CN112557405A - Inspection system for bridge appearance detection based on rail-mounted travelling car - Google Patents
Inspection system for bridge appearance detection based on rail-mounted travelling car Download PDFInfo
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- CN112557405A CN112557405A CN202110000713.8A CN202110000713A CN112557405A CN 112557405 A CN112557405 A CN 112557405A CN 202110000713 A CN202110000713 A CN 202110000713A CN 112557405 A CN112557405 A CN 112557405A
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- 238000007689 inspection Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 201000010099 disease Diseases 0.000 claims abstract description 7
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims abstract description 7
- 230000005611 electricity Effects 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 3
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- 229910000831 Steel Inorganic materials 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- -1 polytetrafluoroethylene Polymers 0.000 description 3
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 3
- 239000004810 polytetrafluoroethylene Substances 0.000 description 3
- 241000264877 Hippospongia communis Species 0.000 description 2
- 230000032683 aging Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000004873 anchoring Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
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- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
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- 238000004901 spalling Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention relates to a system for inspecting the appearance of a bridge based on a rail-mounted mobile trolley, which comprises: track-mounted travelling bogie: the industrial camera and the controller thereof are carried and used for collecting image information of the bridge diseases and returning the image information to the control center; running a track: the device comprises longitudinal rails at the bottoms of cantilevers at two sides of a box girder and transverse rails with the trend matched with the shape of the bottom of the box girder; the rail-mounted moving trolley transversely moves along the transverse rail, and the transverse rail longitudinally moves along the longitudinal rail; the control center: the rail-mounted mobile trolley is used for receiving image information acquired by the industrial camera and remotely controlling the rail-mounted mobile trolley to move along the running rail. The invention can carry out comprehensive intelligent inspection on the main beam and the support of the bridge and overcome the technical defect of manual detection.
Description
Technical Field
The invention relates to the technical field of bridge detection equipment, in particular to an inspection system for bridge appearance detection based on a rail-mounted moving trolley.
Background
After the bridge is put into use, the bridge is affected by various external loads or aging of structural materials, and the external loads or the aging of the structural materials can damage the bridge. If the bridge damage is not detected and repaired in time, structural diseases can be formed to cause corresponding potential safety hazards, and the safety of passing vehicles and the lives and properties of people is greatly threatened. Therefore, the method has important significance for the healthy development of the transportation industry in China by maintaining the healthy safety of the bridge and detecting the potential safety hazard of the bridge.
The traditional bridge detection is mainly carried out by manpower, namely, detection personnel directly check the bridge and detect the disease information in the bridge in an auxiliary mode through vehicles and measuring tools, and the method is flexible to operate, but has the following defects: 1) the efficiency is low: the manual detection speed is slow, and the consumed time is long. 2) The reliability is low: subjective factors with angles are manually detected, and detection data are not accurate enough. 3) The safety is low: the bridge clearance is great, belongs to high altitude construction, has certain danger. 4) The labor consumption is large: manual inspection requires a lot of labor and sometimes traffic volume restrictions, which are inconvenient for other transportation vehicles.
Disclosure of Invention
The invention aims to provide an inspection system for bridge appearance inspection based on a rail-mounted moving trolley, which can carry out comprehensive intelligent inspection on a main beam and a support of a bridge and overcome the technical defect of manual inspection.
The technical scheme adopted by the invention is as follows:
system of patrolling and examining based on rail row travelling car carries out bridge outward appearance and detects, its characterized in that:
the system comprises:
track-mounted travelling bogie: the industrial camera and the controller thereof are carried and used for collecting image information of the bridge diseases and returning the image information to the control center;
running a track: the device comprises longitudinal rails at the bottoms of cantilevers at two sides of a box girder and transverse rails with the trend matched with the shape of the bottom of the box girder; the rail-mounted moving trolley transversely moves along the transverse rail, and the transverse rail longitudinally moves along the longitudinal rail;
the control center: the rail-mounted mobile trolley is used for receiving image information acquired by the industrial camera and remotely controlling the rail-mounted mobile trolley to move along the running rail.
The longitudinal rails are fixed at the bottoms of the cantilevers on the two sides of the box girder and are longitudinally arranged, the cross sections of the longitudinal rails are in an inverted U shape, the bottoms of the longitudinal rails are provided with notches, and two sides in each notch are provided with upward bulges.
