Bridge crack measuring device and method for bridge engineering

Abstract

The application discloses a bridge crack measuring device and method for bridge engineering, and relates to the technical field of bridge engineering maintenance and maintenance, the device comprises a main support rod, a sliding sleeve group and at least three groups of walking assemblies, the main support rod is connected with a wiring drum, the other end is provided with a rotating table, and an image acquisition device is arranged on the rotating table; the sliding sleeve group comprises a first main sliding sleeve, a second main sliding sleeve and a secondary sliding sleeve, the first main sliding sleeve is sleeved on the main support rod and is rotationally connected with the wiring drum, the second main sliding sleeve is sleeved on the main support rod, the secondary sliding sleeve is sleeved on the main support rod, and a compression spring sleeved on the main support rod is arranged between the secondary sliding sleeve and the first main sliding sleeve; the at least three groups of walking assemblies are uniformly arranged around the circumference of the main support rod. The method is realized based on the device. Compared with the existing pipeline detection device or road surface detection device, the device and the method can simultaneously realize the walking of curved surfaces and planes, and are no longer limited to the case of being used for special bridges.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bridge engineering inspection and maintenance, in particular, relates to a bridge crack measuring device and method for bridge engineering. BACKGROUND

[0002] In bridge engineering, the built bridges are often detected for operation and maintenance, which includes bridge crack detection project. The bridge cracks are surveyed and measured to determine the crack damage type for corresponding repair process. In actual operation, the bridge deck, bridge suspender, bridge abutment and other structures are detection objects. The crack measurement on the bridge surface is relatively easy, and the corresponding equipment and tools are relatively mature. However, the crack measurement on the bridge suspender, bridge abutment or steel structure of the bridge support is difficult due to the position and terrain, which makes it difficult for maintenance personnel to operate the equipment or tools to measure the cracks on the above structures.

[0003] In the prior art, although there are special crack measuring devices for the upper surface and side surface of the bridge and the bridge suspender, these devices are special tools with poor applicability. They are basically special equipment matched with special bridge structures, and cannot be applied to most bridge crack measurement scenes, which has strong use limitations.

[0004] Therefore, the present application is proposed. SUMMARY

[0005] The first object of the present application is to provide a bridge crack measuring device for bridge engineering. The device can adapt to the walking operation inside and outside the pipeline and on the plane by changing the attitude of the walking assembly, and has the basic function of measuring the cracks on most structure surfaces of the bridge, which has wide applicability.

[0006] The second object of the present application is to provide a bridge crack measuring method for bridge engineering. The method can adjust the direction of crack measurement based on the walking on different base surfaces, and ensure the smoothness of the operation.

[0007] The embodiments of the present application are implemented as follows:

[0008] The first aspect is a bridge crack measuring device for bridge engineering, comprising a main support rod, a sliding sleeve set, and at least three groups of walking assemblies. One end of the main support rod is connected with a wire drum, and the other end is provided with a rotating table. An image acquisition device is arranged on the rotating table. The sliding sleeve set comprises a first main sliding sleeve, a second main sliding sleeve, and a secondary sliding sleeve. The first main sliding sleeve is sleeved on the main support rod and is rotationally connected with the wire drum. The second main sliding sleeve is sleeved on the main support rod. The secondary sliding sleeve is sleeved on the main support rod, and a compression spring is arranged between the secondary sliding sleeve and the first main sliding sleeve. The at least three groups of walking assemblies are uniformly arranged around the circumference of the main support rod. Each walking assembly comprises a walking frame, a wheel frame, and a first connecting rod, a second connecting rod, and a secondary connecting rod. The first connecting rod is hingedly connected between the first main sliding sleeve and the walking frame. The second connecting rod is hingedly connected between the second main sliding sleeve and the walking frame. The first connecting rod and the second connecting rod are parallel to each other. The secondary connecting rod is hingedly connected between the second connecting rod and the secondary sliding sleeve. In at least two adjacent walking assemblies, the wheel frame and the walking frame are hingedly connected to each other, so that the two wheel frames can rotate towards each other or away from each other, thereby being arranged in parallel or at an angle.

[0009] In an optional embodiment, in at least two adjacent walking assemblies, the wheel frame and the walking frame are hingedly connected to each other, so that the wheel frame can horizontally reciprocate relative to the walking frame.

[0010] In an optional embodiment, there are three groups of walking assemblies, and the three groups of walking assemblies are distributed at intervals of 120° around the circumference of the main support rod. The horizontal reciprocating angle range of the wheel frame relative to the walking frame is -60° to +60°.

[0011] In an optional embodiment, the wheel frame comprises a mounting seat and a walking wheel. The walking wheel is rotationally connected with the mounting seat through an axle. The mounting seat is hingedly connected with the walking frame.

