CN111762272A - Bridge detection device and method for automatically realizing detection surface conversion - Google Patents
Bridge detection device and method for automatically realizing detection surface conversion Download PDFInfo
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- CN111762272A CN111762272A CN202010689486.XA CN202010689486A CN111762272A CN 111762272 A CN111762272 A CN 111762272A CN 202010689486 A CN202010689486 A CN 202010689486A CN 111762272 A CN111762272 A CN 111762272A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
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- G01N21/956—Inspecting patterns on the surface of objects
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- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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Abstract
The invention discloses a bridge detection device and a method for automatically realizing detection surface conversion, which comprises a first wall-climbing robot, a second wall-climbing robot, an adsorption device, a driving device, a detection device, a working surface conversion device and a power supply device, wherein the first wall-climbing robot and the second wall-climbing robot are respectively provided with the adsorption device on a chassis and are used for adsorbing the surface of a bridge; according to the invention, the first wall-climbing robot and the second wall-climbing robot are selected as mobile detection equipment, the high-precision bridge surface image can be quickly approached and shot through the driving device and the detection device, a large amount of manpower and bridge detection vehicles influencing traffic do not need to be moved, the bridge defect detection precision is improved, the detection time is shortened, and the detection cost is saved.
Description
Technical Field
The invention relates to the technical field of bridge detection, in particular to a bridge detection device and method for automatically realizing detection surface conversion.
Background
At present, a bridge detection method mainly carries personnel to approach a bridge through field manual detection or by means of beam detection vehicles and other detection equipment, detects defects and diseases of the bridge by visual inspection through human eyes, and with the development of robot technology, a wall climbing robot is taken as mobile detection equipment, has wall surface adsorption capacity and wall surface movement capacity, can be applied to a building surface with a certain height away from the ground, and is primarily applied to the field of bridge detection;
the existing wall climbing robot can only work on a single wall surface generally, cannot perform wall surface conversion, and needs to realize full coverage detection of the bridge surface, the wall climbing robot needs to have wall surface transition capability, can transition from a bridge pier to a bridge bottom surface, and can perform automatic conversion on the bottom surface and the side surface of common bridge structures such as a T-shaped section, a box-shaped section, a hollow slab and the like, and the existing wall climbing robot cannot meet the bridge detection requirement easily;
the conventional wall climbing robot is generally powered by a battery, the electric quantity of the battery is very limited, the requirement for detecting a large-area bridge is difficult to meet, and meanwhile, the wall climbing robot is separated from adsorption and crashed from a working surface due to the exhaustion of the electric power.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a bridge detection apparatus and method for automatically implementing detection surface conversion, which solves the problems of wall surface conversion and continuous power supply of a bridge detection wall-climbing robot.
In order to realize the purpose of the invention, the invention is realized by the following technical scheme: a bridge detection device capable of automatically realizing detection surface conversion comprises a first wall climbing robot, a second wall climbing robot, an adsorption device, a driving device, a detection device, a working surface conversion device and a power supply device, wherein the first wall climbing robot and the second wall climbing robot are respectively provided with the adsorption device on a chassis and are used for adsorbing the surface of a bridge, the first wall climbing robot and the second wall climbing robot are respectively provided with the driving device on the chassis and are used for driving the first wall climbing robot and the second wall climbing robot to walk along the surface of the bridge, the front ends of the first wall climbing robot and the second wall climbing robot are respectively provided with the detection device which is used for detecting the damage of the bridge, the first wall climbing robot is fixedly provided with the working surface conversion device, the working surface conversion device comprises a carrying platform and a mechanical arm, and the working surface conversion device is used for moving the second wall climbing robot to other working surfaces, the inside of first wall climbing robot is equipped with power supply unit, and power supply unit includes winder and power cord, the second wall climbing robot is connected to the one end of power cord and is supplied power for it.