The cross section of the transverse track is I-shaped, and the left side and the right side are provided with running grooves for wheels of the moving trolley;
the tops of the two ends of the transverse track are positioned in the longitudinal track, track gears are distributed on the two sides in the longitudinal track, a hobbing driver and a driving and controlling device are arranged on a shaft between the track gears, and the tops of the two ends of the transverse track are associated with the hobbing driver in the longitudinal track and are driven by the driving and controlling device;
the longitudinal rail is provided with a conductive slip ring, the driving and controlling device obtains electricity through the conductive slip ring, and the driving rail gear drives the transverse rail to move longitudinally along the longitudinal rail.
The bottom surface part of the box girder of the transverse track is divided into a left segment and a right segment, and the centers of the left segment and the right segment are connected through track lock catches;
the outer end of the bottom surface part of the transverse track box girder is connected with the inner end of the side part of the box girder in a hinged mode, a hinged connector is arranged at a node, when the transverse track moves to a pier, the track lock catch is opened, and the bottom surface part of the box girder rotates outwards around the hinged node at the outer end to avoid the pier.
An electric push rod is arranged between the outer end of the bottom surface part of the box girder of the transverse track and the inner end of the side surface part of the box girder, a power supply line and a signal transmission line are arranged along the transverse track, and the electric push rod is controlled by a controller to enable the bottom surface part of the box girder to rotate outwards around the hinge joint of the outer end.
The rail-mounted moving trolley comprises a trolley body, a cross beam is arranged at the top of the trolley body and carries an industrial camera and a controller, connecting members are arranged on two sides of the trolley body, synchronizing wheels are symmetrically arranged on the inner sides of the bottoms of the connecting members, and the synchronizing wheels on two sides can move along a transverse rail.
The vehicle body comprises a shell, wherein a gear motor for driving a synchronizing wheel, a positioning module for acquiring the position information of the rail-mounted moving trolley and a collision avoidance module are arranged in the shell.
The control center remotely controls the industrial camera to collect image information through the controller, and the image information is sent back to the control center.
And the control center controls the gear motor to operate the rail-mounted movable trolley based on the position information sent back by the positioning module.
The collision avoidance module adopts a reflective infrared obstacle avoidance sensor for detection, judges and realizes an alarm distance threshold according to the intensity of return light, and directly outputs switching value;
the control center is based on the warning of collision avoidance module, opens the track hasp, and horizontal track box girder bottom surface part outwards rotates around outer end hinged node, avoids the pier.
The invention has the following advantages:
1. the device of the invention can rapidly detect the following:
(1) main beam: the concrete member has no crack and no over limit of crack, no water seepage, honeycomb, pitted surface, peeling, corner drop, cavity, hole, exposed rib and steel bar corrosion. Secondly, whether the concrete cracks, is damaged or not and whether the steel bars are corroded or not are judged at the midspan, the pivot and the variable cross section of the main beam, the bracket or the middle hinge part at the cantilever end, the consolidation part of the rigid frame and the node part of the truss. And thirdly, whether the concrete at the anchoring area of the prestressed steel beams cracks or not, whether longitudinal cracks exist or not along the concrete surface of the prestressed reinforcement and the like.
(2) A support: whether the support is missing or not. Whether the assembly is complete and clean, whether the assembly is broken, misplaced or empty. And secondly, whether the movable support is flexible, whether the actual displacement and the turning angle are normal and whether the anchor pin of the fixed support is intact are judged. And thirdly, whether the rubber support is aged or cracked, whether the position of the rubber support is moved or not, whether the rubber support is empty or not, whether excessive shear deformation or compression deformation exists or not and whether the outward bulges of the rubber layers among the sandwich steel plates are uniform or not. Fourthly, whether the polytetrafluoroethylene sliding plate support is dirty and aged or not, and whether the polytetrafluoroethylene plate is worn or not and whether the polytetrafluoroethylene plate is separated from the support or not. Fifthly, whether the fixing bolt of the basin-type rubber support is sheared off or not, whether the nut is loosened or not, whether the exposed part of the steel basin is rusted or not, whether the dustproof cover is intact or not and whether the anti-seismic device is intact or not are judged. Sixthly, whether the combined steel support is dry and rusty, whether an anchor bolt for fixing the support is fastened, and whether a pin plate or a pin is intact. Whether the steel support part is abraded or cracked. And seventhly, whether the sealing material of the support seat is aged, cracked, peeled and the like.
