WO2022171201A1

WO2022171201A1 - Bridge inspection vehicle

Info

Publication number: WO2022171201A1
Application number: PCT/CN2022/082124
Authority: WO
Inventors: 孟凡超; 常志军; 胡斌; 金秀男; 徐志民
Original assignee: 中交公路规划设计院有限公司
Priority date: 2021-08-06
Filing date: 2022-03-22
Publication date: 2022-08-18
Also published as: CN113668384A; ZA202209574B

Abstract

A bridge inspection vehicle, comprising a walking device (1), an inspection device, a first obstacle avoidance telescopic device (2), and a second obstacle avoidance telescopic device (3). When inspecting a bridge (8), if the first obstacle avoidance telescopic device (2) encounters an obstacle, the first obstacle avoidance telescopic device (2) contracts to be separated from the inspection device, forming a gap. After passing the obstacle, the first obstacle avoidance telescopic device (2) extends to be connected to the inspection device again. When the second obstacle avoidance telescopic device (3) encounters the obstacle, the working process thereof is the same as the working process of the first obstacle avoidance telescopic device (2). Thus, there is no need for folding an inspection arm or circumventing to avoid an obstacle on the side of a bridge, and the obstacle can be avoided using the first obstacle avoidance telescopic device (2) and the second obstacle avoidance telescopic device (3). The operations are simple, and the working efficiency of the whole inspection vehicle is greatly improved. The present solution also prevents the whole truss structure from shaking in the air during the movement of the inspection vehicle, improves the stability of the whole device in the working state, and prevents safety problems.

Description

bridge inspection vehicle

technical field

The invention relates to the technical field of bridge structure inspection, in particular to a bridge inspection vehicle.

Background technique

Bridge inspections are divided into frequent inspections, regular inspections, and special inspections.

Regular inspections and special inspections of bridges usually refer to the staff arriving under the bridge with special equipment to conduct close observation and testing of the main structure. Such inspections are recognized as effective. But such inspections are usually expensive and inflexible. At the same time, manual detection is labor-intensive, there are potential safety hazards, and the detection efficiency is low. As a result, most bridges fail to meet the requirement for regular inspections every three years.

Frequent inspections are usually carried out with the naked eye or with telescopes. However, visual inspections of bridges spanning rivers, valleys and bridges with higher bridge positions are often not clear, clear, and lack traceability. judge the situation. This requires high professional level of inspectors, and it is difficult to timely and accurately judge the degree of structural diseases involving bridge safety. In addition, the inspectors work intensively, consume a lot of time, have high requirements on the physical quality of the staff, and are prone to personal safety accidents, which makes the frequent inspection of bridges mostly tangible and insubstantial. Therefore, cost-effective bridge inspection devices came into being.

However, there are a large number of stay cables on the bridge, or facilities such as sound barriers and light poles are set up, or the wires are connected indiscriminately or the greenery is blocked due to local private pulling. If the existing bridge inspection device encounters these obstacles during inspection, the inspection arm extending to the bottom of the bridge must be retracted to the bridge deck, moved to the middle of the bridge, and then extended after bypassing the obstacle. Go to the bottom of the bridge to continue checking. This will undoubtedly increase the operational complexity of the entire inspection device and affect its work efficiency and safety in use.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a bridge inspection vehicle to solve the problems existing in the prior art.

The present invention provides a bridge inspection vehicle, comprising:

Walking device, able to walk on the road;

Inspection device for inspecting bridges;

A first obstacle avoidance telescopic device, the first end is connected with the walking device, the second end is detachably connected with the inspection device, and the second end of the first obstacle avoidance telescopic device can be extended and retracted along its axial direction moving, so that the first obstacle avoidance telescopic device and the inspection device can be switched between a connected state and a disconnected state, so as to avoid obstacles;

The second obstacle avoidance telescopic device, the first end is connected with the walking device, the second end is detachably connected with the inspection device, the second obstacle avoidance telescopic device and the first obstacle avoidance telescopic device are along the The traveling direction of the traveling device is distributed at intervals, and the second end of the second obstacle avoidance telescopic device can perform telescopic motion along its axial direction, so that the second obstacle avoidance telescopic device and the inspection device can be in a connected state and the separation state, so that obstacles can be avoided.

