A bridge inspection vehicle performance monitoring management system and method

Abstract

The present invention provides a bridge inspection vehicle performance monitoring management system and method, including a motor driver including a left motor driver and a right motor driver, which are used to control the rotation speed of the left drive motor; the right motor driver is electrically connected to the right drive motor, which is used to control the rotation speed of the right drive motor; the current detector includes a first current detector and a second current detector, the first current detector is used to detect the first working current of the left drive motor; the second current detector is used to detect the second working current of the right drive motor; the maintenance record module is used to record the fault occurrence time, fault details and fault recovery time when a fault alarm occurs. The performance evaluation and early warning of the inspection vehicle are realized, the safety level is increased, and the hidden safety risks existing in the use of the bridge inspection vehicle are reduced.

Description

Technical Field

[0001] The present invention relates to the field of bridge equipment monitoring and control, and in particular to a bridge inspection vehicle performance monitoring management system and method. Background Art

[0002] The bridge inspection vehicle is a movable inspection platform installed on a traffic bridge for inspection operations; through the overall movement of the inspection vehicle or the movement of the internal mechanism, the inspection operators on the inspection vehicle can reach all parts of the bridge that need to be inspected. The inspection vehicle mainly solves the accessibility and safety of bridge inspection operations, and can provide a safe and reliable working platform for daily inspection, testing, maintenance and upkeep of bridges.

[0003] In the control of traditional linear synchronous movement, variable frequency speed control combined with analog control is mainly used to achieve the synchronous movement of the trolley in an open-loop or semi-closed-loop manner. The detection uses travel switches and proximity switches. Due to the influence of many factors such as the size error of mechanical parts, assembly error, and the parallelism of the left and right trolley tracks, friction coefficient, and resistance at the joints, the inspection vehicle will form a large cumulative error during the movement. The relative displacement of the left and right drive trolleys becomes larger, which is easy to cause the trolley to get stuck or derailed, posing a great safety hazard. As the service time of the bridge inspection vehicle becomes longer and longer, the wear of the parts related to the walking structure on the left and right sides is gradually serious, affecting the synchronization performance of the inspection vehicle. Therefore, how to accurately and effectively evaluate the performance of the inspection vehicle and give early warnings to reduce the hidden safety risks in the use of the inspection vehicle is an important issue currently faced. Summary of the invention

[0004] The present invention provides a bridge inspection vehicle performance monitoring management system and method, which mainly solves the technical problem of how to accurately and effectively perform performance evaluation and early warning on the inspection vehicle to reduce hidden safety risks in the use of the inspection vehicle.

[0005] In order to solve the above technical problems, the present invention provides a bridge inspection vehicle performance monitoring and management system, including a storage module, a power module, a master switch, a human-machine interface, an indicator light, a displacement sensor, a motor driver, a maintenance record module and a wireless communication module, which are electrically connected to the processing module respectively;

[0006] The displacement sensor is used to collect the speed and acceleration of the synchronous walking mechanism on the left and right sides of the bridge inspection vehicle;

[0007] The motor driver includes a left motor driver and a right motor driver. The left motor driver is electrically connected to the left drive motor and is used to control the rotation speed of the left drive motor to achieve speed control of the left synchronous walking mechanism of the bridge inspection vehicle. The right motor driver is electrically connected to the right drive motor and is used to control the rotation speed of the right drive motor to achieve speed control of the right synchronous walking mechanism of the bridge inspection vehicle.

[0008] The left motor driver comprises a first current detector for detecting a first operating current of the left drive motor; the right motor driver comprises a second current detector for detecting a second operating current of the right drive motor;

[0009] The storage module is used to store the first working current, the second working current, the speed and acceleration data collected by the displacement sensor, and the early warning or fault alarm result data of the processing module;

[0010] The processing module is used to perform performance evaluation and early warning or fault alarm on the synchronous walking mechanism according to the first working current, the second working current, the speed and the acceleration; the indicator light is used to indicate the early warning or fault alarm respectively; the power supply module is used to supply power to each module of the performance evaluation and early warning system of the bridge inspection vehicle; the maintenance record module is used to record the time of occurrence of the fault, the fault details and the fault recovery time when a fault alarm occurs.

