Bridge intelligent detection equipment

Abstract

The present invention relates to an intelligent bridge detection device, including a chassis, a plurality of negative pressure adsorption devices, a running device, a control module and an image acquisition device, wherein the negative pressure adsorption device includes a first pressure detection unit, and the first pressure detection unit is used to detect the pressure inside the sealed cavity, and the running device includes a driving wheel monitoring mechanism, and the driving wheel monitoring mechanism is used to monitor the ups and downs of the driving wheel. The present invention can monitor the ups and downs of the driving wheel by setting a driving wheel monitoring mechanism and a control module, and the control module can control the operation of the lifting mechanism according to the ups and downs of the driving wheel to drive the driving wheel to move up and down, and can ensure that the load of the driving wheel is at a certain value; by setting the first pressure detection unit, when the first pressure detection unit detects that the pressure inside the sealed cavity is less than a set value, the control module controls the negative pressure generating mechanism to provide negative pressure for the sealed cavity, and can make the negative pressure in the sealed cavity always at the set value.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge detection, and in particular to intelligent bridge detection equipment. Background Art

[0002] With the development of transportation, the construction of bridges, as an important part of transportation, has developed rapidly. However, due to the long-term bearing of vehicle loads on bridges, bridges may have cracks, weld defects and other defects, which seriously affect the mechanical properties and safety of bridges. Therefore, it is necessary to detect the fatigue damage state of bridges to provide a basis for their subsequent maintenance.

[0003] In the prior art, most of the inspections are carried out using negative pressure wall-climbing robots, which have two basic functions: adsorption and movement. The negative pressure wall-climbing robot must have appropriate adsorption force to enable the robot to adhere to the bridge wall and meet the requirements of flexible movement of the robot. Therefore, the adsorption force of the negative pressure wall-climbing robot cannot be too large, which may easily lead to an increase in the load on the driving wheel and the robot being unable to move; the adsorption force of the negative pressure wall-climbing robot cannot be too small, which may easily lead to the driving wheel being suspended and slipping, and may even cause the robot to be unable to adsorb on the bridge wall. Summary of the invention

[0004] Based on this, it is necessary to provide an intelligent bridge detection device that can be stably adsorbed on the bridge wall, can effectively prevent the driving wheel from hanging and slipping, and can adapt to various working conditions.

[0005] A bridge intelligent detection device, comprising:

[0006] Chassis;

[0007] A plurality of negative pressure adsorption devices, wherein the plurality of negative pressure adsorption devices are arranged on the chassis, and the negative pressure adsorption devices include a sealed cavity, a negative pressure generating mechanism and a first pressure detection unit, wherein the negative pressure generating mechanism is in communication with the sealed cavity and is used to provide negative pressure for the sealed cavity, and the first pressure detection unit is used to detect the pressure inside the sealed cavity;

[0008] A walking device, the walking device is arranged on the chassis, the walking device comprises a driving wheel, a walking driving mechanism, a slewing driving mechanism, a lifting mechanism and a driving wheel monitoring mechanism, the walking driving mechanism is used to drive the driving wheel forward or backward, the slewing driving mechanism is used to drive the driving wheel to rotate, the lifting mechanism is used to drive the driving wheel to rise and fall, and the driving wheel monitoring mechanism is used to monitor the ups and downs of the driving wheel;

[0009] A control module, the control module is connected to control the operation of the walking drive mechanism, the rotary drive mechanism and the lifting mechanism, the control module is used to control the operation of the lifting mechanism according to the ups and downs of the driving wheel monitored by the driving wheel monitoring mechanism, so as to drive the driving wheel to move up and down, the first detection unit is communicatively connected to the control module, and the control module is connected to control the negative pressure generating mechanism;

[0010] An image acquisition device is arranged on the chassis, and is used to acquire the surface information of the bridge.

