CN211815580U - Rising and falling type detection vehicle for avoiding side obstacle of bridge - Google Patents

Abstract

The utility model provides a lifting and landing type avoidance bridge side obstacle detection vehicle, comprising a vehicle body, a transverse support arranged on the vehicle body, a longitudinal support whose top end is connected to the end of the transverse support, and a longitudinal support connected to the bottom end of the longitudinal support. a truss; the transverse support includes a first base connected with the vehicle body, a second base connected with the longitudinal support, and an avoidance mechanism for connecting the first base and the second base; the avoidance mechanism includes several groups The gate lever assemblies arranged in parallel, each group of gate lever assemblies includes a connecting rod and a locator, one end of the connecting rod is hinged to the end of the first base, and the other end is detachably connected to the second base through the locator . When evading, each group of brake lever assemblies performs an evasive action to separate a part of the connecting rod from the second base to generate a fracture. Avoid obstacles through the port, and achieve the effect of avoiding obstacles without retracting the truss and longitudinal supports.

Description

A lift-off avoidance bridge side obstacle detection vehicle

technical field

The utility model belongs to the field of bridge detection equipment, in particular to a lift-type avoidance bridge side obstacle detection vehicle.

Background technique

The bridge inspection vehicle uses a car as a carrier and loads a three-stage mechanical arm, which are a horizontal bracket whose base is installed on the inspection vehicle, a vertical bracket installed on the horizontal bracket in a telescopic or hinged manner, and a telescopic or hinged installation. Trusses on vertical supports. The bridge inspection vehicle walks on the edge of the bridge, extends the horizontal bracket out of the side of the bridge body, and extends the vertical bracket down to the position below the bottom surface of the bridge. The trusses are supported by vertical brackets and protrude inward from the sides of the bridge body, and the trusses are placed horizontally at the bottom of the bridge. Sensors, cameras, lighting equipment, etc. for detection are installed on the truss.

But there are many obstacles on both sides of the bridge. Such as bridge side guardrails, signs, decorations, etc. These structures will hinder the horizontal support of the bridge inspection vehicle. The truss and vertical support need to be retracted, and then re-deployed after bypassing the obstacle, which seriously affects the bridge inspection efficiency.

Utility model content

The purpose of the utility model is to avoid obstacles without moving the horizontal support, the vertical support and the truss.

The utility model is achieved through the following technical solutions:

A lifting-and-landing avoidance bridge side obstacle detection vehicle comprises a vehicle body, a transverse support arranged on the vehicle body, a longitudinal support whose top end is connected to the end of the transverse support, and a truss connected to the bottom end of the longitudinal support; The bracket includes a first base connected with the vehicle body, a second base connected with the longitudinal support, and an avoidance mechanism for connecting the first base and the second base; the avoidance mechanism includes several groups of brake levers arranged in parallel Each group of brake lever assemblies includes a connecting rod and a locator, one end of the connecting rod is hinged to the end of the first base, and the other end is detachably connected to the second base through the locator.

Through the above scheme, the present invention obtains at least the following technical effects: the connecting rod of each gate rod assembly is detachably connected to the second base, so that when avoiding obstacles, the gate rod assembly close to the obstacle is controlled to be connected The rod is lifted to separate the connecting rod from the second base to create a fracture, so that obstacles can be avoided through the fracture. As the detection vehicle continues to move forward, on the one hand, the connecting rod that controls the brake lever assembly that has avoided the obstacle falls down and locks again with the locator on the second base; on the other hand, controls the brake lever that is currently approaching the obstacle The assembly performs the above operation of avoiding obstacles, whereby the connecting rods in each group of brake lever assemblies sequentially perform the steps of lifting and avoiding obstacles, and sequentially lowering the connecting rods to lock and connect with the second base after passing the obstacles. Achieve the effect of avoiding obstacles without retracting the truss and longitudinal supports.

Optionally, each group of brake lever assemblies further includes an avoidance motor and a gear set; the gear set includes a driving gear that is drivingly connected to the avoidance motor, and a driven gear that meshes with the driving gear; the driving gear is arranged on the first base. seat, the driven gear is arranged on the end of the connecting rod.