2. The minimum width 0.1mm crack can be found on the web plate and the bottom plate of the concrete beam body, and the crack width measurement precision reaches 0.05 mm.
3. The location can be identified while finding and identifying large target defects such as concrete seepage, honeycombs, pitted surfaces, spalling, breakage, exposed steel bars, support deformation, and the like.
4. The software realizes automatic detection and measurement, realizes the vectorization of the crack picture, forms a crack expansion diagram and provides image monitoring for operators.
5. And generating a detection report of the related content.
6. The rail equipment carried by image recognition can realize the functions of automatic pier passing and automatic stretching.
Drawings
FIG. 1 is a system block diagram of the present invention.
FIG. 2 is a flow chart of the system of the present invention.
Fig. 3 is a path diagram of the traveling carriage.
Fig. 4 is a structural view of the running track.
Fig. 5 is a schematic view of the rail lock in an open state.
Fig. 6 is a schematic cross-sectional view of a longitudinal rail.
Fig. 7 is a schematic cross-sectional view of a transverse rail.
Fig. 8 is a structural view of the rail traveling carriage.
Fig. 9 is a view showing a structure of a hinge position of the lateral rail.
In the figure:
1-longitudinal track, 2-transverse track, 3-track lock catch, 4-conductive slip ring, 5-track gear, 6-hobbing driver, 7-driving and controlling device, 8-electric push rod, 9-hinged connecting shaft;
11-industrial camera, 12-controller, 13-beam, 14-car body, 15-synchronous wheel, 16-connecting component and 17-gear motor.
Detailed Description
The present invention will be described in detail with reference to specific embodiments.
The invention relates to a system for inspecting the appearance of a bridge based on a rail-mounted mobile trolley, which comprises:
track-mounted travelling bogie: the system is provided with an industrial camera 11 and a controller 12 thereof, and is used for acquiring image information of the bridge diseases and returning the image information to a control center;
running a track: the device comprises longitudinal rails 1 at the bottoms of cantilevers at two sides of a box girder and transverse rails 2 with the trend matched with the shape of the bottom of the box girder; the rail-mounted moving trolley transversely moves along the transverse rail 2, and the transverse rail 2 longitudinally moves along the longitudinal rail 1;
the control center: the system is used for receiving image information collected by the industrial camera 11 and remotely controlling the rail-mounted moving trolley to move along the running rail.
The longitudinal rails 1 are fixed at the bottoms of cantilevers on two sides of the box girder and are longitudinally arranged, the cross sections of the longitudinal rails are in an inverted U shape, notches are formed in the bottoms of the longitudinal rails, and upward bulges are arranged on two sides in the notches.
The cross section of the transverse track 2 is I-shaped, and the left side and the right side are provided with running grooves for wheels of the moving trolley; the tops of two ends of the transverse track 2 are positioned in the longitudinal track 1, track gears 5 are distributed on two sides in the longitudinal track 1, a hobbing driver 6 and a driving and controlling device 7 are arranged on a shaft between the track gears 5, and the tops of two ends of the transverse track 2 are associated with the hobbing driver 6 in the longitudinal track 1 and are driven by the driving and controlling device 7; the longitudinal track 1 is provided with a conductive slip ring 6, the driving and controlling device 7 obtains electricity through the conductive slip ring 6, and the driving track gear 5 enables the transverse track 2 to move longitudinally along the longitudinal track 1.
The bottom surface part of the box girder of the transverse track 2 is divided into a left segment and a right segment, and the centers of the left segment and the right segment are connected through a track lock catch 3; the outer end of the bottom surface part of the box girder of the transverse track 2 is connected with the inner end of the side part of the box girder in a hinged mode, a hinged connector 9 is arranged at a node, when the transverse track 2 moves to a pier, the track lock catch 3 is opened, and the bottom surface part of the box girder rotates outwards around the hinged node at the outer end to avoid the pier. An electric push rod 8 is arranged between the outer end of the bottom surface part of the box girder of the transverse track 2 and the inner end of the side surface part of the box girder, a power supply line and a signal transmission line are arranged along the transverse track 2, and the electric push rod 8 is controlled by a controller to enable the bottom surface part of the box girder to rotate outwards around the hinge joint of the outer end.
