A detection and control method for U-ribs inside steel box beams

Abstract

The present invention discloses a method for detecting and controlling U-ribs inside a steel box girder. The method comprises the following steps: receiving a control instruction, using a travel control signal to control a carrying platform to move horizontally along a track, locking the carrying platform after the carrying platform moves to a first horizontal position, causing a rotating mechanism in the carrying platform to drive a supporting structure to rotate from a horizontal position to a vertical position, then controlling the supporting structure to extend longitudinally according to a telescopic control signal, and finally controlling a camera to move longitudinally on the supporting structure according to a movement control signal. After the camera moves to the first longitudinal position, the camera detects the U-ribs inside the steel box girder. The travel signal controls the operation of the carrying platform, thereby controlling the horizontal position of the camera carried by the carrying platform. The longitudinal extension of the supporting structure allows the camera to move freely in the longitudinal direction, covering the entire U-rib inside the box, thereby improving detection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of U-rib detection inside a steel box girder, and in particular to a detection and control method for U-rib inside a steel box girder. Background Art

[0002] Steel box girders are a common structural form for long-span bridges. Depending on the structure, steel box girders include single-box, single-chamber steel box girders and multi-box, single-chamber steel box girders. Multi-box, single-chamber steel box girders include multiple boxes, which usually have inspection portals. The internal space of the steel box girder is characterized by small inspection portals, short distances between inspection portals (i.e., short lateral distances), and long longitudinal distances between boxes. Due to these characteristics, manual inspection or intelligent robot inspections are both difficult to navigate within the steel box girder, resulting in low inspection efficiency. Summary of the Invention

[0003] The main technical problem solved by the present invention is to provide a method for detecting and controlling U-ribs inside a steel box girder, so as to solve the problems of inconvenience in movement inside the steel box girder and low detection efficiency.

[0004] In order to solve the above technical problems, a technical solution adopted by the present invention is to provide a U-rib detection and control method inside a steel box girder, comprising the steps of: receiving a control instruction, the control instruction including a walking control signal, a telescopic control signal and a moving control signal; the walking control signal controls the carrying platform to move horizontally along the track, and after the carrying platform moves to a first horizontal position, the carrying platform is locked; the rotating mechanism in the carrying platform drives the supporting structure to rotate from horizontal to longitudinal; then, the supporting structure is controlled to extend longitudinally according to the telescopic control signal, and finally, the photographing device is controlled to move longitudinally on the supporting structure according to the moving control signal, and after the photographing device moves to the first longitudinal position, the photographing device detects the U-rib inside the steel box girder.

[0005] Preferably, after the carrying platform moves to the first transverse position, the carrying platform is locked by a locking mechanism.

[0006] Preferably, after the carrying platform runs to the first horizontal position, the carrying platform is locked; the lifting mechanism in the carrying platform drives the rotating mechanism, as well as the supporting structure and shooting device on the rotating mechanism to rise, and after the lifting mechanism rises to the first vertical position, it starts to execute the rotation of the rotating mechanism and subsequent actions.

[0007] Preferably, according to the telescopic control signal, the first telescopic arm in the support structure is first controlled to be longitudinally extended. After the first telescopic arm is extended, the supporting legs on the lower side of the first telescopic arm are controlled to be extended in the vertical direction to support the first telescopic arm. Then, the second telescopic arm, the third telescopic arm, the fourth telescopic arm and the fifth telescopic arm in the support structure are longitudinally extended at the same time. After the extension is completed, the shooting device is used to move longitudinally on the support structure.

[0008] Preferably, the shooting device is controlled to move longitudinally on the supporting structure according to the movement control signal, and the shooting device stops after it moves to the first longitudinal position; the lifting component in the shooting device operates to adjust the second vertical position of the shooting rod, the steering component operates to adjust the rotation angle of the shooting rod around its vertical axis, the translation component operates to adjust the second lateral position of the shooting rod and / or the swing component operates to adjust the swing angle of the shooting rod around its lateral axis. After the position adjustment of the shooting rod is completed, the shooting camera on the shooting rod detects the U rib.

[0009] Preferably, after the shooting camera completes the detection of the U-rib, the shooting rod in the shooting device is reset to the shooting rod origin position, and the shooting device can continue to move longitudinally on the supporting structure. After the shooting device moves to the second longitudinal position, the shooting device stops; the lifting component in the shooting device operates to adjust the second vertical position of the shooting rod, the steering component operates to adjust the rotation angle of the shooting rod around its vertical axis, the translation component operates to adjust the second lateral position of the shooting rod and / or the swing component operates to adjust the swing angle of the shooting rod around its lateral axis. After the position adjustment of the shooting rod is completed, the shooting camera on the shooting rod detects the U-rib, and repeating this step can continuously detect the U ribs inside the same steel box girder box body.

[0010] Preferably, after the photographing device completes the continuous detection of the U-ribs inside the same steel box girder box body, the photographing rod in the photographing device is reset to the photographing rod origin position, and then the photographing device returns to the photographing device origin position along the support structure, the support structure shrinks to the support structure origin position, and the rotating mechanism of the operating platform drives the support structure to rotate from longitudinal to transverse, and the lifting mechanism in the carrying platform drives the rotating mechanism, and the support structure and photographing device on the rotating mechanism descend and return to the lifting mechanism origin position, and then the carrying platform is unlocked to complete the detection task of the U-ribs inside the same steel box girder box body.

[0011] Preferably, the first lateral position, first longitudinal position, first vertical position, second vertical position, rotation angle, second lateral position, swing angle, shooting rod origin position, shooting device origin position, support structure origin position and / or lifting mechanism origin position are determined by a safety switch, a limit switch, a travel switch and / or a distance sensor.

[0012] Preferably, the control instruction is issued by the short-range control terminal and / or the long-range control terminal.

[0013] Preferably, a plurality of cameras are provided on the shooting rod of the shooting device, and a plurality of pictures of the U-rib are obtained by the cameras, and the plurality of pictures are spliced ​​together to obtain a detection picture including the entire U-rib.

[0014] The present invention has the following beneficial effects: the operation of the carrying platform is controlled by a travel signal, thereby controlling the lateral position of the camera device carried by the carrying platform. The longitudinal extension of the supporting structure allows the camera device to move freely in the longitudinal direction, and the longitudinal movement of the camera device can cover the entire U-rib inside the box. The present invention can be easily moved within the steel box girder, covering the entire box during inspection, thereby improving inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flow chart of an embodiment of a method for detecting and controlling U-ribs inside a steel box girder according to the present invention;

[0016] Figure 2 2 is a structural diagram of an embodiment of a method for detecting and controlling U-ribs inside a steel box girder according to the present invention;

[0017] Figure 3 2. It is a structural schematic diagram of a carrying platform according to an embodiment of a method for detecting and controlling U-ribs inside a steel box girder of the present invention;

[0018] Figure 4 2. It is a schematic cross-sectional structural diagram of a carrying platform according to an embodiment of a method for detecting and controlling U-ribs inside a steel box girder of the present invention;

[0019] Figure 5 2. It is a structural schematic diagram of the bottom of the carrying platform according to an embodiment of the method for detecting and controlling the internal U-ribs of a steel box girder of the present invention;

[0020] Figure 6 2. It is a structural schematic diagram of a locking mechanism according to an embodiment of a method for detecting and controlling U-ribs inside a steel box girder of the present invention;

[0021] Figure 7 2. It is a schematic diagram of the connection structure of multiple connecting rods in a locking mechanism according to an embodiment of a method for detecting and controlling U-ribs inside a steel box girder of the present invention;

[0022] Figure 82. It is an overall schematic diagram of the supporting structure according to an embodiment of the method for detecting and controlling U-ribs inside a steel box girder of the present invention;

[0023] Figure 9 2. It is a schematic diagram of a reference arm in a support structure according to an embodiment of a method for detecting and controlling U-ribs inside a steel box girder of the present invention;

[0024] Figure 10 2. It is a schematic diagram of the internal structure of the reference arm in the support structure according to an embodiment of the method for detecting and controlling the internal U-rib of a steel box girder of the present invention;

[0025] Figure 11 2. It is a schematic diagram of the first section of the telescopic arm of the support structure according to an embodiment of the method for detecting and controlling the internal U-ribs of a steel box girder of the present invention;

[0026] Figure 12 2. It is a schematic diagram of the head of the second telescopic arm in the supporting structure according to an embodiment of the method for detecting and controlling the internal U-rib of a steel box girder of the present invention;

[0027] Figure 13 2. It is a schematic diagram of the connection of the front movable pulley in the support structure according to an embodiment of the method for detecting and controlling the internal U-rib of a steel box girder of the present invention;