[0012] In an optional embodiment, the walking frame is provided with a swing rod assembly. The swing rod assembly comprises a base, a swing rod, and a spring. The base is fixed to the walking frame. An arc-shaped swing hole is formed in the walking frame. One end of the swing rod is rotationally connected with the base, and the other end penetrates through the arc-shaped swing hole and into the mounting seat. The spring is fixed in the penetrating end of the swing rod and the inner wall of the mounting seat, so that the mounting seat can fit the swing arc surface of the walking frame when the mounting seat rotates relative to the walking frame under the swing of the swing rod.

[0013] In an optional embodiment, a weight-hanging body is fixed below the wire drum. At least a first sensor for detecting the pose of the swing rod and a second sensor for detecting the pose of the walking frame are arranged on the weight-hanging body.

[0014] In an optional embodiment, the weight-hanging body comprises a connecting part and a weight-hanging part, the connecting part extends into the terminal block at one end and is connected with the weight-hanging part at the other end, and the extending end of the connecting part is formed with a wire clamp; the communication cable for connecting the image acquisition device is routed by the terminal block along the inner cavity of the main support rod to the rotating table, and the wire clamp is used to prevent the communication cable from being knotted and / or stranded.

[0015] In an optional embodiment, the wire clamp comprises a wire clamping part and a driving part, the wire clamping part is rotatably installed at the extending end of the connecting part, and the rotation axis of the wire clamping part is parallel to or consistent with the rotation axis of the rotating table, and the driving part is installed in the connecting part and is used to drive the wire clamping part to rotate along the axis thereof; wherein the wire clamping part comprises an inner ring and an outer ring, and at least a main wire clamp hole and a plurality of auxiliary wire clamp holes are formed between the inner ring and the outer ring.

[0016] In an optional embodiment, the weight-hanging part is provided with an inclined surface, and the first sensor and the second sensor are arranged on the inclined surface, so that the first sensor can detect the pose of the swing rod in motion, and the second sensor can detect the pose of the running frame in motion.

[0017] The second aspect relates to a bridge crack measurement method for bridge engineering, which applies the bridge crack measurement device for bridge engineering, and comprises the following steps: determining the type of the surface to be measured, controlling the running assembly to change the corresponding pose according to the curvature of the surface to be measured, so that the running assembly can be stably supported on the surface to be measured and run; and controlling the rotating table to rotate, so that the image acquisition device acquires the image of the surface to be measured; wherein when the image acquisition device acquires the image of the surface to be measured, the rotating table can be adjusted according to the rotation direction of the running assembly, so that the running assembly avoids the acquisition track of the image acquisition device or the image acquisition device avoids the running track of the running assembly.

[0018] The beneficial effects of the embodiment of the present application are as follows:

[0019] The bridge crack measurement device for bridge engineering provided by the embodiment of the present application comprises at least three groups of circumferentially arranged running assemblies installed on the main support rod, and the at least three groups of circumferentially arranged running assemblies can stably run in the pipeline under the action of the sliding sleeve group, so as to adapt to the detection of the inner surfaces of bridge suspender pipes, support pipe and the like, and the pose between the wheel frame and the running frame in at least two adjacent running assemblies can be changed relatively, so that the support direction of the wheel frame changes, the wheel frame can be supported on the outer surface of the pipeline, the surface of the bridge structure such as a plane and a folded surface, so as to adapt to the situation of running on most bridge surfaces and measuring cracks, and the applicability is wide.

[0020] The bridge crack measuring method for bridge engineering provided by the embodiment of the present application can measure cracks on most bridge structure surfaces, and can correspondingly adjust the image collection direction according to the changing posture of the walking assembly during crack measurement, so as to avoid the situation of false sampling, missing sampling or wrong sampling, and ensure the smoothness of the whole bridge crack measurement operation.

[0021] Overall, compared with the existing pipeline detection device or pavement detection device, the bridge crack measuring device and method for bridge engineering provided by the embodiment of the present application can simultaneously perform curved surface and plane walking, is no longer limited to the situation of being dedicated to a bridge, can adapt to crack measurement operation of most structure surfaces of each type of bridge, has a clever structure configuration and wide scene applicability, and has wide application value. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0023] Figure 1 The structure schematic diagram of the crack measuring device provided by the embodiment of the present application is shown in the figure.

[0024] Figure 2 The partial structure schematic diagram of the crack measuring device shown in the figure is shown in the figure. Figure 1

[0025] Figure 3 The structure schematic diagram of the swing rod assembly provided by the embodiment of the present application is shown in the figure.

[0026] Figure 4 The structure schematic diagram of the wire binding clip provided by the embodiment of the present application is shown in the figure.

