Automatic inspection platform for steel box girder defects and its use method

Abstract

The present invention discloses an automatic inspection platform for steel box girder defects and a method for using the same. The inspection platform includes a track, a platform body, a rotation system module, a lifting and telescopic module, and a picture acquisition module; the platform body is provided with a built-in drive motor, and a set of wheels are installed on both sides of the lower part of the platform body; the power output end of the built-in drive motor is connected to the wheels, and the wheels are installed in the track; a platform travel limit / locking device is provided between the lower part of the platform body and the track; the lifting and telescopic module includes a hydraulic lifting device, a crossbeam, and a crossbeam stabilization device; the rotation system module is installed in the middle of the platform body; the lower end of the hydraulic lifting device is connected to the power output end of the rotation system module, and the upper end of the hydraulic lifting device is connected to the middle position of the crossbeam; the picture acquisition module is arranged on the crossbeam. The present invention realizes the automatic detection and data processing of internal defects of steel box girders, and improves the efficiency and quality of internal defect detection of steel box girders.

Description

Technical Field

[0001] The present invention relates to the field of internal defect detection of steel box girders, and in particular to an automatic inspection platform for defects in steel box girders and a method for using the platform. Background Art

[0002] Steel box girders are widely used in long-span suspension bridges and cable-stayed bridges due to their advantages such as low deadweight, high bending and torsional rigidity, and good wind stability. Long-span suspension and cable-stayed bridges are generally located on important traffic arteries. With the continuous development of the economy, traffic volume has increased dramatically, and overload problems have frequently occurred. After decades or even more than ten years of use, steel bridge decks have begun to suffer from fatigue cracking. Once fatigue cracks appear, they may develop rapidly. Several cross-river steel bridge decks in my country have more than a thousand fatigue cracks. Tracking and observing these fatigue cracks has become an important part of bridge safety monitoring. Currently, fatigue crack monitoring generally uses manual photography. Steel box girders are characterized by many compartments, a large number of U-ribs in each compartment, and poor internal lighting. Fatigue crack tracking is a labor-intensive task, and the quality of manual photography is highly variable. Mobile phones are often used for photography, and editing image names is cumbersome. Previous fatigue crack tracking work on real bridges reveals that the large number of images can easily lead to errors such as misaligned positions when uploaded to the bridge tracking system. The angle and distance of each tracking shot vary, hindering direct comparison. Some photos are unclear. Manual photo processing is time-consuming and inefficient, hindering timely implementation of appropriate maintenance measures. The interior of the steel box girder is difficult to maneuver, making it difficult for traditional machinery to navigate freely within it, and photo processing efficiency remains low.

[0003] It can be seen that how to track and detect fatigue cracks quickly and with high quality; how to process tracking images and upload them to relevant management systems have become issues that need to be solved urgently. Summary of the Invention

[0004] Purpose of the invention: The purpose of the present invention is to provide an automatic inspection platform for steel box girder defects and a method for using the same. The device can set operating parameters, move along a fixed track inside the steel box girder, track and detect fatigue defects inside the steel box girder, and perform super-resolution reconstruction of photos, thereby improving tracking efficiency while ensuring the quality of tracking photos.

[0005] Technical solution:

[0006] An automatic inspection platform for steel box girder defects, comprising a track, a platform body, a rotation system module, a lifting and telescopic module, and an image acquisition module; wherein:

[0007] The platform body is provided with a built-in drive motor, and a set of wheels are installed on both sides of the lower part of the platform body; the power output end of the built-in drive motor is connected to the wheels, and the wheels are installed in the track; a platform running limit / locking device is provided between the lower part of the platform body and the track, and the platform running limit / locking device is provided in close proximity to the position where the wheels are arranged; when the platform running limit / locking device is in an unlocked state, the platform body is driven by the power of the built-in drive motor and moves along the track through the wheels; when the platform running limit / locking device is in a locked state, the lower part of the platform body is fixedly connected to the track as a whole;

[0008] The lifting-telescopic module includes a hydraulic lifting device, a crossbeam and a crossbeam stabilizing device;

[0009] The swivel system module is installed in the middle of the platform body; the lower end of the hydraulic lifting device is connected to the power output end of the swivel system module, and the upper end of the hydraulic lifting device is connected to the middle of the crossbeam; there are at least two crossbeam stabilizers, which are evenly distributed around the axis of the hydraulic lifting device. The upper end of the crossbeam stabilizer is connected to the crossbeam, and the lower end is connected to the swivel system module.