[0011] Optionally, the displacement sensor includes a first displacement sensor and a second displacement sensor, which are respectively used to collect the speed and acceleration of the synchronous walking mechanism on the left side and the speed and acceleration of the synchronous walking mechanism on the right side of the bridge inspection vehicle.

[0012] Optionally, it also includes at least two groups of cameras, which are respectively arranged at the front and rear ends of the bridge inspection vehicle, for detecting whether there is any foreign object intrusion on the travel track of the bridge inspection vehicle; and when it is determined that there is foreign object intrusion, the processing module is also used to issue a foreign object intrusion alarm.

[0013] Optionally, four groups of cameras are included, which are respectively arranged at the left front end, the right front end, the left rear end, and the right rear end of the bridge inspection vehicle.

[0014] Optionally, it also includes an operation monitoring module for monitoring abnormal stop events occurring within a set working period, and abnormal start events occurring outside the set working period.

[0015] Optionally, it also includes an offset limit switch, which is electrically connected to the processing module and is used to trigger the offset limit switch when the deflection angle of the left and right synchronous walking mechanisms of the bridge inspection vehicle exceeds the limit angle, so as to stop the left and right synchronous walking mechanisms from continuing to operate; at this time, the processing module is also used to generate fault alarm result data; the storage module is also used to store the fault alarm result data.

[0016] Optionally, the processing module includes one of a CPU central processing unit, a single chip microcomputer, a microprocessor, and a PLC control module.

[0017] Optionally, the wireless communication module includes a WiFi / 4G / 5G mobile communication module, which is used to send the early warning or fault alarm result data to a remote monitoring platform to achieve remote monitoring.

[0018] The present invention also provides a method based on the above-mentioned bridge inspection vehicle performance monitoring and management system, comprising:

[0019] According to a set time period, regularly obtain the first working current, the second working current, the speed and acceleration of the left synchronous walking mechanism, the speed and acceleration of the right synchronous walking mechanism, and the fault occurrence time and fault recovery time corresponding to each fault detail generated within a set time period;

[0020] Calculate the total fault duration corresponding to each fault detail, the first average working current corresponding to each first working current, and the second average working current corresponding to each second working current; and calculate the ratio of the first average working current to the second average working current; and calculate the speed variance value and the acceleration variance value between the left and right synchronous walking mechanisms;

[0021] Calculate the performance score of the bridge inspection vehicle according to the total fault duration within the set time period, the ratio of the first average working current to the second average working current, the speed variance value and the acceleration variance value;

[0022] The performance score is sent to a human-machine interface in real time for display, and is remotely sent to a remote monitoring platform to achieve remote monitoring.

[0023] Optionally, calculating the performance score of the bridge inspection vehicle according to the total fault duration within the set time period, the ratio of the first average working current to the second average working current, the speed variance value, and the acceleration variance value includes:

[0024] Obtain a preset performance scoring table, wherein the preset performance scoring table includes performance scores corresponding to each of the total fault duration / current ratio / speed variance value / acceleration variance value division situations;

[0025] According to the preset performance scoring table, determining a first performance score corresponding to the total fault duration, a second performance score corresponding to the current ratio, a third performance score corresponding to the speed variance value, and a fourth performance score corresponding to the acceleration variance value;

[0026] Based on the first performance score, the second performance score, the third performance score and the fourth performance score, a performance score of the bridge inspection vehicle is obtained by summing up and calculating.

