CN201891076U - Intelligent and manual dual-purpose bridge detecting vehicle - Google Patents
Intelligent and manual dual-purpose bridge detecting vehicle Download PDFInfo
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- CN201891076U CN201891076U CN2010206196501U CN201020619650U CN201891076U CN 201891076 U CN201891076 U CN 201891076U CN 2010206196501 U CN2010206196501 U CN 2010206196501U CN 201020619650 U CN201020619650 U CN 201020619650U CN 201891076 U CN201891076 U CN 201891076U
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Abstract
The utility model discloses an intelligent and manual dual-purpose bridge detecting vehicle, which comprises a vehicle body, a secondary frame, a truss type work device, a hydraulic system, a vehicle control system, a stable mechanism, and an image acquiring and analyzing system for scanning, analyzing and transmitting the appearance of the bridge; the truss type work device comprises a base, a main truss, a rotating mechanism and a working platform; the working platform is in a two-section telescopic structure; the stable mechanism comprises a static balancing weight, a moving balancing weight and a stable wheel; the image acquiring and analyzing system comprises an image acquiring and analyzing center, a radar ranging instrument, a milemeter, a panoramic camera system, a detection camera system and a carrying and driving device of the came system; and the panoramic camera system and the detection camera system do reciprocating motion at the upper end of a guardrail of the working platform. The intelligent and manual dual-purpose bridge detecting vehicle has the advantages of flexibility in work, high sensitivity, high work efficiency and reliability, no interruption of traffic, favorable stability and safety, low cost, complete functions and favorable use effect, and is convenient for popularization and use.
Description
Technical field
The utility model relates to the equipment that a kind of bridge detects, keeps in repair, and especially relates to a kind of intellectuality and artificial dual-purpose bridge inspection vehicle.
Background technology
Bridge construction is one of important infrastructure of country, and bridge engineering is the lifeline engineering of relation society and Development of Economy.The fast development of bridge construction, huge fund input, the illustrious effect in economic society makes people more and more pay attention to safety, the durability of bridge.Meanwhile, the bridge of China is faced with and the same problem of bridge of numerous countries in the world, and that is exactly that large quantities of bridges enter " old-age group " stage, and various " diseases " appear in some bridges already, but band " disease " operation throughout the year, huge potential safety hazard lies dormant.In addition, because of the detection evaluation problem of originally design load standard and the current unbecoming structural safety of bringing of actual loading condition; A lot of load carrying capacity of bridge deficiencies, bridge deck width do not meet current driving requirement.Untimely elimination bridge construction, operating potential safety hazard certainly will cause economy and personnel's massive losses, and irrational, too early transformation are huge financial burden, will expend substantial contribution, and cause many social concerns such as interruption of communication.Exceed the time limit the to overload various unsafe bridges, the old bridge that use is not within minority, and the bridge accident of car crash happens occasionally.For improving the bridge managerial skills, must pay attention to bridge and detect, adopt advanced bridge inspection vehicle then can improve the precision and the operating efficiency of detection greatly.
At present, the dress work clothes of going up of bridge inspection vehicle are equipped with collapsible and two kinds of form of structure of truss-like.In China, bridge inspection vehicle still is in the very small lot batch manufacture stage of indivedual producers, and mainly based on folding arm-type, but folding arm-type inspection vehicle is because the stability problem during its duty, and poor in the result of use of reality, marketing is very undesirable; The bridge inspection vehicle overwhelming majority of import all is a truss-like, but present bridge inspection vehicle both domestic and external has also only provided a working platform that carries out the bridge detection, does not also realize the function of automatic context of detection.