The hinge between the connecting rod and the first base is designed as a connection form that is meshed by the gear set driven by the avoidance motor. By controlling the avoidance motor, the lifting and lowering of the connecting rod can be realized. Compared with manual operation, the efficiency is improved. At the same time, labor cost is saved.

Optionally, a central controller is also included, and the central controller is connected in communication with the avoidance motor.

Connecting the avoidance motor to the central controller can realize the automatic control of the avoidance action. Further, a connection can be established with the central controller through a remote controller, and then the lifting and lowering actions of the connecting rod can be controlled by the remote controller. It is easier to avoid obstacles during the detection process.

Optionally, each group of brake lever assemblies further includes a detector for detecting whether the connecting lever is close to an obstacle, and the detector is connected in communication with the central controller.

Each set of brake lever components is matched with a detector for detecting the distance between the obstacle and the connecting rod. The detector sends a signal to the central controller when the obstacle approaches the connecting rod, and the central controller can convert this signal into a signal to drive the avoidance motor to run. The command makes the avoidance motor drive the driving gear to rotate, which in turn drives the driven gear to rotate, and the connecting rod is lifted to avoid obstacles. The collision between obstacles and connecting rods caused by human error can be avoided, thereby avoiding structural damage and reducing maintenance costs.

Optionally, each group of brake lever assemblies further includes a laser sensor for detecting whether the connecting lever has passed through an obstacle, and the laser sensor is connected in communication with the central controller.

After the matching laser sensor of each group of brake lever components detects that the connecting rod has avoided the obstacle, it sends a signal to the central controller, which converts the signal into a command, so that the avoidance motor drives the driving gear to rotate in the reverse direction and drives the driven gear. The gear rotates in the opposite direction, so that the connecting rod is lowered and the connection with the second base is established again.

Optionally, an information collection mechanism that is communicatively connected to the central controller is provided on the truss, and the information collection mechanism includes one or more of a camera, a compound eye camera, and an ultrasonic detector.

Video recording can be performed by a camera, or a compound eye camera can be used to take continuous panoramic pictures, and then multiple panoramic pictures can be integrated by establishing reference coordinates, or an ultrasonic monitor can be used to detect ultrasonic cracks on the bottom surface and interior of the bridge, or more Multi-related fields of information collection equipment for detection. After that, the collected information is transmitted to the central controller for storage or forwarding.

Optionally, the fly-eye camera includes a hemispherical base, at least one hemispherical lens lens disposed on the surface of the base, a plurality of cylindrical lens lenses disposed on the surface of the base and surrounding the hemispherical lens lens .

The compound eye camera is used to take panoramic pictures. In order to obtain the information of the underside of the bridge and its surroundings more clearly, it is necessary to change the shooting range of the panoramic picture to a hemispherical area for shooting. Therefore, the lens of the lens that takes pictures around it adopts a cylindrical design, which can more clearly take pictures in the area of 1.25M*0.87M-2.5M*1.75M within a distance of 1-2M. The hemispherical base surface is evenly surrounded by a plurality of cylindrical lens lenses, and the connection line between the centers of the plurality of cylindrical lens lenses forms a circle parallel to the bottom surface of the base. However, only the pictures taken by the cylindrical lens lens will form a top blind area after integration. Therefore, a hemispherical lens lens is set at the top center point of the hemispherical base to take pictures in the area of 1.5M*1.5M-3M*3M within a distance of 1-2M. Picture, after all the pictures are integrated, a panoramic picture with full coverage in the hemispherical area is formed.

Optionally, it also includes a wireless communication module connected to the central controller; the central controller is connected to the cloud server storing the intelligent analysis data of building diseases through the wireless communication module.

The central controller establishes a connection with the cloud server through the wireless communication module, and uploads the acquired bridge inspection data quickly, so that the cloud server can compare and analyze the received bridge inspection data based on the stored intelligent analysis data about the structural disease. Based on the analysis of personal experience by the on-site inspection personnel, the inspection results obtained are more accurate, more efficient, lower cost, safe and reliable.

Optionally, the end of the truss is rotatably connected to the bottom end of the longitudinal support through a rotating mechanism.

The rotating mechanism can use a winch, a gear set or other conventional technologies, and it is enough to drive the truss to rotate. It is used to retract the truss or perform the rotation operation to avoid the pier when passing through the pier.

Optionally, LED lights are also provided on the truss.