[0027] ​Icon: 1-main support rod; 2-wiring drum; 3-rotary table; 4-image acquisition device; 5-first main sliding sleeve; 6-second main sliding sleeve; 7-secondary sliding sleeve; 8-compression spring; 9-traveling assembly; 10-suspension body; 91-traveling frame; 92-wheel frame; 93-first connecting rod; 94-second connecting rod; 95-secondary connecting rod; 101-connection part; 102-suspension part; 103-second sensor; 104-first sensor; 105-wire binding clamp; 911-arc-shaped swing hole; 921-mounting seat; 922-wheel shaft; 923-traveling wheel; 924-swing lever assembly; 1051-driving part; 1052-wire binding part; 9241-base; 9242-swing lever; 9243-spring; 10521-outer ring; 10522-inner ring; 10523-secondary wire clamp hole; 10524-primary wire clamp hole. DETAILED DESCRIPTION

[0028] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0030] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0031] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0032] In addition, the terms "parallel", "perpendicular", and the like do not mean that the components must be absolutely parallel or perpendicular, but can be slightly inclined. For example, "parallel" only means that it is more parallel relative to "perpendicular", and does not mean that the structure must be completely parallel, but can be slightly inclined.

[0033] In addition, the terms "horizontal", "vertical", "overhanging", and the like do not mean that the components must be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that it is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0034] In the description of the present application, it should be further pointed out that, unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] Embodiment

[0036] In the previous bridge crack detection operation, most of the cracks on the bridge concrete surface are detected and measured, and the detection equipment is integrated on the push-pull trolley, which can be measured, and some are integrated on the intelligent trolley, reducing the labor intensity of manual pushing and pulling, but this mode can only measure the cracks on the bridge deck (the concrete surface of the bridge), which has strong limitations and cannot measure the cracks on the steel structure and the abutment structure on the bridge; A small part of the mode is to measure the cracks on the inner surface of the steel pipe structure on the bridge, and the detection equipment is integrated on the pipe trolley, which is mainly used for pipe inner surface crack detection. For the outer surface of the pipe and part of the steel structure and the abutment structure on the bridge, there is a blind area of the bridge, and the remaining is a special tool designed for the special structure of the bridge. Therefore, the more comprehensive crack detection operation of the bridge structure requires more special equipment to complete, which greatly increases the cost and does not have measurement versatility. For another bridge crack measurement, part of the detection equipment cannot be used, and there is still strong limitation.

[0037] To solve the above problems, the present application provides a bridge crack measurement device for bridge engineering, which changes the attitude of the running assembly to adapt to the running operation on the surface of plane, inner curved surface and outer curved surface, and enhances the scene applicability. For details, please refer to Figure 1 and Figure 2The bridge crack measuring device for bridge engineering provided by the embodiment comprises a main support rod 1, a sliding sleeve set and at least three groups of walking assemblies 9. The main support rod 1 serves as a main support part, one end of which is connected with a wiring drum 2 (for cable wiring), and the other end of which is provided with a rotating table 3. An image acquisition device 4 is arranged on the rotating table 3. The main support rod 1, the wiring drum 2, the rotating table 3 and the image acquisition device 4 form a main structure of the crack measuring part. Specifically, the image acquisition device 4 acquires images of the scanned surface, processes pixel points by using an embedded algorithm program, and identifies cracks (this part is a mature technology and will not be described in detail here). The cable inserted through the wiring drum 2 supplies power and communicates with the image acquisition device 4, so as to realize the purpose of remotely transmitting image information.

[0038] In order to adapt the above crack measuring part to the inner wall crack measurement of the pipeline, such as the bridge suspender, the bridge support steel pipe and the like, the sliding sleeve set comprises a first main sliding sleeve 5, a second main sliding sleeve 6 and a secondary sliding sleeve 7. The first main sliding sleeve 5 is sleeved on the main support rod 1 and rotationally connected with the wiring drum 2, that is, the first main sliding sleeve 5 is rotationally sleeved on the main support rod 1, but the axial sliding in the rotation is limited by the wiring drum 2 (for example, by a bearing and a limiting cover), and only a relative rotation action with the main support rod 1 can be realized, so as to ensure that the entire sliding sleeve set has a stable support point.

[0039] The second main sliding sleeve 6 is slidably sleeved on the main support rod 1, that is, the second main sliding sleeve 6 can slide relative to the main support rod 1 and rotate relative to the main support rod 1. Similarly, the secondary sliding sleeve 7 is slidably sleeved on the main support rod 1, and the secondary sliding sleeve 7 can slide relative to the main support rod 1 and rotate relative to the main support rod 1, so that the entire sliding sleeve set can rotate relative to the main support rod 1, so as to adapt to the situation that the sliding sleeve set needs to be adjusted in the direction of rotation when walking on different surfaces. The secondary sliding sleeve 7 and the first main sliding sleeve 5 are connected with a compression spring 8 sleeved on the main support rod 1, so that the first main sliding sleeve 5 and the secondary sliding sleeve 7 have a relative close limiting action, so as to ensure the support reaction force when the subsequent walking assembly 9 changes the pose and walks in the pipeline.