The rail-mounted moving trolley comprises a trolley body 14, a cross beam 13 is arranged on the top of the trolley body 14 and is provided with an industrial camera 11 and a controller 12, connecting members 16 are arranged on two sides of the trolley body 14, synchronizing wheels 15 are symmetrically arranged on the inner sides of the bottoms of the connecting members 16, and the synchronizing wheels 15 on two sides can run along a transverse rail 2. The vehicle body 14 comprises a shell, and a gear motor for driving the synchronizing wheel 15, a positioning module for acquiring the position information of the rail-mounted moving trolley and a collision avoidance module are arranged in the shell.
The control center remotely controls the industrial camera 11 to collect image information through the controller 12, and the image information is sent back to the control center. And the control center controls the gear motor to operate the rail-mounted movable trolley based on the position information sent back by the positioning module.
The collision avoidance module adopts a reflective infrared obstacle avoidance sensor for detection, judges and realizes an alarm distance threshold according to the intensity of return light, and directly outputs switching value; the control center is based on the warning of collision avoidance module, opens track hasp 3, and horizontal track 2 case roof beam bottom surface part outwards rotates around outer end hinged node, avoids the pier.
The operation process of the system comprises the following steps:
the control center remotely controls the industrial camera 11 to collect image information through the controller 12, and the image information is sent back to the control center.
And the control center controls the gear motor to operate the rail-mounted movable trolley based on the position information sent back by the positioning module.
The collision avoidance module adopts a reflective infrared obstacle avoidance sensor for detection, judges and realizes an alarm distance threshold according to the intensity of return light, and directly outputs switching value; the control center is based on the warning of collision avoidance module, opens track hasp 3, and horizontal track 2 case roof beam bottom surface part outwards rotates around outer end hinged node, avoids the pier.
Referring to fig. 1-3, the system comprises:
track-mounted travelling bogie: the system is provided with an industrial camera 11 and a controller 12 thereof, and is used for acquiring image information of the bridge diseases and returning the image information to a control center; the controller 12 can temporarily or permanently store the image and is responsible for controlling the camera to take a picture;
running a track: the device comprises longitudinal rails 1 at the bottoms of cantilevers at two sides of a box girder and transverse rails 2 with the trend matched with the shape of the bottom of the box girder; the rail-mounted moving trolley transversely moves along the transverse rail 2, and the transverse rail 2 longitudinally moves along the longitudinal rail 1;
the control center: the device is used for receiving image information collected by the industrial camera 11, analyzing and processing the image information through software, and remotely controlling the rail-mounted moving trolley to move along the running rail.
Referring to fig. 4 to 7, the running rails include a longitudinal rail 1 and a lateral rail 2; the longitudinal rails 1 are fixed at the bottoms of the cantilevers at the two sides of the box girder and are longitudinally arranged; the transverse rails 2 are transversely arranged between the longitudinal rails 1 on the two sides, and the trend of the transverse rails is matched with the shape of the bottom of the box girder.
The cross section of the longitudinal rail 1 is in an inverted U shape, the bottom of the longitudinal rail is provided with a notch, and two sides in the notch are provided with upward bulges. The cross section of the transverse track 2 is I-shaped, and the left side and the right side are provided with running grooves for wheels of the moving trolley; the tops of two ends of the transverse track 2 are positioned in the longitudinal track 1, the transverse track moves through a synchronous gear and a synchronizer, and the synchronizer gets electricity through a conductive slip ring in the longitudinal track 1.
The transverse rail 2 comprises two lateral cantilever portions and box beam side portions and a middle box beam bottom portion, the distances between the portions and the box beams being kept the same.
The bottom surface part of the box girder of the transverse track 2 is divided into a left segment and a right segment, and the centers of the left segment and the right segment are connected through a track lock catch 3. The outer end of the bottom surface part of the box girder of the transverse track 2 is connected with the inner end of the side part of the box girder in a hinged mode, when the transverse track 2 moves to the pier, the track lock catch 3 is opened, and the bottom surface part of the box girder rotates outwards around the hinged node of the outer end to avoid the pier.