The bridge inspection vehicle provided according to the present invention further includes:

an edge tracking detection device for detecting the distance between the walking device and the bridge edge;

A control device, the edge tracking detection device and the traveling device are all connected in communication with the control device, and the control device controls the traveling device to walk along the bridge according to the detection signal of the edge tracking detection device.

The bridge inspection vehicle provided according to the present invention further includes a first obstacle identification device for detecting whether there is an obstacle, and both the first obstacle identification device and the first obstacle avoidance telescopic device communicate with the control device connected, the control device controls the first obstacle avoidance telescopic device to perform telescopic motion according to the detection signal of the first obstacle identification device; and/or,

It also includes a second obstacle identification device for detecting whether there is an obstacle, the second obstacle identification device and the second obstacle avoidance telescopic device are both connected in communication with the control device, and the control device is based on the The detection signal of the second obstacle identification device controls the second obstacle avoidance telescopic device to perform telescopic movement.

According to the bridge inspection vehicle provided by the present invention, the first obstacle avoidance telescopic device includes:

a first fixing seat, arranged on the walking device;

a support arm, the first end of which is rotatably connected with the first fixing seat;

A first telescopic arm, the first end is connected with the second end of the support arm, the second end is detachably connected with the inspection device, and the second end of the first telescopic arm can be telescopic along its axial direction movement to enable the first telescopic arm and the inspection device to be switched between a connected state and a disconnected state; and/or,

The second obstacle avoidance telescopic device includes:

a second fixed seat, arranged on the walking device;

A second telescopic arm, the first end of which is connected to the second fixed seat, the second end is detachably connected to the inspection device, and the second end of the second telescopic arm can be telescopically moved along its axial direction, So that the second telescopic arm and the inspection device can be switched between a connected state and a disconnected state.

According to the bridge inspection vehicle provided by the present invention, the inspection device is provided with a first connection part into which the first telescopic arm is inserted, and when the first telescopic arm and the inspection device are in a connected state, the first telescopic arm is connected to the inspection device. The telescopic arm is inserted into the first connection part; when the first telescopic arm and the inspection device are in a separated state, the first telescopic arm is separated from the first connection part to form a barrier for obstacles through the gap; and/or,

The inspection device is provided with a second connecting portion into which the second telescopic arm is inserted, and when the second telescopic arm and the inspection device are in a connected state, the second telescopic arm is inserted into the second telescopic arm. In the connecting part; when the second telescopic arm and the inspection device are in a separated state, the second telescopic arm is separated from the second connecting part to form a gap for obstacles to pass through.

According to the bridge inspection vehicle provided by the present invention, the edge tracking detection device is a ranging sensor, and the ranging sensor is arranged on the side of the walking device close to the bridge edge.

According to the bridge inspection vehicle provided by the present invention, the inspection device includes:

The vertical inspection arm is arranged along the vertical direction, the first obstacle avoidance telescopic device and the second obstacle avoidance telescopic device are detachably connected to the vertical inspection arm, and the vertical inspection arm can be Its axial direction is telescopic;

a lateral inspection arm, arranged in a horizontal direction, the lateral inspection arm is hinged with the bottom end of the vertical inspection arm, and the lateral inspection arm can be rotated in any direction;

A camera assembly is arranged on the lateral inspection arm, and the camera assembly is used for taking bridge inspection videos and images.

According to the bridge inspection vehicle provided by the present invention, the camera assembly includes:

Cameras to capture bridge inspection videos and images;

A third fixing seat is arranged on the lateral inspection arm, and the camera is rotatably connected to the third fixing seat.

According to the bridge inspection vehicle provided by the present invention, there are at least two cameras, and each of the cameras is rotatably connected to the third fixed seat.

According to the bridge inspection vehicle provided by the present invention, the material of at least one of the first obstacle avoidance telescopic device, the second obstacle avoidance telescopic device, the vertical inspection arm and the lateral inspection arm is carbon fiber.