[0028] Figure 14 2. It is a connection diagram of the rear movable pulley in the supporting structure according to an embodiment of the method for detecting and controlling the internal U-rib of a steel box girder of the present invention;

[0029] Figure 15 2. It is a schematic diagram of the movement principle of the third telescopic device in the supporting structure according to an embodiment of the method for detecting and controlling the internal U-rib of a steel box girder of the present invention;

[0030] Figure 16 2. It is a schematic diagram of the arrangement of the roller row at the tail of the first telescopic arm in the supporting structure according to an embodiment of the method for detecting and controlling the internal U-rib of a steel box girder of the present invention;

[0031] Figure 17 2. It is a schematic diagram of the arrangement of the roller row at the head of the first telescopic arm in the supporting structure according to an embodiment of the method for detecting and controlling the internal U-rib of a steel box girder of the present invention;

[0032] Figure 18 2. It is a schematic diagram of a roller row in a support structure according to an embodiment of a method for detecting and controlling U-ribs inside a steel box girder of the present invention;

[0033] Figure 19 Schematic diagram of a support leg in a support structure according to an embodiment of a method for detecting and controlling U-ribs inside a steel box girder of the present invention;

[0034] Figure 20 2. It is a top schematic diagram of the first supporting section in the supporting structure according to an embodiment of the method for detecting and controlling the internal U-rib of a steel box girder of the present invention;

[0035] Figure 21 2. It is a schematic diagram of the internal structure of the support legs in the support structure according to an embodiment of the method for detecting and controlling the internal U-ribs of a steel box girder of the present invention;

[0036] Figure 22 2. It is a structural schematic diagram of a photographing device according to an embodiment of a method for detecting and controlling U-ribs inside a steel box girder of the present invention;

[0037] Figure 23 yes Figure 22 an exploded schematic diagram of the illustrated embodiment;

[0038] Figure 24 yes Figure 22 A schematic diagram of the connection relationship between the steering assembly, the translation assembly, the swing assembly and the shooting rod in the embodiment shown;

[0039] Figure 25 Schematic diagram of another embodiment of the method for detecting and controlling the internal U-ribs of a steel box girder according to the present invention, wherein a shooting rod and a shooting camera shoot the interior of the steel box girder;

[0040] Figure 26 It is a schematic diagram of the driving principle of the shooting rod of the detection and control method of the internal U-rib of the steel box girder of the present invention. DETAILED DESCRIPTION

[0041] To facilitate understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. Preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present invention.

[0042] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification are intended solely for the purpose of describing specific embodiments and are not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0043] The present invention is described in a non-limiting manner. Figure 2 The symbols Z, X, and Y shown in FIG. 5 represent the vertical direction, the longitudinal direction, and the lateral direction.

[0044] Figure 1 An embodiment of the method for detecting and controlling the internal U-ribs of a steel box girder according to the present invention is shown, comprising the steps of:

[0045] Step S1: receiving a control instruction, wherein the control instruction includes a walking control signal, a telescopic control signal, and a movement control signal.

[0046] Step S2, the travel control signal controls the carrying platform A to move horizontally along the track 2. After the carrying platform A moves to the first horizontal position, the carrying platform A is locked; the rotating mechanism A402 in the carrying platform A drives the supporting structure B to rotate from the horizontal to the longitudinal direction; then the supporting structure B is controlled to extend longitudinally according to the telescopic control signal, and finally the photographing device C is controlled to move longitudinally on the supporting structure B according to the movement control signal. After the photographing device C moves to the first longitudinal position, the photographing device C detects the U rib inside the steel box girder 1.

[0047] The movement of the carrying platform A is controlled by a travel signal, thereby controlling the lateral position of the camera C carried by the carrying platform A. The longitudinal extension of the support structure B allows the camera C to move freely in the longitudinal direction, and the longitudinal movement of the camera C can cover the entire U-rib inside the box body. This allows the present invention to be easily moved within the steel box girder 1, covering the entire box body during inspection, and improving inspection efficiency.

[0048] The first transverse position refers to the transverse position of the carrying platform A and the photographing device C inside the steel box girder 1 , and the first longitudinal position refers to the longitudinal position of the photographing device C inside the steel box girder 1 .

[0049] Preferably, the control instructions can be issued by a local control terminal and / or a remote control terminal. The local control terminal can be a control cabinet A60. The remote control terminal can be provided with a wireless connection module to establish a wireless connection to remotely issue instructions.

[0050] In the above, the horizontal and vertical positions of the camera C inside the steel box girder 1 are controlled by control instructions. In order to enable the camera C to be closer to the U rib to be detected, the vertical position of the camera C inside the steel box girder 1 is further controlled.

[0051] Preferably, after the carrying platform A runs to the first horizontal position, the carrying platform A is locked; the lifting mechanism A401 in the carrying platform A drives the rotating mechanism A402, as well as the supporting structure B and the shooting device C on the rotating mechanism A402 to rise, and after the lifting mechanism A401 rises to the first vertical position, it starts to execute the rotation of the rotating mechanism A402 and subsequent actions.

[0052] The vertical position of the camera C inside the steel box girder 1 is adjusted by the lifting mechanism A401 so that the camera C can be closer to the U-rib to be inspected, thereby improving the clarity of the camera C's photography.

[0053] Preferably, according to the telescopic control signal, the first telescopic arm B12 in the support structure B is first controlled to extend longitudinally. After the first telescopic arm B12 is extended, the support leg B3 on the lower side of the first telescopic arm B12 is controlled to extend in the vertical direction to support the first telescopic arm B12. Then, the second telescopic arm B13, the third telescopic arm B14, the fourth telescopic arm B15 and the fifth telescopic arm B16 in the support structure B are extended longitudinally at the same time. After the extension is completed, the shooting device C is used to move longitudinally on the support structure B.

[0054] The extension of the support structure B is controlled by the telescopic control signal, so that the camera C can move longitudinally on the support structure B, thereby covering the U-ribs in the entire box.

[0055] Preferably, the shooting device C is controlled to move longitudinally on the supporting structure B according to the movement control signal, and the shooting device C stops after it moves to the first longitudinal position; the lifting component C1 in the shooting device C operates to adjust the second vertical position of the shooting rod C21, the steering component C4 operates to adjust the rotation angle of the shooting rod C21 around its vertical axis, the translation component C5 operates to adjust the second lateral position of the shooting rod C21 and / or the swing component C6 operates to adjust the swing angle of the shooting rod C21 around its lateral axis. After the position adjustment of the shooting rod C21 is completed, the shooting camera C22 on the shooting rod C21 detects the U rib.

[0056] The second vertical position is a further adjustment of the vertical position of the photographing rod C21 due to the lifting of the lifting assembly C1, based on the first vertical position. This represents the vertical position of the photographing rod C21 within the steel box girder 1. Similarly, the second lateral position is a further adjustment based on the first lateral position. Adjusting the position of the photographing rod C21 via the lifting assembly C1, steering assembly C4, translation assembly C5, and / or rocking assembly C6 facilitates clear and complete capture of the U-rib by the photographing device C.

[0057] Preferably, when the shooting camera C22 completes the detection of the U rib, the shooting rod C21 in the shooting device C is reset to the original position of the shooting rod C21, and the shooting device C can continue to move longitudinally on the supporting structure B. After the shooting device C moves to the second longitudinal position, the shooting device C stops; the lifting component C1 in the shooting device C operates to adjust the second vertical position of the shooting rod C21, the steering component C4 operates to adjust the rotation angle of the shooting rod C21 around its vertical axis, the translation component C5 operates to adjust the second lateral position of the shooting rod C21 and / or the swing component C6 operates to adjust the swing angle of the shooting rod C21 around its lateral axis. After the position adjustment of the shooting rod C21 is completed, the shooting camera C22 on the shooting rod C21 detects the U rib. Repeating this step can continuously detect the U ribs inside the box body of the same steel box girder 1.

[0058] When at the first longitudinal position, the U-rib at a position inside the steel box girder 1 is inspected. Since the longitudinal length of the steel box girder 1 is relatively long, the U-ribs at other positions need to be inspected. Therefore, after the inspection of the U-rib at one position is completed, the shooting rod C21 is reset to the original position of the shooting rod C21, and the longitudinal position is changed to inspect the U-rib at another position (the second longitudinal position) until all the U-ribs inside the steel box girder 1 are inspected.

[0059] Preferably, after the photographing device C completes the continuous detection of the U ribs inside the box body of the same steel box girder 1, the photographing rod C21 in the photographing device C is reset to the origin position of the photographing rod C21, and then the photographing device C returns to the origin position of the photographing device C along the support structure B, and the support structure B shrinks to the origin position of the support structure B. The rotating mechanism A402 of the operating platform drives the support structure B to rotate from the longitudinal direction to the transverse direction, and the lifting mechanism A401 in the carrying platform A drives the rotating mechanism A402, as well as the support structure B and the photographing device C on the rotating mechanism A402 to descend and return to the origin position of the lifting mechanism A401, and then the carrying platform A is unlocked to complete the detection task of the U ribs inside the box body of the same steel box girder 1.