[0011] By providing a negative pressure adsorption device, the chassis can be stably adsorbed on the bridge wall under the adsorption force of the negative pressure adsorption device; by providing a walking device, the chassis can be driven to move; by providing a driving wheel monitoring mechanism and a control module, the ups and downs of the driving wheel can be monitored, and the control module can control the operation of the lifting mechanism according to the ups and downs of the driving wheel to drive the driving wheel to move up and down, thereby ensuring that the load of each driving wheel is always at a certain value; by providing a first pressure detection unit, the pressure inside the sealed cavity can be detected in real time; when the first pressure detection unit detects that the pressure inside the sealed cavity is less than the set value, the control module controls the negative pressure generating mechanism to provide negative pressure for the sealed cavity, thereby making the negative pressure in the sealed cavity always at the set value, effectively avoiding the phenomenon of the driving wheel being suspended and slipping, and being able to adapt to various working conditions; by providing an image acquisition device, the apparent information of the bridge can be acquired.

[0012] In one embodiment, the driving wheel monitoring mechanism includes a second pressure detection unit, and the second pressure detection unit is used to detect the pressure exerted on the driving wheel, and the second detection unit is communicatively connected to the control module.

[0013] In one embodiment, the walking device also includes a driving wheel mounting frame, the driving wheel is mounted on the driving wheel mounting frame, the lifting mechanism includes a first connecting component, a lifting drive unit and a second connecting component, the chassis is connected to the lifting drive unit through the first connecting component, and the lifting drive unit is slidably connected to the driving wheel mounting frame through the second connecting component.

[0014] In one of the embodiments, the walking device further includes a shock-absorbing spring, and the shock-absorbing spring is used to provide a buffering effect on the driving wheel when the driving wheel rises.

[0015] In one embodiment, the intelligent bridge detection device further includes a communication module and a terminal control module. The communication modules are respectively arranged on the chassis, and the control module is connected to the terminal control module via the communication modules.

[0016] In one embodiment, the image acquisition device includes an image acquisition module and a robotic arm. The image acquisition module is connected to the terminal control module via the communication module. The control module is connected to control the robotic arm. The image acquisition module is fixedly connected to one end of the robotic arm, and the robotic arm is used to drive the image acquisition module to move.

[0017] In one of the embodiments, the intelligent bridge detection device further includes a positioning module, which is disposed on the chassis and is communicatively connected to the control module.

[0018] In one embodiment, the bridge intelligent detection equipment also includes a meteorological monitoring mechanism and a liquid level detection mechanism. The meteorological monitoring mechanism and the liquid level detection mechanism are respectively arranged on the chassis. The meteorological monitoring mechanism is used to monitor the meteorological information of the location of the chassis in real time. The liquid level detection mechanism is used to detect the liquid level of the chassis immersed in water. The meteorological monitoring mechanism and the liquid level detection mechanism are respectively communicatively connected to the control module.

[0019] In one of the embodiments, the intelligent bridge detection device further includes an anti-collision monitoring mechanism, which is used to prevent the chassis from colliding, and the anti-collision monitoring mechanism is communicatively connected to the control module.

[0020] In one of the embodiments, the chassis is further provided with an anti-fall mechanism, and a first hook and a second hook are formed on the anti-fall mechanism, the first hook is used to hang an anti-fall safety rope, and the second hook is used to hang a power cable.

[0021] In the above scheme, by setting a negative pressure adsorption device, the chassis can be stably adsorbed on the bridge wall under the adsorption force of the negative pressure adsorption device; by setting a walking device, the chassis can be driven to move; by setting a driving wheel monitoring mechanism and a control module, the ups and downs of the driving wheel can be monitored, and the control module can control the operation of the lifting mechanism according to the ups and downs of the driving wheel to drive the driving wheel to move up and down, so as to ensure that the load of each driving wheel is always at a certain value; by setting a first pressure detection unit, the pressure inside the sealed cavity can be detected in real time; when the first pressure detection unit detects that the pressure inside the sealed cavity is less than the set value, the control module controls the negative pressure generating mechanism to provide negative pressure for the sealed cavity, so that the negative pressure in the sealed cavity can always be at the set value, which can effectively avoid the phenomenon of the driving wheel being suspended and slipping, and can adapt to various working conditions; by setting an image acquisition device, the apparent information of the bridge can be acquired. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a structural schematic diagram of a bridge intelligent detection device shown in an embodiment of the present invention;