The bridge inspection vehicle provided by the invention includes a walking device, which can walk on the road surface; the inspection device is used for inspecting the bridge; The second end of the first obstacle avoidance telescopic device can perform telescopic motion along its axial direction, so that the first obstacle avoidance telescopic device and the inspection device can be switched between the connected state and the disconnected state, so as to avoid obstacles The second obstacle avoidance telescopic device, the first end is connected with the traveling device, the second end is detachably connected with the inspection device, the second obstacle avoidance telescopic device and the first obstacle avoidance telescopic device are distributed at intervals along the traveling direction of the traveling device, And the second end of the second obstacle avoidance telescopic device can perform telescopic motion along its axial direction, so that the second obstacle avoidance telescopic device and the inspection device can be switched between the connected state and the separated state, so as to avoid obstacles.

With this arrangement, when the bridge is inspected, if the first obstacle avoidance telescopic device encounters an obstacle, the first obstacle avoidance telescopic device shrinks and separates from the inspection device to form a gap. After passing through the obstacle, the first obstacle avoidance telescopic device is extended and connected to the inspection device again. When the second obstacle avoidance telescopic device encounters an obstacle, its working process is the same as that of the first obstacle avoidance telescopic device. In this way, there is no need to fold up the inspection arm and detour to avoid obstacles by the bridge. The first obstacle avoidance telescopic device and the second obstacle avoidance telescopic device can be used to avoid obstacles. The operation is simple and the work efficiency of the entire inspection vehicle is greatly improved. At the same time, it can also avoid the whole truss structure from shaking in the air during the movement of the inspection vehicle, which improves the stability of the entire device under working conditions and avoids safety problems.

Description of drawings

In order to explain the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are of the present invention. For some embodiments of the present invention, for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a perspective view of a bridge inspection vehicle provided by the present invention;

Fig. 2 is the front view of the bridge inspection vehicle provided by the present invention;

3 is a side view of the bridge inspection vehicle provided by the present invention;

Reference number:

1: Walking device; 2: The first obstacle avoidance retractable device 3: The second obstacle avoidance retractable device

set; set; set;

4: Vertical inspection arm; 5: Horizontal inspection arm; 6: Camera assembly;

7: Light pole; 8: Bridge; 11: Edge detection device;

21: The first fixed seat; 22: Support arm; 23: The first telescopic arm;

31: The second fixed seat; 32: The second telescopic arm; 41: The first obstacle recognition

device;

42: The first connection part; 43: The second obstacle recognition 44: The second connection part;

device;

45: expansion joint; 46: connecting shaft; 51: third fixed seat;

52: Fourth fixing seat.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The bridge inspection vehicle of the present invention will be described below with reference to FIGS. 1 to 3 .

As shown in FIG. 1 , an embodiment of the present invention provides a bridge inspection vehicle, including a traveling device 1 , an inspection device, a first obstacle avoidance telescopic device 2 , and a second obstacle avoidance telescopic device 3 . Wherein, the traveling device 1 can be a traveling trolley, which can drive on the road, and is convenient for observation and testing. The inspection device is used to inspect the bridge 8 so as to complete the monitoring of the main structure of the bridge, without the need for staff to inspect under the bridge, thereby reducing the labor intensity and danger of the staff. The first end of the first obstacle avoidance telescopic device 2 is connected with the traveling device 1, and the second end is detachably connected with the inspection device. And the second end of the first obstacle avoidance telescopic device 2 can perform telescopic motion along its axial direction, so that the first obstacle avoidance telescopic device 2 and the inspection device can be switched between the connected state and the separated state, so as to avoid obstacles. . It should be noted that, taking the placement position of the bridge inspection vehicle as shown in FIG. 1 , the left end of the first obstacle avoidance telescopic device 2 in the figure is the first end of the first obstacle avoidance telescopic device 2 . The right end of the obstacle avoidance telescopic device 2 is the second end of the first obstacle avoidance telescopic device 2 .