The further improvement lies in that: adsorption equipment includes sealed skirt and centrifugal pump, sealed skirt is the nylon fibre, and sealed skirt installs under the chassis of first wall climbing robot and second wall climbing robot and enclose into sealed chamber, the centrifugal pump sets up on the chassis of first wall climbing robot and second wall climbing robot, and the centrifugal pump internal rotation installs centrifugal impeller, be equipped with brushless motor on the centrifugal pump, and brushless motor's output shaft connects centrifugal impeller, the sealed intracavity of rotatory extraction of centrifugal impeller gas formation continuous negative pressure reaches the adsorption.
The further improvement lies in that: the driving device comprises a driving motor, a speed reducer, a wheel shaft and a driving wheel, wherein the driving motor and the speed reducer drive the wheel shaft and the driving wheel to rotate and drive the first wall-climbing robot and the second wall-climbing robot to walk along the surface of the bridge.
The further improvement lies in that: the detection device comprises a high-precision camera, an infrared ranging module and a light supplementing LED lamp, the high-precision camera is used for shooting the surface diseases of the bridge, the infrared ranging module is used for measuring the positions of the diseases of the bridge, and the light supplementing LED lamp is used for supplementing light to a shooting area when illumination is insufficient.
The further improvement lies in that: carry on platform fastening installation on first wall climbing robot, carry on the platform by bottom plate, support, load box and clamp and constitute, the bottom plate passes through the bolt fastening at first wall climbing robot epitheca, the bearing mounting is on the bottom plate, and is equipped with on the support and loads the box, the inside both sides of loading box have the clamp through the bolt fastening, and the clamp is used for climbing the wall robot with the second and fix on loading the box.
The further improvement lies in that: the mechanical arm is installed at the rear portion of a chassis of the first wall-climbing robot and is formed by hinging a plurality of sections of mechanical arms, each section of mechanical arm is controlled to rotate around a joint through a rotating motor at the hinged position, and the mechanical arm is provided with a mechanical hand grab at the tail end and used for grabbing the second wall-climbing robot.
The further improvement lies in that: the winder is fixed on the chassis of the first wall climbing robot, and the power cord is wound inside the winder, one end of the power cord is led out from the output end of the winder, and the other end of the power cord is connected to the chassis of the second wall climbing robot to supply power for the second wall climbing robot.
A bridge detection method for automatically realizing detection surface conversion comprises the following steps:
the method comprises the following steps: starting an adsorption device on a first wall-climbing robot, utilizing a centrifugal pump to generate suction to adsorb the first wall-climbing robot on the surface of a bridge, starting a driving device on the first wall-climbing robot, rotating a driving wheel to drive the first wall-climbing robot to move forward, simultaneously shooting a defect on the surface of the bridge by a high-precision camera, and measuring the position of the defect on the bridge by an infrared ranging module;
step two: when the first wall climbing robot finishes the detection and needs to detect other bridge surfaces, a working surface conversion device is started, and the mechanical arm takes the second wall climbing robot out of the carrying platform and transfers the second wall climbing robot to the other bridge surfaces;
step three: the second wall climbing robot connects the power cord, be connected with first wall climbing robot through power supply unit and acquire the electric energy, start the adsorption equipment on the second wall climbing robot, utilize the centrifugal pump to produce suction, make the second wall climbing robot adsorb other bridge on the surface, restart the drive arrangement on the second wall climbing robot, the drive wheel is rotatory to be driven the second wall climbing robot and is advanced, the bridge surface disease is shot to the high accuracy camera on the second wall climbing robot, infrared ranging module measures bridge disease position.
The invention has the beneficial effects that: the invention selects the first wall climbing robot and the second wall climbing robot as mobile detection equipment, can quickly approach and shoot high-precision bridge surface images through the driving device and the detection device, does not need to move a bridge detection vehicle which is large in manpower and affects traffic, improves the bridge defect detection precision, shortens the detection time, saves the detection cost, designs the working surface conversion device, can clamp the second wall climbing robot to another working surface, solves the problem that the existing wall climbing robot can only work on a single surface, can transit from a bridge pier to a bridge bottom, and can automatically convert the bottom and the side of a bridge structure such as a T-shaped section, a box-shaped section, a hollow plate and the like, simultaneously designs the power supply device, one end of a power line is led out from the output end of a winder, and the other end of the power line is connected to a chassis of the second wall climbing robot, for the power supply of the second wall climbing robot, the problem that the battery power of the existing wall climbing robot is insufficient is solved, the detection time is prolonged, the detection range is enlarged, the wall climbing robot is prevented from falling due to the exhaustion of electric power, and the detection safety is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of an adsorption device, a driving device and a power supply device according to the present invention;
FIG. 3 is a schematic view of a mounting platform according to the present invention;
FIG. 4 is a schematic view of a robotic arm of the present invention;
FIG. 5 is a schematic view of a second wall-climbing robot according to the present invention;
FIG. 6 is a schematic bottom-side conversion view of a box-section beam of the present invention;
fig. 7 is a schematic view illustrating a process of converting a pier into a bridge bottom surface according to the present invention.
