Bridge wall climbing detection device and detection method based on impact echo acoustic method

Abstract

The present invention provides a bridge wall climbing detection device and a detection method based on an impact echo audio method, wherein the detection device comprises: a first vehicle body, which comprises a first vehicle body, a travel drive device and a first rotor mechanism, and a knocking assembly is also arranged on the power shaft of the travel drive device; a second vehicle body, which comprises a second vehicle body and a sound insulation device, and the sound insulation device is rotatably connected to the second vehicle body; the sound insulation device comprises a sound insulation shell and a knocking signal acquisition assembly; one end of the sound insulation device is provided with a crawler structure, and the other end is provided with a second rotor mechanism; the first vehicle body and the second vehicle body are rotatably connected through a rotating mechanism, and under the action of the rotating mechanism, the bridge wall climbing detection device can change faces and crawl on a wall surface with an angle; the present invention can realize climbing over various areas such as from the bottom of the bridge to the piers, thereby detecting defects in various areas of the bridge, and can also improve the detection efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of bridge detection, and in particular to a bridge wall climbing detection device and a detection method based on an impact echo acoustic frequency method. Background Art

[0002] As one of the infrastructures in the field of transportation, bridges are usually built of concrete. Due to the complexity of concrete construction technology, cracks, voids and other defects are inevitable in bridge structures. In the long-term operation and use of bridges, concrete structures are easily affected by factors such as temperature changes and rain erosion, which can lead to defects such as holes, exposed steel bars and cracks, which seriously affect the durability and bearing capacity of bridges. Therefore, regular quality inspection of bridges is the key to ensuring the service life of bridges and personal safety.

[0003] With the development of science and technology, there are more and more types of non-destructive testing devices, and the degree of automation is getting higher and higher. Taking bridge inspection as an example, a Chinese patent with the authorization announcement number CN106049243B discloses an autonomous intelligent road surface inspection device, which integrates a variety of non-destructive testing sensors in one, can achieve a comprehensive assessment of road conditions at one time, and can perform quality inspection on the bridge deck; a Chinese patent with the authorization announcement number CN110184909B discloses an inspection vehicle suitable for multiple types of bridge piers. The device can control the drive mechanism to shrink along the shape of the bridge pier according to the pressure value, and the inspection vehicle automatically clamps the bridge pier and moves up and down. However, the inspection device disclosed in the above patent can only detect specific areas of the bridge, and cannot realize the over-the-top inspection from the bottom of the bridge to the bridge pier and other areas, and is not suitable for the overall quality inspection of the bridge.

[0004] As an effective method for detecting hidden defects in concrete, the impact echo method uses impact elastic waves as a medium, utilizes the multiple reflection characteristics of elastic waves in the structure under test, and determines the defects of the structure under test through spectrum analysis. The impact echo audio method is to excite the test part of the structure under test and induce vibration and sound. The sound pickup device picks up the sound signal, calculates the air column acceleration in a differential processing manner and analyzes it to achieve defect detection inside the structure. A Chinese patent with the authorization announcement number CN210221915U discloses a point pressure acquisition device, which uses the impact echo method as a detection method and is equipped with multiple collectors to obtain multi-source multi-channel elastic waves to improve detection efficiency. However, the device provided by the patent requires the operator to control the walking and detection of the corresponding position points, and the piezoelectric sensor in the device is directly coupled, and the continuous acquisition of signals cannot be achieved. When the detection area is large, the detection personnel need to detect thousands of points in turn, which has a large workload, slow detection speed, and low detection efficiency.

[0005] Therefore, in order to solve the above problems, it is urgent to design a bridge wall climbing detection device and detection method based on the impact echo audio method, which can not only realize the climbing from the bottom of the bridge to the piers and other areas, thereby detecting defects in various areas of the bridge, but also improve the detection efficiency. Summary of the invention

[0006] In order to solve the above problems, the present invention provides a bridge wall climbing detection device and detection method based on the impact echo audio method, which can perform defect detection on the back side, bridge deck, piers and other areas of the bridge, and has a wall climbing function, which can realize climbing over areas from the bottom of the bridge to the piers and other areas, solving the problem of the current bridge detection device having a single detection area; at the same time, the detection device provided by the present invention has a high degree of automation, and can independently complete functions such as data collection, data analysis, and defect imaging, thereby improving the detection efficiency.

[0007] To achieve the above object, the present invention provides a bridge wall climbing detection device based on impact echo acoustic method, comprising:

[0008] The first vehicle body comprises a first vehicle body, a travel drive device for driving the first vehicle body to travel, and a first rotor mechanism for climbing a wall, a power shaft of the travel drive device is further provided with a striking assembly, and the middle portion of the first vehicle body has a hollow structure;

[0009] A second vehicle body, comprising a second vehicle body, and a sound insulation device disposed on the second vehicle body, wherein the sound insulation device is rotatably connected to the second vehicle body;

[0010] The sound insulation device comprises a sound insulation shell and a knock signal collection component arranged in the sound insulation shell;

[0011] The end of the sound insulation device provided with the knock signal collection component is provided with a crawler structure, and the end away from the knock signal collection component is provided with a second rotor mechanism for climbing a wall;

[0012] The first vehicle body and the second vehicle body are rotatably connected via the rotating mechanism, and under the action of the rotating mechanism, the bridge wall climbing detection device can change sides and crawl on a wall surface with an angle;

[0013] A control system, wherein the rotating mechanism, the travel drive device, the first rotor mechanism and the second rotor mechanism are all electrically connected to the control system.

[0014] As a further improvement of the above-mentioned scheme, the bridge wall climbing detection device also includes an ultrasonic detection module, which is provided on the first vehicle body and the second vehicle body, and is used to detect whether there is an obstacle in front of the vehicle body or whether the vehicle body is suspended in the air; and the ultrasonic detection module is electrically connected to the control system.