[0060] The origin position of the shooting rod C21 is the center of the shooting device C, the origin position of the shooting device C is the starting position of the shooting device C on the support mechanism, the origin position of the support structure B is the position when the support structure B is not extended, and the origin position of the lifting mechanism A401 is the position when the lifting mechanism A401 is not raised.

[0061] After the above structures have returned to their original positions, the carrying platform A can continue to move to the box inside the next steel box girder 1 to inspect the U ribs inside it until the U rib inspection in all boxes is completed.

[0062] Preferably, the first lateral position, first longitudinal position, first vertical position, second vertical position, rotation angle, second lateral position, swing angle, origin position of the shooting rod C21, origin position of the shooting device C, origin position of the support structure B and / or origin position of the lifting mechanism A401 are determined by a safety switch, a limit switch, a travel switch and / or a distance sensor.

[0063] The first horizontal position, the first longitudinal position, the first vertical position, the second vertical position, the rotation angle, the second horizontal position and the swing angle can be determined by a distance sensor, and the limit switches can be set at the origin position of the shooting rod C21, the origin position of the shooting device C, the origin position of the support structure B and the origin position of the lifting mechanism A401 for determination.

[0064] Preferably, a plurality of cameras C22 are provided on the shooting rod C21 of the shooting device C, and a plurality of pictures of the U rib are obtained by the cameras C22, and the plurality of pictures are spliced ​​together to obtain a detection picture including the entire U rib.

[0065] There are multiple cameras C22. To ensure clarity, each camera captures a portion of the U-rib. To facilitate stitching and ensure completeness, adjacent images have a certain amount of overlap. By stitching these overlapping areas together, an inspection image encompassing the entire U-rib is obtained. This allows multiple cameras C22 to capture the entire U-rib in one shot at a given location, reducing capture time and improving inspection efficiency.

[0066] Hereinafter, the structure of the above method will be further described.

[0067] Figure 2 An embodiment of the method for detecting and controlling the internal U-ribs of a steel box girder 1 of the present invention is shown, comprising: a track 2, a carrying platform A, a supporting structure B, and a photographing device C. The track 2 is laid along a detection door hole 11 inside the steel box girder 1, and is used for the carrying platform A to run on the track 2. The carrying platform A carries the supporting structure B and the photographing device C. The supporting structure B is arranged on the carrying platform A, and the supporting structure B is extendable and retractable, and is used for the photographing device C to run on the supporting structure B. The photographing device C detects the U-ribs inside the steel box girder 1.

[0068] Based on the characteristics of the internal space inspection holes 11 of the steel box girder 1 being small in size and short in distance between them, while the steel box girder 1 is long in the longitudinal direction, tracks 2 are laid below the inspection holes 11 inside the steel box girder 1, allowing the carrying platform A to conveniently pass through the multiple inspection holes 11 and run along the tracks 2. When the carrying platform A runs into the box of a certain steel box girder 1, the support structure B expands and contracts in the longitudinal direction of the box, enabling the camera C to move longitudinally on the support structure B. The present invention is convenient to move within the steel box girder, can cover the entire box during inspection, and improves inspection efficiency.

[0069] Preferably, Figure 3 As shown, a control cabinet A60 is further provided on the carrier frame A10, and the control method further includes the control cabinet A60, and the control cabinet A60 controls the operation of the carrier platform A, the support structure B and the shooting device C.

[0070] The control cabinet A60 includes a PLC or a single-chip microcomputer, and a control program is written into the PLC or the single-chip microcomputer to control the operation of the carrying platform A, the supporting structure B and the shooting device C.

[0071] Figure 3-Figure 7 An embodiment of a carrying platform A is shown, comprising a carrying frame A10, multiple pairs of platform wheels A20, a driving assembly A30 for driving at least one pair of the platform wheels A20 to rotate, and a support and adjustment mechanism. The carrying frame A10 is adapted to the detection door hole 11 inside the steel box girder 1. The carrying frame A10 is rotationally connected to the platform wheels A20. The platform wheels A20 are arranged at the lower part of the carrying frame A10 for driving the carrying frame A10 to operate. The driving assembly A30 is connected to the platform wheels A20 to drive the platform wheels A20 to roll. The support and adjustment mechanism is arranged on the carrying frame A10.

[0072] The platform wheel A20 is driven by the driving component A30 to roll and drive the carrier A10 to run inside the steel box girder 1. The carrier A10 is adapted to the inspection door hole 11 inside the steel box girder 1, which allows the carrier A10 to carry the support structure B and the shooting device C and move conveniently inside the steel box girder 1, thereby efficiently and quickly inspecting the welds inside the steel box girder 1.

[0073] The carrier frame A10 can be plate-shaped or frame-shaped. In the case of a plate-shaped structure, the deflection wheel A70, locking mechanism A50, platform wheel A20, and other components can be directly secured to the lower front and rear portions of the carrier frame A10. To save material and reduce weight, the carrier frame A10 is preferably frame-shaped. First mounting plates A101 can be installed at the lower front and rear portions of the carrier frame A10 to secure the deflection wheel A70, locking mechanism A50, platform wheel A20, and other components. A second mounting plate A102 can also be installed at the upper center portion of the carrier frame A10 to secure the support and adjustment mechanism.

[0074] The width of the carrier A10 is smaller than the width of the inspection door opening 11, and the length of the carrier A10 is smaller than the distance between the two inspection door openings 11. The carrier A10 can be used to carry the support adjustment mechanism, which can then be used to carry the support structure B and the camera C, allowing weld inspection using the camera C. The height of the carrier A10 after the support adjustment mechanism, support structure B, and camera C are installed is smaller than the height of the inspection door opening 11, allowing the carrier platform to easily pass through the inspection door opening 11 and move within the steel box girder 1.

[0075] The driving assembly A30 can be an electric motor or a hydraulic motor, preferably a servo motor. The driving assembly A30 can be connected to the platform wheels A20 via a pulley A301 and a drive shaft A302 to drive the pair of platform wheels A20 to roll.

[0076] The support adjustment mechanism supports and adjusts the support structure B and the camera C. The support adjustment mechanism can adjust the vertical position, rotation angle, and flip angle of the support structure B and the camera C. The support adjustment mechanism may include a lifting mechanism A401, a rotating mechanism A402, and a rocking mechanism. The rocking mechanism can adjust the flip angle of the support structure B and the camera C.

[0077] Preferably, the support adjustment mechanism includes a lifting mechanism A401 for up and down adjustment and / or a rotating mechanism A402 for angle adjustment.

[0078] When the support and adjustment mechanism only includes the lifting mechanism A401, the lower portion of the lifting mechanism A401 is disposed on the carrier A10, and the upper end of the lifting mechanism A401 is disposed with the support structure B.

[0079] When the support adjustment mechanism only includes the rotating mechanism A402, the fixed portion A4021 of the rotating mechanism A402 is provided on the carrier A10, and the support structure B is provided on the rotating portion A4022 of the rotating mechanism A402.

[0080] When the support and adjustment mechanism includes both the lifting mechanism A401 and the rotating mechanism A402, the fixed portion A4021 of the rotating mechanism A402 can be disposed on the carrier A10, the lifting structure can be disposed on the rotating portion A4022 of the rotating mechanism A402, and the upper end of the lifting structure can be disposed on the support structure B. Alternatively, the lower portion of the lifting mechanism A401 can be disposed on the carrier A10, the fixed portion A4021 of the rotating mechanism A402 can be disposed on the upper portion of the lifting mechanism A401, and the support structure B can be disposed on the rotating portion A4022 of the rotating mechanism A402.

[0081] Preferably, Figure 3-Figure 5As shown, the support and adjustment mechanism includes a lifting mechanism A401 and a rotating mechanism A402. The lower part of the lifting mechanism A401 is set on the carrier A10, the upper part of the lifting mechanism A401 is set on the fixed part A4021 of the rotating mechanism A402, and the supporting structure B is set on the rotating part A4022 of the rotating mechanism A402.

[0082] Preferably, Figure 3 As shown, a first support plate A403 for increasing the support range is provided at the upper end of the lifting structure, and the fixing portion A4021 of the rotating mechanism A402 is provided on the first support plate A403.

[0083] The lifting mechanism A401 may be a scissor-type lifting mechanism A401, etc. In order to ensure the accuracy of the lifting mechanism A401, preferably, the lifting mechanism A401 includes multiple telescopic sections and a lifting driver A4014 for driving the telescopic sections to extend and retract.