[0040] The at least three groups of walking assemblies 9 are uniformly arranged around the circumference of the main support rod 1, that is, the walking assemblies 9 can be three groups, four groups or more. The purpose is to adapt to different surface situations by using corresponding walking assemblies 9, and all the walking assemblies 9 are uniformly arranged around the circumference of the main support rod 1, uniformly spaced and relatively parallel distributed. Each group of walking assemblies 9 is in transmission connection with the main support rod 1 through the sliding sleeve set.

[0041] Specifically, the walking assembly 9 comprises a walking frame 91, a wheel frame 92, and a first connecting rod 93, a second connecting rod 94 and a sub-connecting rod 95, the first connecting rod 93 is hinged (the direction of the hinge is the direction close to or away from the axis of the main support rod 1) between the first main sliding sleeve 5 and the walking frame 91, the second connecting rod 94 is hinged between the second main sliding sleeve 6 and the walking frame 91, and the first connecting rod 93 and the second connecting rod 94 are parallel to each other, that is, the first connecting rod 93, the second connecting rod 94, the walking frame 91 and the main support rod 1 form a four-connecting-rod parallel mechanism, and the walking frame 91 can be parallel to the main support rod 1 under the swing of the first connecting rod 93 and the second connecting rod 94, so as to adapt to the walking operation of different pipe diameters.

[0042] In addition, the sub-connecting rod 95 is hinged between the second connecting rod 94 (for example, the middle part of the second connecting rod 94) and the sub-sliding sleeve 7, and since the sub-sliding sleeve 7 is in the form of sliding, it can be relatively close to the first main sliding sleeve 5 or the second main sliding sleeve 6, so as to make the sub-connecting rod 95 swing and drive the second connecting rod 94 to swing, so as to achieve the purpose of making the walking frame 91 parallel to the main support rod 1. Close or away from, and due to the elastic action of the compression spring 8 arranged between the sub-sliding sleeve 7 and the first main sliding sleeve 5, the walking frame 91 will not independently approach the main support rod 1, but will approach the main support rod 1 under the action of compression or limitation, so as to adapt to the scene of walking on different pipe diameters.

[0043] In the above technical solution, the purpose of smooth walking on the inner wall of the pipe can be achieved to complete the crack measurement operation on the inner surface of the bridge suspender, bridge support steel pipe and the like. On this basis, in order to achieve the purpose of crack measurement on the surface of the rest of the bridge structure, the wheel frame 92 can change the pose relative to the walking frame 91. Specifically, in at least two groups of adjacent walking assemblies 9, the wheel frame 92 and the walking frame 91 thereof are hinged to each other, and the plane swept by the hinge direction is perpendicular to the plane swept by the hinge direction of the first connecting rod 93, so that the two groups of wheel frames 92 can be rotated towards each other close or away from each other, so as to be parallel or at an angle. That is, in the two groups of adjacent walking assemblies 9, the two groups of wheel frames 92 can be rotated towards each other close or away from each other, so as to form the same plane parallel or different plane intersecting, and the same plane parallel means that the two groups of wheel frames 92 are parallel to each other to adapt to the walking operation on the flat surface, and the different plane intersecting means that the two groups of wheel frames 92 form an angle to adapt to the walking operation on the curved surface or the folded surface.

[0044] Through the above technical solutions, under the premise that the image acquisition device 4 can autonomously rotate to collect images under the action of the rotating table 3, the combination of the entire walking assembly 9 and the sliding sleeve group can also autonomously rotate to adapt to different scene walking while the corresponding wheel frame 92 of the walking assembly 9 can swing relatively, thereby greatly increasing the adaptability of the walking scene. For example, in different implementation scenarios, the crack measuring device can perform walking operations on surfaces in the form of inner curved surfaces, outer curved surfaces, folded surfaces, and flat surfaces. Specifically, by ensuring that the orientation (wheel end face direction) of each group of wheel frames 92 is along the radial direction of the main support rod 1 or parallel to the radial direction, the walking can be performed on the inner curved surface of the pipeline by supporting at least three points. When the two adjacent groups of wheel frames 92 are rotated in the direction of approaching each other and remain parallel to each other, the walking can be performed on the flat surface to perform crack measurement operations. When the two adjacent groups of wheel frames 92 continue to rotate in the direction of approaching each other, the two groups form an included angle, and the surface walks on the outer curved surface and the folded surface. The outer curved surface here refers to the arc-shaped outer surface, and the folded surface refers to the form in which two flat surfaces form an included angle.