[0015] As a further improvement of the above scheme, the rotating mechanism includes a first rotating shaft, a second rotating shaft, a first gear arranged on the first rotating shaft, a second gear arranged on the second rotating shaft and meshing with the first gear, and a connecting rod with two ends respectively connected to the first gear and the second gear for rotation; a face-changing driving motor is arranged on either the first rotating shaft or the second rotating shaft;

[0016] The first rotating shaft is arranged at one end of the first vehicle body, the second rotating shaft is arranged at one end of the second vehicle body, and both one end of the first vehicle body and one end of the second vehicle body are arc-shaped structures.

[0017] As a further improvement of the above solution, at least two first gears are arranged on the first rotating shaft at intervals, and the second rotating shaft is provided with a corresponding number of second gears as the first gears.

[0018] As a further improvement of the above scheme, the travel drive device includes at least two groups of wheel drive assemblies, and the two groups of wheel drive assemblies are arranged on both sides of the first vehicle body; the wheel drive assembly includes a wheel, a power shaft and a wheel drive motor driven by the power shaft.

[0019] As a further improvement of the above solution, the wheel is provided with an anti-skid pad for increasing friction, and the material of the anti-skid pad is preferably silicone.

[0020] As a further improvement of the above solution, one group of the power shafts is provided with an encoder, and any one of the power shafts is provided with the knocking component.

[0021] As a further improvement of the above scheme, the knocking assembly includes a rocker arm, a traction rope and a knocking piece connected in sequence, one end of the rocker arm is fixed on the power shaft, and the other end is connected to the traction rope; along with the rotation of the power shaft, the rocker arm drives the knocking piece to intermittently knock on the detection surface.

[0022] As a further improvement of the above solution, two groups of first rotor mechanisms are provided on the first vehicle body, and the two groups of first rotor mechanisms are respectively arranged on the first vehicle body at intervals.

[0023] As a further improvement of the above solution, the first rotor mechanism includes a first rotor motor and a first rotor, the first rotor motor is drivingly connected to the first rotor, and the first rotor motor is arranged on the first vehicle body.

[0024] As a further improvement of the above solution, the first vehicle body and the second vehicle body are both made of carbon fiber.

[0025] As a further improvement of the above scheme, the sound insulation device is rotatably connected to the second vehicle body through a rotation drive mechanism; the rotation drive mechanism includes a third rotating shaft and a rotation drive motor drivingly connected to the third rotating shaft, the third rotating shaft is fixedly connected to the sound insulation shell, and one end of the third rotating shaft is rotatably connected to the second vehicle body.

[0026] As a further improvement of the above solution, the soundproof housing includes a soundproof outer shell, a soundproof inner shell and a partition, wherein the partition is transversely arranged in the soundproof outer shell and divides the soundproof outer shell into a first space and a second space;

[0027] The soundproof outer shell and the soundproof inner shell are both cylindrical shells with an opening at the bottom, and the soundproof inner shell is inserted into the soundproof outer shell and is located in the second space; in the second space, soundproof material is provided in the area enclosed by the soundproof inner shell and the partition.

[0028] As a further improvement of the above scheme, the knock signal acquisition component includes a microphone for collecting knock signals, a data acquisition instrument and a battery; the microphone is connected to the data acquisition instrument via a cable, and the battery provides power for the data acquisition instrument.

[0029] As a further improvement of the above solution, the microphone is suspended in the soundproof inner shell through a cable, and the data acquisition instrument and the battery are arranged on the partition and are both located in the first space.

[0030] As a further improvement of the above solution, the second rotor mechanism is arranged at the top of the first space, and the crawler structure is arranged at the bottom of the second space.

[0031] As a further improvement of the above solution, the second rotor mechanism includes a second rotor motor and a second rotor, the second rotor motor is drive-connected to the second rotor, and the second rotor motor is arranged in the first space.

[0032] As a further improvement of the above scheme, the crawler structure includes a plurality of crawler shafts, crawler wheels and crawlers wound around the corresponding crawler wheels, the crawler shafts are arranged in parallel on the sound insulation shell at intervals, wherein two crawler shafts are located in the front and rear areas enclosed by the sound insulation inner shell and the sound insulation outer shell (with the forward direction of the bridge wall climbing detection device as the front), the two end shaft sections of the two crawler shafts are respectively provided with the crawler wheels, and the middle shaft sections are also respectively provided with rubber rollers, and the diameter of the rubber rollers is the same as the diameter of the crawler wheels;

[0033] The remaining track shafts are located in the left and right areas enclosed by the sound insulation inner shell and the sound insulation outer shell (with the forward direction of the bridge wall climbing detection device as the front), and each track shaft is provided with a track wheel.

[0034] As a further improvement of the above scheme, the control system includes a vehicle body control module, a navigation sensor system, and a remote control system which are electrically connected in sequence. The navigation sensor system includes a global positioning system and a gyroscope, which are used to obtain the position of the bridge wall climbing detection device for high-precision navigation; the remote control system is communicatively connected to the knocking signal acquisition component via wireless communication; the rotating mechanism, the walking drive device, the first rotor mechanism and the second rotor mechanism are all electrically connected to the vehicle body control module.

[0035] It should be noted that, in the initial state and the detection state, the first vehicle body and the second vehicle body are stacked together, the sound insulation device is housed in the hollow structure on the first vehicle body, and the knocking signal collection component and the track structure face the detection plane.

[0036] The present invention also provides a detection method for the bridge wall climbing detection device based on the impact echo acoustic method, the steps of which include:

[0037] S1: Nondestructive testing: The travel drive device drives the first vehicle body and the second vehicle body stacked up and down to move forward; at the same time, a knocking component arranged on the power shaft of the travel drive device intermittently knocks the detection surface as the power shaft rotates; at the same time, a knocking signal collection component arranged on the second vehicle body collects knocking signals on the detection surface and feeds the knocking signals back to the control system, and the control system transmits the received knocking signals to the processing terminal, and the processing terminal performs defect detection by analyzing the knocking signals;

[0038] S2: Wall climbing process: If the detection is performed on the same wall, the travel drive device drives the two vehicle bodies to move, and at the same time, the corresponding first rotor mechanism and / or second rotor mechanism is started to generate thrust balanced with the weight of the vehicle body;

[0039] If it is necessary to crawl on different walls, the first vehicle body or the second vehicle body is unfolded under the action of the rotating mechanism until the first vehicle body or the second vehicle body is attached to the second wall, and the rotor mechanism that has been attached to the second wall is started to make it adsorbed on the second wall; then the second vehicle body or the first vehicle body that stays on the first wall is rotated toward the second wall under the action of the rotating mechanism until it is folded into one, and step S1 is continued.