Referring to fig. 8-9, the rail-mounted mobile cart comprises a cart body 14, an industrial camera 11 is arranged on the top of the cart body 14, connecting members 16 are arranged on two sides of the cart body 14, synchronizing wheels 15 are symmetrically arranged on the inner side of the bottom of the connecting members 16, the synchronizing wheels 15 on two sides can run along a rail with an i-shaped cross section, and the whole weight of the cart is completely applied to the synchronizing wheels 15. The top of the vehicle body 14 is provided with a cross beam 13, and the top surface of the cross beam 3 is provided with at least one industrial camera 11.
The connecting component 16 is an inverted T-shaped structure and comprises a vertical part and a horizontal part, the inner side of the top of the vertical part is fixed to the outer side of the vehicle body 14, and at least one synchronous wheel 15 is arranged on the inner side of the horizontal part; the synchronizing wheels 15 inside the both-side connecting members 16 are symmetrically arranged.
The vehicle body 14 comprises a shell, a gear motor is arranged in the shell and connected to the synchronizing wheel 15 to drive the synchronizing wheel to run, and a positioning module and a collision avoidance module are further arranged in the shell of the vehicle body 14. The positioning module is an RFID positioning system and consists of an RFID card reader and an electronic tag. The collision avoidance module is a reflective infrared obstacle avoidance sensor.
The rail-mounted moving trolley further comprises a controller 12, wherein the controller 12 is located at the top of the cross beam 13, is electrically connected with the industrial camera 11 and is used for controlling the industrial camera 11 to take pictures.
Minimum resolution adopted by the three industrial cameras 11: (200/0.05) × (200/0.05) =4000 × 4000=1600 ten thousand pixels; the focal length of the lens is 35 mm. The controller 12 is used in cooperation with the control unit of the industrial camera 11 to temporarily or permanently store images and is responsible for controlling the camera to take pictures. The inside of the trolley body is placed: a gear motor for providing a driving force of the synchronizing wheel 15; a positioning module, which is composed of 2 RFID card readers and 2 electronic tags by adopting an RFID positioning system, wherein the card readers are selected from the following types: the DS-TX 10 is characterized in that a communication interface is RS232, 5V power supply is adopted, the detection distance is 0-120 m, and the size is 50mm multiplied by 20 mm; the electronic tag model is as follows: DST-20, the working frequency range is 2.4GHZ, it belongs to the active electronic label, the transmitting distance is not less than 80 meters, the endurance is not less than 3 years, the size is 60mm x 37mm x 15 mm; collision avoidance module: the infrared obstacle avoidance sensor of reflective type is adopted for detection, accurate distance cannot be returned in the mode, the alarm distance threshold value can be judged and realized according to the intensity of the returned light, the sensor directly outputs switching value, integrated use is convenient, the price is low, and the reliability is high.
The specific operation flow steps of the invention are as follows:
1) the operator starts the control center.
2) An operator remotely controls the industrial camera through the controller, and the picture is transmitted back to the control center through the network in real time.
3) The control center can remotely fine-tune the position of the camera and adjust the focal length of the camera, so that the displayed image reaches the maximum definition.
4) The rail-mounted moving trolley moves on the transverse rail and shoots, and the moving shooting path is shown in figure 3.
5) Controlling the rail-mounted moving trolley to move to reach the next shooting point;
7) and controlling the rail trolley to move to the next point to be detected, and repeating the steps to complete the whole detection process.
The invention is not limited to the examples, and any equivalent changes to the technical solution of the invention by a person skilled in the art after reading the description of the invention are covered by the claims of the invention.
Claims (10)
1. System of patrolling and examining based on rail row travelling car carries out bridge outward appearance and detects, its characterized in that:
the system comprises:
track-mounted travelling bogie: the system is provided with an industrial camera (11) and a controller (12) thereof and is used for acquiring image information of the bridge diseases and returning the image information to the control center;
running a track: comprises longitudinal rails (1) at the bottoms of cantilevers at two sides of a box girder and transverse rails (2) with the trend matched with the shape of the bottom of the box girder; the rail-mounted moving trolley transversely moves along the transverse rail (2), and the transverse rail (2) longitudinally moves along the longitudinal rail (1);
the control center: the rail-mounted mobile trolley is used for receiving image information acquired by the industrial camera (11) and remotely controlling the rail-mounted mobile trolley to move along the running rail.
