Bridge pier surface defect detection equipment and method

Abstract

The invention provides bridge pier surface defect detection equipment and method, and relates to the technical field of bridge pier detection.The equipment comprises a detection mechanism and a hoisting mechanism, the detection mechanism comprises a surrounding device and a first visual collection device, the surrounding device comprises two symmetrically-arranged arc-shaped arm frames, and the arc-shaped arm frames are unfolded or folded through a driving assembly; the periphery of the pier is surrounded; the plurality of first visual acquisition devices are uniformly arranged above the arc-shaped arm frame and are used for acquiring surface images of the bridge pier; the hoisting mechanism comprises a hanging bracket, a lifting assembly, a supporting assembly and a swinging assembly, the supporting assembly is fixedly connected with a maintenance platform of the bridge inspection vehicle, the swinging assembly drives the hanging bracket to horizontally swing, and the lifting assembly is used for adjusting the vertical position of the inspection mechanism; the equipment can efficiently, flexibly and stably detect the surface defects of the bridge pier by cooperating with the bridge inspection vehicle and combining the encircling device, the visual acquisition device and the like, is suitable for detecting the bridge pier under different environmental conditions, and overcomes the limitation of a traditional method.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge pier detection, and in particular to a bridge pier surface defect detection device and method. Background Art

[0002] As an important part of the bridge structure, the stability and safety of the bridge pier (column) are directly related to the service life of the bridge and traffic safety. With the increase in traffic volume and the extension of the service life of the bridge, the pier may suffer varying degrees of damage under long-term loads, such as cracks, holes, corrosion pits, grooves, etc. In order to ensure the structural safety and use function of the bridge, it is necessary to regularly inspect and evaluate the pier.

[0003] In the existing bridge pier inspection technology, inspection vehicles are usually used for inspection. This method usually starts from the bridge deck, and the inspection personnel and equipment are lifted to the top of the bridge pier for inspection by the inspection vehicle. It can conveniently perform surface inspection and defect diagnosis on bridge piers located on land. However, this method has significant limitations for some special cases, such as bridges with piers on the water.

[0004] For bridge piers on the water, which cannot be reached directly by maintenance vehicles, traditional inspection methods usually rely on ships. In this case, inspectors approach the bridge piers by boat and conduct manual inspections using handheld tools or portable equipment. However, due to the unstable floating of the hull on the water and the influence of natural factors such as water flow and wind, it is difficult for the ship to maintain a stable position. This unstable working environment makes it difficult for inspectors to accurately and systematically conduct comprehensive defect inspections on bridge piers, and may even affect the reliability and safety of the inspection results. Summary of the invention

[0005] In view of this, the present invention proposes a pier surface defect detection device and method, aiming to solve the problem that traditional detection methods cannot adapt to the detection needs of water and land piers, and provide a universal, stable and efficient detection solution for both land and water.

[0006] The technical solution of the present invention is achieved in this way:

[0007] In a first aspect, the present invention provides a bridge pier surface defect detection device, including a detection mechanism and a hoisting mechanism; wherein:

[0008] The detection mechanism includes an embracing device and a first visual acquisition device. The embracing device includes an arc-shaped arm and a driving component. The arc-shaped arm is symmetrically provided with two arms, which are used to cooperate with each other to surround the outer peripheral side of the circular bridge pier. The driving component is respectively connected to the two ends of the arc-shaped arm, which is used to drive the two arc-shaped arms to open or close. The first visual acquisition device is provided with a plurality of devices, which are evenly arranged above the arc-shaped arm, and are used to collect images of the surface of the circular bridge pier.

[0009] The lifting mechanism includes a hanger, a lifting assembly, a support assembly and a swing assembly. The support assembly is used to be detachably fixedly connected to the inspection platform of the bridge inspection vehicle. One end of the swing assembly is connected to the support assembly, and the other end is connected to the hanger. The swing assembly can drive the hanger to swing horizontally. The hanger is connected to the arc-shaped arm through the lifting assembly. The lifting assembly is used to drive the detection mechanism to move up and down relative to the hanger.

[0010] On the basis of the above technical solution, preferably, it also includes a control system arranged on the embracing device, the control system includes a controller, an image processing module and a wireless transmission module, the image processing module is electrically connected to the first visual acquisition device, the image processing module, the wireless transmission module, the lifting assembly and the swing assembly are all electrically connected to the controller, and the wireless transmission module is communicatively connected to the wireless control terminal.

[0011] On the basis of the above technical solution, preferably, the first visual acquisition device includes a first connecting arm, a second connecting arm and a camera, the lower end of the first connecting arm is connected to the top surface of the arc-shaped arm frame, the upper end of the first connecting arm is connected to the lower end of the second connecting arm, the camera is connected to the upper end of the second connecting arm, the first connecting arm can be swung toward the central axis of the embracing device relative to the arc-shaped arm frame, the second connecting arm can be swung toward the central axis of the embracing device relative to the first connecting arm, the camera can be swung toward the central axis of the embracing device relative to the second connecting arm, and the camera is electrically connected to the image processing module.

[0012] On the basis of the above technical solution, preferably, the embracing device also includes a mounting frame, which is fixedly arranged at one end of the arc-shaped arm away from the driving assembly, and a second visual acquisition device with the same structure as the first visual acquisition device is arranged on the mounting frame, and the second visual acquisition device is electrically connected to the image processing module for acquiring images of the surface of the cross beam.

[0013] On the basis of the above technical solution, preferably, the detection mechanism further includes a plurality of positioning components, the plurality of positioning components are evenly distributed on the embracing device, and the positioning components include a telescopic element, a fixing frame and an elastic member;

[0014] The fixed end of the telescopic element is fixedly arranged in the embracing device, the telescopic end of the telescopic element horizontally extends toward the center of the embracing device, and the telescopic element is electrically connected to the controller;

[0015] The center of the fixing frame is rotatably connected to the telescopic end of the telescopic element, and the fixing frame can swing relative to the telescopic end of the telescopic element toward the central axis of the embracing device. The upper and lower ends of the fixing frame are provided with guide wheels that can roll along the axial direction of the circular pier surface.