[0040] As a further improvement of the above scheme, during the wall climbing process of step S2, when it is necessary to change the wall climbing surface, the steps are as follows:

[0041] S21: Rotation of the sound insulation device: First, the rotation mechanism is started, and the rotation mechanism drives the second vehicle body to rotate toward the second wall surface, and stops rotating after rotating to a preset angle, and then the rotation drive mechanism on the second vehicle body is started, and the rotation drive mechanism drives the sound insulation device to rotate 180°, so that the crawler structure faces the second wall surface; then the rotation mechanism is started again, and drives the second vehicle body to continue rotating, until the second vehicle body is attached to the second wall surface and stops rotating;

[0042] S22: Vehicle body closing: the second rotor mechanism on the sound insulation device is started, so that the second vehicle body is adsorbed on the second wall surface under the thrust of the second rotor mechanism; the rotation mechanism is started again, and the rotation mechanism drives the first vehicle body to gradually separate from the first wall surface, and rotate toward the direction of the second vehicle body until it closes with the first vehicle body, completing the surface change crawling.

[0043] As a further improvement of the above solution, the preset angle is 30 to 60 degrees.

[0044] As a further improvement of the above scheme, during the detection process, if the first vehicle body approaches the detection wall, the first rotor mechanism installed on the first vehicle body is started to generate a thrust balanced with the weight of the two vehicle bodies, and the travel drive device is started to drive the vehicle body to climb the wall;

[0045] If the second vehicle body approaches the detection wall, the second rotor mechanism installed on the sound insulation device is started to generate a thrust balanced with the weight of the two vehicle bodies, and the travel drive device is started at the same time to drive the vehicle body to climb the wall.

[0046] As a further improvement of the above solution, during the detection process, the first rotor mechanism on the first vehicle body and the second rotor mechanism on the sound insulation device are both started to generate thrust that is balanced with the weight of the two vehicle bodies.

[0047] Since the present invention adopts the above technical solution, the beneficial effects of this application are:

[0048] 1. The bridge wall climbing detection device based on the impact echo acoustic method of the present invention has a rotor mechanism disposed on the first vehicle body and the second vehicle body respectively in terms of driving power, and a wheel-type walking drive device is disposed on the first vehicle body. Such a configuration enables the detection device to integrate two power structures, the rotor mechanism and the wheel-type walking drive device. The rotor mechanism provides thrust to the device through air propulsion. On the one hand, the wheel drive assembly provides the detection device with a driving force for forward movement. On the other hand, the corresponding rotor mechanism generates thrust through high-speed rotation, so that the two vehicle bodies can balance their own weight to achieve wall climbing and climbing between different wall surfaces. In addition, in order to increase the friction between the detection device and the detection surface, a crawler structure is also disposed on the second vehicle body to contact the detection surface, and under the action of the corresponding rotor mechanism, the detection device can be stably adsorbed on the detection wall surface for wall climbing detection.

[0049] Furthermore, the first body and the second body of the detection device are connected by a rotating mechanism, and the rotating mechanism can drive any body to rotate relative to the other body to realize the crawling of the detection device. It can crawl and detect on a horizontal detection surface, and can also crawl and detect on a detection surface with a certain angle, so that defect detection can be performed on the back side, bridge deck, piers and other areas of the bridge, thereby solving the problem of the single detection area of ​​the current bridge detection device; at the same time, the detection device provided by the present invention has a high degree of automation, and can independently complete functions such as data collection, data analysis, and defect imaging, thereby improving detection efficiency.

[0050] In terms of detection, the detection device sets the knocking component on the power shaft of the travel drive device. As the power shaft rotates, it can drive the knocking component set thereon to intermittently knock the detection surface; at the same time, the knocking signal collection component set on the second body collects the knocking signal on the detection surface; such a setting enables the shock wave to be automatically generated as the power shaft of the travel drive device rotates, without the need to additionally set up other excitation devices, so that the entire shock wave generating device has a simple structure and is integrated with the travel drive device of the body, and can continuously generate continuous knocking signals; in addition, a sound insulation device is also provided on the second body of the present invention, and a microphone for collecting knocking signals is provided in the sound insulation device, so as to realize contactless reception of knocking signals; in short, as the detection device moves on the surface, back or piers of the bridge, continuous knocking signals can be automatically generated, thereby improving the detection efficiency.

[0051] 2. In the bridge wall climbing detection device based on the impact echo acoustic method of the present invention, the first vehicle body and the second vehicle body are connected by the rotating mechanism, and the sound insulation device on the second vehicle body is rotatably connected to the second vehicle body. Such an arrangement enables the detection device to change sides and crawl for detection. When it is necessary to change sides and crawl, it is only necessary to start the rotating mechanism first so that the first vehicle body and the second vehicle body are unfolded and form a preset angle, and then start the rotary drive mechanism to drive the sound insulation device to rotate 180°, so that the end of the sound insulation device with the track structure faces the detection surface, and the knocking signal acquisition component also faces the detection surface, and then start the rotating mechanism again until the two vehicle bodies are closed into one to realize the change of side and crawling.

