Flying and climbing robot for bridge crack detection

Abstract

The invention discloses a flying and climbing robot for bridge crack detection. The robot can detect bridge cracks efficiently while guaranteeing safe operation of a bridge and lowering the maintainedcost of the bridge. The acquired detection data is high in precision, and the robot can detect a large range bridge with high reliability. The robot comprises a landing rack, an upper main board, a lower main board, four or more main board shafts, rotor wings mounted at the tail ends of the main board shafts, a frame structure arranged parallel to the main boards through vertical shafts, at leasttwo power wheels arranged on the frame structure and at least one universal wheel, wherein one ends of the four or more main board shafts are uniformly arranged between the upper and lower main boards; detection equipment connected to a controller and a power supply module is also arranged between the upper and lower main boards; and the controller sends data to and / or receives data from ground equipment through a compound mooring rope, and the power supply module obtains electrical energy from the ground equipment through the compound mooring rope.

Description

technical field [0001] The invention relates to the technical field of bridge crack automatic detection, in particular to a flying crawling robot used for bridge crack detection. Background technique [0002] Cracks on the surface of concrete bridges are mutations in the process of internal damage accumulation, and they are the concentrated expression of the dangerous degree of internal damage. Therefore, their information content is very large, and they are of key significance for predicting and warning bridge dangers. The structural cracks of most bridges mainly occur at the bottom of the bridge, which is difficult to detect. At the same time, the structure of bridges is becoming larger and more novel, which makes the detection of cracks more difficult to solve. Therefore, if cracks in concrete bridges can be detected in an early stage, and their development can be tracked, and maintenance and repair can be carried out in a timely manner, the maintenance cost can be greatl...

AI Technical Summary

Problems solved by technology

Bridge inspection vehicles occupying the road for a long time will inevitably cause traffic jams and seriously affect traffic safety. For busy urban arterial roads, arterial lines such as expressways or national highways may lead to traffic paralysis

[0005] Second, it is not suitable for all types of bridges

Third, for bridges with main arch rings, suspenders, stay cables and other components on both sides of the bridge deck, the outrigger working space of the bridge inspection vehicle is limited, and it is impossible to use the bridge inspection vehicle as a working platform for testing

Fourth, bridge towers, stay cables, and arch rings that exceed a certain height cannot be tested by bridge inspection vehicles due to the height limit of the outrigger

[0006] Third, it is not suitable for post-earthquake bridge assessment

[0007] Fourth, the use and maintenance costs are high

However, on the one hand, due to the very limited endurance of the multi-rotor unmanned aerial vehicle, this solution cannot meet the requirements of long-term work, which greatly reduces the work efficiency and the availability of bridge crack detection; The detection accuracy is low, because the hovering error of the aircraft is large, even if it is corrected by the laser range finder and the corresponding algorithm, it is still difficult to meet the strict requirements of the accuracy required for the crack measurement on the bridge bottom, which seriously affects the authenticity and reliability of the detection data sex

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