[0016] One end of the elastic member is fixedly connected to the telescopic end of the telescopic element, and the other end is abutted against the upper end of the fixing frame.

[0017] On the basis of the above technical solution, preferably, the driving assembly includes a connecting arm, a rotating gear plate, a gear and a reduction motor, the two ends of the connecting arm are respectively rotatably connected to one end of the arc-shaped arm, the rotating gear plate is fixedly arranged at the end of the arc-shaped arm, and the rotating gear plate is coaxial with the connecting arm and the rotating shaft of the arc-shaped arm, the reduction motor is fixedly arranged in the connecting arm, the output shaft of the reduction motor is meshed and connected with the rotating gear plate through the gear, and the reduction motor is electrically connected to the controller.

[0018] On the basis of the above technical solution, preferably, the hanger has an operating space for the pier to enter, the opening direction of the operating space is consistent with the opening direction of the two arc-shaped arms, and the lifting components are evenly arranged in multiple groups between the hanger and the embracing device. The lifting components include a lifting rope and a winch, and the winch is fixedly arranged in the arc-shaped arm, one end of the lifting rope is fixedly connected to the hanger, and the other end is connected to the winch, and the winch is electrically connected to the controller.

[0019] On the basis of the above technical scheme, preferably, the swing assembly includes a first swing arm, a second swing arm, a first rotating motor and a second rotating motor, one end of the first swing arm is fixedly connected to the support assembly, the other end of the first swing arm is rotationally connected to one end of the second swing arm through the first rotating motor, the end of the second swing arm away from the first swing arm is rotationally connected to the hanger through the second rotating motor, the first rotating motor is used to drive the second swing arm to swing in a horizontal direction relative to the first swing arm, the second rotating motor is used to drive the hanger to swing in a horizontal direction relative to the second swing arm, and the first rotating motor and the second rotating motor are both electrically connected to the controller.

[0020] On the basis of the above technical solution, preferably, the support assembly includes a support frame and a mounting seat, the support frame is detachably connected to the maintenance platform via the mounting seat, and one end of the first swing arm away from the second swing arm is fixedly connected to the support frame.

[0021] In a second aspect, the present invention discloses a method for detecting surface defects of a pier, which utilizes the pier surface defect detection device described in the first aspect, and comprises the following steps:

[0022] S1. Install the bridge pier surface defect detection equipment on the inspection platform of the bridge inspection vehicle through the support assembly, and drive the bridge pier surface detection equipment to move under the bridge deck through the inspection platform;

[0023] S2, open the two arc-shaped arms, and adjust the position of the detection mechanism through the swing assembly so that the two arc-shaped arms embrace the upper part of the bridge pier to be detected;

[0024] S3, controlling the detection mechanism to descend through the lifting assembly, so that the detection mechanism moves from top to bottom along the bridge pier. During the movement, the first visual acquisition device collects image information on the surface of the bridge pier, and transmits the image information to the wireless control terminal in real time, so as to facilitate the detection and analysis of defects on the surface of the bridge pier;

[0025] S4. After completing the surface inspection of the current pier, the embracing device is separated from the pier, and the inspection mechanism is lifted to the bottom of the hanger by the lifting assembly, and then the surface inspection of the next pier is carried out.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] (1) The bridge pier surface defect detection equipment disclosed in the present invention realizes universal detection of bridge piers on water and land by virtue of the coordinated work of the equipment and the inspection platform of the bridge inspection vehicle, which provides stable support and the ingenious combination of the embracing device, the visual acquisition device, the hanger, the lifting assembly and the swing assembly. It has the characteristics of high efficiency, flexibility, stability and comprehensiveness, can overcome the limitations of traditional detection methods, and is suitable for bridge pier defect detection under various environmental conditions.

[0028] (2) By introducing a control system, the intelligence and automation level of the pier surface defect detection equipment has been further enhanced. The coordination of the controller, image processing module, and wireless transmission module has improved the equipment's precise control, real-time data transmission, and remote monitoring capabilities. This not only optimizes the detection process and improves work efficiency, but also improves operational safety, especially in complex environments, such as when inspecting bridge piers on the water surface. Operators can avoid direct contact with the equipment and achieve more convenient and safer operations through remote control.

[0029] (3) By optimizing the structure of the first visual acquisition device, the camera can swing in multiple directions, greatly improving the flexibility of the equipment and the accuracy of image acquisition. The adjustable design of the first connecting arm and the second connecting arm enables the equipment to cope with bridge pier surfaces of different shapes and sizes, ensuring comprehensive and accurate defect detection.

[0030] (4) By setting a second visual acquisition device with the same structure as the first visual acquisition device on the mounting frame and utilizing the angle adjustment function of the first connecting arm, the second connecting arm and the camera, all-round image acquisition of the top, side and bottom surfaces of the cross beam can be achieved, thereby improving the surface detection accuracy of the cross beam and realizing synchronous defect detection of the piers and the cross beams, thereby greatly improving the efficiency of pier defect detection.

[0031] (5) By setting a positioning component, it is ensured that when the detection mechanism descends along the pier surface, the guide wheel on the positioning component can always roll adaptively on the pier surface according to the change in the pier diameter, so as to ensure that the detection mechanism is stable and smooth during the descent process. In this way, the camera can capture stable and clear images of the pier surface, thereby ensuring the accuracy of pier surface detection.