[0025] Figure 2 It is a bottom view structural diagram of a bridge intelligent detection device shown in one embodiment of the present invention;

[0026] Figure 3 A top view of a bridge intelligent detection device according to an embodiment of the present invention;

[0027] Figure 4 It is a schematic diagram of the exploded structure of a walking device shown in one embodiment of the present invention;

[0028] Figure 5 It is a structural schematic diagram of an intelligent bridge detection device adsorbed on a bridge wall as shown in an embodiment of the present invention;

[0029] Figure 6 This is an electrical principle control block diagram of a bridge intelligent detection device shown in an embodiment of the present invention.

[0030] Description of Reference Numerals

[0031] 10. Intelligent bridge detection equipment; 100. Chassis; 110. Anti-fall mechanism; 120. Carrying handle; 130. Towing mechanism; 200. Negative pressure adsorption device; 210. Sealing chamber; 211. Thin plate; 212. Sealing skirt; 220. Negative pressure generating mechanism; 230. First pressure detection unit; 240. Alarm mechanism; 300. Walking device; 310. Driving wheel; 320. Walking drive mechanism; 330. Rotating drive mechanism; 340. Lifting mechanism; 341. First connecting assembly; 3411. First mounting plate; 3412. Second mounting plate; 342. Lifting drive unit; 343. Second connecting assembly; 3431. Fixed spring unit; 344. First sliding assembly; 3441. First A slider; 3442, a first slide rail; 345, a second slide assembly; 3451, a second slider; 3452, a second slide rail; 350, a second pressure detection unit; 360, a drive wheel mounting bracket; 370, a shock-absorbing spring; 400, a control device; 410, a control module; 420, a communication module; 430, a terminal control module; 440, a meteorological monitoring mechanism; 450, a liquid level detection mechanism; 460, an anti-collision monitoring mechanism; 470, a positioning module; 500, an image acquisition device; 510, an image acquisition module; 520, a robotic arm; 530, a monitoring module; 531, a monitoring camera; 532, a pan-tilt camera; 600, a bridge wall; 700, an anti-fall safety rope; 800, a power cable. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0035] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0037] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0038] See also Figure 1 , Figure 5 and Figure 6As shown, one embodiment of the present application relates to an intelligent bridge detection device 10, including: a chassis 100, a plurality of negative pressure adsorption devices 200, a walking device 300, a control device 400 and an image acquisition device 500. A plurality of negative pressure adsorption devices 200 are arranged on the chassis 100, and are used to be adsorbed on the bridge wall 600. The walking device 300 is arranged on the chassis 100, and is used to drive the chassis 100 to walk along the bridge wall 600. The image acquisition device 500 is arranged on the chassis 100, and is used to collect the surface information of the area to be detected. The control device 400 is used to realize automatic control. It should be understood that the surface information refers to the information of cracks, weld defects and other defects on the bridge.

[0039] See also Figure 1 , Figure 2 and Figure 3 As shown, a plurality of negative pressure adsorption devices 200 are arranged at the bottom of the chassis 100, and the negative pressure adsorption devices 200 include a sealed chamber 210 and a negative pressure generating mechanism 220. The negative pressure generating mechanism 220 is connected to the sealed chamber 210 and is used to provide negative pressure for the sealed chamber 210. Specifically, a plurality of vacuum holes are formed in the sealed chamber 210, and the plurality of vacuum holes are connected to the negative pressure generating mechanism 220 through a vacuum tube. The negative pressure generating mechanism 220 can use a negative pressure fan or a vacuum pump.