[0045] In order to improve the operation efficiency in the above-mentioned scenarios, the wheel frame 92 and the walking frame 91 of at least two adjacent walking assemblies 9 are hinged to each other, so that the wheel frame 92 can swing horizontally relative to the walking frame 91, that is, the hinge direction is horizontal. The horizontal direction here refers to the direction relative to the left and right based on the orientation of the walking frame 91, so that the wheel frame 92 can rotate relative to the walking frame 91 (hinge position of the two) as an axis to adapt to the hinge form of the entire walking assembly 9, which can be similar to leg bending (first connecting rod 93 and second connecting rod 94 swing) and ankle rotation (wheel frame 92 rotates), thereby achieving the purpose of multi-degree-of-freedom motion by using a simple mechanism.

[0046] On this basis, in the embodiment, the walking assemblies 9 are three groups, and the three groups of walking assemblies 9 are distributed at intervals of 120° in the circumferential direction of the main support rod 1, so that the requirements of walking on the inner wall surface of the pipeline are met by using the least triangular support, and two groups of walking assemblies 9 are adapted to the walking requirements of the plane, the outer curved surface and the folded surface, so that the corresponding purposes are achieved and the structure is simplified. Among them, the horizontal reciprocating swing angle range of the wheel frame 92 relative to the walking frame 91 is-60° to +60°, so that the wheel frame 92 can swing to the left or to the right by a maximum of 60° based on the walking frame 91, so that in the structure of the three groups of walking assemblies 9 being spaced apart by 120°, each wheel frame 92 swings by 60° in the positive and negative directions, so as to meet the situation of the relative included angle between most of the two wheel frames 92, and to adapt to the purpose of walking on most of the bridge structure surfaces. In addition, in some embodiments, the wheel frame 92 can be relatively extended from the walking frame 91, that is, in the case that both are parallel to the radial direction of the main support rod 1, both are not on the same straight line, but are relatively staggered. The platform formed by the staggered position makes the wheel frame 92 relatively extend from the walking frame 91, so that one wheel frame 92 can walk on the plane, and the other wheel frame 91 can walk on the inclined plane below the plane, for example, the folded surface of the abutment, the upper surface of which is a plane, and the side surface connected to the upper surface is an inward inclined surface, so as to finally achieve the purpose of walking on the side wall of the abutment for crack measurement.

[0047] The wheel frame 92 and the walking frame 91 can be in a planar hinged form, that is, they can be relatively rotated, and after rotation, they can be relatively locked by a locking part, so as to ensure the stability of the walking operation. For details, please refer to Figure 3 The wheel frame 92 includes a mounting seat 921 and a walking wheel 923, and the walking wheel 923 is rotationally connected to the mounting seat 921 through an axle 922, that is, the walking wheel 923 rotates relative to the axle 922, so as to rotate relative to the mounting seat 921. In some embodiments, the wheel frame 92 can have multiple groups, and the multiple groups of wheel frames 92 are connected side by side to the walking frame 91. All the walking wheels 923 of the wheel frames 92 can be in independent walking contact with the surface, or all the walking wheels 923 are connected by a track to form an integral walking structure, and at least one of the walking wheels 923 is provided with a power motor as a driving wheel.

[0048] The mounting seat 921 is hinged with the walking frame 91, for realizing the relative planar swing of both, in particular, the walking frame 91 is provided with a swing lever assembly 924, the swing lever assembly 924 comprises a base 9241, a swing lever 9242 and a spring 9243, the base 9241 is fixed to the walking frame 91 (inner side), the walking frame 91 is provided with an arc swing hole 911, for providing the swing lever 9242 with an arc motion space, one end of the swing lever 9242 is rotatably connected with the base 9241, for example, through threaded connection or bearing connection with self-locking function, the other end of the swing lever 9242 penetrates through the arc swing hole 911 and enters into the mounting seat 921.

[0049] The spring 9243 is fixed in the penetrating end of the swing lever 9242 and the inner wall of the mounting seat 921, so that when the mounting seat 921 rotates relative to the walking frame 91 under the swing of the swing lever 9242, the mounting seat 921 can fit the swing arc surface of the walking frame 91. That is, the surface of the walking frame 91 and the mounting seat 921 approaching each other is an arc surface that fits each other, so as to facilitate the smoothness of rotation. When the swing lever 9242 is operated (for example, rotation operation of the screw) at the base 9241, the mounting seat 921 will follow the swing due to the limiting action of the swing lever 9242 at the penetrating hole of the mounting seat 921. At this time, after the mounting seat 921 follows the swing, the effective length of the swing lever 9242 in the mounting seat 921 will change, which will cause the pressure change of the spring 9243. The compressed spring 9243 always ensures that the mounting seat 921 and the swing arc surface of the walking frame 91 are well fitted.