[0032] (6) Through the setting of the swing assembly, the first swing arm, the second swing arm and the two rotating motors are used to realize the flexible adjustment of the detection mechanism in the horizontal direction. This structure enables the hanger to accurately adjust the opening direction, ensuring that the embracing device can accurately surround different bridge piers, especially bridge piers with transverse tie beams. Through this multi-angle adjustment, the detection mechanism can adapt to complex bridge pier structures, ensure the comprehensiveness and accuracy of the detection process, and meet the needs of various bridge pier surface defect detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is a schematic diagram of the three-dimensional structure from a first-viewing angle of the bridge pier surface defect detection device disclosed in the present invention;

[0035] Figure 2 It is a schematic diagram of the stereoscopic structure of the pier surface defect detection device disclosed in the present invention from a second viewing angle;

[0036] Figure 3 It is a schematic diagram of the three-dimensional structure from a third viewing angle of the bridge pier surface defect detection device disclosed in the present invention;

[0037] Figure 4 It is a schematic diagram of the three-dimensional structure of the detection mechanism disclosed in the present invention;

[0038] Figure 5 It is a front view of the detection mechanism disclosed in the present invention;

[0039] Figure 6 for Figure 1 A partial enlarged view of the middle part;

[0040] Figure 7 for Figure 1 A partial enlarged view of point B in the middle;

[0041] Figure 8 for Figure 5 A partial enlarged view of point C in the middle;

[0042] Fig. 9 It is a schematic diagram of the detection state of the detection mechanism disclosed in the present invention on the pier with the transverse tie beam;

[0043] Reference numerals:

[0044] 1. Detection mechanism; 11. Encircling device; 111. Arc arm; 112. Driving assembly; 1121. Connecting arm; 1122. Rotating gear plate; 1123. Gear; 1124. Speed ​​reduction motor; 113. Mounting frame; 12. First visual acquisition device; 121. First connecting arm; 122. Second connecting arm; 123. Camera; 13. Second visual acquisition device; 14. Positioning assembly; 141. Telescopic element; 142. Fixing frame; 143. Elastic member; 144. Guide wheel ; 2. Hoisting mechanism; 21. Hanger; 211. Operating space; 22. Lifting assembly; 221. Lifting rope; 222. Winch; 23. Support assembly; 231. Support frame; 232. Mounting seat; 24. Swing assembly; 241. First swing arm; 242. Second swing arm; 243. First rotating motor; 244. Second rotating motor; 3. Control system; 31. Controller; 32. Image processing module; 33. Wireless transmission module; 4. Maintenance platform; Q. Pier; H. Transverse tie beam. DETAILED DESCRIPTION

[0045] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] like Figure 1 As shown, combined Figure 2-5 The embodiment of the present invention discloses a bridge pier Q surface defect detection device, including a detection mechanism 1 and a hoisting mechanism 2.

[0047] The detection mechanism 1 includes an embracing device 11 and a first visual acquisition device 12. The embracing device 11 includes an arc-shaped arm frame 111 and a driving assembly 112. The arc-shaped arm frame 111 is symmetrically provided with two arms, which are used to cooperate with each other to surround the outer peripheral side of the circular bridge pier Q. The driving assembly 112 is respectively connected to the two ends of the arc-shaped arm frame 111, and is used to drive the two arc-shaped arm frames 111 to open or close. The driving assembly 112 controls the opening and closing of the arc-shaped arm frames 111 to ensure that the embracing device 11 can adapt to different sizes of bridge piers Q and can smoothly cover the surface of the bridge pier Q in all directions.

[0048] A plurality of first visual acquisition devices 12 are provided and evenly arranged above the arc-shaped arm 111, and are used to acquire images of the surface of the circular bridge pier Q. By evenly distributing the plurality of first visual acquisition devices 12 on the embracing device 11, these acquisition devices cooperate with each other to achieve a comprehensive scan of the surface defects of the bridge pier Q and avoid blind spots.

[0049] The two arc-shaped arms 111 are driven to open horizontally through the driving component 112, so that the opening of the arc-shaped arms 111 is larger than the maximum diameter of the pier Q, and then the opening of the embracing device 11 is aligned with the pier Q, and the detection mechanism 1 is moved horizontally so that the pier Q is completely located between the two arc-shaped arms 111, so that the pier Q is surrounded by the embracing device 11. At this time, the multiple first visual acquisition devices 12 evenly correspond to various areas of the outer peripheral surface of the pier Q, so as to achieve full coverage of defect acquisition on the outer surface of the pier Q.

[0050] In order to make the detection mechanism 1 adaptable to land and water environments, the embodiment of the present invention is implemented through a hoisting mechanism 2. Specifically, the hoisting mechanism 2 includes a hanger 21, a lifting assembly 22, a supporting assembly 23 and a swinging assembly 24.

[0051] The support assembly 23 is used for detachable fixed connection with the maintenance platform 4 of the bridge inspection vehicle. One end of the swing assembly 24 is connected to the support assembly 23, and the other end is connected to the hanger 21. The swing assembly 24 can drive the hanger 21 to swing horizontally. The hanger 21 is connected to the arc-shaped arm 111 through the lifting assembly 22. The lifting assembly 22 is used to drive the detection mechanism 1 to move up and down relative to the hanger 21.

[0052] In this embodiment, the hanger 21 is connected to the embracing device 11 through a lifting assembly 22. The lifting assembly 22 can drive the detection mechanism 1 to translate in the vertical direction, upward or downward from under the bridge deck, to complete the complete detection of the pier Q from top to bottom. This design enables the detection equipment to effectively cover the height direction of the entire pier Q.

[0053] The support assembly 23 is detachably fixedly connected to the inspection platform 4 of the bridge inspection vehicle to ensure that the equipment is firmly connected to the inspection platform 4. One end of the swing assembly 24 is connected to the support assembly 23, and the other end is connected to the hanger 21, which can drive the hanger 21 to swing horizontally. Through the swing assembly 24, the detection equipment can flexibly adjust the opening direction of the embracing device 11 to adapt to the change of the position of the bridge pier Q, ensuring that the embracing device 11 can smoothly surround the bridge pier Q for effective detection.