Wherein: 1. a first wall-climbing robot; 2. a second wall-climbing robot; 3. an adsorption device; 31. a sealing skirt; 32. a centrifugal pump; 33. a centrifugal impeller; 34. a brushless motor; 4. a drive device; 41. a drive motor; 42. a speed reducer; 43. a wheel axle; 44. a drive wheel; 5. a detection device; 51. a high-precision camera; 52. an infrared ranging module; 53. a light supplement LED lamp; 6. a working surface conversion device; 61. a mounting platform; 611. a base plate; 612. a support; 613. loading a cartridge; 614. clamping a hoop; 62. a mechanical arm; 621. a robot arm; 622. rotating the motor; 623. a mechanical gripper; 7. a power supply device; 71. a reel; 72. a power line.
Detailed Description
In order to further understand the present invention, the following detailed description will be made with reference to the following examples, which are only used for explaining the present invention and are not to be construed as limiting the scope of the present invention.
According to fig. 1, 2, 3, 4, 5, 6, and 7, the embodiment provides a bridge detection device capable of automatically realizing detection surface conversion, which includes a first wall-climbing robot 1, a second wall-climbing robot 2, an adsorption device 3, a driving device 4, a detection device 5, a working surface conversion device 6, and a power supply device 7, wherein the first wall-climbing robot 1 and the second wall-climbing robot 2 are both provided with the adsorption device 3 on their chassis, the adsorption device 3 is used for adsorbing the surface of a bridge, the first wall-climbing robot 1 and the second wall-climbing robot 2 are both provided with the driving device 4 on their chassis, the driving device 4 is used for driving the first wall-climbing robot 1 and the second wall-climbing robot 2 to walk along the surface of the bridge, the front ends of the first wall-climbing robot 1 and the second wall-climbing robot 2 are both provided with the detection device 5, and the detection device 5 is used for detecting a bridge fault, working face conversion equipment 6 is equipped with to first wall climbing robot 1 rigid mounting, and working face conversion equipment 6 is including carrying on platform 61 and arm 62, working face conversion equipment 6 is used for moving second wall climbing robot 2 to other working faces on, the inside of first wall climbing robot 1 is equipped with power supply unit 7, and power supply unit 7 includes winder 71 and power cord 72, second wall climbing robot 2 is connected to the one end of power cord 72 and is supplied power for it.
The driving device 4 comprises a driving motor 41, a speed reducer 42, a wheel shaft 43 and a driving wheel 44, wherein the driving motor 41 and the speed reducer 42 drive the wheel shaft 43 and the driving wheel 44 to rotate, and drive the first wall-climbing robot 1 and the second wall-climbing robot 2 to walk along the surface of the bridge.
The carrying platform 61 is fastened and installed on the first wall-climbing robot 1, the carrying platform 61 is composed of a bottom plate 611, a support 612, a loading box 613 and a clamp 614, the bottom plate 611 is fixed on the upper shell of the first wall-climbing robot 1 through bolts, the support 612 is installed on the bottom plate 611, the loading box 613 is arranged on the support 612, the clamp 614 is fixed on two sides of the interior of the loading box 613 through bolts, and the clamp 614 is used for fixing the second wall-climbing robot 2 on the loading box 613. By mounting the mounting platform 61 on the upper shell of the first wall-climbing robot 1, the second wall-climbing robot 2 can be fixed to the mounting platform 61 when the first wall-climbing robot 1 executes a detection task.
