CN105568851A - Bridge checking vehicle control system and method - Google Patents
Bridge checking vehicle control system and method Download PDFInfo
- Publication number
- CN105568851A CN105568851A CN201610036612.5A CN201610036612A CN105568851A CN 105568851 A CN105568851 A CN 105568851A CN 201610036612 A CN201610036612 A CN 201610036612A CN 105568851 A CN105568851 A CN 105568851A
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- CN
- China
- Prior art keywords
- central processing
- processing unit
- inspection rack
- bridge
- telescopic arm
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D22/00—Methods or apparatus for repairing or strengthening existing bridges ; Methods or apparatus for dismantling bridges
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention discloses a bridge checking vehicle control system, and relates to the technical field of bridge checking vehicle electrical control. The system comprises a collecting device, a processing device, a central processing unit and an execution control device; the collecting device is used for collecting action signals of a telescopic boom and an inspection rack, the processing device is used for conducting analog-digital conversion on the action signals, the central processing unit is used for comprehensively processing data and sending out an action instruction, the execution control device controls an execution mechanism to execute the action instruction, and the collecting device, the processing device, the central processing unit and the execution control device are sequentially connected. Actions of the telescopic boom and the inspection rack are collected through the collecting device, the central processing unit comprehensively processes telescopic displacement and rotating angels of swing arms at all levels to obtain the specific position, on a bridge, of the whole telescopic boom, and the execution mechanism is automatically controlled and adjusted to continue or stop the actions according to the position. The control system is simple in structure, the positions of the telescopic boom and the inspection rack are accurately positioned, and the working states of the telescopic boom and the inspection rack are automatically controlled and adjusted.
Description
Technical field
The present invention relates to bridge-checking vehicle control technology field, particularly a kind of bridge-checking vehicle control system and method.
Background technology
At present, current bridge maintenance, maintenance, maintenance, to reinforce, to beautify etc. with operation under the bridge of load be all come by bridge-checking vehicle.
Chinese patent as application number 201420519776.X discloses a kind of with truss driving cage lifting and traversing bridge-checking vehicle, truss comprises horizontal-associate beam, nose girder, rotate inspection rack, hanging basket, body frame internal frame, body frame outrigger, fixing trussed construction, electric pushrod, fixed length supporting leg, retractable legs, slide block, stopping means, steel ladder and protective guard, horizontal-associate beam crane, rotate inspection rack crane, body frame outrigger etc., trussed construction is huge, and the bridge floor latch nook palm, anti-collision roller, triangular leg is connected with bridge respectively, telescopic horizontal-associate beam crosses and can be supported between fixing trussed construction below bridge, the nose girder be connected with fixing trussed construction is parallel to bridge longitudinally, horizontal-associate beam when crossing bridge pier below bridge or rotation inspection rack have at least two groups to keep connecting, the hanging basket rotated below inspection rack can make people rise to rotation inspection rack from ground, rotate on inspection rack and outside body frame outrigger and steel ladder and protective guard are installed.Hanging basket controlling organization is more, and walking is complicated, and the space in hanging basket can only hold 1-2 people.
And for example application number be 201410272060.9 application for a patent for invention file disclose a kind of multi-state bridge inspection vehicle, comprise chassis, switching mechanism, hoist cylinder, upright arm, the second pivoting support, the second slew gear and telescopic arm; Described chassis is provided with subframe, and described upright arm is arranged in switching mechanism, and described hoist cylinder is positioned at outside upright arm, and hoist cylinder lower end is arranged on bottom upright arm, and upper end is connected with switching mechanism; Described second slew gear upper end is connected with upright arm by the second pivoting support, and lower end is connected with telescopic arm, and this patent, equally using truss as hanging basket carrier, realizes lifting, the movement of hanging basket by truss.
With the bridge-checking vehicle that above-mentioned two sections of patents are representative, all have that trussed construction is huge, car body moves dumb, that hanging basket space is little problem, when causing operation on a large scale under bridge, need not stop mobile bridge-checking vehicle and hanging basket, from aspects such as safety, efficiency, location all with congenital inferior position.