[0054] The bridge pier Q surface defect detection equipment disclosed in the present invention realizes universal detection of bridge piers Q on water and land by virtue of the ingenious combination of the equipment and the inspection platform 4 of the bridge inspection vehicle, which provides stable support, and the encircling device 11, the visual acquisition device, the hanger 21, the lifting assembly 22 and the swing assembly 24. It has the characteristics of high efficiency, flexibility, stability and comprehensiveness, can overcome the limitations of traditional detection methods, and is suitable for bridge pier Q defect detection under various environmental conditions.

[0055] The present invention is also specifically implemented through the following technical solutions.

[0056] In some embodiments of the invention, referring to the attached Figure 1 and 6 As shown, the detection device of the present invention also includes a control system 3, which is arranged on the embracing device 11, and the control system 3 includes a controller 31, an image processing module 32 and a wireless transmission module 33.

[0057] The controller 31 serves as the central control unit of the entire system and is responsible for coordinating the work of each module, including image acquisition, data processing, equipment movement, etc.

[0058] The image processing module 32 is electrically connected to the first visual acquisition device 12, and is responsible for processing the acquired surface image of the bridge pier Q, such as image aggregation and storage, and can transmit the acquired image to the wireless control terminal via the wireless transmission module 33 in real time under the control of the controller 31. Of course, the image processing module 32 of this embodiment is not only image aggregation and storage, but also includes defect recognition, data analysis, etc. The image processing module 32 can improve the detection accuracy, screen out possible defect areas, such as cracks, corrosion and other defects, and transmit the processing results to the controller 31.

[0059] The wireless transmission module 33 is responsible for wirelessly transmitting the data, images and operation instructions in the detection process to the wireless control terminal. Through wireless communication, the operator can monitor the equipment operation status, detection progress and image processing results in real time through the wireless control terminal, which improves the flexibility and convenience of operation.

[0060] In this embodiment, the wireless transmission module 33 can be any one or more of a mobile communication module, a Bluetooth module, a WIFI module, a ZigBee module, a LoRa module and a NB-IoT module. The wireless control terminal can be any receiving and control device such as a tablet, a computer, a mobile phone, a handheld terminal, etc.

[0061] The image processing module 32, the wireless transmission module 33, the lifting assembly 22 and the swing assembly 24 are all electrically connected to the controller 31, and the wireless transmission module 33 is connected in communication with the wireless control terminal. It is ensured that all hardware components can be uniformly managed and scheduled through the controller 31, and the movement of the lifting assembly 22 and the swing assembly 24, the posture adjustment of the embracing device 11, etc. can all be accurately controlled by the controller 31. The wireless control terminal is connected in communication with the wireless transmission module 33, which can realize remote control and data transmission, so that the operator does not have to touch the equipment in person, avoiding the danger that may exist during direct operation, and can better monitor and schedule the equipment remotely.

[0062] By introducing the control system 3, the intelligence and automation level of the pier Q surface defect detection equipment is further enhanced. The cooperation of the controller 31, the image processing module 32, and the wireless transmission module 33 improves the equipment's precise control, real-time data transmission, and remote monitoring capabilities. This not only optimizes the detection process and improves work efficiency, but also improves operational safety, especially in complex environments, such as when inspecting the water pier Q, operators can avoid direct contact with the equipment and achieve more convenient and safe operations through remote control.

[0063] As some preferred implementations, refer to the attached Figure 4 and 5 As shown, the first visual acquisition device 12 of this embodiment includes a first connecting arm 121, a second connecting arm 122 and a camera 123. The lower end of the first connecting arm 121 is connected to the top surface of the arc-shaped arm frame 111, the upper end of the first connecting arm 121 is connected to the lower end of the second connecting arm 122, and the camera 123 is connected to the upper end of the second connecting arm 122.

[0064] The first connecting arm 121 can swing toward the central axis of the embracing device 11 relative to the arc-shaped arm support 111, the second connecting arm 122 can swing toward the central axis of the embracing device 11 relative to the first connecting arm 121, and the camera 123 can swing toward the central axis of the embracing device 11 relative to the second connecting arm 122.

[0065] Through the adjustability of the first connecting arm 121 and the second connecting arm 122, the camera 123 can be adjusted in multiple directions to cover different positions and angles of the bridge pier Q. This design not only adapts to the different shapes of the bridge pier Q, but also improves the quality of the collected images in complex environments to ensure that there are no blind spots. When the first connecting arm 121 and the second connecting arm 122 are both kept in a vertical state, the camera 123 is in the highest position. When the first connecting arm 121 and the second connecting arm 122 swing, the height of the camera 123 will change, and the horizontal distance between the camera 123 and the bridge pier Q will also change accordingly, so that it can be flexibly adjusted according to needs.

[0066] Since the camera 123, the first connecting arm 121 and the second connecting arm 122 can all be adjusted in angle, the first visual acquisition device 12 can be flexibly adjusted for different shapes of piers Q (such as piers Q with curved or irregular surfaces) to ensure that images of each area can be effectively acquired. This is especially important for piers Q of complex shapes, as it can ensure the comprehensiveness of the detection results. In addition, the camera 123 can swing relative to the second connecting arm 122, making the image acquisition angle more flexible and accurate. This angle adjustment of the camera 123 can ensure a comprehensive scan of different positions on the surface of the pier Q, avoiding the problem of missed defects due to improper image angles.

[0067] The camera 123 is electrically connected to the image processing module 32. The image collected by the camera 123 can be transmitted to the image processing module 32 in real time, and then transmitted to the wireless control terminal via the wireless transmission module 33. The image processing module can directly perform real-time data processing to quickly identify defects on the surface of the pier Q, such as cracks, corrosion, and peeling. The wireless control terminal can also collect image information first and then analyze it. This process not only improves the efficiency of detection, but also ensures the accuracy and timeliness of defect detection.