[0084] Preferably, the lifting driver A4014 is a telescopic oil cylinder or a servo telescopic screw rod. The telescopic oil cylinder or the servo telescopic screw rod can ensure the smooth and accurate extension and retraction of the lifting mechanism A401.

[0085] Preferably, Figure 3 and Figure 4 As shown, the telescopic section comprises, from top to bottom, a first telescopic sub-section A4011, a second telescopic sub-section A4012, and a third telescopic sub-section A4013. The upper end surface of the first telescopic sub-section A4011 is nearly flush with the upper surface of the carrier A10. This reduces the space occupied by the lifting mechanism A401 above the carrier A10, and reduces the height of the carrier A10 after it is equipped with the support and adjustment mechanism, support structure B, and camera C, making it easier to adjust the height of the door aperture 11.

[0086] Preferably, Figure 3 and Figure 4 As shown, the rotating mechanism A402 includes a fixed part A4021, a rotating part A4022 and a rotating driver A4023 that drives the rotating part A4022 to rotate. The rotating part A4022 is rotatably connected to the fixed part A4021, the fixed part A4021 is fixed to the upper end of the upgrading mechanism, and the rotating part A4022 is fixedly connected to the detection mechanism.

[0087] Preferably, the rotating mechanism A402 is a rotary turntable mechanism, and the rotating driver A4023 is a servo motor or a worm gear reducer, so that the rotating mechanism A402 can achieve 0-360 degree rotation.

[0088] Preferably, a second support plate A404 for increasing the support range is provided on the rotating portion A4022 of the rotating mechanism A402, and a support structure B is provided on the second support plate A404.

[0089] Further, such as Figure 5-Figure 7 As shown, at least one locking mechanism A50 is provided on the lower surface of the carrier A10, and the locking mechanism A50 includes a fixing part A501 fixedly connected to the carrier A10, a moving part A502 moving relative to the fixing part A501, and a driving part A503 driving the moving part A502 to move, and the moving part A502 moves to lock or unlock the carrier A10.

[0090] Drive moving member A502 by driving member A503, moving member A502 can be moved up and down, left and right, forward and backward etc. For example, moving member A502 can be a square block, moving member A502 is arranged on the upper and lower, left and right or front and back position of platform wheel A20, and driven by motor or lead screw as driving member A503 to move and lock or unlock carrier A10. When moving member A502 moves and collides on platform wheel A20 or track 2, carrier A10 is locked by friction force, and carrier A10 can not move after locking. When moving member A502 moves and moves away from platform wheel A20 or track 2, the friction force between moving member A502 and platform wheel A20 or track 2 disappears, and carrier A10 is unlocked and can move.

[0091] Preferably, Figure 6 and Figure 7 As shown, the fixing member A501 includes a fixing plate A5011 fixedly connected to the carrier A10, and two connecting plates A5012 disposed on either side of the fixing plate A5011, each of which is provided with a slide groove A5013. The moving member A502 includes multiple connecting rods, the lowest connecting rod of which moves up and down along the slide groove A5013. The lowest connecting rod is provided with a hook-shaped protrusion A5028. When the lowest connecting rod moves downward, the protrusion A5028 locks the carrier A10, and when the lowest connecting rod moves upward, the protrusion A5028 unlocks the carrier A10. The driving member A503 includes a driving plate A5031 connected to the moving member A502, and a locking retractor A5032 driving the driving plate A5031. The locking retractor A5032 retracts and drives the connecting rod at the lower end to move up and down along the sliding groove A5013.

[0092] Preferably, Figure 6As shown, the slide groove A5013 includes an upper vertical portion A50131 and a lower inclined portion A50132. The inclined portion A50132 forms a predetermined angle with the vertical portion A50131. The predetermined angle is an obtuse angle, which facilitates the protrusion A5028 to contact the side of the platform wheel A20 or the track 2, thereby facilitating the locking of the carrier A10.

[0093] Preferably, Figure 7 As shown, the movable part A502 includes a first connecting rod A5021, a second connecting rod A5022 and a third connecting rod A5023, the upper end of the first connecting rod A5021 is hinged between the two connecting plates A5012 through a first hinged rod A5024, the lower end of the first connecting rod A5021 is hinged to the upper end of the second connecting rod through a second hinged rod A5025, the lower end of the second connecting rod A5022 is hinged to the upper end of the third connecting rod A5023 through a third hinged rod A5026, and a fourth hinged rod A5027 is provided in the middle of the third connecting rod A5023, and the two ends of the third hinged rod A5026 and the fourth hinged rod A5027 move up and down in the slide groove A5013.

[0094] Preferably, two second connecting rods A5022 are provided, and the first connecting rod A5021 and the third connecting rod A5023 are provided between the two second connecting rods A5022, thereby ensuring stability during connection.

[0095] Preferably, the driving plate A5031 is π-shaped, and the two ends of the driving plate A5031 are clamped on the outer sides of the upper ends of the two second connecting rods A5022. The locking telescopic device A5032 is preferably an electric telescopic rod.

[0096] Preferably, the distance between the third hinge rod A5026 and the fourth hinge rod A5027 is equal to the length of the vertical portion A50131 and the inclined portion A50132. That is, when the fourth hinge rod A5027 is at the lowest end of the inclined portion A50132, the third hinge rod A5026 is located at the junction of the vertical portion A50131 and the inclined portion A50132. This facilitates smooth upward and downward movement of the third hinge rod A5026 and the fourth hinge rod A5027 within the chute A5013. This prevents the fourth hinge rod A5027 from becoming stuck in the inclined portion A50132 and unable to be removed. It also avoids the problem of poor locking when the fourth hinge rod A5027 is higher than the junction of the vertical portion A50131 and the inclined portion A50132.

[0097] When the two locking mechanisms A50 are symmetrically arranged, preferably, one end of the locking retractor A5032 is connected to a drive plate A5031 in one locking mechanism A50, and the other end of the locking retractor A5032 is connected to another drive member A503 in the other locking mechanism A50. This allows the two symmetrically arranged locking mechanisms A50 to be controlled simultaneously by a single locking retractor A5032, thereby saving costs.

[0098] Preferably, two pairs of locking mechanisms A50 are provided, which are symmetrically arranged on the front and rear sides of the carrier A10 and adjacent to the platform wheels A20.

[0099] Further, such as Figure 3 and Figure 5 As shown, the lower side of the carrier A10 is provided with multiple pairs of anti-slip wheels A70. Preferably, the deflection wheels A70 are fixed to the lower side of the front and rear ends of the carrier A10 through deflection wheel plates A80, and the deflection wheel plates A80 include a transversely arranged reinforcement sub-plate A801, a reinforcement sub-plate A801 ​​connected to a longitudinally arranged first wheel plate A802 and a transversely arranged second wheel plate A803 below the first wheel plate A802, the second wheel plate A803 extending in a direction away from the track 2, and the deflection wheels A70 are longitudinally arranged on the second wheel plate A803. The outer surface of the deflection wheels A70 contacts the side of the track 2, which can make the deflection wheels A70 roll along the side of the track 2 to prevent the carrier A10 from slipping.

[0100] Furthermore, a plurality of pairs of anti-tilting anti-roll plates (not shown in the figure) are provided at the front and rear ends of the lower side of the carrier A10. The anti-tilting plates include a first tilting plate arranged longitudinally and a second tilting plate arranged laterally below the first tilting plate, and the second tilting plate extends in the direction of the track 2. At this time, the anti-tilting plate is L-shaped. The structure of the anti-tilting plate can also be similar to that of the deflection plate A80 and have a reinforcing sub-plate A801, except that the second tilting plate and the second wheel plate A803 extend in opposite directions. At this time, the anti-tilting plate is Z-shaped. When the track 2 is an I-beam, the second tilting plate is directly below the upper edge of the I-beam, thereby preventing the carrier A10 from tilting. Preferably, there is a gap between the second tilting plate and the upper edge of the I-beam, and the gap is 0.5-3mm, preferably 1mm. This gap can prevent the anti-roll plate from contacting the track 2 during operation of the carrier A10, thereby increasing friction and affecting operation. When the carrier A10 tilts and the gap disappears, the second tilt plate of the anti-roll plate contacts the track 2 to prevent the carrier A10 from tilting.

[0101] Preferably, the carrier A10 is further provided with a detector (not shown in the figure) for detecting obstacles. The detector includes an infrared detector and / or an ultrasonic detector.

[0102] Preferably, a locator (not shown) is provided on the track 2 to position the carrier platform. The locator includes a limit switch, an RFID, and / or an encoder. The locator can accurately locate the position of the carrier platform on the track 2 and accurately locate the weld position to be monitored.