When the light at the bottom of the bridge is insufficient, LED lights are used to illuminate the light source to strengthen the light source to avoid inaccurate information acquisition due to insufficient light and thus affect the detection results.

Description of drawings

FIG. 1 is a schematic structural diagram of the front view of a vehicle for detecting obstacles on the side of a lift-and-fall avoidance bridge provided in an embodiment of the present invention.

FIG. 2 is a top-view structural schematic diagram of a lift-and-land avoidance bridge-side obstacle detection vehicle provided in an embodiment of the present invention.

FIG. 3 is a schematic structural diagram of a compound-eye camera according to an embodiment of the present invention.

legend:

1 body; 2 transverse supports; 3 longitudinal supports; 4 trusses; 5 central controller;

21 first base; 22 second base; 23 brake lever assembly;

231 connecting rod; 232 locator; 233 avoidance motor; 234 driving gear; 235 driven gear; 236 detector; 237 laser sensor;

41 compound eye camera; 42 LED light; 43 laser ranging sensor; 44 rotating mechanism;

411 hemispherical base; 412 hemispherical lens lens; 413 cylindrical lens lens.

Detailed ways

The utility model will be further described below in conjunction with the accompanying drawings and embodiments.

Please refer to Figure 1, Figure 2 and Figure 3 together,

Example 1:

A lifting and landing type avoidance bridge side obstacle detection vehicle, comprising a vehicle body 1, a transverse support 2 arranged on the vehicle body 1, a longitudinal support 3 whose top is connected to the end of the transverse support 2, and a bottom of the longitudinal support 3 connected to the bottom of the longitudinal support 3. The transverse support 2 includes a first base 21 connected with the vehicle body 1, a second base 22 connected with the longitudinal support 3, and an escape for connecting the first base 21 and the second base 22 The avoidance mechanism includes several groups of gate lever assemblies 23 arranged in parallel, each group of gate lever assemblies 23 includes a connecting rod 231 and a positioner 232, and one end of the connecting rod 231 is hinged to the end of the first base 21 , and the other end is detachably connected with the second base 22 through the locator 232 .

Through the above solution, the present invention achieves at least the following technical effects: through the detachable connection between the connecting rods 231 of each gate rod assembly 23 and the second base 22, the gate rod assembly 23 close to the obstacle can be controlled when avoiding obstacles. , so that the connecting rod 231 is lifted to separate the connecting rod 231 from the second base 22 to create a fracture, so that obstacles can be avoided through the fracture. As the detection vehicle continues to move forward, on the one hand, the connecting rod 231 of the brake lever assembly 23 that controls the obstacle that has been avoided falls down and is re-locked with the locator 232 on the second base 22; on the other hand, the control is currently approaching the obstacle. The brake lever assembly 23 of the obstacle performs the above-mentioned operation of avoiding obstacles, whereby the connecting rods 231 in each group of brake lever assemblies 23 sequentially perform lifting and avoiding obstacles, and sequentially lower the connecting rods 231 after passing the obstacles to connect with the second Steps in which the base 22 locks the connection. The effect of avoiding obstacles can be achieved without retracting the truss 4 and the longitudinal support 3 .

The avoidance movement process of the above technical solution is as follows: when the obstacle approaches the first group of brake lever assemblies 23, the positioner 232 on the second base 22 is opened, and the connecting rod 231 rotates at its hinged position with the first base 21. The center is lifted upward to separate the connecting rod 231 from the second base 22 to create a fracture. As the detection vehicle continues to move forward, use the fracture to avoid obstacles through the obstacles. During this process, other groups of brake lever assemblies 23 remain connected to the second base 22 . When the first group of brake lever assemblies 23 passes the obstacle and the second group of brake lever assemblies 23 approaches the obstacle, the second group of brake lever assemblies 23 repeats the actions of the first group of brake lever assemblies 23 . And the connecting rods 231 of the first group of gate lever assemblies 23 fall down, so that the connecting rods 231 are re-locked with the locator 232, thereby re-establishing connection with the second base 22, and the above operations are repeated, so that each group of gate lever assemblies 23 are sequentially After passing through the obstacles until the fracture between the first base 21 and the second base 22 is completely passed, the detection vehicle can avoid the obstacles located on the side of the bridge.