[0068] The present invention optimizes the structure of the first visual acquisition device 12 so that the camera 123 can swing in multiple directions, greatly improving the flexibility of the device and the accuracy of image acquisition. The adjustable design of the first connecting arm 121 and the second connecting arm 122 enables the device to cope with the surfaces of the pier Q of different shapes and sizes, ensuring comprehensive and accurate defect detection.

[0069] The pier Q surface defect detection equipment involved in the above-mentioned embodiment can perform comprehensive defect detection on the circular pier Q below the bridge deck in the height direction. In some bridge constructions, there are also some pier Q structures, in which a transverse beam H is set between two piers Q, so as to strengthen the pier Q in the radial direction. The connection between the transverse beam H and the pier Q is an area where structural stress is concentrated. Usually, when inspecting the bridge, it is necessary to ensure that the surface of the transverse beam H is also comprehensively inspected.

[0070] Typically, a plurality of transverse tie beams H are disposed between two bridge piers Q along the height direction. In order to achieve synchronous surface defect detection of the bridge piers Q and the transverse tie beams H, the present embodiment further provides the following technical solutions.

[0071] For details, please refer to the attached Figure 4 and 9As shown, the embracing device 11 also includes a mounting frame 113, which is fixedly arranged at one end of the arc-shaped arm frame 111 away from the driving assembly 112, and a second visual acquisition device 13 with the same structure as the first visual acquisition device 12 is arranged on the mounting frame 113. The second visual acquisition device 13 is electrically connected to the image processing module 32 for acquiring images of the surface of the cross beam H.

[0072] The mounting frame 113 is located at the opening of the two arc-shaped arms 111. On the one hand, it allows the pier Q to pass through the opening and enter between the two arc-shaped arms 111. On the other hand, when the pier Q completely enters between the two arc-shaped arms 111, the two arc-shaped arms 111 close together. At this time, when the detection mechanism 1 moves downward, the mounting frame 113 can correspond to the end of the cross beam H. At this time, the position of the mounting frame 113 allows the second visual acquisition device 13 to collect defects on the surface of the cross beam H. Since the second visual acquisition device 13 and the first visual acquisition device 12 have the same structure, the second visual acquisition device 13 can flexibly adjust the detection position of the cross beam H, thereby improving the detection accuracy of the surface of the cross beam H.

[0073] It is worth noting that the second visual acquisition device 13 also has a first connecting arm 121, a second connecting arm 122 and a camera 123. In this way, by adjusting the angle through the cooperation of the first connecting arm 121, the second connecting arm 122 and the camera 123, it is possible to capture images of the top, side and bottom surfaces of the cross beam H. The second visual acquisition devices 13 on the two mounting frames 113 are symmetrically arranged. In this way, images of the four surfaces of the entire cross beam H can be captured.

[0074] Of course, since the length range of the transverse beam H covered by the first connecting arm 121, the second connecting arm 122 and the camera 123 is limited, after completing the inspection of one pier Q plus half of the transverse beam H, the inspection of another pier Q and the remaining half of the transverse beam H can be completed, thereby realizing simultaneous inspection of two piers Q with transverse beams H.

[0075] By arranging a second visual acquisition device 13 having the same structure as the first visual acquisition device 12 on the mounting frame 113, and utilizing the angle adjustment functions of the first connecting arm 121, the second connecting arm 122 and the camera 123, all-round image acquisition of the top, side and bottom surfaces of the transverse beam H can be achieved, thereby improving the surface detection accuracy of the transverse beam H, and realizing synchronous defect detection of the pier Q and the transverse beam H, thereby greatly improving the defect detection efficiency of the pier Q.

[0076] Since the embracing device 11 only surrounds the outer periphery of the pier Q but does not clamp the pier Q, when the two arc-shaped arms 111 are closed, there is a gap between the arc-shaped arms 111 and the pier Q. During the entire process of the detection mechanism 1 descending along the pier Q, the detection mechanism 1 may shake, causing the image collected by the camera 123 to be unstable and unclear, affecting the detection accuracy and facilitating the accurate detection of defects.

[0077] To this end, the present embodiment further arranges the structure of the detection mechanism 1 and introduces a positioning component 14. The positioning component 14 is provided with a plurality of positioning components 14, and the plurality of positioning components 14 are evenly distributed on the embracing device 11. Figure 1 , 4 As shown in FIG. 6 , the positioning assembly 14 includes a telescopic element 141 , a fixing frame 142 and an elastic member 143 .

[0078] The fixed end of the telescopic element 141 is fixedly disposed in the embracing device 11 , and the telescopic end of the telescopic element 141 horizontally extends toward the center of the embracing device 11 . The telescopic element 141 is electrically connected to the controller 31 .

[0079] The center of the fixed frame 142 is rotatably connected to the telescopic end of the telescopic element 141, and the fixed frame 142 can swing toward the central axis direction of the embracing device 11 relative to the telescopic end of the telescopic element 141. The upper and lower ends of the fixed frame 142 are provided with guide wheels 144 that can roll along the axial direction of the surface of the circular pier Q; one end of the elastic member 143 is fixedly connected to the telescopic end of the telescopic element 141, and the other end is abutted against the upper end of the fixed frame 142.