The mechanical arm 62 is installed at the rear part of the chassis of the first wall-climbing robot 1, the mechanical arm 62 is formed by hinging a plurality of sections of mechanical arms 621, each section of mechanical arm 621 rotates around a joint under the control of a rotating motor 622 at the hinged part, a mechanical hand 623 is arranged on the mechanical arm 621 at the tail end, and the mechanical hand 623 is used for grabbing the second wall-climbing robot 2. Therefore, after the first wall-climbing robot 1 detects a working surface, the second wall-climbing robot 2 is placed on other working surfaces through the mechanical arm 62, the transition of the bridge detection working surface is completed, and when the second wall-climbing robot 2 finishes detection, the second wall-climbing robot 2 can be recovered to the carrying platform 61 through the mechanical arm 62.
The winder 71 is fixed on the chassis of the first wall-climbing robot 1, the power line 72 is wound inside the winder 71, one end of the power line 72 is led out from the output end of the winder 71, and the other end of the power line 72 is connected to the chassis of the second wall-climbing robot 2 to supply power to the second wall-climbing robot 2. Along with the relative motion of the second wall-climbing robot 2 and the first wall-climbing robot 1, the wire winder 71 can automatically arrange wires, so that the power wire 72 can be freely stretched and contracted, and the power wire 72 is prevented from being intertwined.
In the process of bridge detection operation, the first wall-climbing robot 1 firstly adsorbs and detects a bridge surface, and at this time, the second wall-climbing robot 2 is fixed on the carrying platform 61 of the first wall-climbing robot 1. When other bridge surfaces need to be detected, the second wall-climbing robot 2 is transferred to the other bridge surfaces through the working surface conversion device 6, and the second wall-climbing robot 2 is connected with the first wall-climbing robot 1 through the power supply device 7 in the detection process so as to be stably adsorbed on the working surface and prevent the second wall-climbing robot 2 from falling due to detachment and adsorption caused by electric quantity depletion.
After the first wall-climbing robot 1 completes the detection of the bridge pier, the second wall-climbing robot 2 is clamped from the mounting platform 61 and transferred to the bridge floor by the arm 62 of the working surface switching device 6, and the bridge floor is detected. By the same method, after the first wall-climbing robot 1 detects the bottom surface of the box-shaped section beam, the second wall-climbing robot 2 is transferred to the side surface of the box-shaped section beam through the working surface conversion device 6, and the other side is detected, so that automatic conversion from the abutment to the bottom surface and the side surface of a common bridge structure such as a bridge bottom surface, a T-shaped section, a box-shaped section, a hollow plate and the like is realized, and the method is shown in fig. 6 and 7.
As shown in fig. 1, 2, 3, 4, 5, 6, and 7, the present embodiment provides a bridge detection method for automatically implementing detection surface conversion, including the following steps:
the method comprises the following steps: starting an adsorption device 3 on a first wall-climbing robot 1, utilizing a centrifugal pump 32 to generate suction to adsorb the first wall-climbing robot 1 on the surface of a bridge, starting a driving device 4 on the first wall-climbing robot 1, rotating a driving wheel 44 to drive the first wall-climbing robot 1 to move forward, simultaneously shooting a defect on the surface of the bridge by a high-precision camera 51, and measuring the position of the defect by an infrared ranging module 52;
step two: in the process that the first wall-climbing robot 1 adsorbs and detects one bridge surface, the second wall-climbing robot 2 is fixed on the carrying platform 61 of the first wall-climbing robot 1, when the first wall-climbing robot 1 needs to detect other bridge surfaces after detection is finished, the working surface conversion device 6 is started, and the mechanical arm 62 takes the second wall-climbing robot 2 out of the carrying platform 61 and transfers the second wall-climbing robot to other bridge surfaces;
step three: the second wall climbing robot 2 is connected with the power line 72, is connected with the first wall climbing robot 1 through the power supply unit 7 to obtain electric energy, the adsorption device 3 on the second wall climbing robot 2 is started, the centrifugal pump 32 is utilized to generate suction, so that the second wall climbing robot 2 adsorbs other bridges on the surface, the driving device 4 on the second wall climbing robot 2 is restarted, the driving wheel 44 rotates to drive the second wall climbing robot 2 to advance, the high-precision camera 51 on the second wall climbing robot 2 shoots the surface diseases of the bridges, and the infrared ranging module 52 measures the positions of the bridge diseases.