[0040] The sealing chamber 210 includes a thin plate 211 and a sealing skirt 212, and the sealing skirt 212 is fixedly connected to the thin plate 211. The thin plate 211 is bent and together with the sealing skirt 212, a rectangular sealing chamber 210 is formed, and the sealing skirt 212 is fixedly connected to the bottom of the chassis 100. The sealing skirt 212 is used to isolate the sealing chamber 210 from the external atmospheric environment. The sealing skirt 212 is made of a flexible material. In this embodiment, the sealing skirt 212 is made of rubber, and the elastic force of the sealing skirt 212 can make the sealing skirt 212 fit tightly to the outer surface of the sealing chamber 210. Figure 5 The bridge wall 600 shown in the figure ensures the sealing effect. When encountering a smaller obstacle, the sealing skirt 212 can automatically adapt to the obstacle under the action of the elastic force, so that the sealing skirt 212 still fits the bridge wall 600 closely to maintain the seal, and can achieve flexible sealing without affecting the normal movement of the chassis 100, which can reduce the risk of negative pressure leakage.

[0041] See also Figure 2 , Figure 3 and Figure 6As shown, the control device 400 includes a control module 410. The control module 410 can adopt a PLC or an MCS-51 single chip microcomputer. The negative pressure adsorption device 200 also includes a first pressure detection unit 230 and an alarm mechanism 240. The first pressure detection unit 230 is used to detect the pressure inside the sealed cavity 210. The first detection unit is communicatively connected to the control module 410, and the control module 410 is connected to control the negative pressure generating mechanism 220 and the alarm mechanism 240. In this embodiment, the negative pressure adsorption device 200 includes 4. The first pressure detection unit 230 can be a pressure sensor, a varistor, etc., as long as it can realize the function of detecting the pressure inside the sealed cavity 210. The alarm mechanism 240 includes a flash light and a buzzer.

[0042] Each first pressure detection unit 230 detects the pressure in the corresponding sealed cavity 210 in real time and transmits the data to the control module 410. The control module 410 is used to control the negative pressure generating mechanism 220 and the alarm mechanism 240 to take corresponding actions according to the received data. Specifically, when a first pressure detection unit 230 detects that the pressure in the sealed cavity 210 is lower than the set value, the control module 410 controls the corresponding negative pressure generating mechanism 220 to operate and provide negative pressure for the sealed cavity 210. When a first pressure detection unit 230 detects that the pressure in the sealed cavity 210 is lower than the set value for a long time, the control module 410 controls the alarm mechanism 240 to issue an alarm to prompt the staff that the negative pressure adsorption device 200 has a fault.

[0043] It should be understood that as long as the pressure in a sealed cavity 210 is lower than the set value, the corresponding negative pressure generating mechanism 220 will operate to provide negative pressure for the sealed cavity 210. If it is detected that the pressure in the sealed cavity 210 is lower than the set value for a long time, it means that the negative pressure in the sealed cavity 210 is leaking or the negative pressure generating mechanism 220 is damaged and cannot provide negative pressure for the sealed cavity 210. It should also be understood that the pressure inside the four sealed cavities 210 is set uniformly. When a negative pressure adsorption device 200 fails, the remaining negative pressure adsorption devices 200 can still ensure that the chassis 100 is stably adsorbed on the negative pressure adsorption device 200. Figure 5 On the bridge wall 600 shown.

[0044] See also Figure 1 , Figure 4 and Figure 6As shown, the walking device 300 includes a driving wheel 310, a walking driving mechanism 320, a rotary driving mechanism 330, a lifting mechanism 340 and a driving wheel monitoring mechanism. The walking driving mechanism 320 is used to drive the driving wheel 310 forward or backward. The rotary driving mechanism 330 is used to drive the driving wheel 310 to rotate to achieve the steering of the driving wheel 310. The lifting mechanism 340 is used to drive the driving wheel 310 to rise and fall. The driving wheel monitoring mechanism is used to monitor the ups and downs of the driving wheel 310. The control module 410 is connected to control the operation of the walking driving mechanism 320, the rotary driving mechanism 330 and the lifting mechanism 340. The control module 410 is used to control the operation of the lifting mechanism 340 according to the ups and downs of the driving wheel 310 monitored by the driving wheel monitoring mechanism, so as to drive the driving wheel 310 to move up and down. In this embodiment, the walking device 300 is 4. In other embodiments, the driving wheel 310 is 4. The number of the lifting mechanism 340 corresponds to the number of the driving wheel 310. A single travel drive mechanism 320 and a single rotation drive mechanism 330 can simultaneously drive the drive wheel 310 to operate.

