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Robot system for bridge vibration detection

A robotic system and vibration detection technology, applied in radio wave measurement systems, control/regulation systems, instruments, etc., can solve the problems of long test cycle, large human, material and financial resources, and difficult operation, and achieve high speed and practicality. The effect of sex, obstacle crossing convenience

Inactive Publication Date: 2021-12-03
辽博信息科技山东有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the conventional detection method, a large number of sensors need to be fixedly installed on the bridge, the operation is difficult, and the synchronous acquisition of data is also difficult to achieve. The test cycle is long, and it takes a lot of manpower, material and financial resources.

Method used

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  • Robot system for bridge vibration detection
  • Robot system for bridge vibration detection
  • Robot system for bridge vibration detection

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] A robot system for bridge vibration detection, including a robot body and a detection component installed on the robot body;

[0046] Such as figure 1 , 2 , 3, the robot body includes a main joint assembly 101, an auxiliary joint assembly and an adsorption assembly, and the main joint assembly 101 includes a first connecting block 102, a second connecting block 103, a first rotating mechanism 104, a first fixed frame 105, the first connecting block 102 and the second connecting block 103 are rotatably connected together through a first rotating mechanism 104, and the first rotating mechanism 104 is fixed on the first connecting block 102 through a first fixing frame 105 superior;

[0047] Such as figure 1 , 2 , 4, the auxiliary joint assembly includes a first auxiliary joint mechanism 106 and a second auxiliary joint mechanism 107, the first auxiliary joint mechanism 106 is mated and connected to the first connecting block 102 of the main joint assembly 101, The se...

Embodiment 2

[0060] The second aspect of the present invention provides a vibration detection method, which is applied to any one of the robot systems for bridge vibration detection, including the following steps:

[0061] S102, collect the vibration acceleration in the three directions of the bridge X, Y, and Z axes through the first detector , , ; At the same time, the vibration acceleration of the single axis of the bridge is collected by the second detector ; Among them, the time interval between two adjacent acquisitions is , The time is greater than 1s;

[0062] S104, through the collected , , Obtain the vibration velocity in the three directions of X, Y, and Z axes , , ; through the collected Get the uniaxial vibration velocity ;

[0063] It should be noted that, through the collected , , Obtain the vibration velocity in the three directions of X, Y, and Z axes , , , whose calculation formula is:

[0064]

[0065]

[0066]

[0067] i...

Embodiment 3

[0098] The third aspect of the present invention provides a robot obstacle avoidance method, which is applied to any one of the robot systems for bridge vibration detection, including the following steps:

[0099] Obtain obstacle information simultaneously by using ultrasonic detectors and camera mechanisms;

[0100] Processing the obstacle information obtained by the camera mechanism to obtain the depth information of the obstacle; processing the obstacle information obtained by the ultrasonic detector to obtain obstacle distance information;

[0101] The specific steps of processing the obstacle information obtained by the camera mechanism to obtain the depth information of the obstacle include:

[0102] Obtain the first-angle video and second-angle video of obstacles through the camera mechanism;

[0103] Processing the first-angle video and the second-angle video to obtain each frame of the first-angle obstacle picture corresponding to the first-angle video and each frame...

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Abstract

The invention discloses a robot system for bridge vibration detection and relates to the technical field of bridge test. The robot system comprises a robot body and a detection assembly installed on the robot body, wherein the robot body comprises a main joint assembly, an auxiliary joint assembly and an adsorption assembly; the main joint assembly comprises a first connecting block, a second connecting block, a first rotating mechanism and a first fixing frame, the first connecting block and the second connecting block are rotatably connected together through the first rotating mechanism, and the first rotating mechanism is fixed to the first connecting block through the first fixing frame; vibration accelerations of the bridge in the X, Y and Z directions can be detected through the first detector, then vibration velocities and vibration displacements in the three directions are obtained, the vibration velocities and the vibration displacements are synthesized to obtain a synthesized velocity and a synthesized displacement, a correction coefficient is obtained, and finally the vibration velocities and the displacements detected by the second detector are corrected through the correction coefficient; therefore, accurate detection of bridge vibration data is realized.

Description

technical field [0001] The invention relates to the technical field of bridge testing, in particular to a robot system for bridge vibration testing. Background technique [0002] The service environment of most bridges in my country has long been affected by factors such as vehicle load, vibration, temperature, etc., and the dynamic characteristics change process during normal service is worthy of attention. In many large bridge structures, engineering accidents may occur due to changes in the dynamic characteristics of the bridge. In order to avoid accidents or economic losses, it is necessary to establish a bridge early warning system. Traditional bridge structure inspection methods mainly include static load test and dynamic load test. Among them, the static load test of the bridge structure is to apply the static load to the designated position on the bridge to test the static strain, static displacement, cracks and other parameters of the bridge structure, so as to inf...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01S15/931G01H17/00
CPCG05D1/0231G05D1/0255G01S15/931G01H17/00
Inventor 于学明辛巧芝
Owner 辽博信息科技山东有限公司
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