The first end of the second obstacle avoidance telescopic device 3 is connected to the traveling device 1 , and the second end is detachably connected to the inspection device. The first obstacle avoidance telescopic device 2 and the second obstacle avoidance telescopic device 3 are distributed at intervals along the walking direction of the walking device 1, so that the two obstacle avoidance telescopic devices will encounter obstacles one after another, ensuring that there is always one obstacle avoidance telescopic device when passing through obstacles. The device is connected with the inspection device to ensure the safe and reliable operation of the inspection vehicle as a whole. And the second end of the second obstacle avoidance telescopic device 3 can perform telescopic movement along its axial direction, so that the second obstacle avoidance telescopic device 3 and the inspection device can be switched between the connected state and the separated state, so as to avoid obstacles. . It should be noted that, taking the placement position of the bridge inspection vehicle as shown in Figure 1, the left end of the second obstacle avoidance telescopic device 3 in the figure is the first end of the second obstacle avoidance telescopic device 3, and the second The right end of the obstacle avoidance telescopic device 3 is the second end of the second obstacle avoidance telescopic device 3 .

In this way, when the bridge 8 is inspected, if the first obstacle avoidance telescopic device 2 encounters an obstacle, the first obstacle avoidance telescopic device 2 shrinks and separates from the inspection device to form a gap. After passing through the obstacle, the first obstacle avoidance telescopic device 2 is extended and connected to the inspection device again. When the second obstacle avoidance telescopic device 3 encounters an obstacle, its working process is the same as that of the first obstacle avoidance telescopic device 2 . In this way, there is no need to stow the inspection arm and go around to avoid obstacles by the bridge. The first obstacle avoidance telescopic device 2 and the second obstacle avoidance telescopic device 3 can be used to avoid obstacles. The operation is simple and greatly improves the inspection vehicle. At the same time, it can also avoid the whole truss-like structure shaking in the air during the movement of the inspection vehicle, which improves the stability of the entire device under working conditions and avoids safety problems.

In the embodiment of the present invention, the bridge inspection vehicle further includes an edge tracking detection device 11 and a control device. Wherein, the edge tracking detection device 11 may be a distance measuring sensor for detecting the distance between the traveling device 1 and the bridge side. As shown in FIG. 2 , the edge tracking detection device 11 can be installed on the bottom of the side of the walking device 1 close to the bridge edge, so as to facilitate the measurement of the distance between the two. Both the edge tracking detection device 11 and the traveling device 1 are connected to the control device in communication, and the control device controls the traveling device 1 to walk along the bridge according to the detection signal of the edge tracking detection device 11 . The control device is an existing common device, and its electrical connection relationship with the edge tracking detection device 11 and the traveling device 1 and the control logic relationship are all existing mature technologies. In this way, the distance between the walking device 1 and the bridge side can be identified by the edge following detection device 11, so that it can walk on the side, occupying less road surface, and does not affect the normal passage of the bridge deck.

In the embodiment of the present invention, the bridge inspection vehicle further includes a first obstacle identification device 41 for detecting whether there is an obstacle. The first obstacle identification device 41 can be an infrared sensor, a travel switch, etc., which can detect whether there is an obstacle and send a corresponding detection signal. The first obstacle identification device 41 and the first obstacle avoidance telescopic device 2 are both connected in communication with the control device, and the control device controls the first obstacle avoidance telescopic device 2 to perform telescopic movement according to the detection signal of the first obstacle identification device 41 . When an obstacle is found, such as encountering the light pole 7 beside the bridge, the first obstacle identification device 41 sends a signal to the control device, then the first obstacle avoidance telescopic device 2 retracts, separates from the inspection device, and the inspection vehicle continues to move forward. When the first obstacle identification device 41 detects the passing of the obstacle and sends a signal to the control device again, the first obstacle avoidance telescopic device 2 is extended and connected to the inspection device to ensure the smooth running of the entire inspection vehicle.