[0010] The picture acquisition module is arranged on the crossbeam.

[0011] Preferably, the platform travel limiting / locking device comprises an L-shaped steel and a limiting pulley;

[0012] There are two pieces of L-shaped steel, which are welded to both sides of the wheel respectively. There is a pair of limit pulleys on the inner side of the L-shaped steel on each side relative to the track. The L-shaped steel can be retracted; by contracting the lower part of the L-shaped steel, the lower part of the L-shaped steel is close to hooking the upper flange of the I-shaped track to achieve the fastening between the platform body and the track; or by extending the L-shaped steel, the platform body is only limited by the track in the horizontal direction.

[0013] Preferably, there are four wheels in total; two wheels are installed on each side of the lower part of the platform body; and the power of the built-in drive motor is evenly distributed to the four wheels through the transmission shaft A.

[0014] Preferably, the rotation system module includes a drive motor, a large gear and a small gear. There are four small gears distributed above the platform body; the power output end of the drive motor is evenly transmitted to the four small gears through the transmission shaft B, and each small gear is engaged with the large gear; the lower end of the hydraulic lifting device is linked to the middle rotating shaft of the large gear.

[0015] Preferably, the beam stabilizing device includes a fixed hinge support, a hydraulic lifting rod, a pulley and a U-shaped clip; the bottom of the hydraulic lifting rod is connected to the rotation system module through the fixed hinge support, while the upper part of the hydraulic lifting rod is supported in the slide groove at the bottom of the beam through the pulley and locked to the beam through the U-shaped clip.

[0016] Preferably, a rectangular groove is provided on the side of the crossbeam; one end of the U-shaped clip is engaged with the top end of the hydraulic lifting and retracting rod, and the other end is engaged with the rectangular groove.

[0017] Preferably, the top end of the hydraulic lifting device is vertically welded to the middle of the crossbeam, and a corner brace is provided at the right angle.

[0018] Preferably, the picture acquisition module includes a rotatable camera, a ranging device, and a lighting device; the bottom of the rotatable camera is a roller, which can move freely in the groove on the upper part of the beam, and the rotatable camera has seven adjustment levels of 0°, 30°, 60°, 90°, 120°, 150°, and 180°.

[0019] Preferably, the crossbeam is divided into five sections for telescopic operation, the groove on the upper portion of the crossbeam is smoothed at the telescopic portion, and a blocking device is provided in the outermost groove of the crossbeam.

[0020] Another technical object of the present invention is to provide a method for using the automatic inspection platform for steel box girder defects, which is implemented based on the above-mentioned automatic inspection platform for steel box girder defects and includes the following steps:

[0021] (1) Installation and commissioning: Before crack tracking, install the platform body on the track on the manhole of the steel box girder, and conduct pre-operation tests on the platform body, platform travel limit / locking device, platform body built-in lithium battery energy storage device, drive motor, control system, image processing system, data storage system, rotation system module, hydraulic lifting device, beam stabilization device, and image acquisition module;

[0022] (2) Parameter setting: Set the platform's main running route, photo position and angle, photo pixels, and fill light parameters on the control interface;

[0023] (3) Platform deployment: signal points are set on the track in the middle of the cabin and 30 cm away from the transverse partition as the stopping points for the platform body to move. Each time it enters a cabin, the platform body will first move to the middle of the cabin, then the upper part will rotate 90°, and the device will move closer to the transverse partition. When it is 30 cm away from the transverse partition, the platform travel limit / locking device will work to fix the platform body on the track, and then the hydraulic lifting device will rise and stop 30 cm away from the bottom of the U rib, and then the crossbeam will be extended;

[0024] (3) Automatic photography: When the crossbeam is extended, the rotatable camera of the image acquisition module takes pictures of the diaphragm-top plate and top plate-U rib areas corresponding to the left, middle, and right areas of the crossbeam, and performs distance measurement while taking pictures;

[0025] (4) Image processing: The collected photos are judged for clarity, and super-resolution reconstruction is performed on the pictures with poor clarity. If the clarity requirements are still not met, the pictures are re-collected, and the pictures that meet the requirements are directly uploaded to the data storage system.