[0103] Preferably, a conductor line (not shown) is provided on the track 2 to conduct electricity to the carrier platform. The conductor line includes a conduit provided on the track 2 and a current collector connected to the carrier platform. The conductor line can safely and reliably conduct electricity to the carrier frame A10.

[0104] It can be seen that the driving component A30 is started, and the driving component A30 drives the carrier A10 to run along the track 2. After the positioner detects that the carrier A10 reaches the preset position, the control rod controls the operation of the lifting mechanism A401 and the rotating mechanism A402, and adjusts the position of the supporting structure B and the shooting device C to detect the welds inside the steel box girder 1, which has the advantages of high efficiency and speed.

[0105] like Figure 8-Figure 21 The figure shows an embodiment of a support structure B, which includes a support arm B1 and guide rails B2 located on both sides of the support arm B1. The camera C can move along the guide rails B2 to detect the U-ribs inside the steel box girder 1. The lower end of the support arm B1 is movably connected to a support leg B3, which is used to provide support force to the support arm B1 to prevent it from breaking.

[0106] Specifically, support arm B1 includes a base arm B11 and a multi-section telescopic arm. The multi-section telescopic arm includes a first telescopic arm B12 through a fifth telescopic arm B16. The first telescopic arm B12 can be moved into or out of the base arm B11, and the other telescopic arms can be moved into or out of the previous telescopic arm. In this application, there are five telescopic arms, but this is not limited to this. The number of telescopic arms can be reduced or increased depending on the length of the steel box girder 1.

[0107] The guide rail B2 corresponds to a reference guide rail B21 and a multi-section telescopic guide rail that moves synchronously with the multi-section telescopic arm. The multi-section telescopic guide rail includes a first section telescopic guide rail B22 to a fifth section telescopic guide rail B26 (i.e., the first section telescopic guide rail B22, the second section telescopic guide rail B23, the third section telescopic guide rail B24, the fourth section telescopic guide rail B25, and the fifth section telescopic guide rail B26). Each section of the telescopic guide rail is fixed on the corresponding telescopic arm and moves synchronously with the corresponding telescopic arm; among them, the first section telescopic guide rail B22 can be moved in or out of the reference guide rail B21, and the other sections of the telescopic guide rails can be moved in or out of the previous section of the telescopic guide rail.

[0108] Combine Figures 9 to 11The side surfaces of reference arm B11 include a top wall B111, a bottom wall B112, a front wall B113, a rear wall B114, and a left wall B115. The side structure of the multi-section telescopic arm is identical to that of reference arm B11, but differs in size. This allows the first telescopic arm B12 to enter within reference arm B11, and the subsequent telescopic arms to sequentially enter within the previous telescopic arm.

[0109] Furthermore, a first telescopic mechanism is provided between the reference arm B11 and the first telescopic arm section B12. This mechanism comprises a stepper motor B4, a lead screw B5, and a slider B6. The stepper motor B4 is located at the rear end of the reference arm B11. In this application, the "rear end" refers to the left side of the reference arm B11 or the telescopic arm, and the "head end" refers to the right side of the reference arm B11 or the telescopic arm. A first fixed wall B116 is provided within the reference arm B11, on which the stepper motor B4 is mounted. The lead screw B5 extends longitudinally along the reference arm B11 and is connected to the rotating shaft of the stepper motor B5. The slider B6 is provided at the rear end of the first telescopic arm section B12 and is coupled to the lead screw B5.

[0110] exist Figure 11 In the figure, the slider B6 is specifically fixed on the first left wall B125 of the first telescopic arm B12. When the stepper motor B4 works, it drives the screw B5 to rotate, and the slider B6 can move left and right along the screw B5, thereby driving the first telescopic arm B12 to move in or out of the reference arm B11.

[0111] exist Figure 9 It can be seen that the reference guide rail B21 is a round tube guide rail. Similarly, the first section of the telescopic guide rail B22 to the fifth section of the telescopic guide rail B26 are also round tube guide rails with different tube diameters, so that the first section of the telescopic guide rail B22 can be inserted into the reference guide rail B21, and the other sections of the telescopic guide rail can be inserted into the previous section of the telescopic guide rail. The inspection trolley C can move along the reference guide rail B21 and the first section of the telescopic guide rail B22 to the fifth section of the telescopic guide rail B26 in sequence to inspect the U ribs inside the steel box girder 1.

[0112] It should be noted that the reference guide rail B21 and the reference arm B11 are fixedly connected by the support member B7, the tail end (left end) of the first telescopic guide rail B22 is inserted into the reference guide rail B21, and the head end (right end) of the first telescopic guide rail B22 and the first telescopic arm B12 are fixedly connected by the support member B7. Therefore, when the first telescopic arm B12 moves, it will synchronously pull the head end (right end) of the first telescopic guide rail B22 to move.

[0113] Furthermore, the multi-section telescopic arm also includes a second telescopic arm B13, and a second telescopic device is arranged between the first telescopic arm B12 and the second telescopic arm B13. The second telescopic device has the same composition as the first telescopic device, that is, the first telescopic arm B12 and the second telescopic arm B13 are also connected by a stepper motor B4, a screw B5, and a slider B6, so that the second telescopic arm B13 can move in or out of the first telescopic arm B12.

[0114] Preferably, the third telescopic arm B14 and the fourth telescopic arm B15, as well as the fourth telescopic arm B15 and the fifth telescopic arm B16 can also be connected through a stepping motor B4, a lead screw B5, and a slider B6 to achieve left and right movement.

[0115] Preferably, combined Figures 12 to 17 A third telescopic device is provided in the second telescopic arm B13, and the third telescopic device includes two front movable pulleys B81 arranged at the tail (left end) of the second telescopic arm B13 and two rear movable pulleys B82 arranged at the head (right end) of the second telescopic arm B13. A front steel wire cable 83 is wound around each front movable pulley B81, one end of the front steel wire cable B83 is fixedly connected to the head (right end) of the first telescopic arm B12, and the other end is fixedly connected to the tail (left end) of the third telescopic arm B14; a rear steel wire cable B84 is wound around each rear movable pulley B82, one end of the rear steel wire cable B84 is fixedly connected to the tail (left end) of the first telescopic arm B12, and the other end is fixedly connected to the head (right end) of the third telescopic arm B14.

[0116] Preferably, a first section reinforcement angle B126 and a first steel wire fixing plate B127 are provided at the tail of the second telescopic arm B12. The first section reinforcement angle B126 and the first steel wire fixing plate B127 form a rectangular frame. Other telescopic arms have the same structural composition and will not be repeated.

[0117] It can be seen that the two front movable pulleys B81 are fixed on the second left side wall B135 at the tail (left end) of the second telescopic arm B13, one end of the front steel wire cable B83 is fixed on the first steel wire fixing plate B127 at the tail of the second telescopic arm B12, and the other end of the front steel wire cable B83 is fixed on the fourth left side arm B145 at the tail (left end) of the third telescopic arm B14.

[0118] Two rear movable pulleys B82 are mounted on the second cross-section reinforcement angle 136 at the head (right end) of the second telescopic boom section B13 and located between the inner wall of the second telescopic boom section B13 and the outer wall of the third telescopic boom section B14. One end of the rear steel cable B84 is fixed to the first left wall B125 at the tail end of the first telescopic boom section B12, and the other end is fixedly connected to the fourth left arm B145 at the head (right end) of the third telescopic boom section B14.

[0119] Combine Figure 15 The front steel wire cable B83 is divided into an upper front steel wire cable B831 and a lower front steel wire cable B832, and the rear steel wire cable B84 is divided into an upper rear steel wire cable B841 and a lower rear steel wire cable B842.

[0120] When the first telescopic arm B12 pushes the second telescopic arm B13 to the right via the stepper motor, lead screw, and slider, the upper rear cable B841 lengthens and the lower rear cable B842 shortens, causing the third telescopic arm B14 to move to the right. During this rightward movement of the third telescopic arm B14, the upper front cable B831 shortens and the lower front cable B832 lengthens. As can be seen, when the first telescopic arm B12 pushes the second telescopic arm B13 to the right, the third telescopic arm B14 also moves rightward, extending to the right. Conversely, when the first telescopic arm B12 pulls the second telescopic arm B13 to the left, the third telescopic arm B14 also moves leftward, retracting to the left.

[0121] Furthermore, the multi-section telescopic arm also includes a fourth telescopic arm and a fifth telescopic arm. The third telescopic arm B14 is provided with a fourth telescopic device, and the fourth telescopic arm is provided with a fifth telescopic device. The fourth telescopic device and the fifth telescopic device are the same as the third telescopic device. Please refer to the third telescopic device and will not be described here. It can be concluded that when the first telescopic arm B12 pushes the second telescopic arm B13 to move to the right or left, the third telescopic arm B14 to the fifth telescopic arm B16 also move to the right or left synchronously, and this process is linked. And because the front movable pulley B81 and the rear movable pulley B82 are both movable pulleys, the speed of the first telescopic arm B12 pushing or the second telescopic arm B13 is V, then the moving speeds of the third telescopic arm B14 to the fifth telescopic arm are 2V, 3V, and 4V respectively, so the support arm B1 can be quickly extended and retracted.

