CN220246673U - Bridge detection information acquisition vehicle - Google Patents
Bridge detection information acquisition vehicle Download PDFInfo
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- CN220246673U CN220246673U CN202321443805.4U CN202321443805U CN220246673U CN 220246673 U CN220246673 U CN 220246673U CN 202321443805 U CN202321443805 U CN 202321443805U CN 220246673 U CN220246673 U CN 220246673U
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Abstract
The utility model discloses a bridge detection information acquisition vehicle, which comprises a transport vehicle, wherein driving wheels are arranged at four corners of the bottom of the transport vehicle; the bottom of the transport vehicle is also connected with a driven wheel through an elastic structure, and an encoder is arranged in cooperation with the driven wheel; the top of the transport vehicle is also provided with a camera module. According to the utility model, the encoder detects the motion of the driven wheel, so that the deviation of the data record level caused by slipping is avoided; the elastic structure is arranged, so that the driven wheel has enough friction with the bottom when the driven wheel touches the convex or concave structure, the vertical displacement range of the driven wheel is larger, and the driven wheel can adapt to more complex structures; through setting of correction points, the encoder is further corrected, and the detection precision of the moving position of the acquisition vehicle is improved; the number of installation of correction sensors is greatly reduced by special correction point coding.
Description
Technical Field
The utility model relates to the field of machinery, in particular to a bridge detection information acquisition vehicle.
Background
At present, when bridge detection is carried out, a track is arranged along the length direction of a bridge, the track is connected with a transverse guide rail in a sliding mode, and a plurality of cameras can be arranged on the transverse guide rail along the length direction. And the bridge inspection vehicle is also used for inspection.
At present, when detecting the bottom of an oversized bridge, a detector usually carries out visual inspection by taking a bridge bottom inspection vehicle. For steel box girders, such as steel box girders, the generated diseases tend to cause corrosion of the falling parts of the coating, and the disease features are large and obvious. So that the common cameras can be arranged along the width direction of the bridge for observation.
However, for the concrete beam bottom, such as cracks and the like, the vibration of the beam bottom inspection vehicle and the bridge is not obviously overlapped, and the common camera and monitoring scheme cannot overcome the shake and the motion blur of the image during detection. And the high-end camera is high in price and is not arranged on the camera, so that the camera is not beneficial to the preservation and maintenance.
Still other people adopt a small wall climbing structure to detect, such as a bridge bottom disease inspection device disclosed in patent CN206411024U, and the like, and detect through a vehicle adsorbed on the bridge bottom, but the detection is difficult to realize, because the equipment such as a camera, a power system, a battery and the like carried by the vehicle is large automatically, and the fan is difficult to overcome the gravity of the equipment to keep the equipment adsorbed on the bridge bottom. In addition, the beam bottom is generally free of GPS signals and difficult to realize automatic control due to bridge shielding, long distance from the river bank and the like. When the information is collected at the bridge floor, the information needs to be collected at the same time, and the size and the coordinates of the diseases need to be contained, namely the diseases in the pictures need to be measurable, so that a sensor needs to be added to obtain the position and the camera posture of the sensor when the bridge floor is collected. However, current collection carts typically travel on a plane without undulations and without encoders. Or the encoder is directly and rigidly connected with the driving wheel, and only the rotation condition of the driving wheel can be fed back. The driving wheel can walk at high speed, quickly switch the movement direction, and easily slip when the ground is uneven or accumulated water and ash are accumulated, so that larger errors exist in the rotation condition and the running condition of the trolley. Meanwhile, a correction means is not provided, the recorded walking distance is incorrect due to the fact that the measured accumulated errors cannot be eliminated in the long-time reciprocating walking process, finally, errors occur in the recorded photo information coordinates, and data errors occur in the subsequent picture splicing, crack and other damage positioning processes, so that improvement is needed.
Disclosure of Invention
The utility model aims to provide a bridge detection information acquisition vehicle and a using method thereof, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present utility model provides the following technical solutions:
the bridge detection information acquisition vehicle comprises a transport vehicle, wherein driving wheels are arranged at four corners of the bottom of the transport vehicle; the bottom of the transport vehicle is also connected with a driven wheel through an elastic structure, and an encoder is arranged in cooperation with the driven wheel; the top of the transport vehicle is also provided with a camera module.
The elastic structure comprises a mounting groove with a downward opening arranged on the encoder shell, a vertical linear guide rail is slidably arranged in the mounting groove, the vertical linear guide rail penetrates through and is slidably connected with a driven wheel mounting frame, the bottom of the vertical linear guide rail is connected with a lower stop block matched with the driven wheel mounting frame, the top of the vertical linear guide rail is connected with an upper stop piece, and a middle stop ring is arranged at the bottom of the mounting groove; a first elastic structure is arranged between the middle baffle ring and the upper baffle plate; a second elastic structure is arranged between the middle baffle ring and the driven wheel mounting frame, and the elastic force of the second elastic structure is larger than that of the first elastic structure; the driven wheel is mounted on the driven wheel mounting frame.
Further improved, the first elastic structure and the second elastic structure are springs.
Further improved, the second elastic structure is a conical spring.