[0026] (5) Platform retraction: When the inspection of a cabin is completed, the image acquisition module first moves to the middle of the beam, and then the beam retracts. After the beam retracts, the hydraulic lifting device retracts, and then the platform rotates under the drive of the drive motor. Then, the platform can enter the next cabin and repeat the above steps.

[0027] Beneficial effects:

[0028] 1. The present invention can quickly move to any cabin to complete the tracking and detection task by relying on the track arranged on the manhole.

[0029] 2. The three sets of image acquisition modules work simultaneously, which improves the efficiency of tracking and detection.

[0030] 3. Parameterize the photography work to effectively ensure the quality of the pictures.

[0031] 4. Image processing is performed immediately after image acquisition, and the images are uniformly encoded according to their positions. Blurred images are reconstructed with super-resolution. If the photos still do not meet the requirements, they are immediately re-acquired and then immediately transmitted and stored in the data storage system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the overall structure of the automatic inspection platform for steel box girder defects of the present invention after it is deployed inside the steel box girder;

[0033] Figure 2 This is a schematic diagram of the overall structure of the automatic inspection platform for steel box girder defects after it is deployed;

[0034] Figure 3 yes Figure 1 Schematic diagram of the structure of the middle platform travel limit device;

[0035] Figure 4 yes Figure 1 A top view of the gear meshing at the connection between the central rotating body system and the platform body;

[0036] Figure 5 yes Figure 1 Schematic diagram of the connection structure between the hydraulic lifting device and the crossbeam;

[0037] Figure 6 yes Figure 1 Schematic diagram of the structure of the center beam stabilizing device;

[0038] Figure 7 yes Figure 1 Schematic diagram of the picture acquisition module;

[0039] Figure 8 It is a schematic diagram of the overall structure of the automatic inspection platform for steel box girder defects described in the present invention after being retracted.

[0040] Figures 1 to 8 Middle: Platform body 1; drive motor 2; lifting and telescopic module 3; image acquisition module 4; wheels 5; platform travel limit device 6; hydraulic lifting device 7; beam 8; beam stabilizing device 9; L-shaped steel 10; limiting pulley 11; small gear 12; large gear 13; fixed hinge support 14; hydraulic lifting and telescopic rod 15; pulley 16; U-shaped buckle 17; rectangular groove 18; angle brace 19; rotatable camera 20; roller 21; blocking device 22; track 23. DETAILED DESCRIPTION

[0041] The present invention will be further described below with reference to the accompanying drawings.

[0042] like Figures 1 to 8 As shown, the automatic inspection platform for steel box girder defects of the present invention comprises: a platform body 1, a rotation system module, a lifting-telescopic module 3, and a picture acquisition module 4; Figure 1 The platform is deployed inside the steel box girder. At this time, the platform moves to a position 30 cm away from the diaphragm and stops.

[0043] The platform body 1 is equipped with a lithium battery energy storage device, a control system, an image processing system and a data storage system, and two sets of wheels 5 are installed at the bottom of the platform body 1. Figure 3 As shown, each set of wheels 5 has two wheels, meaning four wheels 5 are mounted on the lower portion of the platform body 1. A built-in drive motor is provided within the platform body 1. The power of the built-in drive motor is evenly distributed to the four wheels 5 at the bottom of the platform via a drive shaft. A lithium battery energy storage device is electrically connected to the built-in drive motor, thereby providing power to the built-in drive motor.