2. The inspection system for bridge appearance inspection based on the rail-mounted mobile trolley according to claim 1, wherein:
the longitudinal rails (1) are fixed at the bottoms of the cantilevers on the two sides of the box girder and are longitudinally arranged, the cross sections of the longitudinal rails are inverted U-shaped, notches are formed in the bottoms of the longitudinal rails, and upward bulges are arranged on the two sides in the notches.
3. The inspection system for bridge appearance inspection based on the rail-mounted mobile trolley according to claim 2, wherein:
the cross section of the transverse track (2) is I-shaped, and the left side and the right side are provided with running grooves for wheels of the moving trolley;
the tops of two ends of the transverse track (2) are positioned in the longitudinal track (1), track gears (5) are distributed on two sides in the longitudinal track (1), a hobbing driver (6) and a driving and controlling device (7) are arranged on a shaft between the track gears (5), and the tops of two ends of the transverse track (2) are associated with the hobbing driver (6) in the longitudinal track (1) and driven by the driving and controlling device (7);
the longitudinal rail (1) is provided with a conductive slip ring (6), the driving and controlling device (7) obtains electricity through the conductive slip ring (6), and the driving rail gear (5) enables the transverse rail (2) to move longitudinally along the longitudinal rail (1).
4. The inspection system for bridge appearance inspection based on the rail-mounted mobile trolley according to claim 3, wherein:
the bottom surface part of the box girder of the transverse track (2) is divided into a left segment and a right segment, and the centers of the left segment and the right segment are connected through a track lock catch (3);
the outer end of the bottom surface part of the box girder of the transverse track (2) is connected with the inner end of the side surface part of the box girder in a hinged mode, a hinged connector (9) is arranged at a node, when the transverse track (2) moves to a pier, the track lock catch (3) is opened, and the bottom surface part of the box girder rotates outwards around the hinged node at the outer end to avoid the pier.
5. The inspection system for bridge appearance inspection based on the rail-mounted mobile trolley according to claim 4, wherein:
an electric push rod (8) is arranged between the outer end of the bottom surface part of the box girder of the transverse track (2) and the inner end of the side surface part of the box girder, a power supply line and a signal transmission line are arranged along the transverse track (2), and the electric push rod (8) is controlled by a controller to enable the bottom surface part of the box girder to rotate outwards around the hinge joint of the outer end.
6. The inspection system for bridge appearance inspection based on the rail-mounted mobile trolley according to claim 5, wherein:
the rail-mounted moving trolley comprises a trolley body (14), a cross beam (13) is arranged at the top of the trolley body (14) and carries an industrial camera (11) and a controller (12), connecting members (16) are arranged on two sides of the trolley body (14), synchronizing wheels (15) are symmetrically arranged on the inner sides of the bottoms of the connecting members (16), and the synchronizing wheels (15) on two sides can run along a transverse rail (2).
7. The inspection system for bridge appearance inspection based on the rail-mounted mobile trolley according to claim 6, wherein:
the vehicle body (14) comprises a shell, and a gear motor for driving a synchronizing wheel (15), a positioning module for acquiring position information of the rail-mounted moving trolley and a collision avoidance module are arranged in the shell.
8. The inspection system for bridge appearance inspection based on the rail-mounted mobile trolley according to claim 7, wherein:
the control center remotely controls the industrial camera (11) to collect image information through the controller (12), and the image information is sent back to the control center.
9. The inspection system for bridge appearance inspection based on the rail-mounted mobile trolley according to claim 8, wherein:
and the control center controls the gear motor to operate the rail-mounted movable trolley based on the position information sent back by the positioning module.
10. The inspection system for bridge appearance inspection based on the rail-mounted mobile trolley according to claim 9, wherein:
the collision avoidance module adopts a reflective infrared obstacle avoidance sensor for detection, judges and realizes an alarm distance threshold according to the intensity of return light, and directly outputs switching value;
the control center opens the track lock catch (3) based on the alarm of the collision avoidance module, and the bottom surface part of the box girder of the transverse track (2) rotates outwards around the outer end hinged node to avoid the pier.
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| CN202110000713.8A CN112557405A (en) | 2021-01-04 | 2021-01-04 | Inspection system for bridge appearance detection based on rail-mounted travelling car |
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