[0052] 3. The present invention also provides a detection method for the above-mentioned bridge wall climbing detection device based on the impact echo audio method, including: non-destructive detection: a walking drive device drives the first vehicle body and the second vehicle body in a folded state to move forward; a knocking component arranged on the power shaft of the walking drive device intermittently knocks the detection surface as the power shaft rotates; a knocking signal acquisition component arranged on the second vehicle body collects the knocking signal on the detection surface and feeds the knocking signal back to the control system, the control system transmits the received knocking signal to the processing terminal, and the processing terminal performs defect detection by analyzing the knocking signal; wall climbing process: if the detection is performed on the same wall surface, the walking drive device drives the two vehicle bodies to move, and the corresponding first rotor mechanism and / or The second rotor mechanism is started to generate a thrust that is balanced with the weight of the vehicle body; if it is necessary to crawl on different wall surfaces, the first vehicle body or the second vehicle body is unfolded under the action of the rotating mechanism until the first vehicle body or the second vehicle body is in contact with the second wall surface, and the rotor mechanism that has been in contact with the second wall surface is started to make it adsorbed on the second wall surface; then the second vehicle body or the first vehicle body that stays on the first wall surface is rotated toward the second wall surface under the action of the rotating mechanism until it is folded into one body, and step S1 is continued; the detection method provided by the present invention has a high degree of automation, and can complete functions such as data collection, data analysis, and defect imaging by itself without manual control and judgment; and can send non-destructive detection data to a terminal, and the operating status of the device can be controlled by the terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0054] Figure 1 It is a three-dimensional schematic diagram of a bridge wall climbing detection device based on an impact echo acoustic frequency method disclosed by the present invention in a folded state;

[0055] Figure 2 It is a three-dimensional schematic diagram of a first vehicle body disclosed in the present invention;

[0056] Figure 3 It is a three-dimensional schematic diagram of a second vehicle body disclosed in the present invention;

[0057] Figure 4 It is a partial cross-sectional schematic diagram of the rotating mechanism disclosed in the present invention;

[0058] Figure 5 It is a schematic diagram of the internal structure of the sound insulation device disclosed in the present invention;

[0059] Figure 6 It is a schematic transverse cross-sectional view of the sound insulation device disclosed in the present invention;

[0060] Figure 7 It is a schematic diagram of the arrangement of the crawler track and the crawler wheel disclosed in the present invention;

[0061] Figure 8 It is a schematic diagram of the process of changing the wall surface and climbing the wall of the bridge wall climbing detection device based on the impact echo acoustic frequency method disclosed in the present invention;

[0062] Fig. 9 It is a schematic diagram of a control system of a bridge wall climbing detection device based on an impact echo acoustic frequency method disclosed in the present invention;

[0063] Reference numerals:

[0064] 1. first vehicle body; 11. first vehicle body; 111. hollow structure; 12. travel drive device; 121. wheel drive assembly; 122. wheel; 123. power shaft; 124. wheel drive motor; 125. encoder; 13. first rotor mechanism; 131. first rotor motor; 132. first rotor;

[0065] 14. striking assembly; 141. swing rod; 142. traction rope; 143. striking piece;

[0066] 2. Second vehicle body; 21. Second vehicle body; 22. Soundproofing device; 23. Soundproofing shell; 231. Soundproofing outer shell; 232. Soundproofing inner shell; 233. Partition board; 234. Soundproofing material;

[0067] 24. knock signal collection component; 241. microphone; 242. data acquisition instrument; 243. battery;

[0068] 25. Track structure; 251. Track shaft; 252. Rubber roller; 253. Track; 254. Track wheel; 255. Sound insulation baffle;

[0069] 26. Second rotor mechanism; 261. Second rotor motor; 262. Second rotor;

[0070] 27. Rotation drive mechanism; 271. Third rotating shaft; 272. Rotation drive motor;

[0071] 3. Rotation mechanism; 31. First rotating shaft; 32. Second rotating shaft; 33. First gear; 34. Second gear; 35. Connecting rod; 36. Face changing drive motor;

[0072] 4. Ultrasonic detection module. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] It should be noted that all directional indications in the embodiments of the present invention, such as first, second, up, down, left, right, front, back, etc., are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture as shown in the accompanying drawings. If the specific posture changes, the directional indication will also change accordingly.

[0075] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0076] The present invention will be further described below in conjunction with the accompanying drawings:

[0077] Embodiment 1:

[0078] Reference Figure 1-Figure 9 The present invention provides a bridge wall climbing detection device based on the impact echo acoustic method, comprising:

[0079] The first vehicle body 1 comprises a first vehicle body 11, a travel driving device 12 for driving the first vehicle body 11 to travel, and a first rotor 132 mechanism 13 for climbing a wall, a power shaft 123 of the travel driving device 12 is further provided with a knocking assembly 14, and the middle portion of the first vehicle body 11 has a hollow structure 111;

[0080] The second vehicle body 2 comprises a second vehicle body 21 and a sound insulation device 22 disposed on the second vehicle body 21, wherein the sound insulation device 22 is rotatably connected to the second vehicle body 21;

[0081] The sound insulation device 22 includes a sound insulation housing 23 and a knock signal collection component 24 disposed in the sound insulation housing 23;

[0082] The end of the sound insulation device 22 provided with the knock signal collection component 24 is provided with a crawler structure 25, and the end thereof away from the knock signal collection component 24 is provided with a second rotor 262 mechanism 26 for climbing a wall;

[0083] The first vehicle body 1 and the second vehicle body 2 are rotatably connected via the rotating mechanism 3, and under the action of the rotating mechanism 3, the bridge wall climbing detection device can change sides and crawl on a wall surface with an angle;

[0084] The first vehicle body 1 and the second vehicle body 2 are both provided with the ultrasonic detection module 4 for detecting whether there is an obstacle in front of the vehicle body or whether the vehicle body is suspended in the air; and the ultrasonic detection module 4 is electrically connected to the control system;

[0085] The control system, the rotating mechanism 3, the travel drive device 12, the first rotor 132 mechanism 13 and the second rotor 262 mechanism 26 are all electrically connected to the control system;