[0044] The platform body 1 is provided with a platform travel limit / locking device at the position where the wheels 5 are arranged; the platform travel limit / locking device includes an L-shaped steel 10 and a limit pulley 11; there are two pieces of L-shaped steel 10, which are respectively welded to the two sides of the wheel 5. The inner side of the L-shaped steel 10 on each side is provided with a pair of limit pulleys 11 at a position relative to the track 23, and the L-shaped steel 10 is retractable. By contracting the lower part of the L-shaped steel 10, the lower part of the L-shaped steel 10 is brought close to hooking the upper flange of the I-shaped track 23, thereby firmly fixing the platform body 1 and the track 23. At this time, the platform travel limit / locking device is in a locked state, and the platform body 1 is locked to the track 23, that is, the platform body 1 cannot move and is in a picture acquisition state, and image information of the target area is acquired through the picture acquisition module 4. Or the L-shaped steel 10 is extended so that the platform body 1 is limited only laterally with the track 23. At this time, the platform travel limit / locking device is in the unlocked state, and driven by the built-in drive motor, the platform body 1 moves along the track 23 through the wheels.

[0045] like Figure 1 As shown, the lifting-telescopic module 3 includes a hydraulic lifting device 7, a crossbeam 8, and a crossbeam stabilizing device 9; the hydraulic lifting device 7 is welded above the swivel system module, and the top of the hydraulic lifting device 7 is vertically welded to the middle of the crossbeam 8, and a corner brace 19 is provided at a right angle, as shown in FIG. Figure 5 shown.

[0046] like Figure 6 As shown, the crossbeam stabilization device 9 of the present invention includes a fixed hinge support 14, a hydraulic telescopic rod 15, a pulley 16, and a U-shaped clip 17. The bottom of the hydraulic telescopic rod 15 is connected to the swivel system via the fixed hinge support 14, which is located on the side of the swivel system. The upper portion of the hydraulic telescopic rod 15 is supported by the pulley 16 in a slot at the bottom of the crossbeam 8. The U-shaped clip 17 restrains the top of the hydraulic telescopic rod 15 in a fixed position. The U-shaped clip 17 restrains the top of the hydraulic telescopic rod 15 in a rectangular groove 18 on the side of the crossbeam 8, limiting the displacement of the upper portion of the hydraulic telescopic rod 15 and thus transferring the load of the crossbeam 8 to the hydraulic telescopic rod 15.

[0047] like Figure 4 As shown, the swivel system module of the present invention includes a drive motor, a large gear 13, and four small gears 12. A lithium battery energy storage device provides power to the drive motor, and the power output of the drive motor is evenly transmitted to the four small gears 12 via a transmission shaft. The four small gears 12 are arranged above the platform body 1 and mesh with the large gear 13. The hydraulic lifting device 7 is welded to the large gear 13.

[0048] The upper part of the crossbeam 8 is provided with a picture acquisition module 4, which includes three rotatable cameras 20, a distance measuring device, and a lighting device. Figure 7As shown, the bottom of the rotatable camera 20 is a roller 21, which can move freely in the groove on the upper part of the beam 8. The beam 8 is divided into five sections for telescopic operation, the groove on the upper part of the beam 8 is smoothed at the telescopic position, and the outermost groove of the beam 8 is provided with a blocking device 22.

[0049] like Figure 8 As shown, after the device is retracted, it can be freely moved along the manhole to any cabin.

[0050] It can be seen that the present invention realizes the automatic detection and data processing of internal defects of steel box girders, and improves the efficiency and quality of internal defect detection of steel box girders. The platform travel limit device can ensure the overall stability of the platform during tracking detection; the built-in lithium battery energy storage device can ensure that the platform works without power; the drive motor provides power for the platform to move inside the steel box girder and the rotation of the swivel system module, and the control system ensures that the device operates according to the set parameters. The swivel system module and the lifting and telescopic modules ensure that the device can work across the cabin through the manhole; the beam stabilization device ensures the vertical stiffness of the beam during image acquisition, and the image processing system can perform super-resolution reconstruction of the image to ensure the quality of the tracking image. The platform has a fast shooting speed and parameterized shooting position, which is convenient for comparative analysis of previous tracking data, effectively avoiding the randomness of the quality of photos taken by humans, and improving the efficiency of defect tracking.