The bridge inspection vehicle further includes a second obstacle identification device 43 for detecting whether there is an obstacle. The second obstacle identification device 43 can be an infrared sensor, a travel switch, etc., which can detect whether there is an obstacle and send out a corresponding detection signal. The second obstacle identification device 43 and the second obstacle avoidance telescopic device 3 are both connected in communication with the control device, and the control device controls the second obstacle avoidance telescopic device 3 to perform telescopic movement according to the detection signal of the second obstacle identification device 43 . When an obstacle is found, the second obstacle identification device 43 sends a signal to the control device, then the second obstacle avoidance telescopic device 3 retracts and separates from the inspection device, and the inspection vehicle continues to move forward. When the second obstacle identification device 43 detects the passing of the obstacle, and sends a signal to the control device again, the second obstacle avoidance telescopic device 3 is extended and connected to the inspection device, so that the inspection vehicle avoids the obstacle.

In this way, the bridge inspection vehicle has the function of intelligent obstacle avoidance, and the first obstacle identification device 41 and the second obstacle identification device 43 can automatically identify the obstacles ahead, and after finding the obstacle, feedback to the control device, and then automatically control the expansion and contraction of the first obstacle avoidance device. The device 2 and the second obstacle avoidance telescopic device 3 perform telescopic operations respectively, so as to ensure the smooth passage of the bridge inspection vehicle without avoiding obstacles.

In the embodiment of the present invention, the first obstacle avoidance telescopic device 2 includes a first fixed seat 21 , a support arm 22 and a first telescopic arm 23 . As shown in FIG. 1 , the first fixing base 21 is installed on the top of the traveling device 1 . The first end of the support arm 22 is rotatably connected with the first fixing seat 21 , and the second end is connected with the first end of the first telescopic arm 23 . For example, the support arm 22 can be driven by a motor and can be electrically connected to the control device to realize automatic rotation. The second end of the first telescopic arm 23 is detachably connected to the inspection device, and the second end of the first telescopic arm 23 can perform telescopic movement along its axial direction, so that the first telescopic arm 23 and the inspection device can be in a connected state Switching between the separated state and the first telescopic arm 23 can form a gap for obstacles to pass through between the first telescopic arm 23 and the inspection device, and the size of the gap can be specifically determined according to the actual application. For example, the first telescopic arm 23 can be a common electric telescopic rod. The first telescopic arm 23 is electrically connected to the control device, so as to control the first telescopic arm 23 to automatically extend or retract. In this way, rotating the support arm 22 can drive the inspection device to swing, so as to adjust the position of the inspection device, so that the inspection device can be extended under the bridge and retracted to the bridge surface. It should be noted that, taking the placement position of the bridge inspection vehicle as shown in FIG. 1 , the lower end of the support arm 22 in the figure is the first end of the support arm 22 , and the upper end of the support arm 22 in the figure is the upper end of the support arm 22 . The second end; the left end of the first telescopic arm 23 in the figure is the first end of the first telescopic arm 23 , and the right end of the first telescopic arm 23 in the figure is the second end of the first telescopic arm 23 .

The second obstacle avoidance telescopic device 3 includes a second fixed seat 31 and a second telescopic arm 32 . The second fixing base 31 can be arranged on the top of the traveling device 1 , the first end of the second telescopic arm 32 is connected with the second fixing base 31 , and the second end is detachably connected with the inspection device. Wherein, the second telescopic arm 32 and the first telescopic arm 23 form a certain angle, so as to be connected with the inspection device at the same time. And the second end of the second telescopic arm 32 can perform telescopic movement along its axial direction, so that the second telescopic arm 32 and the inspection device can be switched between the connected state and the disconnected state, so that the second telescopic arm 32 and the inspection device can be connected. A gap can be formed for obstacles to pass through. For example, the second telescopic arm 32 can be a common electric telescopic rod. The second telescopic arm 32 is electrically connected to the control device, so as to control the automatic extension or retraction of the second telescopic arm 32 . It should be noted that, taking the placement position of the bridge inspection vehicle as shown in FIG. 1 , the left end of the second telescopic arm 32 in the figure is the first end of the second telescopic arm 32 , and the left end of the second telescopic arm 32 in the figure The right end is the second end of the second telescopic arm 32 .