[0045] It should be understood that the driving wheel monitoring mechanism monitoring the ups and downs of the driving wheel 310 refers to monitoring the position change of the driving wheel 310 in the vertical direction, and taking the relatively flat wall surface on the bridge wall 600 as a reference to monitor the position change of the driving wheel 310 in the vertical direction. For example, there is a protrusion on the bridge wall 600, and the height of the protrusion is higher than the height of the flat wall surface. When the driving wheel 310 moves onto the protrusion, the driving wheel monitoring mechanism detects that the driving wheel 310 is in a high position, and the control module 410 controls the corresponding lifting mechanism 340 to operate, so as to drive the driving wheel 310 on the protrusion to move downward, so that the height of the driving wheel 310 is at the same level as that of other driving wheels 310. See Figure 1 , Figure 5 and Figure 6 As shown, the control device 400 also includes a communication module 420 and a terminal control module 430. The communication module 420 is arranged on the chassis 100. The control module 410 is connected to the terminal control module 430 via the communication module 420. In this embodiment, the communication module 420 adopts a 433 radio station. The terminal control module 430 can adopt an industrial computer or a computer. It should be understood that the ups and downs of the driving wheel 310 can be monitored manually or automatically.

[0046] Specifically, during manual monitoring, the ups and downs of the driving wheel 310 are judged by naked eyes, and control instructions are input to the terminal control module 430. The control module 410 controls the operation of the lifting mechanism 340 to drive the driving wheel 310 to move up and down according to the instructions received from the terminal control module 430.

[0047] During automatic monitoring, the driving wheel monitoring mechanism uses a second pressure detection unit 350. The second pressure detection unit 350 is used to detect the pressure on the driving wheel 310, and the second detection unit is communicatively connected to the control module 410. The second pressure detection unit 350 can be a pressure sensor, a piezoresistor, etc., as long as it can detect the pressure on the driving wheel 310.

[0048] The second pressure detection unit 350 detects the pressure on the driving wheel 310 in real time and transmits the data to the control module 410. When the second pressure detection unit 350 detects that the pressure on the driving wheel 310 is less than the set value, the control module 410 controls the lifting mechanism 340 to operate to drive the driving wheel 310 to move downward. When the second pressure detection unit 350 detects that the pressure on the driving wheel 310 is greater than the set value, the control module 410 controls the lifting mechanism 340 to operate to drive the driving wheel 310 to move upward. The relative position of the driving wheel 310 can be automatically adjusted according to the force applied to the driving wheel 310, effectively preventing the driving wheel 310 from being suspended and slipping.

[0049] See also Figure 1 , Figure 5 and Figure 6 As shown, the walking device 300 also includes a driving wheel mounting frame 360. The driving wheel 310 is mounted on the driving wheel mounting frame 360. The lifting mechanism 340 is connected between the chassis 100 and the driving wheel mounting frame 360. The lifting mechanism 340 includes a first connecting component 341, a lifting drive unit 342 and a second connecting component 343. The chassis 100 is connected to the lifting drive unit 342 through the first connecting component 341, and the lifting drive unit 342 is slidably connected to the driving wheel mounting frame 360 ​​through the second connecting component 343. In this embodiment, the lifting drive unit 342 adopts an electric push rod. In other embodiments, the lifting drive unit 342 adopts a cylinder.