Summary of the invention
In view of this, the technical problem to be solved in the present invention one of to be to provide a kind of bridge-checking vehicle control system, by the different parts sensor installation at bridge-checking vehicle, gather duty and the position of telescopic arm and inspection rack, and controlling and adjustment is carried out to this position, guarantee equipment each position accuracy of action.
The present invention is solved the problems of the technologies described above by following technological means:
The invention provides a kind of bridge-checking vehicle control system, comprise harvester, for the actuating signal of telescopic arm and inspection rack; Treating apparatus, for carrying out analog-to-digital conversion by described actuating signal; Central processing unit, for integrated data processing with send action command; Perform control device, control executing agency and to perform an action instruction; Described harvester, treating apparatus, central processing unit are connected in turn with execution control device.
Further, harvester comprises telescopic arm data acquisition unit and inspection rack data acquisition unit, and described telescopic arm data acquisition unit is connected with treating apparatus respectively with inspection rack data acquisition unit.
Further, telescopic arm data acquisition unit comprises and is arranged on displacement transducer on telescopic arm and angular transducer, and institute's displacement sensors is connected with treating apparatus respectively with angular transducer.
Further, inspection rack data acquisition unit comprises the eccentricity sensor be arranged on inspection rack, and described eccentricity sensor is connected with treating apparatus.
Further, inspection rack data acquisition unit also comprises and is arranged on safety sensor on inspection rack, and described safety sensor is connected with treating apparatus.
Further, safety sensor is limit switch, and described limit switch is connected with treating apparatus.
Further, described execution control device is relay, and relay is connected with central processing unit.
The present invention also comprises bridge-checking vehicle control method, specifically comprises the following steps:
S1, harvester gather the actuating signal of telescopic arm and inspection rack, and actuating signal is sent to treating apparatus process;
S2, treating apparatus are sent to central processing unit after processing described actuating signal;
S3, central processing unit control telescopic arm action;
S4, central processing unit control inspection rack action.
Further, S3 central processing unit controls telescopic arm action, specifically comprises the following steps: displacement transducer gathers the telescope signal of telescopic arm, and angular transducer gathers telescopic arm angular turn signal; Central processing unit judges the position of telescopic arm according to telescope signal and angle signal; Central processing unit controls to perform control device and controls executing agency's action or stop action.
Further, S4 central processing unit controls inspection rack action, specifically comprises the following steps: eccentricity sensor gathers the angle signal of inspection rack and horizontal plane, and whether central processing unit is in level according to angle signal trouble hunt ing platform; Central processing unit controls to perform control device and controls executing agency's action or stop action.
Beneficial effect of the present invention:
Bridge-checking vehicle control system of the present invention, comprises harvester, for the actuating signal of telescopic arm and inspection rack; Treating apparatus, for carrying out analog-to-digital conversion by actuating signal; Central processing unit, for integrated data processing with send action command; Perform control device, control executing agency and to perform an action instruction; Harvester, treating apparatus, central processing unit are connected in turn with execution control device.The action of telescopic arm and inspection rack is gathered by harvester, central processing unit carries out integrated treatment to the telescopic displacement of swing arm at different levels and the anglec of rotation, and then obtain the concrete position that telescopic arm entirety is positioned at bridge, according to this position, control and adjustment actuating mechanism continue action or stop action automatically again.This Control system architecture is simple, accurately the position of location telescopic arm and inspection rack, automatic controlling and adjustment telescopic arm and inspection rack duty.
Bridge-checking vehicle control method of the present invention, the actuating signal of telescopic arm and inspection rack is gathered by harvester, again analyzing and processing is carried out to actuating signal, and then control the duty of actuating mechanism controls telescopic arm and inspection rack, automatically can realize the flexible of telescopic arm with rotating controls, the expansion of inspection rack space for maintenance and reducing, and guarantee the safety of the staff on inspection rack, when without the need to overhauling, telescopic arm and inspection rack Foldable, on car body, are convenient to transport.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the top view such as axle side such as grade of bridge-checking vehicle of the present invention, and in figure, telescopic arm is in upwards open mode;
Fig. 2 is the top view such as axle side such as grade of bridge-checking vehicle of the present invention, and in figure, telescopic arm is in downward open mode;
Fig. 3 is the top view such as axle side such as grade of bridge-checking vehicle of the present invention, and in figure, telescopic arm is in complete contraction state;
Fig. 4 is the top view such as axle side such as grade of the inspection rack in the present invention, and figure jackshaft inspection platform is in full open position;
Fig. 5 is the upward view such as axle side such as grade of the inspection rack in the present invention, and figure jackshaft inspection platform is in full open position;
Fig. 6 is the top view such as axle side such as grade of the inspection rack in the present invention, and figure jackshaft inspection platform is in folding state;
Fig. 7 is the top view such as axle side such as grade of the inspection rack in the present invention, and figure jackshaft inspection platform is in complete folding state;
Fig. 8 is the theory diagram of bridge-checking vehicle control system of the present invention;
Fig. 9 is the flow chart of bridge-checking vehicle control method of the present invention.