[0086] When testing on the same detection surface, the second vehicle body 2 and the first vehicle body 1 are stacked up and down in sequence to form a whole, and the sound insulation device 22 is stored in the hollow structure 111 of the first vehicle body, and the crawler structure 25 is made to be close to the detection surface, and the knocking signal acquisition component 24 faces the detection surface; when the ultrasonic detection module 4 detects that the front is suspended and needs to change the wall surface to crawl, the rotating mechanism 3 first drives the vehicle body away from the current detection surface to unfold and rotate toward the wall surface to be detected until the vehicle body is attached to the wall surface to be detected, and the rotor mechanism arranged on the vehicle body is started and generates thrust, so that the vehicle body is adsorbed on the wall surface to be detected; then the rotating mechanism 3 continues to rotate, driving the vehicle body remaining on the current detection surface to rotate toward the wall surface to be detected, until the two vehicle bodies are closed into one;

[0087] The bridge wall climbing detection device provided by the present invention has a rotor mechanism disposed on the first vehicle body 1 and the second vehicle body 2 respectively in terms of driving power, and a wheel 122 type walking drive device 12 is disposed on the first vehicle body 1. Such a configuration enables the detection device to integrate two power structures, the rotor mechanism and the wheel 122 type walking drive device 12. The rotor mechanism provides thrust to the bridge wall climbing detection device through air propulsion. On the one hand, the wheel 122 driving assembly 121 of the walking drive device 12 provides the detection device with a driving force to move forward. On the other hand, the corresponding rotor mechanism generates thrust by high-speed rotation, so that the two vehicle bodies can balance their own weight to achieve wall climbing and climbing between different wall surfaces. In addition, in order to increase the friction between the detection device and the detection surface, a crawler structure 25 is also disposed on the second vehicle body 2 to contact the detection surface, and under the action of the corresponding rotor mechanism, the detection device can be stably adsorbed on the detection wall surface for wall climbing detection.

[0088] Furthermore, the first body 1 and the second body 2 of the detection device are connected by a rotating mechanism 3, and the rotating mechanism 3 can drive any body to rotate relative to the other body to realize the crawling of the detection device. It can crawl and detect on a horizontal detection surface, and can also crawl and detect on a detection surface with a certain angle, so that defect detection can be performed on the back side, bridge deck, piers and other areas of the bridge, thereby solving the problem of the single detection area of ​​the current bridge detection device; at the same time, the detection device provided by the present invention has a high degree of automation, and can independently complete functions such as data collection, data analysis, and defect imaging, thereby improving the detection efficiency.

[0089] In terms of detection, the detection device sets the knocking component 14 on the power shaft 123 of the travel drive device 12. As the power shaft 123 rotates, the knocking component 14 set thereon can be driven to intermittently knock the detection surface; at the same time, the knocking signal collection component 24 set on the second body 2 collects the knocking signal on the detection surface; such a setting enables the shock wave to be automatically generated as the power shaft 123 of the travel drive device 12 rotates, without the need to additionally set up other excitation devices, so that the entire shock wave generating device has a simple structure and is integrated with the travel drive device 12 of the vehicle body, and can continuously generate continuous knocking signals; in addition, a sound insulation device 22 is also provided on the second body 2 of the present invention, and a microphone 241 for collecting knocking signals is provided in the sound insulation device 22, which can realize contactless reception of knocking signals; in short, as the detection device moves on the surface, back or piers of the bridge, continuous knocking signals can be automatically generated, thereby improving the detection efficiency.

[0090] As a preferred embodiment, the rotating mechanism 3 includes a first rotating shaft 31, a second rotating shaft 32, a first gear 33 arranged on the first rotating shaft 31, a second gear 34 arranged on the second rotating shaft 32 and meshing with the first gear 33, and a connecting rod 35 with two ends respectively connected to the first gear 33 and the second gear 34 for rotation; a face-changing driving motor 36 is arranged on either the first rotating shaft 31 or the second rotating shaft 32;

[0091] The first rotating shaft 31 is arranged at one end of the first vehicle body 11, and the second rotating shaft 32 is arranged at one end of the second vehicle body 21, and one end of the first vehicle body 11 and one end of the second vehicle body 21 are both arc-shaped structures; and in the present embodiment, two first gears 33 are arranged on the first rotating shaft 31 at intervals, and the second rotating shaft 32 is provided with a corresponding number of second gears 34 of the first gears 33; and in the present embodiment, the first rotating shaft 31 and the second rotating shaft 32 are respectively arranged at the ends of the corresponding vehicle bodies, so that any vehicle body can rotate around the rotating shaft of one of the vehicle bodies to expand or close the two vehicle bodies, thereby realizing the climbing-over crawling and changing-face crawling of the detection device; and the expansion or closing of the two vehicle bodies is realized by driving the two gears to rotate, which is convenient for controlling the rotation on the one hand, and the two meshing gears are self-locking on the other hand.

[0092] As a preferred embodiment, the walking drive device 12 includes at least two groups of wheel 122 drive components 121, and the two groups of wheel 122 drive components 121 are arranged on both sides of the first vehicle body 11; the wheel 122 drive component 121 includes a wheel 122, a power shaft 123 and a wheel drive motor 124 driven and connected to the power shaft 123; in this embodiment, four groups of wheel 122 drive components 121 are arranged on the first vehicle body 1, which are arranged in pairs at intervals on both sides of the first vehicle body 11, one group of the power shafts 123 is provided with an encoder 125, and any one of the power shafts 123 is provided with the knocking component 14; and in order to increase the grip of the wheel 122, the wheel 122 is provided with an anti-slip pad for increasing friction, and the material of the anti-slip pad is preferably silicone.

[0093] As a preferred embodiment, the knocking assembly 14 includes a swing rod 141, a traction rope 142 and a knocking piece 143 connected in sequence, one end of the swing rod 141 is fixedly arranged on the power shaft 123, and the other end is connected to the traction rope 142; along with the rotation of the power shaft 123, the swing rod 141 drives the knocking piece 143 to intermittently knock the detection surface; the knocking assembly 14 is arranged on the power shaft 123, and along with the rotation of the power shaft 123 on the walking drive device 12, an impact force can be automatically generated to knock the detection surface, thereby automatically generating an impact echo wave; there is no need to set up an additional excitation device, so that the shock wave generating device of the detection device has a simple structure and can automatically generate a continuous knocking signal;

[0094] In this embodiment, the knocking member 143 is a steel ball, one end of which is tied with a traction rope 142, and the other end of the traction rope 142 is connected to a rocker rod 141. The rocker rod 141 is a rigid rod. On the one hand, it is convenient to connect with the power shaft 123, and on the other hand, the rigid rod is not easy to be entangled on the power shaft 123 during the walking of the walking drive device 12. The setting of the traction rope 142 makes the swing of the steel ball flexible, so that a knocking signal can be generated stably.