The utility model content
Technical problem to be solved in the utility model is at above-mentioned deficiency of the prior art, a kind of intellectuality and artificial dual-purpose bridge inspection vehicle are provided, its work maneuverability, highly sensitive, high efficiency, flexible and convenient operation, uninterrupted traffic, reliability height, good stability, safety are good, cost is low, and complete function, result of use are good, are convenient to promote the use of.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of intellectuality and artificial dual-purpose bridge inspection vehicle, comprise car body and the subframe that is arranged on the car body chassis, described subframe is provided with the truss-like equipment, be used to realize the straight line of truss-like equipment or the hydraulic system of spinning movement, the vehicle control system and the stabilizing mechanism that is used to improve the car load job stability that are used for the action control of car load, described truss-like equipment and hydraulic system are joined, described hydraulic system and vehicle control system join, and it is characterized in that: also comprise the bridge outward appearance is scanned, analyze and image transmitted collection and analytical system; Described truss-like equipment comprises the base that is connected with subframe, the main couple that is connected with base, rotating mechanism that is connected with main couple and the working platform that is connected with rotating mechanism, the two joint telescopic boom structures that working platform and outer working platform constituted in described working platform was served as reasons; Described vehicle control system comprise master controller and and master controller join and be used to realize master controller and be arranged on the communication module of two-way communication between monitoring system in the driver's cabin, the input termination control box and the position-detection sensor of described master controller, control signal or the detected working state signal of position-detection sensor that described master controller reception control box sends also handled back output control signal by analysis to the display module that is connected on its output, alarm module and multichannel combination valve, the executive component in described multichannel combination valve and the hydraulic system join and are used to control the work of executive component; Described stabilizing mechanism comprises the steady wheel that the static balance that is arranged on the subframe top is heavy and dynamic equilibrium is heavy and be arranged on the subframe bottom, and described dynamic equilibrium weighs and steady wheel all joins by stabilizing mechanism oil cylinder and subframe; Described IMAQ and analytical system comprise the IMAQ that is installed in the car body driver's cabin and analysis center and the radar range finder that joins with IMAQ and analysis center, odometer, the panoramic shooting system, detect delivery of camera system and camera system and drive unit, described radar range finder and odometer are installed on the rear wheel wheel rim of car body right side and respectively the X coordinate and the Y coordinate of bridge test point position are gathered, and described panoramic shooting system is installed in the guardrail upper end of outer working platform by camera system delivery and drive unit and moves reciprocatingly on the guardrail of working platform outside, in being installed in by camera system delivery and drive unit, described detection camera system moves reciprocatingly on the guardrail of working platform and in the guardrail upper end of interior working platform.
Described base is connected with subframe by bearing pin, the top of described base is equipped with and is used for the guide rail that the confession main couple slides up and down, described main couple is installed on the guide rail by the lifting master cylinder, described rotating mechanism is connected with main couple by pivoting support bearing, described working platform is connected with rotating mechanism with oil cylinder by bearing pin, also is connected with the rotation ladder of walking and using for the staff between described working platform and rotating mechanism.
The sleeve type stretching structure of described base for constituting by base body and base sliding sleeve, described base sliding sleeve inner bottom is equipped with the elevating ram that is used for lifting by bearing, described base body is installed in the top of elevating ram by bearing, and described base sliding sleeve is sleeved on the bottom of base body.
Described pivoting support bearing is gapless bearing.
The cylinder pedestal of described lifting master cylinder is the cross axle structure.
Described master controller is the PLC controller.
Described panoramic shooting system is made of pan and tilt head and the panoramic camera that is installed on the pan and tilt head; Described detection camera system constitutes by detecting The Cloud Terrace and being installed in the detection video camera that detects on the The Cloud Terrace; Described IMAQ and analysis center comprise 64 industrial control computers that machine vision dedicated video capture card and intelligent bridge-checking vehicle software are installed and two 21 cun LCDs and two the cradle head control devices that join with 64 industrial control computers; Described machine vision dedicated video capture card and panoramic camera and detection video camera join, and described 64 industrial control computers join with radar range finder and odometer.
Delivery of described camera system and drive unit are made of with the parallel line slideway that is positioned at synchronous band below direct current generator, the synchronous band that links to each other with direct current generator, described panoramic shooting system is fixed on synchronous band and the line slide rail, described detection camera system is fixed on synchronous band and the line slide rail, the guardrail upper end of described line slide rail and interior working platform and match in the guardrail upper end of outer working platform and under the drive of direct current generator the guardrail upper end of interior working platform and outside move reciprocatingly on the guardrail of working platform.
Described panoramic camera and detection video camera are the video camera that inside is integrated with decoder.
The utility model compared with prior art has the following advantages:
1, the work maneuverability, highly sensitive, high efficiency: the utility model increase has been equipped with to be carried out the panoramic shooting system of automatic scan and detects camera system the bridge outward appearance, and all adopt high-resolution video camera and The Cloud Terrace in panoramic shooting system and the detection camera system, with the panoramic shooting system with detect camera system is installed in working platform by camera system delivery and drive unit guardrail upper end, realized the linear reciprocation of camera system on working platform, can be quick, easily the bridge outward appearance is carried out automatic scan, and in real time the image information that scans is transferred to IMAQ and analysis center, 64 industrial control computers in IMAQ and the analysis center carry out analyzing and processing by intelligent bridge-checking vehicle software to the image information that scans, and show in real time by 21 cun LCDs, observe for the testing staff, analyze, operations such as storage, automation and two kinds of functions of manual detection that whole bridge detects have been realized, work maneuverability, and sensitivity and high efficiency.
2, flexible and convenient operation, uninterrupted traffic: truss-like equipment of the present utility model is made of base, main couple, rotating mechanism and working platform, and working platform adopts the two joint telescopic boom structures that are made of interior working platform and outer working platform, during use, this bridge inspection vehicle is rested in the bridge limit, the testing staff can enter platform or return bridge floor from bridge floor easily, flexible and convenient operation, uninterrupted traffic.