[0122] During the telescopic process, the first telescopic device and the second telescopic device can work simultaneously, that is, the reference arm B11 pushes or pulls the first telescopic arm B12 to move, the first telescopic arm B12 pushes or pulls the second telescopic arm B13 to move, and the third to fifth telescopic arms are linked and move synchronously to realize the overall telescopic extension of the support arm B1.

[0123] Furthermore, a roller row B9 for assisting movement is installed on the inner wall and / or outer wall of the telescopic arm, and a plurality of rollers are provided on the roller row B9. Figure 16 and Figure 18 , taking the first section telescopic arm B12 as an example, the roller row B9 can be set on the outer wall of the side walls around the first section telescopic arm B12, specifically at the tail (left end) of the outer wall, for contacting the inner wall of the reference arm B11, so that the friction is reduced during the movement of the first section telescopic arm B12, and it plays a role in assisting the movement; similarly, the roller row B9 can be set on the inner wall of the side walls around the first section telescopic arm B12, specifically at the head (right end) of the inner wall, for contacting the outer wall of the second section telescopic arm B13, so that the friction is reduced during the movement of the second section telescopic arm B13, and it plays a role in assisting the movement. The reference arm and other telescopic arms have roller rows B9, which will not be repeated.

[0124] like Figures 19 to 21 As shown, the support leg B3 includes a first support section B31 and a second support section B32 that can be moved in or out of the first support section B31. The interior of the first support section B31 is provided with a first screw rod B311 along the longitudinal direction, and the interior of the second support section B32 is provided with a second screw rod B321 along the longitudinal direction. The second screw rod B321 is a hollow structure with an external thread and an internal thread. The first screw rod B311 cooperates with the internal thread of the second screw rod B321 and can be rotated to the interior of the second screw rod B321. The top of the first screw rod B311 is exposed from the first support section B31 and is driven to rotate by a driving mechanism.

[0125] The driving mechanism includes a servo motor B34 and a reducer B35 arranged on the outside of the first support section B31. The rotating shaft of the servo motor B34 is connected to the reducer B35. The reducer B35 is connected to the top of the first screw rod B311 through a belt drive. A first mounting bracket B312 is provided at the top of the first support section B31. The first mounting bracket B312 is connected to the top of the first screw rod B311 through a bearing, so that the first screw rod B311 can rotate relative to the first mounting bracket B312.

[0126] A second mounting bracket B322 is provided at the top of the second support section B32, and the second mounting bracket B322 is connected to the top of the second screw rod B321 through a bearing, so that the second screw rod B321 can rotate relative to the second mounting bracket B322; the support leg B3 also includes a third support section B33, and the third support section B33 can be moved in or out of the second support section B32, and a nut B331 adapted to the second screw rod B321 is installed inside the third support section B33, and the nut B331 cooperates with the external thread of the second screw rod B321.

[0127] After the servo motor B34 starts working, it drives the first screw rod B311 to rotate, so that the first screw rod B311 can move into or out of the second screw rod B321. Since the second screw rod B321 can also rotate, the third support section B33 can also move into or out of the second support section B32.

[0128] Preferably, the top of the first support section B31 is closed by a sealing cover, and the sealing cover is movably connected to the support arm B1 by a hinge.

[0129] Preferably, in the present invention, the support leg B3 is connected to the lower end of the head (right end) of the first telescopic arm B12 through a hinge, and can of course be fixed at a suitable position according to the force applied to the entire support arm B1.

[0130] It can be seen that the present invention discloses a support structure for a method for detecting and controlling U-ribs inside a steel box girder, comprising a support arm and guide rails located on both sides of the support arm; the support arm comprises a reference arm and a multi-section telescopic arm, wherein the first section of the telescopic arm can be moved in or out of the reference arm, and the other sections of the telescopic arm can be moved in or out of the previous section of the telescopic arm; the guide rails correspondingly comprise a reference guide rail and a multi-section telescopic guide rail that moves synchronously with the multi-section telescopic arm, wherein the first section of the telescopic guide rail can be moved in or out of the reference guide rail, and the other sections of the telescopic guide rail can be moved in or out of the previous section of the telescopic guide rail. The present invention facilitates detection inside the steel box girder 1 by a photographic device through the telescopic characteristics of the support arm and the guide rails.

[0131] Figure 22-Figure 25An embodiment of a photographing device C of the present invention is shown. The mobile photographing device includes a shell C10, a lifting assembly C1, a photographing assembly C2 and a moving wheel C3. The moving wheel C3 is arranged below the shell, the lifting assembly C1 is arranged on the shell, and the photographing assembly C2 is arranged on the lifting assembly C1. The photographing assembly C2 includes a photographing rod C21 and a plurality of photographing cameras C22 arranged on the photographing rod C21. The photographing cameras C22 are used to photograph the interior of the steel box girder. The lifting assembly C1 can adjust the height of the photographing assembly C2 to realize the movement of the photographing camera C22 in height and change the photographing height of the photographing camera C22. The photographing rod C21 has multiple photographing cameras C22, which can simultaneously photograph multiple positions inside the steel box girder, greatly improving the photographing efficiency.

[0132] Preferably, the spacing between the various shooting cameras C22 is 240 mm, ensuring that the shooting ranges of two adjacent shooting cameras C22 have a 5%-10% overlap in the horizontal direction, thereby ensuring comprehensive shooting and avoiding missing shots.

[0133] Preferably, the shooting angle coverage range of the shooting camera C22 is 32°.

[0134] Preferably, the angle between the shooting center line of the shooting camera C22 and the axis of the shooting rod C21 is in the range of 40°-90°. Specifically, there are 10 shooting cameras C22, which are arranged in sequence from the first end of the shooting rod C21 to the second end of the shooting rod C21. These 10 shooting cameras C22 are named as the first camera, the second camera, the third camera... the ninth camera, the tenth camera from the first end to the second end of the shooting rod C21, wherein the angle A between the shooting center line of the two cameras located at the two ends of the shooting rod C21, namely the first camera and the tenth camera, and the axis of the shooting rod C21 is in the range of 42°-45°, specifically 42° in this embodiment, the angle B between the shooting center line of the second camera and the ninth camera and the axis of the shooting rod C21 is 66°, and the angle between the shooting center line of the third camera, the fourth camera, the fifth camera, the sixth camera, the seventh camera and the eighth camera located between the second camera and the ninth camera and the axis of the shooting rod C21 is 90°, that is, vertical. The above-mentioned setting allows the camera at the edge of the shooting pole to have a larger shooting range, making the shooting angle wider and being able to capture the internal conditions of a larger area of ​​the steel box girder.

[0135] Although there are 10 cameras in the above embodiment, in actual application, the number of cameras and the angle between the shooting center line of the corresponding camera and the axis of the shooting rod C21 can be reasonably set according to the width of the steel box girder.

[0136] Preferably, a steering assembly C4 is further included, which is arranged on the lifting assembly C1. The steering assembly C4 includes a rotating base C41 and a first motor that drives the rotating base C41 to rotate. The shooting rod C21 is connected to the rotating base C41 and rotates with the rotating base C41, so that the shooting camera C22 on the shooting rod C21 can rotate and shoot, realizing 360° shooting without blind spots.

[0137] Preferably, it also includes a translation assembly C5, which includes a translation rail C51, a translation slide C52 and a second motor. The translation slide C52 is used to slide on the translation rail C51, and the second motor is used to drive the translation slide C52 to slide. The shooting rod C21 is set on the translation slide C52, and the second motor drives the translation slide C52 to slide, driving the shooting rod C21 to move in the horizontal direction, that is, realizing the movement of the shooting camera C22 in the left and right direction or the horizontal direction, thereby increasing the shooting range and improving the shooting efficiency.

[0138] Preferably, a swing assembly C6 is further included, which includes a fixed frame C61, a swing frame C62 and a third motor. The fixed frame C61 is set on the translation slide C52, the swing frame C62 is rotatably connected to the fixed frame C61, and the swing frame C62 is connected to the shooting rod C21. The third motor is used to drive the swing frame C62 to swing. When the swing frame C62 swings, the shooting rod C21 swings accordingly, and the shooting camera C22 also swings, which can further adjust the shooting angle and improve the shooting efficiency.