In the embodiment of the present invention, the inspection device is provided with a first connecting portion 42 into which the first telescopic arm 23 is inserted. When the first telescopic arm 23 and the inspection device are in a connected state, the first telescopic arm 23 is inserted into the first connecting portion 42 . When the first telescopic arm 23 and the inspection device are in a separated state, the first telescopic arm 23 is separated from the first connecting portion 42 to form a gap for obstacles to pass through. The inspection device is also provided with a second connecting portion 44 into which the second telescopic arm 32 is inserted. When the second telescopic arm 32 and the inspection device are in a connected state, the second telescopic arm 32 is inserted into the second connecting portion 44 . When the second telescopic arm 32 and the inspection device are in a separated state, the second telescopic arm 32 is separated from the second connecting portion 44 to form a gap for obstacles to pass through. In order to ensure reliable connection, a limiting member, such as a pin, may be provided on the first connecting portion 42 and the second connecting portion 44 . When the telescopic arm is inserted into the connecting portion, the pin on the connecting portion is inserted into the telescopic arm. If the telescopic arm exits the connecting part, the pin shaft is first separated from the telescopic arm. Of course, the limiting structure is not limited to this, and can be adaptively adjusted according to actual design requirements.

In the embodiment of the present invention, the inspection device includes a vertical inspection arm 4 , a lateral inspection arm 5 and a camera assembly 6 . As shown in FIG. 2 , the vertical inspection arm 4 is arranged along the vertical direction, and both the first obstacle avoidance telescopic device 2 and the second obstacle avoidance telescopic device 3 are detachably connected to the vertical inspection arm 4 . Specifically, the upper end of the vertical inspection arm 4 is respectively provided with a first connecting portion 42 that is inserted into the first telescopic arm 23 and a second connecting portion 44 that is inserted into the second telescopic arm 32 . In addition, the vertical inspection arm 4 can be telescopically moved along its axial direction, which is convenient for adjusting the observation position, without the need for personnel to go under the bridge, avoiding high-altitude operation and high safety. The vertical inspection arm 4 can be a common telescopic rod, including multi-stage telescopic joints 45, which can be extended or shortened step by step to meet the observation requirements at different heights.

As shown in FIG. 2 , the lateral inspection arm 5 is arranged in the horizontal direction, and is hinged with the bottom end of the vertical inspection arm 4 . Furthermore, the lateral inspection arm 5 can be rotated in any direction. The camera assembly 6 is arranged on the lateral inspection arm 5, and the camera assembly 6 is used for taking bridge inspection videos and images. Specifically, the lowermost end of the vertical inspection arm 4 is provided with a connecting shaft 46 , the right end of the lateral inspection arm 5 is provided with a fourth fixing seat 52 hinged with the connecting shaft 46 , and the camera assembly 6 is located at the left end of the lateral inspection arm 5 . For example, the connecting shaft 46 is hinged with the fourth fixing base 52 through a universal joint, so that the lateral inspection arm 5 can be rotated in any direction. In this way, the rotation angle and direction of the lateral inspection arm 5 can be freely changed according to the observation requirements, so that the camera assembly 6 can perform the photographing task under the bridge. It should be noted that, taking the placement position of the bridge inspection vehicle as shown in FIG. 2 , the up-down direction in the figure is the vertical direction, and the left-right direction is the horizontal direction.

In the embodiment of the present invention, the camera assembly 6 includes a camera and a third fixing base 51 . The camera is used to shoot bridge inspection videos and images. It has ultra-high resolution, high visualization, and can record and take pictures in real time. The camera can be electrically connected with the control device to automatically record and photograph, and can also upload data and transmit it to the control device in real time, or it can also be remotely transmitted to the control center in the office. In addition, time, coordinates, classification information, etc. can also be attached to the images and pictures to visualize the inspection data records, making the inspection data electronic, archived and systematic. The third fixed seat 51 is arranged on the left end of the lateral inspection arm 5, and the camera is rotatably connected to the third fixed seat 51, so that the camera can be rotated and the inspection range is wide.

Further, there are at least two cameras, and each camera is rotatably connected to the third fixing base 51 . In this way, multiple cameras can inspect all components of the bridge, and the inspection scope is fully covered to prevent missed inspections.