Example 2:

On the basis of Embodiment 1, in order to further improve the detection efficiency of the detection vehicle, improve the avoidance speed and the accuracy of the avoidance operation, the technical scheme is automatically improved, and the specific improvement scheme is as follows:

In one embodiment, in order to operate the connecting rod 231 to perform the avoidance action more accurately and efficiently, each group of brake lever assemblies 23 further includes an avoidance motor 233 and a gear set; the gear set includes a driving gear that is drivingly connected to the avoidance motor 233 . 234 , and a driven gear 235 meshing with the driving gear 234 ; the driving gear 234 is arranged on the first base 21 , and the driven gear 235 is arranged on the end of the connecting rod 231 . The connection form of the gear set driven by the avoidance motor 233 is engaged, and the lifting and lowering of the connecting rod 231 can be realized by controlling the avoidance motor 233, which improves the efficiency and saves labor costs compared with manual operation.

In one embodiment, in order to enhance the control performance, the central controller 5 is further included, and the central controller 5 is connected in communication with the avoidance motor 233 . Automatic control of avoidance actions can be realized. Further, a connection can be established with the central controller 5 through a remote controller, and the lifting and lowering actions of the connecting rod 231 can be controlled by using the remote controller. It is easier to avoid obstacles during the detection process.

In one embodiment, in order to realize the automatic avoidance function, each group of brake lever assemblies 23 further includes a detector 236 for detecting whether the connecting lever 231 is close to an obstacle, and the detector 236 is connected in communication with the central controller 5 . Each set of brake lever assemblies 23 is matched with a detector 236 for detecting the distance between the obstacle and the connecting rod 231 . The detector 236 sends a signal to the central controller 5 when the obstacle approaches the connecting rod 231 , and the central controller 5 can send the signal to the central controller 5 . Converted into a command to drive the avoidance motor 233 to run, so that the avoidance motor 233 drives the driving gear 234 to rotate, which in turn drives the driven gear 235 to rotate, and the connecting rod 231 lifts to avoid obstacles. The collision between the obstacle and the connecting rod 231 caused by human error can be avoided, thereby avoiding structural damage and reducing maintenance cost.

The detector 236 can be selected from any of the following types: a proximity sensor that sends out a signal when an obstacle approaches within a certain distance of the connecting rod 231; a pressure sensor or a vibration sensor that comes into contact with the obstacle to send a signal; measuring the connecting rod through the photoelectric effect A laser ranging sensor 43 for the distance to the obstacle; and other related sensors capable of sending a signal in contact with the obstacle or when approaching the obstacle.

In one embodiment, in order to realize the automatic reset function of the connecting rod 231, each group of brake rod assemblies 23 further includes a laser sensor 237 for detecting whether the connecting rod 231 has passed through an obstacle, and the laser sensor 237 is connected to the central controller. 5 communication connections. After the matching laser sensor 237 of each group of brake lever assemblies 23 detects that the connecting lever 231 has avoided the obstacle, it sends a signal to the central controller 5, and the central controller 5 converts the signal into an instruction, so that the avoidance motor 233 drives the driving gear 234 rotates in the reverse direction, driving the driven gear 235 to rotate in the reverse direction, so that the connecting rod 231 is put down, and the connection with the second base 22 is established again.

The laser sensor 237 can use the photoelectric principle to block the external light when the obstacle passes through the position of the sensor, so that the sensor's sensitivity decreases. When the obstacle completely passes, the sensor's sensitivity is enhanced to generate an electrical signal. Alternatively, the laser sensor 237 may be provided with a light source portion for emitting laser light and a receiving portion for receiving laser light on the opposite end faces of the first base 21 and the second base 22, respectively, based on the principle of laser light receiving. When the obstacle passes through the position of the sensor, the laser is blocked, so that the receiving part cannot receive it. After the obstacle passes completely, the receiving part receives the laser light emitted by the light source part and generates an electrical signal.

At the same time, in order to realize automatic unlocking and locking functions, the locator 232 can be connected to the central controller 5 in communication. When the central controller 5 receives the signal from the detector 236 and instructs the avoidance motor 233 to rotate in the forward direction to drive the connecting rod 231 to lift, the unlocking instruction is issued to unlock the positioner 232; when the central controller 5 receives the signal from the laser sensor 237 and commands the avoidance After the motor 233 rotates in the reverse direction to drive the connecting rod 231 to reset, a locking command is issued to lock the positioner 232 . The positioner 232 is a conventional solenoid valve connector, and can lock the connecting rod 231 and the second base 22 with a latch structure.