[0095] As a preferred embodiment, two groups of first rotor 132 mechanisms 13 are arranged on the first vehicle body 11, and the two groups of first rotor 132 mechanisms 13 are respectively arranged on the first vehicle body 11 at intervals; the first rotor 132 mechanism 13 includes a first rotor 132 motor 131 and a first rotor 132, the first rotor 132 motor 131 is drivingly connected to the first rotor 132, and the first rotor 132 motor 131 is arranged on the first vehicle body 11; the arrangement of the two groups of rotor mechanisms provides sufficient thrust to the first vehicle body 1.

[0096] The rotor consists of a hub and several blades. The hub is mounted on the rotor shaft, and the blades, which are shaped like slender wings, are connected to the hub. Usually, the rotor has the following functions: generating lift: to balance the gravity of the carrier and the vertical force of the fuselage, horizontal tail, wings and other parts; generating forward horizontal force: to overcome air resistance and make the carrier move forward; generating lateral or backward horizontal force when hovering, so that the carrier can fly sideways or backward; generating force and torque to control the carrier or maneuver the flight, similar to the various control surfaces on an airplane.

[0097] In this solution, in order to reduce the overall weight of the detection device, the first vehicle body 11 and the second vehicle body 21 are both made of carbon fiber.

[0098] As a preferred embodiment, the sound insulation device 22 is rotatably connected to the second vehicle body 21 through a rotating drive mechanism 27; and the rotating drive mechanism 27 is electrically connected to the control system; the rotating drive mechanism 27 includes a third rotating shaft 271 and a rotating drive motor 272 drivingly connected to the third rotating shaft 271, the third rotating shaft 271 is fixedly connected to the sound insulation shell 23, and one end of the third rotating shaft 271 is rotatably connected to the second vehicle body 21; the setting of the rotating drive mechanism 27 facilitates the rotation of the sound insulation device 22 according to the detection surface, so that the knocking signal collection signal component and the track structure 25 face the detection surface; thereby, the detection device can realize surface-changing crawling.

[0099] In some embodiments, the rotary drive mechanism 27 is provided with two third rotating shafts 271, which are respectively arranged on both sides of the sound insulation shell 23, one end of each third rotating shaft 271 is fixedly connected to the sound insulation shell 23, and the other end is rotatably connected to the second vehicle body 21, and the other end of any third rotating shaft 271 is provided with the rotary drive motor 272.

[0100] As a preferred embodiment, the soundproof housing 23 includes a soundproof outer shell 231, a soundproof inner shell 232 and a partition 233. The partition 233 is transversely arranged in the soundproof outer shell 231 and divides the soundproof outer shell 231 into a first space and a second space.

[0101] The soundproof outer shell 231 and the soundproof inner shell 232 are both cylindrical shells with an opening at the bottom, and the soundproof inner shell 232 is sleeved in the soundproof outer shell 231 and is located in the second space; in the second space, a soundproof material 234 is provided in the area enclosed by the soundproof inner shell 232 and the partition 233; the soundproof outer shell 23 is provided with two spaces, which is convenient for arranging different structures in the two spaces, especially in the second space, a soundproof material 234 is provided in the area enclosed by the soundproof inner shell 232 and the partition 233, so that the soundproof inner shell 232 has a soundproof effect, which is convenient for setting a knocking signal echo collection device therein;

[0102] In this embodiment, the second rotor 262 mechanism 26 is arranged at the top of the first space, the crawler structure 25 is arranged at the bottom of the second space, and the echo collection device of the knocking signal collection component 24 is arranged in the sound insulation inner shell 232; specifically, the second rotor 262 mechanism 26 includes a second rotor 262 motor 261 and a second rotor 262, the second rotor 262 motor 261 is drivingly connected to the second rotor 262, and the second rotor 262 motor 261 is arranged in the first space;

[0103] The knock signal collection component 24 includes a microphone 241 for collecting knock signal echoes, a data collector 242 and a battery 243; the microphone 241 is connected to the data collector 242 via a cable, and the battery 243 provides power for the data collector 242; the microphone 241 is suspended in the sound insulation inner shell 232 via a cable, and the data collector 242 and the battery 243 are arranged on the partition 233, and are both located in the first space.

[0104] As a preferred embodiment, the crawler structure 25 includes a plurality of crawler shafts 251, crawler wheels 254 and crawlers 253 wound around the corresponding crawler wheels 254. The crawler shafts 251 are arranged in parallel and at intervals on the sound insulation shell 23, wherein two crawler shafts 251 are located in the front and rear areas enclosed by the sound insulation inner shell 232 and the sound insulation outer shell 231 (with the forward direction of the bridge wall climbing detection device as the front), and each end shaft section of the two crawler shafts 251 is respectively provided with the crawler wheel 254, and the middle shaft section is also respectively provided with a rubber roller 252, and the diameter of the rubber roller 252 is the same as the diameter of the crawler wheel 254;

[0105] The remaining track shafts 251 are located in the left and right areas enclosed by the soundproof inner shell 232 and the soundproof outer shell 231 (with the forward direction of the bridge wall climbing detection device as the front), and each track shaft 251 is provided with a track wheel 254; the side of the track wheel 254 is also provided with a soundproof baffle 255; the material of the track wheel 254 is preferably rubber material;

[0106] Such an arrangement increases the friction between the detection device and the detection surface through the arrangement of the track 253, which is more conducive to the adsorption of the two vehicle bodies on the corresponding wall surface; in addition, a sound insulation baffle 255 and a rubber roller 252 are arranged on the side of the track 253, so that the track structure 25 is enclosed into a relatively closed area, which has a good sound insulation effect, further reduces the interference of external noise, and is more conducive to the microphone 241 arranged in the sound insulation inner shell 232 to collect the echo of the knocking signal, thereby ensuring the accuracy of the collected signal.