[0027] The beneficial effects of the present invention are:

[0028] A bridge inspection vehicle performance monitoring management system and method provided by the present invention includes a storage module, a power module, a master switch, a human-machine interface, an indicator light, a displacement sensor, a motor driver, a maintenance record module and a wireless communication module, which are electrically connected to the processing module respectively; the displacement sensor is used to collect the speed and acceleration of the synchronous walking mechanism on the left and right sides of the bridge inspection vehicle; the motor driver includes a left motor driver and a right motor driver, the left motor driver is electrically connected to the left drive motor, and is used to control the rotation speed of the left drive motor to achieve speed control of the synchronous walking mechanism on the left side of the bridge inspection vehicle; the right motor driver is electrically connected to the right drive motor, and is used to control the rotation speed of the right drive motor to achieve speed control of the synchronous walking mechanism on the right side of the bridge inspection vehicle; the left motor driver It includes a first current detector for detecting the first working current of the left drive motor; the right motor driver includes a second current detector for detecting the second working current of the right drive motor; the storage module is used to store the first working current, the second working current, the speed and acceleration data collected by the displacement sensor, and the early warning or fault alarm result data of the processing module; the processing module is used to give early warning or fault alarm to the synchronous walking mechanism according to the first working current, the second working current, the speed and acceleration; the indicator light is used to indicate the early warning or fault alarm respectively; the power supply module is used to supply power to each module of the performance evaluation and early warning system of the bridge inspection vehicle; the maintenance record module is used to record the time of occurrence of the fault, the details of the fault and the fault recovery time when a fault alarm occurs. It realizes the performance evaluation and early warning of the inspection vehicle, increases the safety level, and reduces the hidden safety risks in the use of the bridge inspection vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the bridge inspection vehicle of the present invention;

[0030] Figure 2 This is a schematic diagram of the structure of the bridge inspection vehicle performance monitoring and management system of the present invention;

[0031] Figure 3 It is a schematic diagram of the connection structure of the motor driver of the present invention;

[0032] Figure 4 It is a schematic diagram of the automatic deviation correction control process of the present invention;

[0033] Figure 5 It is a schematic diagram of the bridge inspection vehicle performance monitoring and management method of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below through specific implementation methods in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] See also Figure 1 The specific structure of the bridge inspection vehicle is composed of tracks, truss structures, left-side walking mechanisms, right-side walking mechanisms, lifting platforms, telescopic platforms, etc. When the inspection vehicle is operating normally, the synchronous control function should work normally. Once problems occur in the processing module, driving mechanism, truss, track, displacement sensor, offset switch, etc., the synchronous control function will fail.

[0036] The problem with the current control system is that it cannot monitor the operating status and performance of the synchronous control function in real time, and cannot issue early warnings for synchronous function failures, which increases the safety risk of the inspection vehicle and reduces reliability.

[0037] In this regard, the present embodiment provides a bridge inspection vehicle performance monitoring and management system to monitor the performance and status of the synchronous control function, and to provide early warning for possible synchronous control function failures.

[0038] See also Figure 2The system includes a storage module, a power module, a master switch, a human-machine interface, an indicator light, a displacement sensor, a motor driver, a current detector, a maintenance record module and a wireless communication module, which are electrically connected to the processing module respectively; the displacement sensor is used to collect the speed and acceleration of the synchronous walking mechanism on the left and right sides of the bridge inspection vehicle; the motor driver includes a left motor driver and a right motor driver, the left motor driver is electrically connected to the left drive motor, and is used to control the rotation speed of the left drive motor to achieve speed control of the synchronous walking mechanism on the left side of the bridge inspection vehicle; the right motor driver is electrically connected to the right drive motor, and is used to control the rotation speed of the right drive motor to achieve speed control of the synchronous walking mechanism on the right side of the bridge inspection vehicle; the left motor driver includes a first current A detector is used to detect the first working current of the left drive motor; the right motor driver includes a second current detector for detecting the second working current of the right drive motor; the storage module is used to store the first working current, the second working current, the speed and acceleration data collected by the displacement sensor, and the early warning or fault alarm result data of the processing module; the processing module is used to issue an early warning or fault alarm to the synchronous walking mechanism according to the first working current, the second working current, the speed and acceleration; the indicator light is used to indicate the early warning or fault alarm respectively; the power supply module is used to supply power to each module of the performance evaluation and early warning system of the bridge inspection vehicle; the maintenance record module is used to record the time of occurrence of the fault, the fault details and the fault recovery time when a fault alarm occurs.