[0050] Specifically, the first connecting assembly 341 includes a first mounting plate 3411 and a second mounting plate 3412. The lifting drive unit 342 is fixedly connected to the second mounting plate 3412. The first side of the first mounting plate 3411 is fixedly connected to the second mounting plate 3412, and the second side of the first mounting plate 3411 is fixedly connected to the chassis 100. The second connecting assembly 343 includes a third mounting plate. The third mounting plate is fixedly connected to the power output end of the lifting drive unit 342. The third mounting plate is slidably connected to the driving wheel mounting frame 360 ​​through the first sliding assembly 344. The third mounting plate is slidably connected to the second mounting plate 3412 through the second sliding assembly 345.

[0051] More specifically, the first sliding assembly 344 includes a first slider 3441 fixedly connected to the driving wheel mounting frame 360 ​​and a first slide rail 3442 fixedly connected to the third mounting plate and matched with the first slider 3441. The second sliding assembly 345 includes a second slider 3451 fixedly connected to the third mounting plate and a second slide rail 3452 fixedly connected to the second mounting plate 3412 and matched with the second slider 3451.

[0052] See also Figure 4 As shown, the walking device 300 also includes a shock absorbing spring 370. The shock absorbing spring 370 is used to provide a buffering effect to the driving wheel 310 when the driving wheel 310 rises. A fixed spring portion 3431 is formed on the third mounting plate. The shock absorbing spring 370 is connected between the fixed spring portion 3431 and the driving wheel mounting frame 360.

[0053] See also Figure 1 , Figure 5 and Figure 6 As shown, the image acquisition device 500 includes an image acquisition module 510, a mechanical arm 520 and a monitoring module 530. The image acquisition module 510 is fixedly connected to one end of the mechanical arm 520, and the mechanical arm 520 is used to drive the image acquisition module 510 to move. The image acquisition module 510 and the monitoring module 530 are connected to the terminal control module 430 through the communication module 420 respectively. The control module 410 controls the operation of the mechanical arm 520. The monitoring module 530 is used to monitor the scene and surrounding conditions of the chassis 100 during the movement. The monitoring module 530 includes a monitoring camera 531 and a pan-tilt camera 532, and the monitoring camera 531 and the pan-tilt camera 532 are arranged on the chassis 100 at intervals. The monitoring camera 531 is arranged at one end of the chassis 100. The monitoring camera 531 is used to monitor the scene and surrounding conditions of the blind spot of the pan-tilt camera 532. Specifically, the image acquisition module 510 includes an image shooting unit and an image processing unit. The image processing unit is used to detect and identify bridge defects based on the photos taken by the image shooting unit. The image shooting unit adopts a visual camera.

[0054] See also Figure 1 , Figure 3 and Figure 6 As shown, the bridge intelligent detection device 10 also includes a meteorological monitoring mechanism 440 and a liquid level detection mechanism 450, which are respectively arranged on the chassis 100. The meteorological monitoring mechanism 440 is used to monitor the meteorological information of the location of the chassis 100 in real time. The liquid level detection mechanism 450 is used to detect the liquid level of the chassis 100 immersed in water. The meteorological monitoring mechanism 440 and the liquid level detection mechanism 450 are respectively connected to the control module 410 for communication.

[0055] See also Figure 1 , Figure 3 and Figure 6 As shown, the control device 400 also includes an anti-collision monitoring mechanism 460, which is used to prevent the chassis 100 from colliding. The anti-collision monitoring mechanism 460 includes a plurality of anti-collision monitoring mechanisms, which are arranged around the chassis 100. The anti-collision monitoring mechanism 460 is communicatively connected to the control module 410. The anti-collision monitoring mechanism 460 can be a laser detection radar, a laser displacement sensor, an infrared sensor, etc., as long as it can detect the distance between the chassis 100 and the obstacle.