Example 3:

On the basis of Embodiment 1 or Embodiment 2, in order to further improve the accuracy of the bridge detection results, the following improvements have been made to the technical solution:

In one embodiment, in order to increase the types and items of information to be detected, the truss 4 is provided with an information collection mechanism that is communicatively connected to the central controller 5, and the information collection mechanism includes a camera, a compound eye camera 41, and an ultrasonic detection mechanism. one or more of the instruments. Video recording can be performed by a camera, or a compound eye camera 41 can be used to take continuous panoramic pictures, and then multiple panoramic pictures can be integrated by establishing reference coordinates, or an ultrasonic monitor can be used to detect ultrasonic cracks on the bottom surface and interior of the bridge, or use More information collection equipment in related fields will be tested. Then, the collected information is transmitted to the central controller 5 for storage or forwarding.

In one embodiment, as shown in FIG. 3, in order to improve the clarity and shooting range of the panoramic picture, the compound eye camera 41 includes a hemispherical base 411, at least one hemispherical lens 412 disposed on the surface of the base, A plurality of cylindrical lens lenses 413 are disposed on the surface of the base and surround the hemispherical lens lens 412 . The compound eye camera 41 is used for taking a panoramic picture. In order to obtain the information on the bottom surface of the bridge and its surroundings more clearly, it is necessary to change the shooting range of the panoramic picture into a hemispherical area for shooting. Therefore, the lens of the lens that takes pictures around it adopts a cylindrical design, which can more clearly take pictures in the area of 1.25M*0.87M-2.5M*1.75M within a distance of 1-2M. The hemispherical base surface is evenly surrounded by a plurality of cylindrical lens lenses 413, and a line connecting the centers of the plurality of cylindrical lens lenses 413 forms a circle parallel to the bottom surface of the base. However, only the images captured by the cylindrical lens lens 413 will form a blind area at the top after integration. Therefore, the hemispherical lens lens 412 is set at the top center point of the hemispherical base 411 to capture 1.5M*1.5M-3M* within a distance of 1-2M. 3M area pictures. After integrating all the pictures taken by each lens, a panoramic picture with full coverage in the hemispherical area is formed.

Based on the previous embodiment, in order to better improve the quality of the panoramic image captured by the compound-eye camera and balance the shooting range of each camera, in an embodiment, the plurality of cylindrical lens lenses 413 are evenly arranged on the hemispherical base 411 On the circumference of a parallel circle of the spherical surface of , the orthographic projection of the lens center of the hemispherical lens lens 412 coincides with the spherical center of the hemispherical base 411 .

In one embodiment, in order to realize the efficient processing and analysis of the bridge detection information, the lifting and landing type avoidance bridge side obstacle detection vehicle also includes a wireless communication module that is connected to the central controller 5; the central controller 5 passes the wireless communication module. It is connected to the cloud server that stores the intelligent analysis data of building diseases. The central controller 5 establishes a connection with the cloud server through the wireless communication module, quickly uploads the acquired bridge detection data, and then compares and analyzes the received bridge detection data with the intelligent analysis data about the structural disease stored in the cloud server, and obtains The corresponding bridge detection results are more accurate than the analysis of on-site inspection personnel relying on personal experience.

In one embodiment, in order to avoid inaccurate information acquisition due to insufficient light, thereby affecting the detection result, the truss 4 is further provided with LED lights 42 . When the light at the bottom of the bridge is insufficient, the LED lights 42 are used for lighting to reinforce the light source.

Example 4:

On the basis of Embodiment 1, Embodiment 2 or Embodiment 3, in order to further improve the passing performance of the detection vehicle to avoid various obstacles, the technical scheme is improved for bridge pier avoidance:

In one embodiment, in order to avoid the rotation operation of the bridge pier, the end of the truss 4 is rotatably connected with the bottom end of the longitudinal support 3 through the rotation mechanism 44 . The rotating mechanism 44 can use a winch, a gear set or other conventional technologies, and can drive the truss 4 to rotate. At the same time, it can also be used for the retraction of the truss 4.