Further improvement, the mounting bracket is installed at the transportation roof portion, installs gear motor in the mounting bracket, and the module of making a video recording links to each other with gear motor.
Further improvement, the mounting bracket is U-shaped.
Further improvement, the camera module includes two cameras, installs laser radar between the camera, and a plurality of LED lights are installed to the camera periphery.
Further improvement, a plurality of correction sensors are arranged on the transport vehicle.
Further improved, the correction sensor is a photoelectric sensor.
Compared with the prior art, the utility model has the beneficial effects that:
1. the encoder detects the motion of the driven wheel, so that deviation of the data record level caused by slipping is avoided.
2. The elastic structure is arranged, so that the driven wheel has enough friction with the bottom when the driven wheel touches the convex or concave structure, the up-and-down displacement range of the driven wheel is larger, the guide rail is not required to be a straight line, and the trolley up-and-down slope encoder can still work normally.
3. Through setting up of correction point, further correct the encoder, improved the detection precision to collection car mobile position.
4. The number of installation of correction sensors is greatly reduced by special correction point coding.
Drawings
FIG. 1 is a schematic perspective view of the present utility model;
FIG. 2 is a schematic view of the structure in a conventional state of the elastic structure;
FIG. 3 is a schematic view of the structure of the elastic structure when the driven wheel hits the groove;
FIG. 4 is a schematic view of the structure of the resilient structure when the driven wheel encounters a projection;
FIG. 5 is a schematic illustration of two correction sensor arrangements for four correction points;
FIG. 6 is a schematic view of the elastic structure when the collection vehicle passes through the concave position;
fig. 7 is a schematic view showing a state of the elastic structure when the collection truck passes through the convex position.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
The bridge detection information acquisition vehicle shown in fig. 1 comprises a transport vehicle 1, wherein driving wheels 2 are arranged at four corners of the bottom of the transport vehicle 1; the bottom of the transport vehicle 1 is provided with a driven wheel 3, and an encoder 4 is arranged in cooperation with the driven wheel 3; the top of the transport vehicle 1 is also provided with a camera module 5.
Therefore, the distance of the displacement of the collection vehicle is judged by detecting the travel of the driven wheel 3 through the encoder 4, and the driven wheel 3 is driven by the transport vehicle 1 to rotate, so that the problem of slipping does not exist, and the collection of distance information is more accurate.
In addition, the existing transverse guide rail is sometimes not horizontal, but is arranged like a U shape, namely, two ends of the transverse guide rail are provided with parts bent upwards and outwards to detect webs or inclined web wing plates on two sides of a bridge, or the transverse guide rail is provided with other structures, and the track of the transverse guide rail is caused to fall down or corrode, and the like, so that the transverse guide rail is provided with bulges and grooves. Therefore, in order to prevent the driven wheel from suspending or not rotating due to insufficient friction force with the transverse guide rail, the following improvement is carried out:
the encoder 4 is provided with a mounting groove 6 with a downward opening, a vertical linear guide rail 7 is slidably mounted in the mounting groove 6, a driven wheel mounting frame 8 is slidably connected with the vertical linear guide rail 7 in a penetrating manner, a lower stop block 9 matched with the driven wheel mounting frame 8 is connected to the bottom of the vertical linear guide rail 7, an upper stop piece 10 is connected to the top of the vertical linear guide rail 7, and a middle stop ring 11 is mounted at the bottom of the mounting groove 6; a first elastic structure 12 is arranged between the middle baffle ring 11 and the upper baffle plate 10; a second elastic structure 13 is arranged between the middle baffle ring 11 and the driven wheel mounting frame 8, and the elastic force of the second elastic structure 13 is larger than that of the first elastic structure 12; the driven wheel 3 is mounted on a driven wheel mounting 8.
As shown in fig. 6 and 7, when the driven wheel hits the protrusion, the driven wheel mounting frame 8 and the driven wheel 3 slide upward along the vertical linear guide 7, compressing the second elastic structure 13, and when the driven wheel mounting frame 8 and the driven wheel 3 hit the groove, the driven wheel mounting frame 8 and the driven wheel 3 descend along the vertical linear guide 7, compressing the first elastic structure 12, thereby always maintaining the driven wheel mounting frame 8 and the driven wheel 3. Normally, the second elastic structure 13 is in a compressed state, so that the collision with the groove is guaranteed to be capable of quickly pressing down the driven wheel mounting frame 8 and the driven wheel 3.
Compared with the mode of fixing one end of the vertical linear guide rail 7, the structure has the advantages that the vertical travel of the driven wheel mounting frame 8 and the driven wheel 3 is larger, and the arrangement of the first elastic structure 12 can also prevent the bottom of the vertical linear guide rail 7 from rubbing with the track of the transverse guide rail. The second resilient structure 13 provides downward pressure to increase friction of the driven wheel with the track, reducing data errors. The first elastic structure 12 has an upward thrust to the vertical linear guide 7.
The first elastic structure 12 and the second elastic structure 13 are both springs. The second elastic structure 13 is a conical spring, which is convenient for compression.