In the embodiment of the present invention, the material of at least one of the first obstacle avoidance telescopic device 2 , the second obstacle avoidance telescopic device 3 , the vertical inspection arm 4 and the lateral inspection arm 5 is carbon fiber. For example, the support arm 22 , the first telescopic arm 23 , the second telescopic arm 32 , the vertical inspection arm 4 and the lateral inspection arm 5 are all made of carbon fiber materials, which have the characteristics of high strength and light weight, and are safe and reliable to use.

In summary, the present invention provides a bridge inspection vehicle, comprising a walking device 1, an inspection device, a first obstacle avoidance telescopic device 2, a second obstacle avoidance telescopic device 3, an edge tracking detection device 11, and a first obstacle identification device 41, a second obstacle identification device 43, and a control device and the like. When working, assemble the bridge inspection vehicle at the starting point of the bridge to be inspected, and then select the working mode, manual operation or fully automatic unmanned operation. If you choose automatic unmanned operation, you need to set up the inspection program in advance, including the movement route and movement speed of each mechanism. If manual operation is selected, the staff will sit in the walking trolley and conduct real-time control according to the inspection needs through the in-vehicle monitoring system and the operating handle.

After starting the inspection, extend the vertical inspection arm 4 to the specified length, then control the horizontal inspection arm 5 to rotate, and adjust the multiple cameras in the camera assembly 6 to rotate at different angles to ensure that each shot can cover the maximum area, Adjust the focal length of the camera to ensure sufficient sharpness. During the advancing process, if the first obstacle identification device 41 detects that there is an obstacle ahead, and encounters the light pole 7 , the first telescopic arm 23 automatically retracts and separates from the vertical inspection arm 4 . When the first obstacle identification device 41 detects the passing of the obstacle, the first telescopic arm 23 is automatically extended and connected to the vertical inspection arm 4 again. Moving on, when the second obstacle identification device 43 detects an obstacle ahead, the second telescopic arm 32 automatically retracts and separates from the vertical inspection arm 4 . After the second obstacle identification device 43 detects that the obstacle is passed, the second telescopic arm 32 is automatically extended and reconnected to the vertical inspection arm 4 .

After completing the inspection on one side of the bridge 8, the lateral inspection arm 5 is rotated horizontally to the direction along the bridge, and then the vertical inspection arm 4 is retracted to the shortest position, the second telescopic arm 32 is retracted, and the support arm 22 drives the vertical inspection arm 4 And the lateral inspection arm 5 is rotated to the inside of the bridge 8. Then, the first telescopic arm 23 is retracted, and the worker removes the entire inspection device to complete the inspection operation. To check the other side of the bridge 8, just repeat the above work process.

The bridge inspection vehicle has a novel structure, light weight, narrow road occupation, and high intelligence. It can automatically avoid obstacles, automatically record and take pictures, and upload data in real time. It is easy to disassemble and assemble, flexible in operation, and high in detection efficiency. It can replace common equipment for frequent inspection of bridges such as ladders, telescopes, digital cameras, record forms, and boats. It is suitable for under-bridge inspection operations of most highways and railway bridges. It can realize unmanned operation, greatly reduce the labor intensity and danger of the staff, and improve the work efficiency of frequent bridge inspections. It has the characteristics of recordability, traceability, and economical application.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

A bridge inspection vehicle, characterized in that it includes:

Walking device, able to walk on the road;

Inspection device for inspecting bridges;

A first obstacle avoidance telescopic device, the first end is connected with the walking device, the second end is detachably connected with the inspection device, and the second end of the first obstacle avoidance telescopic device can be extended and retracted along its axial direction moving, so that the first obstacle avoidance telescopic device and the inspection device can be switched between a connected state and a disconnected state, so as to avoid obstacles;