3, reliability height, good stability, safety are good: the utility model adopts the heavy stabilizing mechanism that combines with the static balance heavy phase of dynamic equilibrium, also be equipped with steady wheel, its longitudinal stability and lateral stability can both satisfy the demand of actual use, and rotating mechanism adopts gapless pivoting support bearing to be connected with main couple, guaranteed the truss-like equipment stretch out car when outer inspection vehicle can not tumble, the reliability height, good stability; The cylinder pedestal of lifting master cylinder is the cross axle structure, effectively improved the stressed of lifting master cylinder, the distortion of having avoided main couple is to the flexible influence of lifting master cylinder, be not prone to catching phenomenon, not only improve the application life of lifting master cylinder greatly, but also guaranteed staff's safety.
4, cost is low: the utility model adopts universal chassis car car body, add truss-like equipment, hydraulic system, vehicle control system, stabilizing mechanism and IMAQ and the analytical system of independent development, the cost of bridge inspection vehicle is greatly reduced, and its cost is about 50% of import.
5, complete function, result of use are good: the utility model has been realized automation detection and two kinds of functions of manual detection, has improved detection efficiency and precision, and has reduced labour intensity; By the base of sleeve type stretching structure is set, realized the detection of different sidewalk width bridges, complete function and result of use are good.
6, be convenient to promote the use of: the utility model is at the different characteristics of high-grade highway and common road bridge, can with the Design of length of working platform 14m-20m, sidewalk span parameter can be designed to adjustable length from structure, amplitude of variation is 1.4m-2.1m, enlarged the scope of application of the present utility model, be convenient to promote the use of.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Description of drawings
Fig. 1 is the structural representation of the utility model when driving states.
Fig. 2 is the structural representation of the utility model in working order the time.
Fig. 3 is the syndeton schematic diagram of the utility model base and main couple in working order the time.
Fig. 4 is the structural representation of the utility model base.
Fig. 5 is the syndeton schematic diagram of the utility model panoramic shooting system, detection camera system and camera system delivery and drive unit.
Fig. 6 is the structural representation of the utility model vehicle control system.
Fig. 7 is the structural representation of the utility model IMAQ and analytical system.
Description of reference numerals:
The 1-car body; 2-truss-like equipment; The 2-1-base;
The 2-11-guide rail; The 2-12-bearing; 2-13-base body;
2-14-base sliding sleeve; The 2-15-elevating ram; The 2-2-main couple;
The 2-3-rotating mechanism; Working platform in the 2-41-; The outer working platform of 2-42-;
The 2-5-pivoting support bearing; 2-6-rotates ladder; 3-1-multichannel combination valve;
3-2-stabilizing mechanism oil cylinder; 3-3-lifting master cylinder; The 4-vehicle control system;
The 4-1-master controller; The 4-2-communication module; The 4-3-control box;
4-4-position probing sensing 4-5-display module; The 4-6-alarm module;
Device;
The 5-subframe; The 6-1-static balance is heavy; The 6-2-dynamic equilibrium is heavy;
The 6-3-steady wheel; 7-1-IMAQ and analysis 7-11-64 position Industry Control
The center; Computer;
The special-purpose 7-13-21 cun liquid crystal display 7-14-cradle head control device of 7-12-machine vision;
Video frequency collection card; Device;
The 7-2-radar range finder; The 7-3-odometer; 7-4-panoramic shooting system;
The 7-41-pan and tilt head; The 7-42-panoramic camera; 7-5-detects camera system;
7-51-detects The Cloud Terrace; 7-52-detects video camera; The delivery of 7-6-camera system reaches
Drive unit;
The 7-61-direct current generator; 7-62-is with synchronously; The 7-63-line slideway.