[0050] Through the above technical scheme, the adjustment of the swing pose of the wheel frame 92 relative to the walking frame 91 can be realized by controlling the rotation amplitude of each mounting seat 921 relative to the walking frame 91, so as to adapt to the walking operation on different bridge structure surfaces. On this basis, considering that the walking assembly 9 has the function of pose transformation, when it performs pose transformation, it may have a motion linkage effect on the main support rod 1 and / or the rotating table 3, that is, when the walking assembly 9 rotates or contracts the corresponding connecting rod and wheel frame 92, it may cause the image acquisition device 4 (as a whole) to follow an accidental turning, which leads to deviating from the established image acquisition route, affecting the accuracy of the whole crack measurement operation.

[0051] To solve the above problems, the suspension body 10 is fixed below the wiring drum 2, which mainly plays a role in lowering the center of gravity. Since the whole crack measurement device tends to be a rotationally symmetrical structure, it may have a whole rotation phenomenon in the process of pose change. Therefore, the suspension body 10 is configured to lower the center of gravity from the position close to the main support rod 1, so as to ensure that the main support rod 1 will not easily follow the rotation, so that the rotation control of the rotating table 3 and the pose control of the walking assembly 9 are relatively independent.

[0052] In addition, on the basis of the configuration of the load 10, the first sensor 104 for detecting the pose of the swing rod 9242 and the second sensor 103 for detecting the pose of the walking frame 91 are installed on the load 10. By continuously or intermittently collecting the position and pose of the swing rod 9242 and the position and pose of the walking frame 91, the relative state between the main support rod 1 and all walking assemblies 9 at this time is determined, and it is further determined whether there is a situation of deviating from the predetermined image acquisition route. Specifically, when the first sensor 104 collects the change in the position of the swing rod 9242, the pose change of the wheel frame 92 relative to the walking frame 91 at this time is represented. In this process, whether the corresponding walking assembly 9 has a large rotation is determined according to whether the straight-line distance from the swing rod 9242 to the first sensor 104 changes greatly, so as to avoid the situation that the main support rod 1 follows the rotation (the main support rod 1 has a time lag in following the rotation, and whether the rotation is followed is determined according to the instantaneous change rate of displacement).

[0053] In the theoretical test, the pose change of the wheel frame 92 relative to the walking frame 91 does not cause the walking frame 91 to rotate substantially, so that the pose of the walking frame 91 relative to the main support rod 1 is relatively stable. If the first sensor 104 collects that the swing rod 9242 has a large displacement, there may be a large steering situation. In order to verify the accuracy of the judgment at this time, the second sensor 103 is used to detect whether the position of the walking frame 91 changes greatly to approach or move away, so as to accurately determine whether the walking assembly 9 has a large rotation relative to the main support rod 1, and avoid that the main support rod 1 subsequently follows the large rotation of the walking assembly 9.

[0054] Considering that the main support rod 1 does not follow the rotation of the walking assembly 9 (the walking assembly 9 has an adaptive rotation phenomenon due to the surface concave-convex change of the scene), in order to avoid that the walking assembly 9 after a large rotation interferes with the communication cable in front of the joint cylinder 2, such as causing the communication cable to be wound, knotted or stranded, on the basis of the above scheme, please refer to Figure 4The suspension body 10 comprises a connecting part 101 and a suspension part 102, one end of the connecting part 101 extends into the terminal drum 2, the other end is connected with the suspension part 102, the suspension part 102 is provided with an inclined surface, the first sensor 104 and the second sensor 103 are arranged on the inclined surface, so that the first sensor 104 can detect the pose of the swing rod 9242 in motion and the second sensor 103 can detect the pose of the walking frame 91 in motion, that is, because there is a certain angle between the walking assembly 9 and the suspension body 10, in order to enable the first sensor 104 and the second sensor 103 to smoothly detect, the inclined surface is arranged on the suspension part 102, the slope of the inclined surface matches the above-mentioned angle, so that the first sensor 104 and the second sensor 103 can face the swing rod 9242 and the walking frame 91, so as to capture signals in the relative motion of the swing rod 9242 and the walking frame 91, and ensure the smoothness of the detection operation.

[0055] The communication cable for connecting the image acquisition device 4 is routed by the terminal drum 2 along the inner cavity of the main support rod 1 into the rotary table 3, the extending end of the connecting part 101 is formed with a wire binding clip 105, the wire binding clip 105 is used to prevent the communication cable from being knotted and / or stranded, that is, the connecting part 101 not only plays a role in connecting the suspension part 102, but also plays a role in preventing the communication cable from being knotted and / or stranded through the wire binding clip 105 at the end extending into the terminal drum 2.