[0039] In this embodiment, the displacement sensor includes a first displacement sensor and a second displacement sensor, which are respectively used to collect the speed and acceleration of the synchronous walking mechanism on the left side and the speed and acceleration of the synchronous walking mechanism on the right side of the bridge inspection vehicle.

[0040] Optionally, it also includes at least two groups of cameras, which are respectively arranged at the front and rear ends of the bridge inspection vehicle, for detecting whether there is any foreign object intrusion on the track of the bridge inspection vehicle; and when it is determined that there is foreign object intrusion, the processing module is also used to issue a foreign object intrusion alarm.

[0041] Preferably, four groups of cameras can be provided, which are respectively provided at the left front end, the right front end, the left rear end, and the right rear end of the bridge inspection vehicle to prevent foreign objects from invading the track and improve the safety level of the inspection vehicle.

[0042] Optionally, the system further includes an offset limit switch, which is electrically connected to the processing module and is used to trigger the offset limit switch when the deflection angle of the left and right synchronous walking mechanisms of the bridge inspection vehicle exceeds the limit angle, so as to stop the left and right synchronous walking mechanisms from continuing to operate; specifically, when the deviation angle exceeds 3 degrees, the offset limit switch will be triggered, and the processing module will stop the operation of the corresponding motor driver at this time to achieve the purpose of automatic deviation correction. The processing module is also used to generate fault alarm result data when the offset limit switch is triggered; and the storage module is also used to store the fault alarm result data.

[0043] The processing module specifically includes one of a CPU central processing unit, a single chip microcomputer, a microprocessor, and a PLC control module.

[0044] Optionally, the system further includes an operation monitoring module for monitoring abnormal stop events occurring within a set working period, and abnormal start events occurring outside the set working period.

[0045] The wireless communication module can select a WiFi / 4G / 5G mobile communication module to send early warning or fault alarm result data to a remote monitoring platform to achieve remote monitoring.

[0046] See also Figure 3 The motor driver includes a left motor driver and a right motor driver, the drive motor includes a left drive motor and a right drive motor, the left motor driver is electrically connected to the left drive motor, and is used to control the rotation speed of the left drive motor to realize the speed control of the left side synchronous walking mechanism of the bridge inspection vehicle; the right motor driver is electrically connected to the right drive motor, and is used to control the rotation speed of the right drive motor to realize the speed control of the right side synchronous walking mechanism of the bridge inspection vehicle.

[0047] See also Figure 4 , which is the automatic deviation correction control process of this system. The processing module can detect the speed and acceleration of the left and right synchronous walking mechanisms through the displacement sensor, determine the displacement difference of the left and right walking mechanisms, and adjust the operating frequency of the left and right motor drivers through RS485 communication to control the speed of the left and right drive motors to ensure that the displacement difference between the left and right sides of the walking mechanism is within the set range, so as to achieve the purpose of automatic deviation correction. For details, please refer to Figure 5 The performance monitoring management method based on the system shown includes:

[0048] S501, using a displacement sensor to monitor and collect the speed and acceleration of the synchronous walking mechanism on the left and right sides of the bridge inspection vehicle in real time;

[0049] S502, using a first current detector to detect a first operating current of the left drive motor; using a second current detector to detect a second operating current of the right drive motor;

[0050] The current detector can store real-time monitoring data, and can also set the detection frequency to detect and store current value data.

[0051] S503, storing the first working current, the second working current, the speed and the acceleration data in a memory;

[0052] Optionally, the memory can be integrated into the black box to obtain and store all operating data during the operation of the inspection vehicle, so as to facilitate accident cause analysis and responsibility tracing when an operating failure or safety accident occurs.

[0053] S504, when a fault alarm occurs, use the maintenance record module to record the fault occurrence time, fault details and fault recovery time;

[0054] S505, regularly acquiring the first working current, the second working current, the speed and acceleration data generated within the set time period, and the fault occurrence time and the fault recovery time corresponding to each fault detail according to the set time period;

[0055] The set time period can be flexibly set according to the actual situation, for example, 5 minutes, 30 minutes, 1 hour, 1 day, etc. The set time period can be flexibly set according to the actual situation, including one of the last day, the last three days, the last week, and the last month.