The invention selects the first wall climbing robot 1 and the second wall climbing robot 2 as mobile detection equipment, can quickly approach and shoot high-precision bridge surface images through the driving device 4 and the detection device 5, does not need to move a bridge detection vehicle which is greatly manual and affects traffic, improves the bridge defect detection precision, shortens the detection time, saves the detection cost, designs the working surface conversion device 6, can clamp the second wall climbing robot 2 onto another working surface, solves the problem that the existing wall climbing robot can only work on a single surface, can transit from a bridge pier table to a bridge bottom surface, and can automatically convert on the bottom surface and the side surface of common bridge structures such as T-shaped sections, box-shaped sections, hollow plates and the like, and simultaneously designs the power supply device 7, wherein one end of a power line is led out from the output end of the winder 71, and the other end is connected to the chassis of the second wall climbing robot 2, for the power supply of second wall climbing robot 2, solved the not enough problem of current wall climbing robot battery power, prolonged check-out time, enlarged detection range, prevent that wall climbing robot from falling because of electric power exhausts, improved and detected the security.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides an automatic realize bridge detection device that detects face conversion, includes first wall climbing robot (1), second wall climbing robot (2), adsorption equipment (3), drive arrangement (4), detection device (5), working face conversion equipment (6) and power supply unit (7), its characterized in that: the wall climbing robot comprises a first wall climbing robot body (1) and a second wall climbing robot body (2), wherein the first wall climbing robot body (1) and the second wall climbing robot body (2) are respectively provided with an adsorption device (3) on a chassis, the adsorption devices (3) are used for adsorbing the surface of a bridge, the first wall climbing robot body (1) and the second wall climbing robot body (2) are respectively provided with a driving device (4) on the chassis, the driving devices (4) are used for driving the first wall climbing robot body (1) and the second wall climbing robot body (2) to walk along the surface of the bridge, the front ends of the first wall climbing robot body (1) and the second wall climbing robot body (2) are respectively provided with a detection device (5), the detection devices (5) are used for detecting bridge defects, a working face conversion device (6) is fixedly installed on the first wall climbing robot body (1), the working face conversion device (6) comprises a carrying platform (61) and a mechanical arm (62), the working face conversion device (6) is used for moving the second wall climbing robot body (2) to other working faces, the inside of first wall climbing robot (1) is equipped with power supply unit (7), and power supply unit (7) include winder (71) and power cord (72), second wall climbing robot (2) is connected to the one end of power cord (72) and is supplied power for it.
2. The bridge detection device for automatically realizing detection surface conversion according to claim 1, wherein: adsorption equipment (3) are including sealed skirt (31) and centrifugal pump (32), sealed skirt (31) are the nylon fibre, and sealed skirt (31) are installed under the chassis of first wall climbing robot (1) and second wall climbing robot (2) and are enclosed into the seal chamber, centrifugal pump (32) set up on the chassis of first wall climbing robot (1) and second wall climbing robot (2), and centrifugal impeller (33) are installed to centrifugal pump (32) internal rotation, be equipped with brushless motor (34) on centrifugal pump (32), and the output shaft of brushless motor (34) centrifugal impeller (33), the sealed intracavity gas of rotatory extraction of centrifugal impeller (33) forms continuous negative pressure and reaches the adsorption.
3. The bridge detection device for automatically realizing detection surface conversion according to claim 1, wherein: the driving device (4) comprises a driving motor (41), a speed reducer (42), a wheel shaft (43) and a driving wheel (44), wherein the driving motor (41) and the speed reducer (42) drive the wheel shaft (43) and the driving wheel (44) to rotate and drive the first wall-climbing robot (1) and the second wall-climbing robot (2) to walk along the surface of the bridge.