The specific embodiment
As Fig. 1, Fig. 2, Fig. 3 and shown in Figure 6, the utility model comprises car body 1 and the subframe 5 that is arranged on car body 1 chassis, described subframe 5 is provided with truss-like equipment 2, be used to realize the straight line of truss-like equipment 2 or the hydraulic system of spinning movement, the vehicle control system 4 and the stabilizing mechanism that is used to improve the car load job stability that are used for the action control of car load, described truss-like equipment 2 joins with hydraulic system, described hydraulic system and vehicle control system 4 join, and also comprise the bridge outward appearance is scanned, analyze and image transmitted collection and analytical system; Described truss-like equipment 2 comprises the base 2-1 that is connected with subframe 5, the main couple 2-2 that is connected with base 2-1, rotating mechanism 2-3 that is connected with main couple 2-2 and the working platform that is connected with rotating mechanism 2-3, the two joint telescopic boom structures that working platform 2-41 and outer working platform 2-42 constituted in described working platform was served as reasons, the length of working platform can be designed as 14m-20m; Described vehicle control system 4 comprise master controller 4-1 and and master controller 4-1 join and be used to realize master controller 4-1 and be arranged on the communication module 4-2 of two-way communication between monitoring system in the driver's cabin, input termination control box 4-3 and the position-detection sensor 4-4 of described master controller 4-1, control signal or the detected working state signal of position-detection sensor 4-4 that described master controller 4-1 reception control box 4-3 sends also handled back output control signal by analysis to the display module 4-5 that is connected on its output, alarm module 4-6 and multichannel combination valve 3-1, executive component in described multichannel combination valve 3-1 and the hydraulic system joins and is used to control the work of executive component, wherein, executive component in the hydraulic system is the various oil cylinders that are connected each motive position, and hydraulic system also comprises the fuel tank that links to each other by fluid pressure line, hydraulic pump, hydraulic motor and multichannel combination valve; Described stabilizing mechanism comprises the heavy 6-1 of static balance that is arranged on subframe 5 tops and the heavy 6-2 of dynamic equilibrium and the steady wheel 6-3 that is arranged on subframe 5 bottoms, heavy 6-2 of described dynamic equilibrium and steady wheel 6-3 all join by stabilizing mechanism oil cylinder 3-2 and subframe 5, adopt the heavy 6-2 of dynamic equilibrium and static balance heavily the stabilizing mechanism that combines of 6-1 also be equipped with steady wheel, make the longitudinal stability of whole bridge inspection vehicle and the demand that lateral stability can both satisfy actual use; Described IMAQ and analytical system comprise the IMAQ that is installed in car body 1 driver's cabin and analysis center 7-1 and the radar range finder 7-2 that joins with IMAQ and analysis center 7-1, odometer 7-3, the 7-4 of panoramic shooting system, detect delivery of camera system 7-5 and camera system and drive unit 7-6, described radar range finder 7-2 and odometer 7-3 are installed on the car body 1 right side rear wheel wheel rim and respectively the X coordinate and the Y coordinate of bridge test point position are gathered, and the described panoramic shooting 7-4 of system is installed in the guardrail upper end of outer working platform 2-42 by camera system delivery and drive unit 7-6 and moves reciprocatingly on the guardrail of working platform 2-42 outside, in being installed in by camera system delivery and drive unit 7-6, described detection camera system 7-5 moves reciprocatingly on the guardrail of working platform 2-41 and in the guardrail upper end of interior working platform 2-41.
As Fig. 1, Fig. 2 and shown in Figure 3, in the present embodiment, described base 2-1 is connected with subframe 5 by bearing pin, the top of described base 2-1 is equipped with and is used for the guide rail 2-11 that confession main couple 2-2 slides up and down, described main couple 2-2 is installed on the guide rail 2-11 by lifting master cylinder 3-3, described rotating mechanism 2-3 is connected with main couple 2-2 by pivoting support bearing 2-5, described working platform is connected with rotating mechanism 2-3 with oil cylinder by bearing pin, also is connected with the rotation ladder 2-6 that walks and use for the staff between described working platform and rotating mechanism 2-3.
In conjunction with Fig. 4, in the present embodiment, the sleeve type stretching structure of described base 2-1 for constituting by base body 2-13 and base sliding sleeve 2-14, described base sliding sleeve 2-14 inner bottom is equipped with the elevating ram 2-15 that is used for lifting by bearing 2-12, described base body 2-13 is installed in the top of elevating ram 2-15 by bearing 2-12, described base sliding sleeve 2-14 is sleeved on the bottom of base body 2-13, adopt the base 2-1 of sleeve type stretching structure can cross over the bridge that has the sidewalk, realize the detection of 1.4m-2.1m sidewalk width bridge, enlarged the scope of application of this bridge inspection vehicle.Described pivoting support bearing 2-5 is gapless bearing, can guarantee the working stability of working platform.The cylinder pedestal of described lifting master cylinder 3-3 is the cross axle structure, effectively improved the stressed of lifting master cylinder 3-3, the distortion of having avoided main couple 2-2 is to the flexible influence of lifting master cylinder 3-3, be not prone to catching phenomenon, improve the application life of lifting master cylinder 3-3 greatly, and guaranteed staff's safety.
As shown in Figure 6, in the present embodiment, described master controller 4-1 is the PLC controller, master controller 4-1 is the centralized control unit of whole bridge inspection vehicle, control signal that control box 4-3 sends or the detected working state signal of position-detection sensor 4-4 are delivered to display module 4-5, alarm module 4-6 or multichannel combination valve 3-1 by master controller 4-1, and control each executive component by multichannel combination valve 3-1, realize each action.Specifically used the controller of the PLC FX1N-60MR-D of MIT for this bridge inspection vehicle, these series of products are that Mitsubishi can be controlled 128 popular microminiaturized product at most, not only have basic logic control, regularly, outside the function such as counting, arithmetical operation, cooperate special functional module can also realize a position control, PID computing, process control, function such as digital control, can communicate by letter with host computer, can also control distant place equipment by far module.Adopt the master controller 4-1 of this PLC controller as bridge inspection vehicle described in the utility model, the reliability height, antijamming capability is strong; Compliance is strong, applying flexible; Programming is convenient, is easy to use; Vehicle control system 4 designs, installation, debugging are conveniently; Easy to maintenance, maintenance load is little; Perfect in shape and function.