[0107] As a preferred embodiment, the control system includes a vehicle body control module, a navigation sensor system, and a remote control system that are electrically connected in sequence. The navigation sensor system includes a global positioning system and a gyroscope, which are used to obtain the position of the bridge wall climbing detection device for high-precision navigation; the remote control system is communicatively connected to the knocking signal acquisition component 24 via wireless communication; the rotating mechanism 3, the walking drive device 12, the first rotor 132 mechanism 13 and the second rotor 262 mechanism 26 are all electrically connected to the vehicle body control module.

[0108] It should be noted that, in the initial state and the detection state, the first vehicle body 1 and the second vehicle body 2 are stacked together, the sound insulation device 22 is housed in the hollow structure 111 on the first vehicle body 11, and the knock signal collection component 24 and the track structure 25 face the detection plane.

[0109] Embodiment 2:

[0110] The present invention also provides a detection method of a bridge wall climbing detection device based on an impact echo acoustic method, the steps of which include:

[0111] S1: Nondestructive testing: The travel drive device 12 drives the first vehicle body 1 and the second vehicle body 2 in a folded state to move forward; at the same time, the knocking component 14 arranged on the power shaft 123 of the travel drive device 12 intermittently knocks the detection surface as the power shaft 123 rotates; at the same time, the knocking signal collection component 24 arranged on the second vehicle body 2 collects the knocking signal on the detection surface, and feeds the knocking signal back to the control system, and the control system transmits the received knocking signal to the processing terminal, and the processing terminal performs defect detection by analyzing the knocking signal;

[0112] S2: Wall climbing process: If the detection is performed on the same wall, the travel drive device 12 drives the two vehicle bodies to move, and at the same time, the corresponding first rotor 132 mechanism 13 and / or the second rotor 262 mechanism 26 are started to generate thrust balanced with the weight of the vehicle body;

[0113] If it is necessary to crawl on different walls, the first vehicle body 1 or the second vehicle body 2 is unfolded under the action of the rotating mechanism 3 until the first vehicle body 1 or the second vehicle body 2 is attached to the second wall, and the rotor mechanism attached to the second wall is started to make it adsorbed on the second wall; then the second vehicle body 2 or the first vehicle body 1 that stays on the first wall is rotated toward the second wall under the action of the rotating mechanism 3 until it is folded into one, and step S1 is continued.

[0114] The detection method provided by the present invention has a high degree of automation and can automatically complete functions such as data collection, data analysis, and defect imaging without manual control and judgment; and can send non-destructive detection data to a terminal, and can control the operating status of the device through the terminal.

[0115] As a preferred embodiment, during the wall climbing process in step S2, when it is necessary to change the wall climbing surface, the steps are as follows:

[0116] S21: The sound insulation device 22 rotates: first, the rotating mechanism 3 is started, and the rotating mechanism 3 drives the second vehicle body 2 to rotate toward the second wall surface, and stops rotating after rotating to a preset angle, and then the rotating driving mechanism 27 on the second vehicle body 2 is started, and the rotating driving mechanism 27 drives the sound insulation device 22 to rotate 180°, so that the crawler structure 25 faces the second wall surface; then the rotating mechanism 3 is started again, and drives the second vehicle body 2 to continue rotating, until the second vehicle body 2 is attached to the second wall surface and stops rotating;

[0117] S22: Closing of vehicle bodies: the second rotor 262 mechanism 26 on the sound insulation device 22 is started, so that the second vehicle body 2 is adsorbed on the second wall surface under the thrust of the second rotor 262 mechanism 26; the rotating mechanism 3 is started again, and the rotating mechanism 3 drives the first vehicle body 1 to gradually separate from the first wall surface, and rotate toward the direction of the second vehicle body 2 until it closes with the first vehicle body 1, completing the surface change crawling.

[0118] As a preferred embodiment, the preset angle is between 30 and 60 degrees. In the present embodiment, the preset angle is 30 degrees. When the second vehicle body 2 rotates 30 degrees relative to the first vehicle body 1, it stops rotating. In order to control the rotation angle, an encoder 125 is provided on the rotating shaft connected to the face-changing drive motor 36 to control the rotation angle.

[0119] In some embodiments, during the detection process, if the first vehicle body 1 approaches the detection wall, the first rotor 132 mechanism 13 installed on the first vehicle body 1 is started to generate a thrust that is balanced with the weight of the two vehicle bodies, and the travel drive device 12 is started to drive the vehicle body to climb the wall; since the rotation mechanism 3 adopts the method of two gears meshing, when the face-changing drive motor 36 stops rotating, due to the self-locking property of the gears, the second vehicle body 2 can be firmly closed on the first vehicle body 1;

[0120] If the second vehicle body 2 approaches the detection wall, the second rotor 262 mechanism 26 installed on the sound insulation device 22 is started to generate a thrust balanced with the weight of the two vehicle bodies, and the travel drive device 12 is started at the same time to drive the vehicle body to climb the wall; since the rotating mechanism 3 adopts two gear meshing methods, when the face-changing drive motor 36 stops rotating, due to the self-locking property of the gears, the first vehicle body 1 can be firmly closed on the second vehicle body 2.

[0121] In certain embodiments, during the detection process, the first rotor 132 mechanism 13 on the first vehicle body 1 and the second rotor 262 mechanism 26 on the sound insulation device 22 are both started to generate a thrust that is balanced with the weight of the two vehicle bodies, and combined with the self-locking property of the rotating mechanism 3, it is ensured that the two vehicle bodies can be stably detected in the closed state.