Detailed description of the invention
Below with reference to accompanying drawing, the present invention is described in detail.
Bridge-checking vehicle structure of the present invention as Fig. 1,2, shown in 3, car body 1 is walking mechanism, telescopic arm 2 and inspection rack 3 be positioned on car body 1 by car body 1 be loaded onto maintenance place, position horizontal coordinate region.Inspection rack 3 carries maintainer and maintenance apparatus, and telescopic arm 2 drives inspection rack 3 to be elevated the maintenance position reached corresponding to bridge, and maintainer carries out repair and maintenance to bridge on inspection rack 3.
Telescopic arm 2 comprises the base 200 be positioned on car body, be positioned at the Pyatyi swing arm 211,212,213,214,215 on base and drive the Pyatyi oscillating lifting oil cylinder 221,222,223,224,225 of swing arm at different levels, swing arm at different levels distance base by near to being far first order swing arm and chopped-off head swing arm 211, second level swing arm 212, third level swing arm 213, fourth stage swing arm 214 and level V swing arm and final stage swing arm 215 successively, the head and the tail of swing arm at different levels are articulated and connected successively, and oppositely extend, namely the head end of chopped-off head swing arm 211 is hinged on base 200 near one end of base.Pyatyi oscillating lifting oil cylinder distance base by near to being far the first order and chopped-off head oscillating lifting oil cylinder 221, second level oscillating lifting oil cylinder 222, third level oscillating lifting oil cylinder 223, fourth stage oscillating lifting oil cylinder 224 and level V and final stage oscillating lifting oil cylinder 225 successively, oscillating lifting oil cylinder at different levels 221,222,223,224,225 is arranged in base 200 and chopped-off head swing arm 211, second level swing arm 212, third level swing arm 213 and fourth stage swing arm 214 successively, swings up and down to drive swing arm at different levels.Chopped-off head oscillating lifting oil cylinder 221 drives chopped-off head swing arm 211 and other swing arms to swing up and down around the hinged place of chopped-off head swing arm and base, second level oscillating lifting oil cylinder 222 drive second and third, four and final stage swing arm swing up and down around the hinged place between second level swing arm and first order swing arm simultaneously, the like, final stage oscillating lifting oil cylinder 225 drives final stage swing arm 215 to swing up and down around the hinged place of itself and fourth stage swing arm 214, and inspection rack 3 is then connected to the end of final stage swing arm 215.Drive each swing arm and inspection rack 3 to move up and down step by step by each oscillating lifting oil cylinder like this, thus make inspection rack 3 upwards be promoted to the maintenance position of bridge.Certainly, the quantity of swing arm and corresponding oscillating lifting oil cylinder can be determined according to actual conditions, is not limited to five in the present embodiment.Car body 1 is provided with the first hydraulic motor 101 driving base 200 to rotate around vertical axis, first hydraulic motor 101 drives base 200 with after making telescopic arm 2 unitary rotation certain angle, chopped-off head oscillating lifting oil cylinder 211 drives all swing arms 211, 212, 213, 214 overall upsets downwards, position after swing can meet except with other swing arms 212 except first order swing arm 211, 213, 214 are all in outside car body 1, such oscillating lifting oil cylinder 222, 223, 224, 225 just can drive inspection rack 3 to test below car body, as shown in Figure 2, can meet car body upper maintenance position under working method.Final stage swing arm 215 is provided with the second hydraulic motor 231 driving inspection rack 3 to overturn 180 ° in vertical plane, for the inspection rack 3 only having a supporting surface, the supporting surface of the inspection rack 3 after 180 ° of guarantee tests must be spun upside down still upward.