In order to obtain the position information of the distance between the bridge pier and the truss 4, a laser ranging sensor 43 connected to the central controller 5 is also arranged on the truss 4 to measure the distance between the truss 4 and the bridge pier in the direction in which the detection vehicle travels, and to measure the distance between the truss 4 and the bridge pier. The detected detection signal is sent to the central controller 5 . When the central controller 5 determines according to the detection signal that the distance between the truss 4 and the bridge pier reaches the preset value, the central controller 5 controls the rotation mechanism 44 to rotate. Wherein, in order to realize the control of the rotation mechanism 44 by the central controller 5 , the motor used for driving rotation in the rotation mechanism 44 is connected in communication with the central controller 5 .

The above are only specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art can easily think of or replace other embodiments within the technical scope disclosed by the present utility model, All should be covered within the protection scope of the present invention.

The present invention is not limited to the above-mentioned embodiments, if various changes or deformations of the present invention do not depart from the spirit and scope of the present invention, if these changes and deformations belong to the claims of the present invention and the equivalent technical scope, Then the present invention also intends to include these changes and deformations.

Claims (10)

1. A lift-type avoidance bridge side obstacle detection vehicle, characterized in that it comprises a vehicle body, a transverse bracket arranged on the vehicle body, a longitudinal bracket whose top end is connected to the end of the transverse bracket, and a longitudinal bracket connected to the bottom of the longitudinal bracket. The transverse support includes a first base connected with the vehicle body, a second base connected with the longitudinal support, and an avoidance mechanism for connecting the first base and the second base; the avoidance mechanism includes several A group of gate lever assemblies arranged in parallel, each group of gate lever assemblies includes a connecting rod and a locator, one end of the connecting rod is hinged to the end of the first base, and the other end is detachable from the second base through the locator connect. 2 . The lifting and landing type avoidance bridge side obstacle detection vehicle according to claim 1 , wherein each group of brake lever assemblies further comprises an avoidance motor and a gear set; the gear set comprises a driving gear drivingly connected with the avoidance motor, and A driven gear meshing with the driving gear; the driving gear is arranged on the first base, and the driven gear is arranged on the end of the connecting rod. 3 . The vehicle for detecting obstacles on the side of a lift-off avoidance bridge according to claim 2 , further comprising a central controller, which is connected in communication with the avoidance motor. 4 . 4 . The vehicle for detecting obstacles on the side of a lift-off avoidance bridge according to claim 3 , wherein each group of brake lever assemblies further comprises a detector for detecting whether the connecting rod is close to an obstacle, and the detector is connected to a central control device. 5 . device communication connection. 5 . The obstacle detection vehicle on the side of the lift-and-landing avoidance bridge according to claim 3 , wherein each group of brake lever assemblies further comprises a laser sensor for detecting whether the connecting rod has passed through an obstacle, and the laser sensor is connected to the central obstacle. 6 . Controller communication connection. 6 . The vehicle for detecting obstacles on the side of a lifting and landing type avoidance bridge according to claim 3 , wherein the truss is provided with an information collection mechanism that is communicatively connected to the central controller, and the information collection mechanism comprises a camera, a compound eye, and a compound eye. 7 . One or more of cameras and ultrasonic detectors. 7 . The vehicle for detecting obstacles on the side of a lifting and landing type avoidance bridge according to claim 6 , wherein the compound-eye camera comprises a hemispherical base, at least one hemispherical lens set on the surface of the base, The base surface and surrounds the cylindrical lens lenses of the hemispherical lens lenses. 8 . The vehicle for detecting obstacles on the side of the lift-and-landing avoidance bridge according to claim 6 , further comprising a wireless communication module connected to the central controller; the central controller communicates with the stored building disease through the wireless communication module. 9 . Cloud server connection for intelligent analysis of data. 9 . The vehicle for detecting obstacles on the side of a lifting and landing type avoidance bridge according to claim 1 , wherein the end of the truss is rotatably connected to the bottom end of the longitudinal support through a rotating mechanism. 10 . 10 . The vehicle for detecting obstacles on the side of a lifting and landing type avoidance bridge according to claim 1 , wherein the truss is further provided with LED lights. 11 .

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