[0051] Based on the above-mentioned automatic inspection platform for steel box girder defects, the present invention provides a method for using the automatic inspection platform for steel box girder defects, comprising the following steps:

[0052] (1) Installation and commissioning: Before crack tracking, the platform is installed on the track 23 on the manhole of the steel box girder, and a pre-operation test is performed on the platform body 1, the platform travel limit device 6, the built-in lithium battery energy storage device of the platform body 1, the drive motor, the control system, the image processing system, the data storage system, the rotation system, the hydraulic lifting device 7, the crossbeam stabilization device 9, and the image acquisition module 4.

[0053] (2) Parameter setting: Set the platform's running route, photo position and angle, photo pixels, and fill light parameters on the control interface.

[0054] (3) Platform deployment: Set signal points on the track 23 in the middle of the cabin and 30 cm away from the transverse partition as the stopping points for the platform movement. Each time the platform enters a cabin, it will first move to the middle of the cabin, then rotate 90° at the top, and then move closer to the transverse partition. When it is 30 cm away from the transverse partition, it will stop. The platform travel limit device 6 will work to fix the platform on the track 23, and then the hydraulic lifting device 7 will rise and stop 30 cm away from the bottom of the U rib, and then the beam 8 will extend.

[0055] (3) Automatic photography: When the crossbeam 8 is extended, the image acquisition module 4 can rotate the camera 20 to take pictures of the diaphragm-top plate and top plate-U rib areas corresponding to the left, middle and right areas of the crossbeam 8, and measure the distance while taking pictures.

[0056] (4) Image processing: The collected photos are judged for clarity, and super-resolution reconstruction is performed on the pictures with poor clarity. If the clarity requirements are still not met, the pictures are re-collected, and the pictures that meet the requirements are directly uploaded to the data storage system.

[0057] (5) Platform retraction: When the inspection of a cabin is completed, the image acquisition module 4 first moves to the middle of the beam 8, and then the beam 8 retracts. After the beam 8 retracts, the hydraulic lifting device 7 retracts and then rotates under the drive of the drive motor 2. Then, the platform can enter the next cabin and repeat the above steps.

Claims

1. An automatic inspection platform for steel box girder defects, characterized by: The platform comprises a track, a platform body, a rotation system module, a lifting-telescopic module and an image acquisition module; wherein: the platform body is provided with a built-in drive motor, and a set of wheels are installed on both sides of the lower part of the platform body; the power output end of the built-in drive motor is connected to the wheels, and the wheels are installed in the track; a platform running limit / locking device is provided between the lower part of the platform body and the track, and the platform running limit / locking device is provided adjacent to the position where the wheels are arranged; when the platform running limit / locking device is in an unlocked state, the platform body is driven by the power of the built-in drive motor and moves along the track through the wheels; when the platform running limit / locking device is in a locked state, the lower part of the platform body is fixedly connected to the track as a whole; The lifting-telescopic module includes a hydraulic lifting device, a crossbeam and a crossbeam stabilizing device; The swivel system module is installed in the middle of the platform body; the lower end of the hydraulic lifting device is connected to the power output end of the swivel system module, and the upper end of the hydraulic lifting device is connected to the middle of the crossbeam; there are at least two crossbeam stabilizers, which are evenly distributed around the axis of the hydraulic lifting device. The upper end of the crossbeam stabilizer is connected to the crossbeam, and the lower end is connected to the swivel system module. The picture acquisition module is arranged on the beam; The crossbeam is retractable, and the rotatable camera included in the picture acquisition module can move on the crossbeam.

2. The automatic inspection platform for steel box girder defects and its use method according to claim 1 are characterized by: The platform travel limiting / locking device includes an L-shaped steel and a limiting pulley; There are two pieces of L-shaped steel, which are welded to both sides of the wheel respectively. There is a pair of limiting pulleys on the inner side of the L-shaped steel on each side relative to the track. The L-shaped steel can be retracted; by contracting the lower part of the L-shaped steel, the lower part of the L-shaped steel is close to hooking the upper flange of the I-shaped track to achieve the fastening between the platform body and the track; or by extending the L-shaped steel, the platform body is only limited to the track in the horizontal direction.