[0080] By adopting the above technical solution, after the embracing device 11 surrounds the upper outer peripheral surface of the pier Q, a control signal is sent through the controller 31 to drive the telescopic end of the telescopic element 141 to extend, so that the guide wheel 144 on the fixed frame 142 contacts the surface of the pier Q. The process determines the contact between the guide wheel 144 and the surface of the pier Q. It can be achieved by using the camera 123 to obtain an image of the guide wheel 144 contacting the pier Q in the initial stage, or a pressure sensor can be set between the telescopic end of the telescopic element 141 and the fixed frame 142. When the pressure signal obtained by the pressure sensor is greater than the preset threshold, it indicates that the guide wheel 144 has contacted the surface of the pier Q. When the entire detection mechanism 1 descends along the height direction of the pier Q, since the diameter of the pier Q may change, the elastic member 143 is provided to enable the fixed frame 142 to rotate relative to the telescopic end of the telescopic element 141, so that the guide wheels 144 on the upper and lower sides of the fixed frame 142 are always in contact with the surface of the pier Q, ensuring that when the detection mechanism 1 descends along the surface of the pier Q, the guide wheels 144 can always roll adaptively on the surface of the pier Q according to the change in the diameter of the pier Q, ensuring that the detection mechanism 1 is stable and smooth during the descent process, thereby allowing the camera 123 to capture stable and clear images of the surface of the pier Q, thereby ensuring the accuracy of the surface detection of the pier Q.

[0081] In order to realize the opening and closing of the two arc-shaped arms 111, this embodiment shows a preferred structural mode of the drive assembly 112. Figure 4 , 5 As shown in Figure 8, the driving assembly 112 includes a connecting arm 1121, a rotating gear plate 1122, a gear 1123 and a reduction motor 1124. The two ends of the connecting arm 1121 are respectively rotatably connected to one end of the arc-shaped arm 111. The rotating gear plate 1122 is fixedly arranged at the end of the arc-shaped arm 111, and the rotating gear plate 1122 is coaxial with the connecting arm 1121 and the rotating shaft of the arc-shaped arm 111. The reduction motor 1124 is fixedly arranged in the connecting arm 1121. The output shaft of the reduction motor 1124 is meshed and connected with the rotating gear plate 1122 through the gear 1123. The reduction motor 1124 is electrically connected to the controller 31.

[0082] With this solution, the gear 1123 is driven to rotate by the reduction motor 1124, and the gear 1123 meshes and rotates with the rotating gear plate 1122. During the rotation process, the rotating gear plate 1122 drives the arc-shaped arm frame 111 to rotate relative to the connecting arm frame 1121, thereby adjusting the opening and closing of the two arc-shaped arm frames 111.

[0083] In this embodiment, refer to the attached Figure 2As shown, the hanger 21 has an operating space 211 for the pier Q to enter, the opening direction of the operating space 211 is consistent with the opening direction of the two arc-shaped arms 111, and multiple groups of lifting components 22 are evenly arranged between the hanger 21 and the embracing device 11. The lifting components 22 include a lifting rope 221 and a winch 222. The winch 222 is fixedly arranged in the arc-shaped arm 111, one end of the lifting rope 221 is fixedly connected to the hanger 21, and the other end is connected to the winch 222, and the winch 222 is electrically connected to the controller 31.

[0084] By adopting the above technical solution, in the initial state, under the action of the winch 222, the lifting rope 221 lifts the entire detection mechanism 1 to the bottom of the hanger 21, ensuring that the distance between the detection mechanism 1 and the hanger 21 is as small as possible. When the embracing device 11 surrounds the outer peripheral side of the pier Q to be tested, the winch 222 releases the lifting rope 221, and the entire detection mechanism 1 moves from top to bottom along the height direction of the pier Q under the action of gravity, and completes the comprehensive detection in the height direction of the pier Q under the action of the visual acquisition device.

[0085] This embodiment shows a preferred structural mode of the swing assembly 24. Figure 1-3 As shown, the swing assembly 24 includes a first swing arm 241 , a second swing arm 242 , a first rotating motor 243 and a second rotating motor 244 .

[0086] One end of the first swing arm 241 is fixedly connected to the support assembly 23, which can provide basic support for the device and ensure the stability of the swing assembly 24. The function of the support assembly 23 is to connect the swing assembly 24 with other parts of the device so that the entire device can operate in a coordinated manner.

[0087] The other end of the first swing arm 241 is rotationally connected to one end of the second swing arm 242 via a first rotating motor 243. The first rotating motor 243 is used to drive the second swing arm 242 to swing in the horizontal direction relative to the first swing arm 241. This connection design allows relative movement between the first swing arm 241 and the second swing arm 242, ensuring that the second swing arm 242, the hanger 21 and the detection mechanism 1 as a whole can adjust their posture in the horizontal direction.

[0088] The end of the second swing arm 242 away from the first swing arm 241 is rotationally connected to the hanger 21 through a second rotating motor 244. The second rotating motor 244 is used to drive the hanger 21 to swing in the horizontal direction relative to the second swing arm 242. Through the horizontal swing of the hanger 21 relative to the second swing arm 242, the opening direction of the hanger 21 can be adjusted. Since the opening direction of the hanger 21 is consistent with the opening direction of the arc-shaped arm 111, in this way, after the detection mechanism 1 of the present invention is installed on the maintenance platform 4 of the bridge inspection vehicle through the lifting mechanism 2, the maintenance platform 4 carries the entire detection equipment to the lower part of the bridge deck. Since there are multiple piers Q arranged in the width direction of the bottom of the bridge deck, when the maintenance platform 4 moves into place, it is necessary to swing in the horizontal direction in coordination with the second swing arm 242 and the hanger 21, so that the opening of the hanger 21 can be flexibly matched with the pier Q, so that the embracing device 11 can accurately surround the outside of the pier Q.

[0089] For the bridge pier Q with the transverse tie beam H, the second swing arm 242 and the hanger 21 can swing in the horizontal direction, so that the entire detection mechanism 1 has multi-angle adjustment. Therefore, after the embracing device 11 surrounds the bridge pier Q, the second visual acquisition device 13 on the embracing device 11 can correspond to the transverse tie beam H, thereby realizing the detection requirements of the bridge pier Q with the transverse tie beam H.