[0056] S506, calculating the total fault duration corresponding to each fault detail;

[0057] For a certain fault event, the corresponding fault duration can be calculated based on its fault recovery time and fault occurrence time; further, the total fault duration can be calculated based on the fault duration of all fault events within the set time period.

[0058] S507, calculating a first average operating current corresponding to each first operating current within the set time period, and a second average operating current corresponding to each second operating current;

[0059] S508, calculating the ratio of the first average operating current to the second average operating current;

[0060] S509, calculating the speed variance value and the acceleration variance value of the left and right sides of the synchronous walking mechanism, and then calculating the speed variance ratio and the acceleration variance ratio of the left and right sides of the walking mechanism;

[0061] S510, calculating a performance score of the bridge inspection vehicle according to the total fault duration within a set period, the ratio of the first average working current to the second average working current, the speed variance ratio, and the acceleration variance ratio;

[0062] Specifically, to obtain the preset performance score table, please refer to the following Table 1:

[0063] Table 1

[0064]

[0065] The preset performance scoring table includes the performance scores corresponding to the total fault duration / current ratio / speed variance ratio / acceleration variance ratio divisions;

[0066] According to a preset performance scoring table, determine a first performance score corresponding to the total fault duration, a second performance score corresponding to the current ratio, a third performance score corresponding to the speed variance ratio, and a fourth performance score corresponding to the acceleration variance ratio;

[0067] Based on the first performance score, the second performance score, the third performance score and the fourth performance score, a performance score of the bridge inspection vehicle is obtained by summing up and calculating.

[0068] S511. The performance score is sent to the human-machine interface in real time for display, and is remotely sent to the remote monitoring platform to realize remote monitoring.

[0069] Optionally, when the performance score is lower than the set score threshold, a warning instruction is generated, and the control indicator light is controlled to provide a performance warning indication in the third state to prompt maintenance personnel to inspect and maintain the electrical system or mechanical system of the inspection vehicle, and send it to the remote monitoring platform.

[0070] On the one hand, this solution can display the operating performance and status of the synchronous control function through the human-machine interface of this system, and can also send the corresponding data to the remote monitoring cloud platform through the wireless communication module to achieve remote monitoring. In this way, relevant information can be provided to the inspection vehicle operator, and the relevant management unit can be given monitoring capabilities. At the same time, timely maintenance and repair of the inspection vehicle can be achieved through fault warning, reducing the probability of failure and improving reliability.

[0071] Obviously, those skilled in the art should understand that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a computer storage medium (ROM / RAM, magnetic disk, optical disk) and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than that here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Therefore, the present invention is not limited to any specific combination of hardware and software.

[0072] The above contents are further detailed descriptions of the present invention in combination with specific implementation methods, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A bridge inspection vehicle performance monitoring and management system, characterized in that: It includes a storage module, a power module, a main switch, a human-machine interface, an indicator light, a displacement sensor, a motor driver, a maintenance record module and a wireless communication module which are electrically connected to the processing module respectively; The displacement sensor is used to collect the speed and acceleration of the synchronous walking mechanism on the left and right sides of the bridge inspection vehicle; The motor driver includes a left motor driver and a right motor driver. The left motor driver is electrically connected to the left drive motor and is used to control the rotation speed of the left drive motor to achieve speed control of the left synchronous walking mechanism of the bridge inspection vehicle. The right motor driver is electrically connected to the right drive motor and is used to control the rotation speed of the right drive motor to achieve speed control of the right synchronous walking mechanism of the bridge inspection vehicle. The left motor driver comprises a first current detector for detecting a first operating current of the left drive motor; the right motor driver comprises a second current detector for detecting a second operating current of the right drive motor; The storage module is used to store the first working current, the second working current, the speed and acceleration data collected by the displacement sensor, and the early warning or fault alarm result data of the processing module; The processing module is used to perform performance evaluation and early warning or fault alarm on the synchronous walking mechanism according to the first working current, the second working current, the speed and the acceleration; the indicator light is used to indicate the early warning or fault alarm respectively; the power supply module is used to supply power to each module of the performance evaluation and early warning system of the bridge inspection vehicle; the maintenance record module is used to record the time of occurrence of the fault, the fault details and the fault recovery time when a fault alarm occurs.