The mounting bracket 14 is installed at transport vechicle 1 top, installs gear motor in the mounting bracket 14, and the module of making a video recording 5 links to each other with gear motor, has adjusted the angle of the module of making a video recording 5 as required. The mounting frame 14 is U-shaped.
The camera module 5 comprises two cameras 51, a laser radar 52 is arranged between the cameras 51, and a plurality of LED illuminating lamps 53 are arranged on the periphery of the cameras 51.
The transport vehicle 1 is provided with a plurality of correction sensors, and the correction sensors are photoelectric sensors.
The bridge detection information acquisition vehicle has the following structure and comprises the following steps:
step one, arranging a plurality of correction points corresponding to correction sensors along the length direction of a transverse guide rail, wherein a plurality of reflectors corresponding to the correction sensors are arranged on each correction point; the number or the positions of the reflectors arranged on each correction point are different, and the acquisition vehicle is placed at a preset correction point at one end of the transverse guide rail; the laser radar measures the relative relation between the trolley and the beam bottom, and binds an axle coordinate system;
step two, controlling the transverse guide rail to move at a uniform speed along the length direction of the bridge, simultaneously controlling the acquisition vehicle to move back and forth along the length direction of the transverse guide rail, shooting pictures by the camera module, detecting the positions of the acquisition vehicle and the bridge by the laser radar, and detecting the moving distance of the acquisition vehicle by the encoder; the laser radar is used for determining the shooting distance and the shooting angle of the camera module by measuring the condition of the beam bottom in the acquisition process, and back calculating the angles between the camera module and the beam bottom, so that the camera module always keeps normal shooting;
and step three, when the acquisition vehicle passes through the correction point, the correction sensor detects whether the reflector 16 exists at the position corresponding to the correction sensor, if yes, the corresponding position code is 1, if no, the corresponding position code is 0, the position of the correction point where the correction sensor arrives is recorded in a binary system, and the position is compared with the distance of the movement of the acquisition vehicle recorded by the encoder 4, so that the distance recorded by the encoder is corrected, the installation quantity of the correction sensors can be greatly reduced, four correction point positions can be set by installing two correction sensors as shown in fig. 5, eight correction point positions can be set by installing three correction sensors through calculation, and 16 correction point positions can be set by installing four correction sensors.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The bridge detection information acquisition vehicle comprises a transport vehicle (1), wherein driving wheels (2) are arranged at four corners of the bottom of the transport vehicle (1); the device is characterized in that the bottom of the transport vehicle (1) is also connected with a driven wheel (3) through an elastic structure, and an encoder (4) is arranged in cooperation with the driven wheel (3); the top of the transport vehicle (1) is also provided with a camera module (5); the elastic structure comprises a mounting groove (6) with a downward opening arranged on a shell of the encoder (4), a vertical linear guide rail (7) is slidably arranged in the mounting groove (6), a driven wheel mounting frame (8) is penetrated through and slidably connected with the vertical linear guide rail (7), a lower stop block (9) matched with the driven wheel mounting frame (8) is connected to the bottom of the vertical linear guide rail (7), an upper stop block (10) is connected to the top of the vertical linear guide rail (7), and a middle stop ring (11) is arranged at the bottom of the mounting groove (6); a first elastic structure (12) is arranged between the middle baffle ring (11) and the upper baffle plate (10); a second elastic structure (13) is arranged between the middle baffle ring (11) and the driven wheel mounting frame (8), and the elastic force of the second elastic structure (13) is larger than that of the first elastic structure (12); the driven wheel (3) is arranged on the driven wheel mounting frame (8).
2. The bridge inspection information collection vehicle of claim 1, wherein the first elastic structure (12) and the second elastic structure (13) are springs.
3. Bridge inspection information collection vehicle according to claim 2, characterized in that the second elastic structure (13) is a conical spring.
4. The bridge detection information acquisition vehicle according to claim 1, wherein a mounting frame (14) is mounted on the top of the transport vehicle (1), a gear motor is mounted in the mounting frame (14), and the camera module (5) is connected with the gear motor.
5. Bridge inspection information collection vehicle according to claim 4, characterized in that the mounting frame (14) is U-shaped.
6. The bridge detection information acquisition vehicle according to claim 1, wherein the camera module (5) comprises two cameras (51), a laser radar (52) is installed between the cameras (51), and a plurality of LED illuminating lamps (53) are installed on the periphery of the cameras (51).
7. Bridge inspection information collection vehicle according to claim 6, characterized in that the transport vehicle (1) is equipped with several correction sensors.
8. The bridge inspection information collection vehicle of claim 7, wherein the correction sensor is a photoelectric sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321443805.4U CN220246673U (en) | 2023-06-08 | 2023-06-08 | Bridge detection information acquisition vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321443805.4U CN220246673U (en) | 2023-06-08 | 2023-06-08 | Bridge detection information acquisition vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220246673U true CN220246673U (en) | 2023-12-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321443805.4U Active CN220246673U (en) | 2023-06-08 | 2023-06-08 | Bridge detection information acquisition vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220246673U (en) |
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2023
- 2023-06-08 CN CN202321443805.4U patent/CN220246673U/en active Active
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