The system for accurately deciding when maintaining an expansion joint according to claim 1, wherein the step of collecting data by the data collection module comprises: firstly, adjusting the supporting height and the swinging angle of a data acquisition module, and then shooting expansion joint pictures at different angles through a high-definition image acquisition device; detecting the width of the expansion joint through a laser displacement testing device, and simultaneously detecting the damage condition and the blockage condition of a waterstop of the expansion joint; the temperature of the expansion joint is detected through the infrared temperature sensing device.
3. The system for accurately deciding when maintaining an expansion joint according to claim 1 or 2, wherein the data acquisition module further comprises a remote control system.
4. The system for precisely deciding when maintaining an expansion joint according to claim 1, wherein the walking driving system can walk on an anti-collision guardrail or a flat ground.
5. The expansion joint maintenance opportunity accurate decision-making system according to claim 1, characterized in that the analysis decision-making system first determines the type of the disease of the expansion joint and the evaluation score corresponding to each disease through data analysis; then, calculating a comprehensive assessment score according to the assessment scores of various diseases; finally, obtaining the maintenance time and the maintenance or replacement content of the expansion joint according to the comprehensive evaluation score, and obtaining the expansion joint information according to the number of the bridge or the road section and the number of the position of the expansion joint; in addition, according to the evaluation score of each disease, the damaged volume and the raw material consumption for repairing or replacing the expansion joint are calculated.
6. The system for accurately deciding the maintenance time of the expansion joint according to claim 2, wherein the system for analyzing and deciding can also calculate the actual expansion amount according to the temperature of the expansion joint detected by the infrared temperature sensing device and corresponding parameters and formulas in the specification, compare the actual expansion amount with the designed expansion amount, and analyze and evaluate whether the working state of the expansion device is normal or not;
the calculation formula of the height difference H of the expansion joint is as follows:
H＝cosβ3·(l5-l6)
wherein l5、l6Respectively the distance between the laser displacement testing device and the lowest part and the highest part of the expansion joint, beta3Is the included angle between the laser emission direction and the vertical direction;
the calculation formula of the concrete damage area A is as follows:
A＝bL＝b(sinβ1l1-sinβ2l2)
wherein L is the length of the concrete damaged section, b is the width of the single-side anchoring area of the expansion joint, L1、l2Respectively measuring the distance from the laser displacement testing device to the two ends of the damaged section in the length direction; beta is a1、β2Respectively is the included angle between the laser shooting direction and the vertical direction;
the calculation method of the expansion joint deformation comprises the following steps:
expansion joint elongation caused by temperature rise
The calculation formula of (2) is as follows:
wherein alpha iscThe linear expansion coefficient of the concrete material of the beam body is defined as l, and l is the length of the beam body adopted by the expansion amount of one expansion joint device; t ismaxThe temperature is the local highest effective air temperature value, and T is the current temperature measured by the infrared temperature sensing device;
expansion joint contraction caused by temperature drop
The calculation formula of (2) is as follows:
wherein, TminThe local minimum effective air temperature value;
third expansion joint closed volume C+The calculation formula of (2) is as follows:
wherein beta is the expansion amount increasing coefficient of the expansion device;
expansion joint opening amount C-The calculation formula of (2) is as follows:
judging:
if the actual test value C of the expansion joint width is less than C+If the width of the expansion joint is too narrow, the expansion joint is easy to be resisted and needs to be replaced;
if the actual measurement of the width of the expansion joint is madeTest value C > C+And the expansion joint is too wide, so that safety risk exists and replacement is required.
7. The system for accurately deciding the maintenance time of the expansion joint according to claim 1, wherein the analysis decision system can also collect dynamic data, obtain the deformation of the expansion joint when a vehicle runs in real time and predict the damage condition of the expansion joint in time.
8. The system for accurately deciding the maintenance opportunity of the expansion joint according to claim 6, wherein the analysis decision system can obtain a disease development trend analysis report, predict a safety risk and obtain a preventive maintenance suggestion according to the development change rule of the disease of the expansion joint for multiple times.