As shown in Figure 7, in the present embodiment, the described panoramic shooting 7-4 of system is made of pan and tilt head 7-41 and the panoramic camera 7-42 that is installed on the pan and tilt head 7-41; Described detection camera system 7-5 constitutes by detecting The Cloud Terrace 7-51 and being installed in the detection video camera 7-52 that detects on the The Cloud Terrace 7-51; Described IMAQ and analysis center 7-1 comprise 64 industrial control computer 7-11 that machine vision dedicated video capture card 7-12 and intelligent bridge-checking vehicle software are installed and two 21 cun LCD 7-13 and two the cradle head control device 7-14 that join with 64 industrial control computer 7-11, wherein, the all images information of the bridge that 21 cun LCD 7-13 are used to show that the 7-4 of panoramic shooting system is collected, another 21 cun LCD 7-13 are used to show the image information that detects the bridge test point that camera system 7-5 collected, a cradle head control device 7-14 is used to control the rotation of pan and tilt head 7-41, and another cradle head control device is used to control the rotation that detects The Cloud Terrace 7-51; Described machine vision dedicated video capture card 7-12 and panoramic camera 7-12 and detection video camera 7-22 join, and described 64 industrial control computer 7-11 join with radar range finder 7-2 and odometer 7-3.Described panoramic camera 7-42 and detection video camera 7-52 are the video camera that inside is integrated with decoder, adopt 1628 * 1236 high resolution industrial video cameras, electronic three variable professional camera lenses.Wherein, intelligent bridge-checking vehicle software adopts the ACCESS database to write, and uses when the user need detect in real time to bridge floor, is the control program that the user is used to finish bridge floor detection and bridge floor data acquisition.Major function comprises and 1. detects data acquisition, comprises panoramic picture, detected image and various relevant acquisition parameter; 2. checkout equipment control comprises pan and tilt head, panoramic camera, detection The Cloud Terrace and detects video camera etc.; 3. detect the data storage, various detection data of real-time storage and disease data; 4. detect the overall situation of data and browse, browse all image data successively; 5. detect data by inquiring and browsing, press specified conditions inquiry and browse queries result; 6. inquiry output.
As Fig. 2 and shown in Figure 5, in the present embodiment, described camera system delivery and drive unit 7-6 are by direct current generator 7-61, the synchronous band 7-62 that links to each other with direct current generator 7-61 constitutes with the parallel line slideway 7-63 that is positioned at synchronous band 7-62 below, the described panoramic shooting 7-4 of system is fixed on synchronous band 7-62 and the line slide rail 7-63, described detection camera system 7-5 is fixed on synchronous band 7-62 and the line slide rail 7-63, the guardrail upper end of described line slide rail 7-63 and interior working platform 2-41 and match in the guardrail upper end of outer working platform 2-42 and under the drive of direct current generator 7-61 the guardrail upper end of interior working platform 2-41 and outside move reciprocatingly on the guardrail of working platform 2-42.IMAQ and analytical system can be quick, easily the bridge outward appearance is carried out automatic scan, and in real time the image information that scans is transferred to IMAQ and analysis center 7-1,64 industrial control computer 7-11 among IMAQ and the analysis center 7-1 carry out analyzing and processing by intelligent bridge-checking vehicle software to the image information that scans, and show in real time by 21 cun LCD 7-14, observe for the testing staff, analyze, operations such as storage, automation and two kinds of functions of manual detection that whole bridge detects have been realized, work maneuverability, and sensitivity and high efficiency.