[0056] The bundle wire clamp 105 can be a common wire clamp structure. In order to prevent the communication cable from being knotted and / or stranded due to the movement of the running assembly 9 around the connection drum 2, the image acquisition device 4 is ensured to be stably connected with the rotating table 3. However, after the image acquisition device 4 rotates synchronously with the rotating table 3, the connection stability between the communication cable and the image acquisition device 4 is poor. Especially when the crack measurement operation is performed in the pipeline, the poor contact of the communication cable greatly affects the collection accuracy and continuity of the image signal. In order to solve the above problem, the bundle wire clamp 105 includes a bundle wire part 1052 and a driving part 1051. The bundle wire part 1052 is rotatably installed at the extending end of the connecting part 101, that is, can rotate relative to the connecting part 101, and the rotation axis of the bundle wire part 1052 is parallel to or consistent with the rotation axis of the rotating table 3, that is, has the condition of being able to rotate synchronously with the rotating table 3. The driving part 1051 is installed in the connecting part 101 and is used to drive the bundle wire part 1052 to rotate along the axis. Through the technical scheme, the bundle wire part 1052 can be driven to rotate under the action of the driving part 1051 after clamping the communication cable, so as to keep synchronous rotation with the rotating table 3 (the rotation signal of the rotating table 3 is sent to the controller of the driving part 1051, so as to ensure the synchronism of the bundle wire part 1052). Thus, the above-mentioned rotation of the image acquisition device 4 relative to the communication cable and the poor contact under long-term operation are solved.

[0057] In addition, in order to ensure that all signal lines (optical fiber lines, power lines, etc.) in the communication cable rotate synchronously and consistently, the bundle wire part 1052 includes an inner ring 10522 and an outer ring 10521. The inner ring 10522 is coaxially sleeved with the outer ring 10521. The outer ring 10521 is in transmission connection with the driving part 1051 (for example, a transmission mode of intermeshing teeth). The inner ring 10522 is rotatably connected with the extending end of the connecting part 101 through a rotating shaft and a bearing. The inner ring 10522 and the outer ring 10521 are fixedly connected through a plurality of connecting rods. The plurality of connecting rods divide the space between the inner ring 10522 and the outer ring 10521 into a main wire clamp hole 10524 and a plurality of auxiliary wire clamp holes 10523. The main wire clamp hole 10524 is used for clamping the optical fiber line. The auxiliary wire clamp hole 10523 is used for clamping various signal lines. Thus, the bundle wires are relatively parallel to realize synchronous rotation, and have high rotation consistency.

[0058] The embodiment also provides a bridge crack measurement method for bridge engineering, which applies the bridge crack measurement device for bridge engineering as claimed in the above claims and includes the following steps.

[0059] S1: determine the type of the surface to be measured, control the walking assembly to transform the corresponding posture according to the curvature of the surface to be measured, so that the walking assembly 9 can be stably supported on the surface to be measured and walk; this step represents that according to the form of the curvature of the surface to be measured, if the curvature is 0, it is a plane, if the curvature is positive, it is an inner curved surface, if the curvature is negative, it is an outer curved surface, and if the curvature is discontinuous, it is a folded surface, so as to determine the type of the surface to be measured according to the detected curvature form and specific parameters, so as to control whether the wheel frame 92 of the corresponding walking assembly 9 needs to swing and turn, so as to walk on the surface to carry out crack measurement operation.

[0060] S2: control the rotation of the rotating table 3, so that the image acquisition device 4 acquires the image of the surface to be measured; this step represents that after determining the type of the surface to be measured, the walking assembly 9 is pre-transformed in posture, and then the position of the driving wheel is determined by the transformed whole measurement device (to ensure that the driving wheel walks on the ground), and then according to whether there is an included angle between the position of the driving wheel and the surface to be measured, the rotating table 3 is controlled to rotate the included angle, so that the image acquisition device 4 faces the surface to be measured, so as to smoothly carry out surface crack measurement operation.

[0061] S3: when the image acquisition device 4 acquires the image of the surface to be measured, the rotating table 3 can be adjusted according to the rotating direction of the walking assembly 9, so that the walking assembly 9 avoids the acquisition track of the image acquisition device 4 or the image acquisition device 4 avoids the walking track of the walking assembly 9, this step represents that during the surface crack measurement operation, due to the irregularity of the surface to be measured, the walking assembly 9 may adaptively turn, at this time, if the walking assembly 9 adaptively turns and causes the image acquisition device 4 to follow the rotation, the established measurement path changes, this change is that the image acquisition device 4 and the movement track of the walking assembly 9 overlap, at this time, the paths of the two need to avoid each other, so as to ensure the effectiveness and continuity of the image of the image acquisition device 4 in the whole measurement process.

[0062] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that the structures or components illustrated in the drawings are not necessarily drawn to scale, and the present application omits the description of known components and processing technologies and processes to avoid unnecessary limitation of the present application.