[0139] Preferably, the fixed frame C61 is a U-shaped frame, the U-shaped frame has two mounting ears C611, the swing frame C62 is an L-shaped plate, the L-shaped plate is rotatably connected to the mounting ears C611, one fixed frame C61 is matched with two swing frames C62, that is, an L-shaped plate is respectively provided on the two mounting ears C611 of one fixed frame C61, and the two L-shaped plates are fixedly connected to the shooting rod C21 at the same time, ensuring that the shooting rod C21 will not shake during the swinging process, thereby ensuring its stability.

[0140] In the above, the relationship between the steering assembly, the translation assembly, the swing assembly and the shooting rod is described separately. For these three components, the connection relationship between them is also described in this patent.

[0141] Further preferably, the translation assembly C5 is provided on the steering assembly C4, that is, the translation rail C51 is provided on the rotating base C41, and the translation rail C51 rotates following the rotation of the rotating base C41, thereby achieving dual functions of translation and rotation.

[0142] Preferably, the lifting assembly C1 includes a lifting plate C11, a first arm C12, a second arm C13, at least two sliders C14, a slider track C15 and a fourth motor. The slider track C15 is provided on the bottom surface and the shell of the lifting plate C11. The fourth motor is used to drive the slider C14 to slide on the slider track C15. The first arm C12 and the second arm C13 are crossed and rotatably connected. The bottom of the first arm C12 is rotatably connected to a slider C14, the top of the first arm C12 is rotatably connected to the lifting plate C11, and the top of the second arm C13 is rotatably connected to the lifting plate C11. Connected to another slider C14, the bottom of the second arm C13 is rotatably connected to the shell. Since the first arm C12 and the second arm C13 cross to form an X shape, when the fourth motor drives the slider C14 to slide on the slider track C15, the first arm C12 and the second arm C13 connected together by the cross rotation will rotate around the intersection of the two, thereby changing the height of the X shape, and then changing the height of the lifting plate C11, thereby changing the height of the shooting rod C21 and the shooting camera C22, and finally realizing the shooting operation of the shooting camera C22 at a fixed height, thereby improving the shooting efficiency.

[0143] Preferably, the paired first arm C12, second arm C13, slider C14 and slider rail C15 are symmetrically arranged on both sides of the central axis of the lifting plate C11 to improve the stability of the lifting plate C11 during lifting.

[0144] Preferably, the rotating base C41 is arranged on the lifting plate C11, which can realize the dual functions of rotation and lifting. Combined with the aforementioned setting method of the translation slide rail C51 and the fixed frame C61, it can realize the multiple functions of translation, rotation, swing and lifting at the same time, greatly improving efficiency.

[0145] Preferably, the shell C10 includes a left side panel C01, a right side panel C02, a first top panel C03 and a second top panel C04, the left side panel C01 and the right side panel C02 are both vertically arranged, the first top panel C03 and the second top panel C04 are both bridge-connected to the left side panel C01 and the right side panel C02, and the first top panel C03 is located at the front end of the left side panel C01 and the front end of the right side panel C02, and the second top panel C04 is located at the end of the left side panel C01 and the end of the right side panel C02.

[0146] Preferably, the slider rails C15 are provided on the edges of both sides of the bottom surfaces of the left side plate C01, the right side plate C02 and the lifting plate C11.

[0147] Preferably, hollow weight-reducing holes are provided on the left side panel C01, the right side panel C02, the first top panel C03 and the second top panel C04 to reduce weight.

[0148] Preferably, the shooting rod C21 is provided with a fill light for filling light, which is used to cooperate with the shooting camera C22 to make the shooting clearer. Specifically, the fill light is arranged adjacent to the shooting camera C22, and the direction of the fill light is consistent with the shooting center line of the shooting camera C22.

[0149] Figure 26 The diagram below shows the principle diagram for calculating the shooting rod's position. Joint_1 is the joint point in the housing directly below the shooting rod, controlled by the four moving wheels. Joint_2_1 and joint_2_r are the joint points at the lower ends of the first arm on the right and left sides, respectively. Joint_4_1 and joint_4_r are the joint points at the upper ends of the second arm on the right and left sides, respectively. Joint_5 is the joint point for the steering assembly's rotational position, joint_6 is the joint point for the translation assembly's movement position, and joint_7 is the joint point for the rocking assembly's rotational position.

[0150] Link_2_1 is the first arm on the right, Link_2_r is the first arm on the left, Link4_1 is the second arm on the right, Link4_r is the second arm on the left, Link_5 is the steering component, Link_6) is the translation component, and Link_7 is the swing component.

[0151] A link (not shown) represents a connecting rod in a structure, and a joint represents a joint point, i.e., a position that can move or rotate.

[0152] The motion control equations are solved as follows:

[0153] The forward equation of the camera's pose coordinate P(camera) equation is solved as follows:

[0154]

[0155] P(Link_1) represents the spatial pose matrix of the moving wheel, P(Link_2_l), P(Link_2_r), P(Link_4_r), and P(Link_4_l) represent the spatial pose matrices of the four links in the lifting assembly, respectively. P(Link_5) represents the spatial pose matrix of the steering assembly, P(Link_6) represents the spatial pose matrix of the translation assembly, and P(Link_7) represents the spatial pose matrix of the swing assembly.

[0156] The spatial pose matrix is ​​composed of the coordinate rotation matrix R (Rx, Ry, Rz) and the spatial displacement matrix T (Tx, Ty, Tz). The connecting rods of the body at each joint are as follows:

[0157] The spatial pose matrix of the joint point Joint_1 is:

[0158]

[0159] The spatial pose matrix of the joint point Joint_2_l is:

[0160]

[0161] The spatial pose matrix of the joint point Joint_2_r is:

[0162]

[0163] The spatial pose matrix of the joint point Joint_4_l is:

[0164]

[0165] The spatial pose matrix of the joint point Joint_4_r is:

[0166]

[0167] The spatial pose matrix of the joint point Joint_4_l is:

[0168]

[0169] The spatial pose matrix of the steering component joint point Joint_5 is:

[0170]

[0171] The spatial pose matrix of the translation component joint point Joint_6 is:

[0172]

[0173] The spatial pose matrix of the swing component joint point Joint_7 is:

[0174]

[0175] In the coordinate rotation matrix R(Rx, Ry, Rz) and the spatial displacement matrix T(Tx, Ty, Tz), Rx, Ry, and Rz represent the spatial pose coordinates of rotation on x / y / z, and Tx, Ty, and Tz represent the spatial pose coordinates of movement on x / y / z, respectively.

[0176] Among them, the spatial pose coordinates of Link_2_l are:

[0177] Tx(Link_2_1)=Tx(Link_1)

[0178] Ty(Link_2_1)=Ty(Link_1)

[0179] Tz(Link_2_1)=Tz(Link_1)

[0180] Rx(Link_2_1)=Rx(Link_1)

[0181] Ry(Link_2_l)=joint_2_l+Ry(Link_1)

[0182] Rz(Link_2_1)=Rz(Link_1)

[0183] The spatial pose coordinates of Link_2_r are:

[0184] Tx(Link_2_r)=Tx(Link_1)

[0185] Ty(Link_2_r)=width+Ty(Link_1)

[0186] Tz(Link_2_r)=Tz(Link_1)

[0187] Rx(Link_2_r)=Rx(Link_1)

[0188] Ry(Link_2_r)=joint_2_r+Ry(Link_1)

[0189] Rz(Link_2_r)=Rz(Link_1)

[0190] Lenth is the distance between the first arm on the left and the first arm on the right.

[0191] The spatial pose coordinates of Link4_l are:

[0192] Ty_Link_4_l=Ty_Link_2_l

[0193] Tx_Link_4_1=Tx_Link_2_1

[0194] Tz_Link_4_l=2*lenth*(sin(joint_2_l))+Tx_Link_2_l

[0195] Ry_Link_4_1=Ry_Link_2_1

[0196] Rx_Link_4_1=Rx_Link_2_1

[0197] Rz_Link_4_1=Rz_Link_2_1

[0198] The spatial pose coordinates of Link4_r are:

[0199] Tx_Link_4_r=Tx_Link_2_r

[0200] Ty_Link_4_r=Ty_Link_2_r

[0201] Tz_Link_4_r=2*lenth*(sin(joint_2_r))+Tx_Link_2_r

[0202] Rx_Link_4_r=Rx_Link_2_r

[0203] Ry_Link_4_r=Ry_Link_2_r

[0204] Rz_Link_4_r=Rz_Link_2_r

[0205] The spatial pose coordinates of Link_5 are:

[0206] Tx(Link_5)=lenth_5+Tx(Link_4_l)

[0207] Ty(Link_5)=(Ty(Link_4_r)+Ty(Link_4_L)) / 2

[0208] Tz(Link_5)=(Tz(Link_4_r)+Tz(Link_4_L)) / 2

[0209] Rx(Link_5)=actan(Δ(z) / width)+(Rx(Link_4_l)+Rx(Link_4_r)) / 2

[0210] Ry(Link_5)=(Ry(Link_4_l)+Ry(Link_4_r)) / 2

[0211] Rz(Link_5)=(Rz(Link_4_l)+Rz(Link_4_r)) / 2

[0212] Δ(z) is the height displacement difference expressed as: Δ(z) = Tz(Link_4_r) - Tz(Link_4_l)

[0213] Width is the width between the moving wheels on both sides.