The course of work of the present utility model is: before truss-like equipment 2 launches, guarantee that at first bridge inspection vehicle is in the idling inactive state, bridge floor is smooth substantially, the gradient is no more than 3%, the bridge floor wind speed is no more than 10m/s, guarantee parking brake work, after the hydraulic pressure system regiment commander is carried, master controller 4-1 in the vehicle control system 4 sends control signal and gives the stabilizing mechanism oil cylinder 3-2 that is used for auxiliary connection vehicle frame 5 and stabilizing mechanism, stabilizing mechanism oil cylinder 3-2 releases the heavy 6-2 of dynamic equilibrium, to reach the balance of car load when keeping duty, stabilizing mechanism oil cylinder 3-2 releases two steady wheel 6-3 that are arranged on subframe 5 bottoms simultaneously, with the influence to truss-like equipment 2 of the elastic deformation of avoiding the inspection vehicle tire, the center of steady wheel 6-3 is exactly the centre of equilibrium after whole truss-like equipment 2 launches.Driving by on-board engine, the control sequence that hydraulic system 3 is set in vehicle control system 4 in advance according to the operator, under the effect of power drive elements such as oil cylinder and hydraulic motor, at first base body 2-13 skids off base sliding sleeve 2-14 under the promotion of elevating ram 2-15, finish the lifting of truss-like equipment 2, the 2 whole rollovers of truss-like equipment are 90 ° then, truss-like equipment 2 half-twists, the platform of then organizing work, main couple 2-2 vertically descends by the guide rail 2-11 on the base 2-1, rotating mechanism 2-3 rotation also drives working platform to bridge, arrive work plane, working platform 2-41 stretches out outer working platform 2-42 in last, the duration of run of whole truss-like equipment 2 has certain requirement, under the normal situation of the detected parameter of position-detection sensor 4-4,, finish all actions automatically by vehicle control system 4 controls; When truss-like equipment 2 reclaims, carry out according to launching opposite sequence of movement.Whole sequence of movement is summarized as: 1. the heavy 6-2 of dynamic equilibrium releases; 2. steady wheel 6-3 descends; 3. truss-like equipment 2 liftings; 4. 2 rollovers of truss-like equipment are 90 °; 5. truss-like equipment 2 half-twists; 6. working platform is opened; 7. main couple 2-2 vertically descends; 8. working platform rotation; 9. working platform is flexible; The recovery of 10. whole truss-like equipment 2.When working platform is flexible finish after, the 7-4 of the panoramic shooting system guardrail upper end of working platform 2-42 outside moves reciprocatingly and the bridge panorama is carried out IMAQ, detect that camera system 7-5 moves reciprocatingly in the guardrail upper end of interior working platform 2-41 and the bridge of test point is carried out IMAQ, the 7-4 of panoramic shooting system and detect image information that camera system 7-5 collected and all be transferred in real time among the machine vision dedicated video capture card 7-12 among IMAQ and the analysis center 7-1,64 industrial control computer 7-11 carry out analyzing and processing by intelligent bridge-checking vehicle software to the image information that scans, and show in real time by 21 cun LCD 7-14, observe for the testing staff, analyze, operations such as storage, and can in the related software that adopts advanced image processing and identification algorithm establishment, discern bridge defect automatically; When gathering video image, radar range finder 7-2 and odometer 7-3 be the X coordinate and the Y coordinate of acquisition testing point position respectively, and write database simultaneously with other relevant informations, when the image history playback, utilize these data to retrieve fast and navigate to the picture frame that will search surely.In addition, in IMAQ and analytical system, add multi-angle and multispectral illuminating lamp, the multi-angle and the multispectral illuminating lamp that for example add 6 200W, the upper end of working platform 2-41 and outer working platform 2-42 in evenly being installed in, the imaging integration technology of employing multi-angle and multispectral illumination further improves the contrast of bridge defect image; Limit sensors is installed in end, upper end at interior working platform 2-41 and outer working platform 2-42, is used to prevent that the 7-4 of panoramic shooting system from skidding off the guardrail upper end of outer working platform 2-42, prevents to detect on the guardrail that camera system 7-5 skids off interior working platform 2-41.
In entire work process, vehicle control system 4 can be realized the detection of 90 ° of capstan head rollovers and the detection of the vertical half-twist of capstan head by position-detection sensor 4-4, if greater than ± 3 ° error, master controller 4-1 will send alarm control signal and give alarm module 4-6, and alarm module 4-6 sends alarm signal prompting staff; Programme-control and chain function that vehicle control system 4 possesses comprise: 1. brake failure, and stable and expansion operation can not be carried out; 2. the stabilizer wheel does not land, and subsequent action can not carry out; 3. strictness is undertaken by operating sequence, and maloperation will be under an embargo; 4. in the time of more than high building vertical-levelness deviation ± 3 °, the transmission operation will be stopped; When 5. vehicle surpasses more than ± 3 ° near the slope horizontal gradient error, the transmission operation will be stopped; Obstruction warning when 6. detection platform is near bridge is chain; 7. monitor and driving arrangement by the order of technological requirement.
In sum, the utility model is a platform with advanced person's bridge inspection vehicle, uses novel acquisition technology and development diagram as automatic identification technology, discerns the characteristic parameter of bridge defect automatically, and exploitation detects data acquisition software and data retrieval software; Developing intellectual resource bridge-checking vehicle IMAQ and analytical system, can under testing staff's control, implement automatic scan to the bridge outward appearance, improve bridge inspection efficient, and with scanning HD image be real-time transmitted to control centre, for operations such as testing staff's observation, analysis, storages, can also discern automatically bridge defect, and trigger interlock incidents such as warning, record, storage.After finding bridge defect, the testing staff utilizes working platform can carry out on-the-spot testing in depth testing to bridge defect, also can carry out maintenance and reinforcement simultaneously, has improved the operating efficiency that bridge detects and safeguards greatly; In addition, when automatic checkout system breaks down, utilize this truss-like bridge inspection vehicle manually also can finish bridge and detect task, have two kinds of functions of automation and manual detection.