[0090] In this embodiment, the first rotating motor 243 and the second rotating motor 244 are both electrically connected to the controller 31. The first rotating motor 243 and the second rotating motor 244 are controlled by the controller 31, which realizes the automatic adjustment of the device during the detection process, reducing manual intervention and operation difficulty. The controller 31 accurately controls the motor through electrical signals, so that the swing assembly 24 can be adjusted quickly and accurately as needed, thereby improving the automation of the device and further improving the detection efficiency.

[0091] By setting the swing assembly 24, the first swing arm 241, the second swing arm 242 and the two rotating motors are used to realize the flexible adjustment of the detection mechanism 1 in the horizontal direction. This structure enables the hanger 21 to accurately adjust the opening direction, ensuring that the embracing device 11 can accurately surround different piers Q, especially piers Q with transverse tie beams H. Through this multi-angle adjustment, the detection mechanism 1 can adapt to the complex pier Q structure, ensure the comprehensiveness and accuracy of the detection process, and meet the surface defect detection requirements of various piers Q.

[0092] In this embodiment, refer to the attached Figure 1-3As shown, the support assembly 23 includes a support frame 231 and a mounting seat 232. The support frame 231 is detachably connected to the maintenance platform 4 through the mounting seat 232, and one end of the first swing arm 241 away from the second swing arm 242 is fixedly connected to the support frame 231. Through the detachable connection between the support frame 231 and the maintenance platform 4, the entire defect detection equipment can be conveniently and flexibly installed or disassembled with the maintenance platform 4 of the bridge inspection vehicle, and is more convenient to use. There is no need to configure additional tractors or other mechanical arms and other devices, so that the pier Q detection equipment can be used in conjunction with the bridge inspection vehicle, so as to complete the inspection of the pier Q on the bridge deck more flexibly and conveniently, and it is not affected by the land and water environment, and has strong adaptability.

[0093] The present invention also discloses a method for detecting surface defects of a pier Q, which utilizes the pier Q surface defect detection device described in the above embodiment, and comprises the following steps:

[0094] S1. Install the pier Q surface defect detection equipment on the inspection platform 4 of the bridge inspection vehicle through the support assembly 23, and drive the pier Q surface defect detection equipment to move to the bottom of the bridge deck through the inspection platform 4; this step is to drive the inspection platform 4 to move to the bottom of the bridge deck through the actuator of the inspection vehicle, and under the drive of the inspection platform 4, the entire pier Q surface defect detection equipment is synchronously moved to the bottom of the bridge deck.

[0095] S2. Open the two arc-shaped arms 111, and adjust the position of the detection mechanism 1 through the swing assembly 24 so that the two arc-shaped arms 111 embrace the upper part of the bridge pier Q to be detected; in this step, the arc-shaped arms 111 will be unfolded to adapt to bridge piers Q of different sizes.

[0096] S3. Control the detection mechanism 1 to descend through the lifting component 22, so that the detection mechanism 1 moves from top to bottom along the bridge pier Q. During the movement, the image information of the surface of the bridge pier Q is collected through the first visual acquisition device 12, and the image information is transmitted to the wireless terminal in real time, so as to facilitate the detection and analysis of the surface defects of the bridge pier Q.

[0097] In this step, when the pier Q is provided with a transverse beam H, the image information of the surface of the transverse beam H can be collected by the second visual acquisition device 13, thereby realizing comprehensive defect detection of the pier Q and the transverse beam H simultaneously.

[0098] S4. After completing the surface inspection of the current pier Q, the embracing device 11 is separated from the pier Q, and the inspection mechanism 1 is lifted to the bottom of the hanger 21 by the lifting assembly 22, and then the surface inspection of the next pier Q is carried out.

[0099] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A bridge pier surface defect detection device, characterized in that: include: The detection mechanism (1) comprises an embracing device (11) and a first visual acquisition device (12), wherein the embracing device (11) comprises an arc-shaped arm frame (111) and a driving assembly (112), wherein the arc-shaped arm frame (111) is symmetrically provided with two arms, which are used to cooperate with each other to surround the outer peripheral side of the circular bridge pier (Q), and the driving assembly (112) is respectively connected to two ends of the arc-shaped arm frame (111) and is used to drive the two arc-shaped arm frames (111) to open or close, and the first visual acquisition device (12) is provided with a plurality of arms, which are evenly arranged above the arc-shaped arm frame (111) and are used to acquire images of the surface of the circular bridge pier (Q); The hoisting mechanism (2) comprises a hanger (21), a lifting assembly (22), a support assembly (23) and a swing assembly (24); the support assembly (23) is used for being detachably fixedly connected to the inspection platform (4) of the bridge inspection vehicle; one end of the swing assembly (24) is connected to the support assembly (23) and the other end is connected to the hanger (21); the swing assembly (24) can drive the hanger (21) to swing horizontally; the hanger (21) is connected to the arc-shaped arm (111) via the lifting assembly (22); the lifting assembly (22) is used for driving the detection mechanism (1) to move vertically relative to the hanger (21).

2. The bridge pier surface defect detection device according to claim 1, characterized in that: The invention also comprises a control system (3) arranged on the embracing device (11), the control system (3) comprising a controller (31), an image processing module (32) and a wireless transmission module (33), the image processing module (32) being electrically connected to the first visual acquisition device (12), the image processing module (32), the wireless transmission module (33), the lifting component (22) and the swing component (24) being electrically connected to the controller (31), and the wireless transmission module (33) being communicatively connected to the wireless control terminal.