[0214] The spatial pose coordinates of Link_6 are:

[0215] Tx(Link_6)=Tx(Link_5)

[0216] Ty(Link_6)=Ty(Link_5)

[0217] Tz(Link_6)=Tz(Link_5)

[0218] Rx(Link_6)=Rx(Link_5)

[0219] Ry(Link_6)=Ry(Link_5)

[0220] Rz(Link_6)=joint_5+Rz(Link_5)

[0221] The spatial pose coordinates of Link_7 are:

[0222] Tx(Link_7)=Tx(Link_6)

[0223] Ty(Link_7)=joint_6+Ty(Link_6)

[0224] Tz(Link_7)=high+Tz(Link_6)

[0225] Rx(Link_7)=Rx(Link_6)

[0226] Ry(Link_7)=Ry(Link_6)

[0227] Rz(Link_7)=Rz(Link_6)

[0228] High represents the distance between the center of rotation of the rocking assembly and the translation assembly.

[0229] The camera rod is set to link_camera, and its spatial pose coordinates are:

[0230] Tx(Link_camera)=r*(sin(joint_7))+(Tx(Link_7))

[0231] Ty(Link_camera)=Ty(Link_7)

[0232] Tz(Link_camera)=r*(cos(joint_7))+(Tz(Link_7))

[0233] Rx(Link_camera)=Rx(Link_7)

[0234] Ry(Link_camera)=Ry(Link_7)

[0235] Rz(Link_camera)=joint_7+Rz(Link_7)

[0236] r represents the distance between the shooting rod and the swing assembly.

[0237] Based on the values ​​set for each joint, the forward solver can be used to calculate the final position of the shooting rod according to the above steps. This allows the shooting rod to be accurately moved to the correct position.

[0238] Based on the above embodiments, the present invention discloses a photographing device C, comprising a housing, a lifting assembly, a photographing assembly, and movable wheels. The movable wheels are disposed below the housing, the lifting assembly is disposed on the housing, and the photographing assembly is disposed on the lifting assembly. The photographing assembly includes a photographing rod and multiple photographing cameras disposed on the photographing rod. The photographing cameras are used to photograph the interior of a steel box girder. This mobile photographing device can capture comprehensive, efficient, and clear images of the steel box girder at different heights and angles, avoiding repeated photographing and improving photographing efficiency.

[0239] Thus, the present invention discloses a method for detecting and controlling U-ribs inside a steel box girder. The present invention lays a track below the inspection portals inside the steel box girder, allowing the carrying platform to conveniently pass through multiple inspection portals and run along the track. When the carrying platform runs into the box of a certain steel box girder, the supporting structure expands and contracts in the longitudinal direction of the box, enabling the camera to move longitudinally on the supporting structure, thereby enabling the longitudinal movement of the camera B to cover the entire U-rib inside the box. The present invention conveniently moves within the steel box girder, can cover the entire box during inspection, and improves inspection efficiency.

[0240] The above are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's description and drawings, or directly or indirectly applied to other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for detecting and controlling U-ribs inside a steel box girder, characterized in that: Including steps: receiving a control instruction, wherein the control instruction includes a walking control signal, a telescopic control signal, and a movement control signal; The travel control signal controls the carrying platform to move transversely along the track. After the carrying platform moves to a first transverse position, the carrying platform is locked. The rotating mechanism in the carrying platform drives the supporting structure to rotate from the transverse direction to the longitudinal direction. The supporting structure is then controlled to extend longitudinally according to the telescopic control signal. Finally, the camera is controlled to move longitudinally on the supporting structure according to the movement control signal. After the camera moves to the first longitudinal position, the camera detects the U-rib inside the steel box girder. The track is laid along the detection door hole inside the steel box girder, and is used for the carrying platform to run on the track. The first transverse position refers to the transverse position of the carrying platform and the photographing device inside the steel box girder, and the first longitudinal position refers to the longitudinal position of the photographing device inside the steel box girder.

2. The method for detecting and controlling the internal U-ribs of a steel box girder according to claim 1, characterized in that: After the carrying platform moves to the first transverse position, the carrying platform is locked by a locking mechanism.

3. The method for detecting and controlling the internal U-ribs of a steel box girder according to claim 1, characterized in that: After the carrying platform moves to the first horizontal position, the carrying platform is locked; the lifting mechanism in the carrying platform drives the rotating mechanism, as well as the supporting structure and shooting device on the rotating mechanism to rise, and after the lifting mechanism rises to the first vertical position, the rotating mechanism starts to rotate and subsequent actions.

4. The method for detecting and controlling the internal U-ribs of a steel box girder according to claim 1, characterized in that: According to the telescopic control signal, the first telescopic arm in the support structure is first controlled to extend longitudinally. After the first telescopic arm is extended, the support legs on the lower side of the first telescopic arm are controlled to extend vertically to support the first telescopic arm. Then, the second telescopic arm, the third telescopic arm, the fourth telescopic arm and the fifth telescopic arm in the support structure are extended longitudinally at the same time. After the extension is completed, the shooting device is used to move longitudinally on the support structure.

5. The method for detecting and controlling the internal U-ribs of a steel box girder according to claim 1, characterized in that: The shooting device is controlled to move longitudinally on the supporting structure according to the movement control signal. After the shooting device moves to the first longitudinal position, the shooting device stops; the lifting component in the shooting device operates to adjust the second vertical position of the shooting rod, the steering component operates to adjust the rotation angle of the shooting rod around its vertical axis, the translation component operates to adjust the second lateral position of the shooting rod and / or the swing component operates to adjust the swing angle of the shooting rod around its lateral axis. After the position adjustment of the shooting rod is completed, the shooting camera on the shooting rod detects the U rib.

6. The method for detecting and controlling the internal U-ribs of a steel box girder according to claim 1, characterized in that: After the shooting camera completes the detection of the U-rib, the shooting rod in the shooting device is reset to the shooting rod origin position, and the shooting device can continue to move longitudinally on the supporting structure. After the shooting device moves to the second longitudinal position, the shooting device stops; the lifting component in the shooting device operates to adjust the second vertical position of the shooting rod, the steering component operates to adjust the rotation angle of the shooting rod around its vertical axis, the translation component operates to adjust the second lateral position of the shooting rod and / or the swing component operates to adjust the swing angle of the shooting rod around its lateral axis. After the position adjustment of the shooting rod is completed, the shooting camera on the shooting rod detects the U-rib, and this step can be repeated to continuously detect the U ribs inside the same steel box girder box body.

7. The method for detecting and controlling the internal U-ribs of a steel box girder according to claim 6, characterized in that: After the photographing device completes the continuous detection of the U-ribs inside the same steel box girder box body, the photographing rod in the photographing device is reset to the photographing rod origin position, and then the photographing device returns to the photographing device origin position along the supporting structure, the supporting structure shrinks to the supporting structure origin position, and the rotating mechanism of the carrying platform drives the supporting structure to rotate from longitudinal to transverse, and the lifting mechanism in the carrying platform drives the rotating mechanism, and the supporting structure and photographing device on the rotating mechanism descend and return to the lifting mechanism origin position, and then the carrying platform is unlocked to complete the detection task of the U-ribs inside the same steel box girder box body.

8. The method for detecting and controlling the internal U-ribs of a steel box girder according to claim 7, characterized in that: The first lateral position, first longitudinal position, first vertical position, second vertical position, rotation angle, second lateral position, swing angle, shooting rod origin position, shooting device origin position, support structure origin position and / or lifting mechanism origin position are determined by a safety switch, a limit switch, a travel switch and / or a distance sensor.

9. The method for detecting and controlling the internal U-ribs of a steel box girder according to any one of claims 1 to 8, characterized in that: The control instructions are issued by the short-range control terminal and / or the long-range control terminal.

10. The method for detecting and controlling the internal U-ribs of a steel box girder according to any one of claims 1 to 8, characterized in that: The shooting rod of the shooting device is provided with a plurality of shooting cameras, and a plurality of shooting pictures of the U rib are obtained by the shooting cameras, and the plurality of shooting pictures are spliced ​​together to obtain a detection picture including the entire U rib.

Images