Bridge and culvert damage detection robot and its operation method

Abstract

The invention discloses a bridge and culvert damage detection robot, which includes a car body, a front crawler walking mechanism, a rear walking mechanism, a controller arranged inside the car body, a detection device connected to the controller, and a wireless communication module respectively connected to the controller And the camera that is arranged in front of the car body; the front crawler traveling mechanism includes the front driving wheel, the front driven wheel, the front tensioning wheel and the front crawler, and the front crawler traveling mechanism can be driven by the motor around the connection between the front crawler traveling mechanism and the car body The shaft rotates as a whole, or the shape of the track is changed by changing the position of the driven wheel relative to the driving wheel, so as to cross different obstacles; the front driving wheels on both sides of the car body are driven by different travel motors, and the front driving wheels move when they rotate. The track makes the car body walk; the controller controls the walking, steering and rotation or deformation of the front crawler walking mechanism of the car body. The detection robot of the present invention has strong obstacle-surmounting ability and good passability, and can adapt to various terrains of bridge and culvert patrol inspection.

Description

technical field [0001] The invention belongs to the field of bridge monitoring, and in particular relates to a bridge and culvert damage detection robot and a damage detection method. Background technique [0002] In highway construction, it is inevitable to cross ditches and pedestrian and vehicle passages. In order not to hinder traffic, cross-line culverts and small bridges are built under the road surface to discharge floods across natural valleys and depressions, or across large and small roads as people, animals and vehicles. of overpasses. With the continuous increase of traffic volume and the increase of large and overloaded transport vehicles, bridges and culverts cannot avoid natural disasters such as earthquakes, floods, mudslides or external impacts such as vehicle and vessel collisions, and their structures will be damaged. According to the "Highway Bridge Maintenance Specification" ( According to JTG H11-2004), the inspection and detection of small bridges and...

AI Technical Summary

Problems solved by technology

With the continuous increase of traffic volume and the increase of large and overloaded transport vehicles, bridges and culverts cannot avoid natural disasters such as earthquakes, floods, mudslides or external impacts such as vehicle and vessel collisions, and their structures will be damaged. According to the "Highway Bridge Maintenance Specification" ( According to JTG H11-2004), the inspection and detection of small bridges and culverts should include regular inspections and regular inspections, especially for some special small bridges and culverts that require long-term monitoring. Both will reduce the durability of the structure, which will directly lead to the reduction of the service life of bridges and culverts.

[0003] In the face of small bridges and culverts with complex terrain, especially in mountainous areas with frequent geological disasters, the places where bridges and culverts are erected are often affected by the terrain, making inspections more difficult, and it is difficult for inspectors to penetrate into bridges and Inside the culvert

In this case, the traditional detection methods are difficult to deal with, for example: 1. Manual inspection: the complex terrain environment will not only affect the life safety of the detection personnel, but also easily make the detection personnel feel bored, which is not conducive to the development of work, especially In extreme weather, the risk and difficulty are greatly increased, and incidents such as false detection and missed detection occur frequently. For some drainage culverts, low-lying areas or areas with dangerous geographical environments, inspection personnel cannot enter; 2. Bridge inspection vehicle method: This method uses the truss-type bridge inspection method to provide a reliable work platform for inspectors and improve inspection efficiency. However, the structure of the bridge inspection vehicle is too large to enter the interior of small bridges and culverts, and its adaptability is limited. It is prone to dangers such as falling from high altitudes; 3. UAV method: it has been widely used in the inspection of bridges in recent years. Inspection personnel use drones to inspect bridges, but they are subject to problems such as battery life, signal interference, and difficult operation. , cannot go deep into small bridges and culverts with narrow spaces, and is limited to taking photos of diseases, and cannot mark the diseased parts; 4. Inspection robot: Although the compact body of the robot is easy to enter the interior of small bridges and culverts, its structure is simple , with limited carrying equipment, a single way to overcome obstacles, and insufficient power when climbing over obstacles, which will greatly weaken its ability to overcome obstacles. In the environment, poor adaptability and low efficiency

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