3. The bridge pier surface defect detection device according to claim 2, characterized in that: The first visual acquisition device (12) comprises a first connecting arm (121), a second connecting arm (122) and a camera (123); The lower end of the first connecting arm (121) is connected to the top surface of the arc-shaped arm frame (111), the upper end of the first connecting arm (121) is connected to the lower end of the second connecting arm (122), and the camera (123) is connected to the upper end of the second connecting arm (122); The first connecting arm (121) can swing relative to the arc-shaped arm frame (111) toward the central axis of the embracing device (11), the second connecting arm (122) can swing relative to the first connecting arm (121) toward the central axis of the embracing device (11), the camera (123) can swing relative to the second connecting arm (122) toward the central axis of the embracing device (11), and the camera (123) is electrically connected to the image processing module (32).

4. The bridge pier surface defect detection device according to claim 2 or 3, characterized in that: The embracing device (11) further comprises a mounting frame (113), wherein the mounting frame (113) is fixedly arranged at one end of the arc-shaped arm frame (111) away from the driving assembly (112), and a second visual acquisition device (13) having the same structure as the first visual acquisition device (12) is arranged on the mounting frame (113), and the second visual acquisition device (13) is electrically connected to the image processing module (32) and is used for acquiring images of the surface of the cross beam (H).

5. The bridge pier surface defect detection device according to claim 2, characterized in that: The detection mechanism (1) further comprises a plurality of positioning components (14), wherein the plurality of positioning components (14) are evenly distributed on the embracing device (11), and the positioning components (14) comprise a telescopic element (141), a fixing frame (142) and an elastic member (143); The fixed end of the telescopic element (141) is fixedly arranged in the embracing device (11), the telescopic end of the telescopic element (141) extends horizontally toward the center of the embracing device (11), and the telescopic element (141) is electrically connected to the controller (31); The center of the fixed frame (142) is rotatably connected to the telescopic end of the telescopic element (141); the fixed frame (142) can swing relative to the telescopic end of the telescopic element (141) toward the central axis of the embracing device (11); and guide wheels (144) that can roll along the axial direction of the surface of the circular pier (Q) are provided at the upper and lower ends of the fixed frame (142); One end of the elastic member (143) is fixedly connected to the telescopic end of the telescopic element (141), and the other end is abutted against the upper end of the fixing frame (142).

6. The bridge pier surface defect detection device according to claim 2, characterized in that: The driving assembly (112) comprises a connecting arm (1121), a rotating gear plate (1122), a gear (1123) and a reduction motor (1124); The two ends of the connecting arm (1121) are rotatably connected to one end of the arc-shaped arm (111) respectively; The rotating gear disc (1122) is fixedly arranged at the end of the arc-shaped arm frame (111), and the rotating gear disc (1122) is coaxial with the rotating shaft connecting the arm frame (1121) and the arc-shaped arm frame (111); The reduction motor (1124) is fixedly arranged in the connecting arm (1121), the output shaft of the reduction motor (1124) is meshedly connected with the rotating gear plate (1122) through the gear (1123), and the reduction motor (1124) is electrically connected with the controller (31).

7. The bridge pier surface defect detection device according to claim 2, characterized in that: The hanger (21) has an operating space (211) for the pier (Q) to enter, the opening direction of the operating space (211) is consistent with the opening direction of the two arc-shaped booms (111), a plurality of lifting components (22) are evenly arranged between the hanger (21) and the embracing device (11), the lifting components (22) include a lifting rope (221) and a winch (222), the winch (222) is fixedly arranged in the arc-shaped boom (111), one end of the lifting rope (221) is fixedly connected to the hanger (21), and the other end is connected to the winch (222), and the winch (222) is electrically connected to the controller (31).

8. The bridge pier surface defect detection device according to claim 2 or 7, characterized in that: The swing assembly (24) comprises a first swing arm (241), a second swing arm (242), a first rotating motor (243) and a second rotating motor (244); One end of the first swing arm (241) is fixedly connected to the support assembly (23), and the other end of the first swing arm (241) is rotationally connected to one end of the second swing arm (242) via a first rotating motor (243), and the first rotating motor (243) is used to drive the second swing arm (242) to swing in a horizontal direction relative to the first swing arm (241); One end of the second swing arm (242) away from the first swing arm (241) is rotationally connected to the hanger (21) via a second rotating motor (244), and the second rotating motor (244) is used to drive the hanger (21) to swing in a horizontal direction relative to the second swing arm (242); The first rotating motor (243) and the second rotating motor (244) are both electrically connected to the controller (31).

9. The bridge pier surface defect detection device according to claim 7, characterized in that: The support assembly (23) comprises a support frame (231) and a mounting seat (232); the support frame (231) is detachably connected to the maintenance platform (4) via the mounting seat (232); and one end of the first swing arm (241) away from the second swing arm (242) is fixedly connected to the support frame (231).

10. A method for detecting surface defects of a bridge pier, which utilizes the bridge pier surface defect detection device according to any one of claims 2 to 9, characterized in that: The steps include: S1. Installing the bridge pier surface defect detection equipment on the inspection platform (4) of the bridge inspection vehicle through the support assembly (23), and driving the bridge pier (Q) surface detection equipment to move below the bridge deck through the inspection platform (4); S2, opening the two arc-shaped arms (111), and adjusting the position of the detection mechanism (1) by means of the swing assembly (24), so that the two arc-shaped arms (111) surround the upper part of the bridge pier (Q) to be detected; S3, controlling the detection mechanism (1) to descend through the lifting assembly (22), so that the detection mechanism (1) moves from top to bottom along the bridge pier (Q), and during the movement, collecting image information of the surface of the bridge pier (Q) through the first visual collection device (12), and transmitting the image information to the wireless control terminal in real time, so as to facilitate the detection and analysis of surface defects of the bridge pier (Q); S4. After completing the surface inspection of the current pier (Q), the embracing device (11) is separated from the pier (Q), and the lifting assembly (22) lifts the inspection mechanism (1) to the bottom of the hanger (21), and then the surface inspection of the next pier (Q) is carried out.

Images