Correlation technique can be generalized to the tunnel simultaneously and detects and pavement detection.
The above; it only is preferred embodiment of the present utility model; be not that the utility model is imposed any restrictions; everyly any simple modification that above embodiment did, change and equivalent structure are changed, all still belong in the protection domain of technical solutions of the utility model according to the utility model technical spirit.
Claims (9)
1. an intellectuality and artificial dual-purpose bridge inspection vehicle, comprise car body (1) and be arranged on subframe (5) on car body (1) chassis, described subframe (5) is provided with truss-like equipment (2), be used to realize the straight line of truss-like equipment (2) or the hydraulic system of spinning movement, be used for car load action control vehicle control system (4) and be used to improve the stabilizing mechanism of car load job stability, described truss-like equipment (2) joins with hydraulic system, described hydraulic system and vehicle control system (4) join, and it is characterized in that: also comprise the bridge outward appearance is scanned, analyze and image transmitted collection and analytical system; Described truss-like equipment (2) comprises the base (2-1) that is connected with subframe (5), the main couple (2-2) that is connected with base (2-1), rotating mechanism (2-3) that is connected with main couple (2-2) and the working platform that is connected with rotating mechanism (2-3), the described working platform two joint telescopic boom structures that interior working platform (2-41) and outer working platform (2-42) constitute of serving as reasons; Described vehicle control system (4) comprise master controller (4-1) and and master controller (4-1) join and be used to realize master controller (4-1) and be arranged on the communication module (4-2) of two-way communication between monitoring system in the driver's cabin, the input termination control box (4-3) of described master controller (4-1) and position-detection sensor (4-4), control signal that described master controller (4-1) reception control box (4-3) sends or the detected working state signal of position-detection sensor (4-4) are also handled back output control signal by analysis to the display module (4-5) that is connected on its output, executive component in alarm module (4-6) and the multichannel combination valve (3-1), described multichannel combination valve (3-1) and hydraulic system joins and is used to control the work of executive component; Described stabilizing mechanism comprises the static balance that is arranged on subframe (5) top heavy (6-1) and dynamic equilibrium heavy (6-2) and the steady wheel (6-3) that is arranged on subframe (5) bottom, and described dynamic equilibrium heavy (6-2) and steady wheel (6-3) all join by stabilizing mechanism oil cylinder (3-2) and subframe (5); Described IMAQ and analytical system comprise the IMAQ that is installed in car body (1) driver's cabin and analysis center (7-1) and the radar range finder (7-2) that joins with IMAQ and analysis center (7-1), odometer (7-3), panoramic shooting system (7-4), detect delivery of camera system (7-5) and camera system and drive unit (7-6), described radar range finder (7-2) and odometer (7-3) are installed on the rear wheel wheel rim of car body (1) right side and respectively the X coordinate and the Y coordinate of bridge test point position are gathered, and described panoramic shooting system (7-4) is installed in the guardrail upper end of outer working platform (2-42) by camera system delivery and drive unit (7-6) and moves reciprocatingly on the guardrail of working platform (2-42) outside, described detection camera system (7-5) is installed in the guardrail upper end of interior working platform (2-41) by camera system delivery and drive unit (7-6) and moves reciprocatingly in the guardrail upper end of interior working platform (2-41).
2. according to described a kind of intellectuality of claim 1 and artificial dual-purpose bridge inspection vehicle, it is characterized in that: described base (2-1) is connected with subframe (5) by bearing pin, the top of described base (2-1) is equipped with and is used for the guide rail (2-11) that confession main couple (2-2) slides up and down, described main couple (2-2) is installed on the guide rail (2-11) by lifting master cylinder (3-3), described rotating mechanism (2-3) is connected with main couple (2-2) by pivoting support bearing (2-5), described working platform is connected with rotating mechanism (2-3) with oil cylinder by bearing pin, also is connected with the rotation ladder (2-6) of walking and using for the staff between described working platform and rotating mechanism (2-3).
3. according to described a kind of intellectuality of claim 2 and artificial dual-purpose bridge inspection vehicle, it is characterized in that: the sleeve type stretching structure of described base (2-1) for constituting by base body (2-13) and base sliding sleeve (2-14), described base sliding sleeve (2-14) inner bottom is equipped with the elevating ram (2-15) that is used for lifting by bearing (2-12), described base body (2-13) is installed in the top of elevating ram (2-15) by bearing (2-12), and described base sliding sleeve (2-14) is sleeved on the bottom of base body (2-13).
4. according to described a kind of intellectuality of claim 2 and artificial dual-purpose bridge inspection vehicle, it is characterized in that: described pivoting support bearing (2-5) is gapless bearing.
5. according to described a kind of intellectuality of claim 2 and artificial dual-purpose bridge inspection vehicle, it is characterized in that: the cylinder pedestal of described lifting master cylinder (3-3) is the cross axle structure.