Claims

1. A bridge crack measuring device for bridge engineering, characterized in that: include: A main support rod, one end of which is connected to a wiring barrel, and the other end of which is mounted a rotating platform, on which an image acquisition device is provided; a sliding sleeve assembly, the sliding sleeve assembly comprising a first main sliding sleeve, a second main sliding sleeve, and a secondary sliding sleeve, the first main sliding sleeve being sleeved on the main support rod and rotatably connected to the wiring barrel, the second main sliding sleeve being sleeved on the main support rod, the secondary sliding sleeve being sleeved on the main support rod, and a compression spring sleeved on the main support rod being connected between the secondary sliding sleeve and the first main sliding sleeve; as well as At least three groups of running assemblies, the at least three groups of running assemblies being evenly arranged around the circumference of the main support rod, the running assemblies comprising a running frame, a wheel frame, a first connecting rod, a second connecting rod, and a secondary connecting rod, the first connecting rod being hinged between the first main sliding sleeve and the running frame, the second connecting rod being hinged between the second main sliding sleeve and the running frame, the first connecting rod and the second connecting rod being parallel to each other, and the secondary connecting rod being hinged between the second connecting rod and the secondary sliding sleeve; Among them, in at least two adjacent groups of the running assemblies, the wheel frames and the running frames are hinged to each other, so that the two groups of the wheel frames can rotate in the direction of approaching or moving away from each other, and thus are arranged parallel to each other or at an angle.

2. The bridge crack measuring device for bridge engineering according to claim 1, characterized in that: In at least two adjacent groups of the running assemblies, the wheel frames and the running frames are hinged to each other, so that the wheel frames can swing back and forth horizontally relative to the running frame.

3. The bridge crack measuring device for bridge engineering according to claim 2, characterized in that: There are three groups of running components, and the three groups of running components are distributed around the main support rod at intervals of 120 degrees in pairs. The horizontal reciprocating swing angle range of the wheel frame relative to the running frame is -60 degrees to +60 degrees.

4. The bridge crack measuring device for bridge engineering according to claim 1 or 3, characterized in that: The wheel frame includes a mounting seat and a running wheel. The running wheel is rotatably connected to the mounting seat via a wheel axle. The mounting seat and the running frame are hinged to each other.

5. The bridge crack measuring device for bridge engineering according to claim 4, characterized in that: The running frame is provided with a rocker arm assembly, and the rocker arm assembly includes a base, a rocker arm and a spring. The base is fixed to the running frame, and an arc-shaped rocker hole is opened on the running frame. One end of the rocker arm is rotatably connected to the base, and the other end passes through the arc-shaped rocker hole and penetrates into the mounting seat. The spring is fixed in the penetration end of the rocker arm and the inner wall of the mounting seat, so that when the mounting seat rotates relative to the running frame under the swing of the rocker arm, the mounting seat can fit the swinging arc surface of the running frame.

6. The bridge crack measuring device for bridge engineering according to claim 5, characterized in that: A hanging weight is fixed below the wiring barrel, and a first sensor for detecting at least the position of the rocker arm and a second sensor for detecting the position of the traveling frame are installed on the hanging weight.

7. The bridge crack measuring device for bridge engineering according to claim 6, characterized in that: The hanging weight body includes a connecting part and a hanging weight part, one end of the connecting part extends into the wiring barrel, and the other end is connected to the hanging weight part, and a cable clamp is formed on the extending end of the connecting part; the communication cable used to connect the image acquisition device is routed from the wiring barrel along the inner cavity of the main support rod to the rotating table, and the cable clamp is used to prevent the communication cable from being knotted and / or tangled.

8. The bridge crack measuring device for bridge engineering according to claim 7, characterized in that: The cable harness clamp includes a cable harness portion and a driving portion. The cable harness portion is rotatably mounted on the extending end of the connecting portion, and the rotation axis of the cable harness portion is parallel to or consistent with the rotation axis of the rotating table. The driving portion is mounted in the connecting portion and is used to drive the cable harness portion to rotate along its axis. The wire harness portion includes an inner ring and an outer ring, and at least a main wire clamping hole and a plurality of secondary wire clamping holes are formed between the inner ring and the outer ring.

9. The bridge crack measuring device for bridge engineering according to claim 7, characterized in that: The hanging weight portion is provided with an inclined surface, and the first sensor and the second sensor are arranged on the inclined surface, so that the first sensor can detect the position of the moving swing arm and the second sensor can detect the position of the moving traveling frame.

10. A bridge crack measurement method for bridge engineering, characterized in that: Using the bridge crack measuring device for bridge engineering according to any one of claims 1 to 9, the method comprises the following steps: Determine the type of surface to be measured, and control the running assembly to change its posture according to the curvature of the surface to be measured, so that the running assembly can stably support the surface to be measured and run; Controlling the rotation of the rotating stage so that the image acquisition device acquires an image of the surface to be measured; When the image acquisition device acquires an image of the surface to be measured, the rotating table can be adjusted according to the rotation direction of the running component so that the running component avoids the acquisition track of the image acquisition device or the image acquisition device avoids the running track of the running component.

Images