4. The bridge detection device for automatically realizing detection surface conversion according to claim 1, wherein: detection device (5) include high accuracy camera (51), infrared ranging module (52) and light filling LED lamp (53), high accuracy camera (51) are used for shooing bridge surface disease, infrared ranging module (52) are used for measuring bridge disease position, light filling LED lamp (53) are used for when illumination is not enough to shooting regional light filling.
5. The bridge detection device for automatically realizing detection surface conversion according to claim 1, wherein: carry on platform (61) fastening installation on first wall climbing robot (1), carry on platform (61) and constitute by bottom plate (611), support (612), loading box (613) and clamp (614), bottom plate (611) passes through the bolt fastening at first wall climbing robot (1) epitheca, install on bottom plate (611) support (612), and be equipped with on support (612) and load box (613), the inside both sides of loading box (613) are passed through the bolt fastening and are had clamp (614), and clamp (614) are used for fixing second wall climbing robot (2) on loading box (613).
6. The bridge detection device for automatically realizing detection surface conversion according to claim 1, wherein: the mechanical arm (62) is installed at the rear portion of a chassis of the first wall-climbing robot (1), the mechanical arm (62) is formed by hinging multiple sections of mechanical arms (621), each section of mechanical arms (621) is controlled to rotate around a joint through a rotating motor (622) at the hinged position, the mechanical arm (621) is provided with a mechanical gripper (623), and the mechanical gripper (623) is used for gripping the second wall-climbing robot (2).
7. The bridge detection device for automatically realizing detection surface conversion according to claim 1, wherein: winder (71) are fixed on the chassis of first wall climbing robot (1), and winder (71) are inside to be twined power cord (72), the one end of power cord (72) is drawn forth from winder (71) output, and the other end of power cord (72) is connected to on the chassis of second wall climbing robot (2), for second wall climbing robot (2) power supply.
8. A bridge detection method for automatically realizing detection surface conversion is characterized by comprising the following steps:
the method comprises the following steps: starting an adsorption device (3) on a first wall-climbing robot (1), utilizing a centrifugal pump (32) to generate suction, adsorbing the first wall-climbing robot (1) on the surface of a bridge, starting a driving device (4) on the first wall-climbing robot (1), rotating a driving wheel (44) to drive the first wall-climbing robot (1) to move forward, simultaneously shooting a bridge surface defect by a high-precision camera (51), and measuring the position of the bridge defect by an infrared ranging module (52);
step two: in the process that the first wall climbing robot (1) adsorbs and detects one bridge surface, the second wall climbing robot (2) is fixed on a carrying platform (61) of the first wall climbing robot (1), when the first wall climbing robot (1) needs to detect other bridge surfaces after detection is completed, a working surface conversion device (6) is started, and the mechanical arm (62) takes the second wall climbing robot (2) out of the carrying platform (61) and transfers the second wall climbing robot to the other bridge surface;
step three: the second wall climbing robot (2) is connected with a power line (72), the power line is connected with the first wall climbing robot (1) through a power supply device (7) to obtain electric energy, an adsorption device (3) on the second wall climbing robot (2) is started, a centrifugal pump (32) is utilized to generate suction, the second wall climbing robot (2) adsorbs other bridges on the surface, a driving device (4) on the second wall climbing robot (2) is restarted, a driving wheel (44) rotates to drive the second wall climbing robot (2) to advance, a high-precision camera (51) on the second wall climbing robot (2) shoots bridge surface diseases, and an infrared ranging module (52) measures the positions of the bridge diseases.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010689486.XA CN111762272B (en) | 2020-07-17 | Bridge detection device and method for automatically realizing detection surface conversion |
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| CN202010689486.XA CN111762272B (en) | 2020-07-17 | Bridge detection device and method for automatically realizing detection surface conversion |
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| CN111762272A true CN111762272A (en) | 2020-10-13 |
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| CN112881426A (en) * | 2021-01-09 | 2021-06-01 | 西南大学 | Transformer intracavity winding nondestructive testing device and control method thereof |
| CN113737643A (en) * | 2021-08-05 | 2021-12-03 | 庄见光 | Highway bridge inspection device |
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