Final stage swing arm 215 is also installed the 3rd hydraulic motor the 232, three hydraulic motor 232 driving inspection rack 3 and the second hydraulic motor 231 entirety to rotate in horizontal plane and can make inspection rack 3 at horizontal rotation in surface to meet the service work of diverse location in same level.
As shown in figs. 4-7, inspection rack 3 comprises the railing 310 on floor 300 and floor, that floor 300 comprises main floor 301 and is positioned at its longitudinal both sides and hinged with it floor, side 302, floor, side 302 drives level outside main floor 301 to swing and be folded to immediately below main floor by swing folding oil cylinder 321.According to the size in Awaiting Overhaul space, floor, side 302 upwards can be opened on the downside of main floor 301, to increase inspection rack longitudinally.
Floor also comprise laterally be slidably matched with main floor 301 and floor, side 302 respectively first expand floor 303 and second and expand floor 304, main floor 301 be provided with by first expansion floor 303 from its outside traversing the first sideslip oil cylinder 322 to coinciding with the upper and lower with it, floor, side 302 is provided with by the second expansion floor 304 from traversing the second sideslip oil cylinder 323 to coinciding with the upper and lower with it of the lateral outer side on floor, side, and railing 310 comprises the interior railing 312 of the longitudinal both sides of outer railing 311 and main floor outside floor.Equally, by the first expansion floor 303 and the second expansion floor 304 in a sliding manner respectively from main floor 301 and floor, side 302 outside extending transversely go out, the horizontal space of inspection rack can be increased.Interferes in order to avoid during railing transverse shifting on the first expansion floor 303 and the second expansion floor 304 with the railing on main floor 301 and floor, side 302, the first expansion floor 303 and second expands that railing on floor 304 is longitudinal with the railing on main floor 301 and floor, side 302 respectively to be staggered.
Railing 310 and corresponding floor panel hinge, floor is also provided with by its corresponding railing by the vertical electric power push rod 324 being rocked to level to its inside.When non-maintenance, after in railing folding to floor, the space shared by inspection rack is less.
In said structure, oscillating lifting oil cylinder, hydraulic motor, swing folding oil cylinder, sideslip oil cylinder, electric power push rod are executing agency.
As shown in Figure 8, bridge-checking vehicle control system comprises harvester, treating apparatus, central processing unit and execution control device, and harvester, treating apparatus, central processing unit are connected in turn with execution control device.Harvester is arranged in above-mentioned executing agency, and treating apparatus, central processing unit and execution control device are arranged in the control room of car body.Harvester comprises the sensor group be arranged in swing arm and the sensor group arranged on inspection rack, and the sensor be arranged in swing arm comprises multiple displacement transducer and angular transducer, and displacement transducer is connected with treating apparatus respectively with angular transducer.Displacement transducer gathers the telescopic displacement signal of swing arm, and angular transducer gathers the angle signal that swing arm at different levels swings.The sensor be arranged on inspection rack comprises eccentricity sensor and safety sensor, and eccentricity sensor is connected with treating apparatus respectively with safety sensor, and eccentricity sensor is arranged on main floor, whether is in level for gathering main floor.Safety sensor is arranged on interior lateral rail, safety sensor can be inductance type transducer also can be limit switch, make staff with belt in the work of the interval of inspection rack safety, ensure the safety of staff with belt, reduce the generation of contingency.Execution control device is relay, and its break-make controls the action of executing agency, the number of relay and the one_to_one corresponding of executing agency, Control executing agency.Central processing unit adopts single-chip microcomputer or microcontroller.This Control system architecture is simple, the location status at telescopic arm and each position of inspection rack is gathered by sensor, central processing unit process location status information also judges, the position of accurate location telescopic arm and inspection rack, central processing unit controls to perform control device work, perform control device and control executing agency's action, whole process implementation controls automatically.