6. according to described a kind of intellectuality of claim 1 and artificial dual-purpose bridge inspection vehicle, it is characterized in that: described master controller (4-1) is the PLC controller.
7. according to described a kind of intellectuality of claim 1 and artificial dual-purpose bridge inspection vehicle, it is characterized in that: described panoramic shooting system (7-4) is made of pan and tilt head (7-41) and the panoramic camera (7-42) that is installed on the pan and tilt head (7-41); Described detection camera system (7-5) constitutes by detecting The Cloud Terrace (7-51) and being installed in the detection video camera (7-52) that detects on the The Cloud Terrace (7-51); Described IMAQ and analysis center (7-1) comprise 64 industrial control computers (7-11) that machine vision dedicated video capture card (7-12) and intelligent bridge-checking vehicle software are installed and two 21 cun LCDs (7-13) and two the cradle head control devices (7-14) that join with 64 industrial control computers (7-11); Described machine vision dedicated video capture card (7-12) joins with panoramic camera (7-12) and detection video camera (7-22), and described 64 industrial control computers (7-11) join with radar range finder (7-2) and odometer (7-3).
8. according to described a kind of intellectuality of claim 1 and artificial dual-purpose bridge inspection vehicle, it is characterized in that: described camera system delivery and drive unit (7-6) are by direct current generator (7-61), the synchronous band (7-62) continuous with direct current generator (7-61) constitutes with the parallel line slideway (7-63) that is positioned at synchronous band (7-62) below, described panoramic shooting system (7-4) is fixed on synchronous band (7-62) and the line slide rail (7-63), described detection camera system (7-5) is fixed on synchronous band (7-62) and the line slide rail (7-63), the guardrail upper end of described line slide rail (7-63) and interior working platform (2-41) and match in the guardrail upper end of outer working platform (2-42) and under the drive of direct current generator (7-61) the guardrail upper end of interior working platform (2-41) and outside move reciprocatingly on the guardrail of working platform (2-42).
9. according to described a kind of intellectuality of claim 7 and artificial dual-purpose bridge inspection vehicle, it is characterized in that: described panoramic camera (7-42) and detection video camera (7-52) are the video camera that inside is integrated with decoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206196501U CN201891076U (en) | 2010-11-19 | 2010-11-19 | Intelligent and manual dual-purpose bridge detecting vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206196501U CN201891076U (en) | 2010-11-19 | 2010-11-19 | Intelligent and manual dual-purpose bridge detecting vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN201891076U true CN201891076U (en) | 2011-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010206196501U Expired - Lifetime CN201891076U (en) | 2010-11-19 | 2010-11-19 | Intelligent and manual dual-purpose bridge detecting vehicle |
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| CN (1) | CN201891076U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102041776A (en) * | 2010-11-19 | 2011-05-04 | 吕彭民 | Intelligent and manual dual-purpose bridge detection vehicle |
| CN102953331A (en) * | 2012-10-22 | 2013-03-06 | 湖南恒润高科股份有限公司 | Bridge inspection vehicle stretching platform protection device and control method |
| CN105178181A (en) * | 2015-09-09 | 2015-12-23 | 郑州育才交通科技有限公司 | Fast-moving safe and intelligent video detection system device for bridges |
| CN108999082A (en) * | 2018-07-17 | 2018-12-14 | 浙江海洋大学 | A kind of bridge inspection and maintenance platform |
| US11320338B2 (en) | 2019-01-14 | 2022-05-03 | Changsha University Of Science And Technology | Bridge detecting vehicle with two foldable arms |
-
2010
- 2010-11-19 CN CN2010206196501U patent/CN201891076U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102041776A (en) * | 2010-11-19 | 2011-05-04 | 吕彭民 | Intelligent and manual dual-purpose bridge detection vehicle |
| CN102041776B (en) * | 2010-11-19 | 2012-08-01 | 吕彭民 | Intelligent and manual dual-purpose bridge detection vehicle |
| CN102953331A (en) * | 2012-10-22 | 2013-03-06 | 湖南恒润高科股份有限公司 | Bridge inspection vehicle stretching platform protection device and control method |
| CN102953331B (en) * | 2012-10-22 | 2014-10-22 | 湖南恒润高科股份有限公司 | Bridge inspection vehicle stretching platform protection device and control method |
| CN105178181A (en) * | 2015-09-09 | 2015-12-23 | 郑州育才交通科技有限公司 | Fast-moving safe and intelligent video detection system device for bridges |
| CN108999082A (en) * | 2018-07-17 | 2018-12-14 | 浙江海洋大学 | A kind of bridge inspection and maintenance platform |
| US11320338B2 (en) | 2019-01-14 | 2022-05-03 | Changsha University Of Science And Technology | Bridge detecting vehicle with two foldable arms |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20110706 Effective date of abandoning: 20120801 |