2. The bridge inspection vehicle performance monitoring and management system according to claim 1, characterized in that: The displacement sensor comprises a first displacement sensor and a second displacement sensor, which are respectively used to collect the speed and acceleration of the synchronous walking mechanism on the left side and the speed and acceleration of the synchronous walking mechanism on the right side of the bridge inspection vehicle.

3. The bridge inspection vehicle performance monitoring and management system according to claim 1, characterized in that: It also includes at least two groups of cameras, which are respectively arranged at the front and rear ends of the bridge inspection vehicle, for detecting whether there is foreign object intrusion on the track of the bridge inspection vehicle; and when it is determined that there is foreign object intrusion, the processing module is also used to issue a foreign object intrusion alarm.

4. The bridge inspection vehicle performance monitoring and management system according to claim 3, characterized in that: It comprises four groups of cameras, which are respectively arranged at the left front end, the right front end, the left rear end and the right rear end of the bridge inspection vehicle.

5. The bridge inspection vehicle performance monitoring and management system according to claim 1, characterized in that: It also includes an operation monitoring module for monitoring abnormal stop events occurring within a set working period, and abnormal start events occurring outside the set working period.

6. The bridge inspection vehicle performance monitoring and management system according to claim 1, characterized in that: It also includes an offset limit switch, which is electrically connected to the processing module and is used to trigger the offset limit switch when the deflection angle of the left and right synchronous walking mechanisms of the bridge inspection vehicle exceeds the limit angle, so as to stop the left and right synchronous walking mechanisms from continuing to operate; at this time, the processing module is also used to generate fault alarm result data; the storage module is also used to store the fault alarm result data.

7. The bridge inspection vehicle performance monitoring and management system according to claim 1, characterized in that: The processing module includes one of a CPU central processing unit, a single chip microcomputer, a microprocessor, and a PLC control module.

8. The bridge inspection vehicle performance monitoring and management system according to claim 1, characterized in that: The wireless communication module includes a WiFi / 4G / 5G mobile communication module, which is used to send the early warning or fault alarm result data to a remote monitoring platform to achieve remote monitoring.

9. A method based on the bridge inspection vehicle performance monitoring and management system according to any one of claims 1 to 8, characterized in that: include: According to a set time period, regularly obtain the first working current, the second working current, the speed and acceleration of the left synchronous walking mechanism, the speed and acceleration of the right synchronous walking mechanism, and the fault occurrence time and fault recovery time corresponding to each fault detail generated within a set time period; Calculating the total fault duration corresponding to each fault detail, the first average working current corresponding to each first working current, and the second average working current corresponding to each second working current; and calculating the ratio of the first average working current to the second average working current; and calculating the speed variance value and the acceleration variance value between the left and right synchronous walking mechanisms; Calculate the performance score of the bridge inspection vehicle according to the total fault duration within the set time period, the ratio of the first average working current to the second average working current, the speed variance value and the acceleration variance value; The performance score is sent to a human-machine interface in real time for display, and is remotely sent to a remote monitoring platform to achieve remote monitoring.

10. The method according to claim 9, characterized in that Calculating the performance score of the bridge inspection vehicle according to the total fault duration within the set period, the ratio of the first average working current to the second average working current, the speed variance value and the acceleration variance value comprises: Obtain a preset performance scoring table, wherein the preset performance scoring table includes performance scores corresponding to each of the total fault duration / current ratio / speed variance value / acceleration variance value division situations; According to the preset performance scoring table, determining a first performance score corresponding to the total fault duration, a second performance score corresponding to the current ratio, a third performance score corresponding to the speed variance value, and a fourth performance score corresponding to the acceleration variance value; Based on the first performance score, the second performance score, the third performance score and the fourth performance score, a performance score of the bridge inspection vehicle is obtained by summing up and calculating.

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