As shown in Figure 9, bridge-checking vehicle control method, specifically comprise the following steps, control the process of telescopic arm: the displacement transducer in swing arm at different levels and angular transducer gather the displacement of swing arm oscillating lifting oil cylinder at different levels lifting and the angle signal of hydraulic motor rotation respectively, and displacement and angle signal are sent to treating apparatus respectively, treating apparatus carries out modulus process to signal, after process by digital data transmission to central processing unit, central processing unit is collected and is processed the information of swing arm at different levels, the position of the bridge that the structure of telescopic arm entirety reaches is judged, central processing unit controls to perform control device and controls oscillating lifting oil cylinder or hydraulic motor continuation action or stop action, and oscillating lifting oil cylinder is carried out self-locking, maintain packing state, realize telescopic arm to stretch and rotational automatic control.Control the process of inspection rack: the eccentricity sensor be arranged on inspection rack floor gathers the angle between inspection rack and horizontal plane, only be in level on the main floor of inspection rack, floor, side and expansion floor just can be made to carry out stretching or expanding, and executing agency could normal work.The angle information collected is sent to treating apparatus and carries out modulus process by eccentricity sensor, obtain data signal after treating apparatus process and be sent to central processing unit, whether central processing unit trouble hunt ing platform is in level, if not being in level, central processing unit hydraulic control motor action, make inspection rack move to level, then control sideslip oil cylinder and swing the space that folding oil cylinder stretches to expand or reduce inspection rack, realize the expansion in inspection rack space and reduce.When not needing maintenance, central processing unit controls the contraction of electric power push rod makes railing be folded on main floor, and the oscillating lifting oil cylinder controlled in swing arm shrinks, and makes telescopic arm and inspection rack folding shrinking on car body, is convenient to transport.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (10)
1. bridge-checking vehicle control system, is characterized in that: comprise harvester, for the actuating signal of telescopic arm and inspection rack; Treating apparatus, for carrying out analog-to-digital conversion by described actuating signal; Central processing unit, for integrated data processing with send action command; Perform control device, control executing agency and to perform an action instruction; Described harvester, treating apparatus, central processing unit are connected in turn with execution control device.
2. bridge-checking vehicle control system as claimed in claim 1, it is characterized in that: described harvester comprises telescopic arm data acquisition unit and inspection rack data acquisition unit, described telescopic arm data acquisition unit is connected with treating apparatus respectively with inspection rack data acquisition unit.
3. bridge-checking vehicle control system as claimed in claim 2, is characterized in that: described telescopic arm data acquisition unit comprises and is arranged on displacement transducer on telescopic arm and angular transducer, and institute's displacement sensors is connected with treating apparatus respectively with angular transducer.
4. bridge-checking vehicle control system as claimed in claim 2, is characterized in that: described inspection rack data acquisition unit comprises the eccentricity sensor be arranged on inspection rack, and described eccentricity sensor is connected with treating apparatus.
5. bridge-checking vehicle control system as claimed in claim 4, is characterized in that: described inspection rack data acquisition unit also comprises and is arranged on safety sensor on inspection rack, and described safety sensor is connected with treating apparatus.
6. bridge-checking vehicle control system as claimed in claim 5, is characterized in that: described safety sensor is limit switch, and described limit switch is connected with treating apparatus.
7. bridge-checking vehicle control system as claimed in claim 1, is characterized in that: described execution control device is relay, and relay is connected with central processing unit.
8. bridge-checking vehicle control method, is characterized in that: specifically comprise the following steps: S1, harvester gather the actuating signal of telescopic arm and inspection rack, and actuating signal is sent to treating apparatus process; S2, treating apparatus are sent to central processing unit after processing described actuating signal;
S3, central processing unit control telescopic arm action;
S4, central processing unit control inspection rack action.
9. bridge-checking vehicle control method as claimed in claim 8, it is characterized in that: described S3 central processing unit controls telescopic arm action, specifically comprise the following steps: displacement transducer gathers the telescope signal of telescopic arm, angular transducer gathers telescopic arm angular turn signal; Central processing unit judges the position of telescopic arm according to telescope signal and angle signal; Central processing unit controls to perform control device and controls executing agency's action or stop action.