[0122] The above is a detailed introduction to the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the methods and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A bridge wall climbing detection device based on impact echo acoustic method, characterized in that: include: The first vehicle body comprises a first vehicle body, a travel drive device for driving the first vehicle body to travel, and a first rotor mechanism, a power shaft of the travel drive device is further provided with a striking assembly, and the middle portion of the first vehicle body has a hollow structure; A second vehicle body, comprising a second vehicle body, and a sound insulation device disposed on the second vehicle body, wherein the sound insulation device is rotatably connected to the second vehicle body; The sound insulation device comprises a sound insulation shell and a knock signal collection component arranged in the sound insulation shell; The end of the sound insulation device provided with the knock signal collection component is provided with a track structure, and the end away from the knock signal collection component is provided with a second rotor mechanism; The first vehicle body and the second vehicle body are rotatably connected via a rotating mechanism, and under the action of the rotating mechanism, the bridge wall climbing detection device can change sides and crawl on a wall surface with an angle; the rotating mechanism includes a first rotating shaft, a second rotating shaft, a first gear arranged on the first rotating shaft, a second gear arranged on the second rotating shaft and meshing with the first gear, and a connecting rod rotatably connected to the first gear and the second gear at both ends; a change-side driving motor is arranged on any of the first rotating shaft and the second rotating shaft; The first rotating shaft is arranged at one end of the first vehicle body, the second rotating shaft is arranged at one end of the second vehicle body, and both the one end of the first vehicle body and the one end of the second vehicle body are arc-shaped structures; A control system, wherein the rotating mechanism, the travel drive device, the first rotor mechanism and the second rotor mechanism are all electrically connected to the control system; An ultrasonic detection module is provided on both the first vehicle body and the second vehicle body, and is used to detect whether there is an obstacle in front of the vehicle body or whether the vehicle body is suspended in the air; and the ultrasonic detection module is electrically connected to the control system.

2. A bridge wall climbing detection device based on impact echo acoustic method according to claim 1, characterized in that: The travel drive device includes at least two groups of wheel drive assemblies, and the two groups of wheel drive assemblies are arranged on both sides of the first vehicle body; the wheel drive assembly includes a wheel, a power shaft and a wheel drive motor drivingly connected to the power shaft.

3. A bridge wall climbing detection device based on impact echo acoustic method according to claim 2, characterized in that: The knocking assembly includes a rocker arm, a traction rope and a knocking piece connected in sequence, one end of the rocker arm is fixedly arranged on the wheel axle, and the other end is connected to the traction rope; along with the rotation of the wheel axle, the rocker arm drives the knocking piece to intermittently knock the detection surface.

4. The bridge wall climbing detection device based on the impact echo acoustic method according to claim 1 is characterized in that: The sound insulation device is rotatably connected to the second vehicle body through a rotation drive mechanism; the rotation drive mechanism includes a third rotating shaft and a rotation drive motor drivingly connected to the third rotating shaft, the third rotating shaft is fixedly connected to the sound insulation shell, and one end of the third rotating shaft is rotationally connected to the second vehicle body.

5. The bridge wall climbing detection device based on the impact echo acoustic method according to claim 1 is characterized in that: The soundproof housing comprises a soundproof outer shell, a soundproof inner shell and a partition, wherein the partition is transversely arranged in the soundproof outer shell and divides the soundproof outer shell into a first space and a second space; The soundproof outer shell and the soundproof inner shell are both cylindrical shells with an opening at the bottom, and the soundproof inner shell is inserted into the soundproof outer shell and is located in the second space; in the second space, soundproof material is provided in the area enclosed by the soundproof inner shell and the partition.

6. A bridge wall climbing detection device based on impact echo acoustic method according to claim 5, characterized in that: The knocking signal collection component includes a microphone, a data collector and a battery for collecting knocking signals; the microphone is connected to the data collector via a cable, and the battery provides power for the data collector; the microphone is suspended in the sound insulation inner shell via a cable, and the data collector and the battery are arranged on the partition and are both located in the first space.

7. A detection method for a bridge wall climbing detection device based on an impact echo acoustic method as claimed in any one of claims 1 to 6, the steps comprising: S1: Nondestructive testing: The travel drive device drives the second vehicle body and the first vehicle body stacked one above the other to move forward; A knocking component is provided on the power shaft of the travel drive device, and intermittently knocks the detection surface as the power shaft rotates; a knocking signal collection component is provided on the second vehicle body, and collects the knocking signal on the detection surface, and feeds the knocking signal back to the control system, and the control system transmits the received knocking signal to the processing terminal, and the processing terminal performs defect detection by analyzing the knocking signal; S2: Wall climbing process: If the detection is performed on the same wall, the travel drive device drives the two vehicle bodies to move, and at the same time, the corresponding first rotor mechanism and / or second rotor mechanism is started to generate thrust balanced with the weight of the vehicle body; If it is necessary to crawl on different walls, the first vehicle body or the second vehicle body is unfolded under the action of the rotating mechanism until the first vehicle body or the second vehicle body is attached to the second wall, and the rotor mechanism that has been attached to the second wall is started to make it adsorbed on the second wall; then the second vehicle body or the first vehicle body that stays on the first wall is rotated toward the second wall under the action of the rotating mechanism until it is folded into one, and step S1 is continued.

8. The detection method according to claim 7, characterized in that: During the wall climbing process in step S2, when it is necessary to change the wall climbing surface, the steps are as follows: S21: Rotation of the sound insulation device: First, the rotation mechanism is started, and the rotation mechanism drives the second vehicle body to rotate toward the second wall surface, and stops rotating after rotating to a preset angle, and then the rotation drive mechanism on the second vehicle body is started, and the rotation drive mechanism drives the sound insulation device to rotate 180°, so that the crawler structure faces the second wall surface; then the rotation mechanism is started again, and drives the second vehicle body to continue rotating, until the second vehicle body is attached to the second wall surface and stops rotating; S22: Closing of vehicle bodies: the second rotor mechanism on the sound insulation device is started, so that the second vehicle body is adsorbed on the second wall surface under the thrust of the second rotor mechanism; the rotating mechanism is started again, and the rotating mechanism drives the first vehicle body to gradually separate from the first wall surface, and rotate toward the direction of the second vehicle body until it closes with the first vehicle body to complete the surface change crawling.

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