9. The system for accurately deciding when maintaining the expansion joint according to claim 6, wherein the determined disease type of the expansion joint comprises: the expansion joint is uneven, the anchoring area has defects, the rubber strip is damaged or the expansion joint is invalid, and the corresponding score is U1～U4；
The calculation formula of the comprehensive assessment score is as follows:
when U is turnediLess than or equal to 60 minutes, and the curing time is as follows: performing single evaluation and maintenance corresponding to the disease type;
when D is more than 75 and less than or equal to 100 minutes, the curing time is as follows: performing daily maintenance;
when D is more than 50 and less than or equal to 75 minutes, the curing time is as follows: the inspection is enhanced, the disease development condition is observed, and local maintenance is carried out in due time according to the disease condition;
when D is more than 0 and less than or equal to 50 minutes, the curing time is as follows: carrying out safety influence and comprehensive evaluation, judging the necessity of replacement, and if the replacement is not necessary, carrying out disease maintenance treatment in time;
when D is 0 min, the curing time is as follows: and immediately replacing and maintaining the expansion joint device.
10. The system for precisely deciding when maintaining an expansion joint according to claim 9,
(1) the expansion joint is unsmooth, specifically includes:
a. the expansion joint is intact, and the evaluation score U is given1100 points are obtained;
b. and judging that the height difference H of the expansion joint is less than or equal to 1 cm: slightly uneven, and a rating score U1And (5) dividing the standard into 75 points, and maintaining the scheme: daily maintenance is carried out, and the inspection and observation frequency is improved;
c. h is more than 1cm and less than or equal to 3cm of the height difference of the expansion joint, and the judgment is that: obvious unevenness, evaluation score U160 points, maintenance scheme: if the vehicle jumps to a certain extent, checking the disease development condition and evaluating whether the vehicle needs to be replaced;
d. and judging that the height difference H of the expansion joint is more than 3 cm: severe roughness, evaluation score U1And (5) dividing into 50 points, and maintaining the scheme: analyzing reasons, and replacing and repairing in time;
(2) the anchor zone defects specifically include:
a. the anchoring zone is intact, and a score U is assessed2100 points are obtained;
b. the damaged area A of the concrete is less than or equal to 10 percent, and bolts in an anchoring area fall off: b is less than or equal to 10 percent, and is judged as: slight damage of the anchoring zone, score U2And (5) dividing the standard into 75 points, and maintaining the scheme: the inspection frequency is enhanced, and the disease development condition is concerned;
c. the damaged area of the concrete is more than 10 percent and A is less than or equal to 20 percent, and the bolts in the anchoring area fall off: b is more than 10% and less than or equal to 20%, and the judgment is that: slight damage to the anchoring zone, evaluation score U260 points, maintenance scheme: performing local repair;
d. the damaged area A of the concrete is more than 20 percent, and bolts in an anchoring area fall off: b is more than 10% and less than or equal to 20%, and the judgment is that: large area damage of the anchoring zone, evaluation score U2And (5) dividing into 50 points, and maintaining the scheme: replacing and repairing the damaged area in a block shape;
(3) the rubber strip breakage includes:
a. the rubber strip is intact, and the evaluation score U3100 points are obtained;
b. the damaged and aged length S of the rubber strip is less than or equal to 20 percent, and the rubber strip is judged as follows: the rubber strip was slightly aged and the score U was evaluated3And (5) dividing the standard into 75 points, and maintaining the scheme: day(s)Maintaining frequently and enhancing the inspection frequency;
c. the aging peeling length of the rubber strip is more than 20% < S < 100%, and the rubber strip is judged as follows: large area aging and damage of rubber strip, and evaluation of score U360 points, maintenance scheme: partial repair or partial replacement;
d. the rubber strip aging peeling length S is 100%, and the judgment is: failure of rubber strip, evaluation score U3And (5) dividing into 50 points, and maintaining the scheme: replacing the rubber strip;
(4) the expansion joint failure includes:
a. the expansion joint has good deformation, namely the maximum contraction amount l is designedminLess than delta l and less than or equal to the designed maximum elongation lmaxAnd judging that: the expansion amount of the expansion joint is normal, and the score U is evaluated3100 points are obtained;
b. the expansion joint deformation is more than 5mm and less than or equal to 10mm or delta l>Design maximum elongation lmaxAnd judging that: abnormal expansion and contraction of expansion joint, and evaluating the score U3And (5) dividing the standard into 75 points, and maintaining the scheme: evaluating the driving safety and judging the necessity of replacing the expansion joint;
c. and (3) judging that the expansion joint deformation is more than 0mm and less than delta l and less than or equal to 5 mm: the expansion and contraction amount of the expansion joint is seriously abnormal, and the score U is evaluated360 points, maintenance scheme: evaluating the driving safety and replacing the expansion joint in due time;
d. the expansion joint deformation amount delta l is 0mm, and the following judgment is made: the expansion joint is completely resisted and can not be freely deformed, and the evaluation score U is3And (5) dividing into 50 points, and maintaining the scheme: and replacing the expansion joint and pouring the anchoring area again.
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