[0056] See also Figure 1 , Figure 3 and Figure 6 As shown, the control device 400 also includes a positioning module 470, which is respectively arranged on the chassis 100, and the positioning module 470 is communicatively connected to the control module 410. The positioning module 470 can be a Beidou positioning module 470, a GPS positioning module 470, a Beidou / GPS dual-mode positioning module 470, an RTK antenna, etc., as long as the function of detecting and positioning can be achieved.

[0057] See also Figure 1 and Figure 6 As shown, the chassis 100 is also provided with an anti-fall mechanism 110, a carrying handle 120 for easy carrying, and a towing mechanism 130. A first hook and a second hook are formed on the anti-fall mechanism 110. The first hook is used to hang the anti-fall safety rope 700, and the second hook is used to hang the power cable 800. The anti-fall safety rope 700 adopts an ultra-high molecular weight polyethylene cable. When the bridge intelligent detection device 10 fails, the anti-fall safety rope 700 and the power cable 800 jointly bear the gravity of the bridge intelligent detection device 10. The anti-fall safety rope 700 and the power cable 800 are retracted at the same time, which can prevent the risk of falling after the bridge intelligent detection device 10 fails.

[0058] When the intelligent bridge detection device 10 of the present invention is used, a control instruction is inputted into the terminal control module 430, and the instruction is transmitted to the control module 410 through the communication module 420. The control module 410 controls the chassis 100 to move on the bridge wall 600 according to the received instruction.

[0059] Among them, the chassis 100 needs to be adsorbed on the bridge wall 600 between walking. Specifically, the control module 410 controls the operation of the negative pressure generating mechanism 220 to provide negative pressure inside the sealed cavity 210. The first pressure detection unit 230 detects the pressure inside the sealed cavity 210 in real time and transmits the data to the control module 410. When a first pressure detection unit 230 detects that the pressure inside the sealed cavity 210 is lower than the set value, the control module 410 controls the corresponding negative pressure generating mechanism 220 to operate to provide negative pressure for the sealed cavity 210. When a first pressure detection unit 230 detects that the pressure inside the sealed cavity 210 is lower than the set value for a long time, the control module 410 controls the alarm mechanism 240 to issue an alarm to remind the staff that the negative pressure adsorption device 200 has a fault.

[0060] When the first pressure detection units 230 all detect that the pressure in the sealed cavity 210 is equal to the set value, the control module 410 controls the travel drive mechanism 320 and the rotary drive mechanism 330 to operate to drive the chassis 100 to move. It should be understood that the chassis 100 can only start to move after the first pressure detection units 230 all detect that the pressure in the sealed cavity 210 is equal to the set value. During the movement of the chassis 100, if the first pressure detection unit 230 detects that the pressure in the sealed cavity 210 is greater than or less than the set value, the chassis 100 will still move.

[0061] The second pressure detection unit 350 detects the pressure on the driving wheel 310 in real time and transmits the data to the control module 410. When the second pressure detection unit 350 detects that the pressure on the driving wheel 310 is less than the set value, the control module 410 controls the lifting mechanism 340 to operate to drive the driving wheel 310 to move downward. When the second pressure detection unit 350 detects that the pressure on the driving wheel 310 is greater than the set value, the control module 410 controls the lifting mechanism 340 to operate to drive the driving wheel 310 to move upward. According to the force applied to the driving wheel 310, the relative position of the driving wheel 310 is automatically adjusted to effectively prevent the driving wheel 310 from being suspended and slipping.

[0062] The image acquisition module 510 acquires the surface information of the area to be detected. The image capture unit transmits the acquired photos to the terminal control module 430 through the communication module 420, and the image processing unit completes the detection and identification of bridge defects.