10. bridge-checking vehicle control method as claimed in claim 8, it is characterized in that: described S4 central processing unit controls inspection rack action, specifically comprise the following steps: eccentricity sensor gathers the angle signal of inspection rack and horizontal plane, and whether central processing unit is in level according to angle signal trouble hunt ing platform; Central processing unit controls to perform control device and controls executing agency's action or stop action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610036612.5A CN105568851B (en) | 2016-01-20 | 2016-01-20 | Bridge-checking vehicle control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610036612.5A CN105568851B (en) | 2016-01-20 | 2016-01-20 | Bridge-checking vehicle control system and method |
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| Publication Number | Publication Date |
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| CN105568851A true CN105568851A (en) | 2016-05-11 |
| CN105568851B CN105568851B (en) | 2018-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610036612.5A Expired - Fee Related CN105568851B (en) | 2016-01-20 | 2016-01-20 | Bridge-checking vehicle control system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11320338B2 (en) * | 2019-01-14 | 2022-05-03 | Changsha University Of Science And Technology | Bridge detecting vehicle with two foldable arms |
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| JPH03260204A (en) * | 1990-03-09 | 1991-11-20 | Shiyuto Kosoku Doro Gijutsu Center | Apparatus for inspecting elevated bridge |
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| CN201240314Y (en) * | 2008-06-13 | 2009-05-20 | 杭州专用汽车有限公司 | Bridge detection vehicle |
| CN101696565A (en) * | 2009-10-23 | 2010-04-21 | 廊坊凯博建设机械科技有限公司 | Load limitation protecting device of working platform of bridge checking vehicle and load limitation protecting method thereof |
| CN201464847U (en) * | 2009-07-03 | 2010-05-12 | 杭州专用汽车有限公司 | Automatic counterweight control device of operating vehicle for bridge inspection |
| CN201593425U (en) * | 2010-01-13 | 2010-09-29 | 四川鑫科铁路机械有限公司 | Flexible folding type tunnel overhauling workplatform |
| CN201974668U (en) * | 2010-11-23 | 2011-09-14 | 中国计量学院 | Bridge detection truck monitoring equipment |
| CN203247502U (en) * | 2013-05-23 | 2013-10-23 | 山东大学 | Novel mixed bridge detecting vehicle |
| CN104947585A (en) * | 2015-04-22 | 2015-09-30 | 湖南桥康智能科技有限公司 | Intelligent obstacle-avoiding control system of bridge detection robot |
| CN205369061U (en) * | 2016-01-20 | 2016-07-06 | 招商局重庆交通科研设计院有限公司 | Car control system is examined to bridge |
-
2016
- 2016-01-20 CN CN201610036612.5A patent/CN105568851B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03260204A (en) * | 1990-03-09 | 1991-11-20 | Shiyuto Kosoku Doro Gijutsu Center | Apparatus for inspecting elevated bridge |
| CN2839365Y (en) * | 2005-10-15 | 2006-11-22 | 徐州徐工随车起重机有限公司 | Working device for bridge detection vehicle |
| CN201240314Y (en) * | 2008-06-13 | 2009-05-20 | 杭州专用汽车有限公司 | Bridge detection vehicle |
| CN201464847U (en) * | 2009-07-03 | 2010-05-12 | 杭州专用汽车有限公司 | Automatic counterweight control device of operating vehicle for bridge inspection |
| CN101696565A (en) * | 2009-10-23 | 2010-04-21 | 廊坊凯博建设机械科技有限公司 | Load limitation protecting device of working platform of bridge checking vehicle and load limitation protecting method thereof |
| CN201593425U (en) * | 2010-01-13 | 2010-09-29 | 四川鑫科铁路机械有限公司 | Flexible folding type tunnel overhauling workplatform |
| CN201974668U (en) * | 2010-11-23 | 2011-09-14 | 中国计量学院 | Bridge detection truck monitoring equipment |
| CN203247502U (en) * | 2013-05-23 | 2013-10-23 | 山东大学 | Novel mixed bridge detecting vehicle |
| CN104947585A (en) * | 2015-04-22 | 2015-09-30 | 湖南桥康智能科技有限公司 | Intelligent obstacle-avoiding control system of bridge detection robot |
| CN205369061U (en) * | 2016-01-20 | 2016-07-06 | 招商局重庆交通科研设计院有限公司 | Car control system is examined to bridge |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11320338B2 (en) * | 2019-01-14 | 2022-05-03 | Changsha University Of Science And Technology | Bridge detecting vehicle with two foldable arms |
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| CN105568851B (en) | 2018-04-13 |
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