3. The automatic inspection platform for steel box girder defects and its use method according to claim 1 are characterized by: There are four wheels in total; two wheels are installed on each side of the lower part of the platform body; the power of the built-in drive motor is evenly distributed to the four wheels through the transmission shaft A.

4. The automatic inspection platform for steel box girder defects and its use method according to claim 1 are characterized by: The rotation system module includes a drive motor, a large gear and a small gear. There are four small gears distributed above the platform body; the power output end of the drive motor is evenly transmitted to the four small gears through the transmission shaft B, and each small gear is engaged with the large gear; the lower end of the hydraulic lifting device is linked to the middle rotating shaft of the large gear.

5. The automatic inspection platform for steel box girder defects and its use method according to claim 1 are characterized by: The beam stabilization device includes a fixed hinge support, a hydraulic lifting rod, a pulley and a U-shaped clip; the bottom of the hydraulic lifting rod is connected to the rotation system module through the fixed hinge support, while the upper part of the hydraulic lifting rod is supported in the slide groove at the bottom of the beam through the pulley and locked with the beam through the U-shaped clip.

6. The automatic inspection platform for steel box girder defects and the method for using the same according to claim 5 are characterized by: A rectangular groove is provided on the side of the crossbeam; one end of the U-shaped buckle is clamped with the top end of the hydraulic lifting and retracting rod, and the other end is clamped with the rectangular groove.

7. The automatic inspection platform for steel box girder defects and the method for using the same according to claim 1 are characterized by: The top end of the hydraulic lifting device is vertically welded to the middle of the crossbeam, and a corner brace is provided at a right angle.

8. The automatic inspection platform for steel box girder defects and the method for using the same according to claim 1 are characterized by: The picture acquisition module includes a rotatable camera, a ranging device, and a lighting device; the bottom of the rotatable camera is a roller, which can move freely in the groove on the upper part of the beam. The rotatable camera has seven adjustment levels of 0°, 30°, 60°, 90°, 120°, 150°, and 180°.

9. The automatic inspection platform for steel box girder defects and the method for using the same according to claim 1 are characterized by: The crossbeam is telescopically divided into five sections, the groove on the upper part of the crossbeam is smoothed at the telescopic position, and a blocking device is provided in the outermost groove of the crossbeam.

10. A method for using an automatic inspection platform for steel box girder defects, implemented based on the automatic inspection platform for steel box girder defects according to any one of claims 1 to 9, characterized in that: The following steps are involved: (1) Installation and commissioning: Before crack tracking, install the platform body on the track on the manhole of the steel box girder, and conduct pre-operation tests on the platform body, platform travel limit / locking device, platform body built-in lithium battery energy storage device, drive motor, control system, image processing system, data storage system, rotation system module, hydraulic lifting device, beam stabilization device, and image acquisition module; (2) Parameter setting: Set the platform's main running route, photo position and angle, photo pixels, and fill light parameters on the control interface; (3) Platform deployment: signal points are set on the track in the middle of the cabin and 30 cm away from the transverse partition as the stopping points for the platform body to move. Each time it enters a cabin, the platform body will first move to the middle of the cabin, then the upper part will rotate 90°, and the device will move closer to the transverse partition. When it is 30 cm away from the transverse partition, the platform travel limit / locking device will work to fix the platform body on the track, and then the hydraulic lifting device will rise and stop 30 cm away from the bottom of the U rib, and then the crossbeam will be extended; (4) Automatic photography: When the crossbeam is extended, the rotatable camera of the image acquisition module takes pictures of the diaphragm-top plate and top plate-U rib areas corresponding to the left, middle and right areas of the crossbeam, and performs distance measurement while taking pictures; (5) Image processing: Determine the clarity of the collected photos and perform super-resolution reconstruction on the pictures with poor clarity. If the clarity requirements are still not met, re-collect them and upload the pictures that meet the requirements directly to the data storage system. (6) Platform retraction: When the inspection of a cabin is completed, the image acquisition module first moves to the middle of the beam, and then the beam retracts. After the beam retracts, the hydraulic lifting device retracts, and then the platform rotates under the drive of the drive motor. Then, the platform can enter the next cabin and repeat the above steps.

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