[0063] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0064] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A bridge intelligent detection device, characterized in that: include: Chassis; A plurality of negative pressure adsorption devices, wherein the plurality of negative pressure adsorption devices are arranged on the chassis, and the negative pressure adsorption device comprises a sealed cavity, a negative pressure generating mechanism and a first pressure detection unit, wherein the negative pressure generating mechanism is in communication with the sealed cavity and is used to provide negative pressure for the sealed cavity, and the first pressure detection unit is used to detect the pressure inside the sealed cavity; A walking device, the walking device is arranged on the chassis, the walking device comprises a driving wheel, a walking driving mechanism, a slewing driving mechanism, a lifting mechanism and a driving wheel monitoring mechanism, the walking driving mechanism is used to drive the driving wheel forward or backward, the slewing driving mechanism is used to drive the driving wheel to rotate, the lifting mechanism is used to drive the driving wheel to rise and fall, and the driving wheel monitoring mechanism is used to monitor the ups and downs of the driving wheel; A control module, the control module is connected to control the operation of the walking drive mechanism, the rotary drive mechanism and the lifting mechanism, the control module is used to control the operation of the lifting mechanism according to the ups and downs of the driving wheel monitored by the driving wheel monitoring mechanism, so as to drive the driving wheel to move up and down, so that the heights of all driving wheels are at the same horizontal plane, the first pressure detection unit is communicatively connected to the control module, and the control module is connected to control the negative pressure generating mechanism; An image acquisition device, the image acquisition device is arranged on the chassis, and the image acquisition device is used to acquire the apparent information of the bridge; The driving wheel monitoring mechanism includes a second pressure detection unit, which is used to detect the pressure applied to the driving wheel. The second pressure detection unit is communicatively connected to the control module; when the second pressure detection unit detects that the pressure applied to the driving wheel is less than a set value, the control module controls the lifting mechanism to operate to drive the driving wheel to move downward; when the second pressure detection unit detects that the pressure applied to the driving wheel is greater than a set value, the control module controls the lifting mechanism to operate to drive the driving wheel to move upward.

2. The intelligent bridge detection device according to claim 1, characterized in that: The walking device also includes a driving wheel mounting frame, the driving wheel is mounted on the driving wheel mounting frame, the lifting mechanism includes a first connecting component, a lifting drive unit and a second connecting component, the chassis is connected to the lifting drive unit through the first connecting component, and the lifting drive unit is slidably connected to the driving wheel mounting frame through the second connecting component.

3. The intelligent bridge detection device according to claim 1 is characterized in that: The walking device also includes a shock-absorbing spring, and the shock-absorbing spring is used to provide a buffering effect on the driving wheel when the driving wheel rises.

4. The intelligent bridge detection device according to claim 1, characterized in that: It also includes a communication module and a terminal control module. The communication modules are respectively arranged on the chassis, and the control module is connected to the terminal control module through the communication module.

5. The intelligent bridge detection device according to claim 4 is characterized in that: The image acquisition device includes an image acquisition module and a mechanical arm. The image acquisition module is connected to the terminal control module via the communication module. The control module is connected to control the mechanical arm. The image acquisition module is fixedly connected to one end of the mechanical arm. The mechanical arm is used to drive the image acquisition module to move.

6. The intelligent bridge detection device according to claim 1, characterized in that: It also includes a positioning module, which is arranged on the chassis and is communicatively connected to the control module.

7. The intelligent bridge detection device according to claim 1, characterized in that: It also includes a meteorological monitoring mechanism and a liquid level detection mechanism. The meteorological monitoring mechanism and the liquid level detection mechanism are respectively arranged on the chassis. The meteorological monitoring mechanism is used to monitor the meteorological information of the location of the chassis in real time. The liquid level detection mechanism is used to detect the liquid level of the chassis immersed in water. The meteorological monitoring mechanism and the liquid level detection mechanism are respectively communicatively connected to the control module.

8. The intelligent bridge detection device according to claim 1, characterized in that: It also includes an anti-collision monitoring mechanism, which is used to prevent the chassis from colliding, and the anti-collision monitoring mechanism is communicatively connected to the control module.

9. The intelligent bridge detection device according to claim 1, characterized in that: The chassis is also provided with an anti-fall mechanism, and the anti-fall mechanism is formed with a first hook and a second hook, the first hook is used for hanging an anti-fall safety rope, and the second hook is used for hanging a power cable.

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