The second obstacle avoidance telescopic device, the first end is connected with the walking device, the second end is detachably connected with the inspection device, the second obstacle avoidance telescopic device and the first obstacle avoidance telescopic device are along the The traveling direction of the traveling device is distributed at intervals, and the second end of the second obstacle avoidance telescopic device can perform telescopic motion along its axial direction, so that the second obstacle avoidance telescopic device and the inspection device can be in a connected state Switch between the separated state and the separated state, so that obstacles can be avoided.
The bridge inspection vehicle according to claim 1, further comprising:

an edge tracking detection device for detecting the distance between the walking device and the bridge edge;

A control device, the edge tracking detection device and the traveling device are all connected in communication with the control device, and the control device controls the traveling device to walk along the bridge according to the detection signal of the edge tracking detection device.
The bridge inspection vehicle according to claim 2, further comprising a first obstacle identification device for detecting whether there is an obstacle, the first obstacle identification device and the first obstacle avoidance telescopic device are both is connected in communication with the control device, and the control device controls the first obstacle avoidance telescopic device to perform telescopic movement according to the detection signal of the first obstacle identification device; and/or,

It also includes a second obstacle identification device for detecting whether there is an obstacle, the second obstacle identification device and the second obstacle avoidance telescopic device are both connected in communication with the control device, and the control device is based on the The detection signal of the second obstacle identification device controls the second obstacle avoidance telescopic device to perform telescopic movement.
The bridge inspection vehicle according to claim 1, wherein the first obstacle avoidance telescopic device comprises:

a first fixing seat, arranged on the walking device;

a support arm, the first end of which is rotatably connected with the first fixing seat;

A first telescopic arm, the first end is connected with the second end of the support arm, the second end is detachably connected with the inspection device, and the second end of the first telescopic arm can be telescopic along its axial direction movement to enable the first telescopic arm and the inspection device to be switched between a connected state and a disconnected state; and/or,

The second obstacle avoidance telescopic device includes:

a second fixed seat, arranged on the walking device;

A second telescopic arm, the first end of which is connected to the second fixed seat, the second end is detachably connected to the inspection device, and the second end of the second telescopic arm can be telescopically moved along its axial direction, So that the second telescopic arm and the inspection device can be switched between a connected state and a disconnected state.
The bridge inspection vehicle according to claim 4, wherein the inspection device is provided with a first connecting portion into which the first telescopic arm is inserted, and the first telescopic arm and the inspection device are in a connected state. down, the first telescopic arm is inserted into the first connection part; when the first telescopic arm and the inspection device are in a separated state, the first telescopic arm is separated from the first connection part , to create a gap for the passage of obstacles; and/or,

The inspection device is provided with a second connecting portion into which the second telescopic arm is inserted, and when the second telescopic arm and the inspection device are in a connected state, the second telescopic arm is inserted into the second telescopic arm. In the connecting part; when the second telescopic arm and the inspection device are in a separated state, the second telescopic arm is separated from the second connecting part to form a gap for obstacles to pass through.
The bridge inspection vehicle according to claim 2, wherein the edge tracking detection device is a distance measuring sensor, and the distance measuring sensor is arranged on the side of the walking device close to the bridge side.
The bridge inspection vehicle according to claim 1, wherein the inspection device comprises:

The vertical inspection arm is arranged along the vertical direction, the first obstacle avoidance telescopic device and the second obstacle avoidance telescopic device are detachably connected to the vertical inspection arm, and the vertical inspection arm can be Its axial direction is telescopic;

a lateral inspection arm, arranged in a horizontal direction, the lateral inspection arm is hinged with the bottom end of the vertical inspection arm, and the lateral inspection arm can be rotated in any direction;

A camera assembly is arranged on the lateral inspection arm, and the camera assembly is used for taking bridge inspection videos and images.
The bridge inspection vehicle according to claim 7, wherein the camera assembly comprises:

Cameras to capture bridge inspection videos and images;

A third fixing seat is arranged on the lateral inspection arm, and the camera is rotatably connected to the third fixing seat.
The bridge inspection vehicle according to claim 8, wherein there are at least two cameras, and each of the cameras is rotatably connected to the third fixed seat.
The bridge inspection vehicle according to claim 7, wherein at least one of the first obstacle avoidance telescopic device, the second obstacle avoidance telescopic device, the vertical inspection arm and the lateral inspection arm The material is carbon fiber.