Modular intelligent split type bridge detection vehicle

Abstract

The present application relates to a kind of modular intelligent split type bridge detection vehicle, belong to bridge detection technical field.The present application is by first car body, second car body, frame, wheel, counterweight, car body spring, damper, cover plate, cover plate spring, cover plate spring limiting post, car body limiting post, steel base, base fastening bolt, base fastening nut, wireless acceleration sensor, laser displacement meter, drive motor, battery, drive motor intelligent control unit, intelligent data processing unit composition.The present application adopts modular design, each component can be installed and disassembled quickly, can realize the bridge moving loading and detection requirement of different load, different wheelbase, different wheel material, different self-vibration characteristics, different spring and damper parameter, the drive motor intelligent control unit and intelligent data processing unit of vehicle equipment can realize automatic walking, automatic steering, automatic data processing, can quickly give detection result.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of bridge detection, and particularly relates to a modularized intelligent split type bridge detection vehicle. BACKGROUND

[0002] Bridge structure as a key node of traffic, once structural safety accidents occur, will often cause serious economic losses and social adverse effects. In the actual operation of the bridge, the coupling effect of long-term environmental corrosion, material aging and long-term effect of load, fatigue and mutation effect will inevitably lead to the accumulation of structural damage and the attenuation of resistance, so as to reduce the ability to resist natural disasters, even normal load, and even cause catastrophic events in extreme cases.

[0003] The rapid assessment and detection of the health status of the bridge structure in service can effectively prevent sudden disasters, timely control the development of defects, reduce losses, avoid casualties, and ensure the safety of the structure and the user. The commonly used overall assessment technology can be divided into environmental random excitation and mobile vehicle excitation according to the selection of excitation source (input signal). In recent years, the bridge rapid damage diagnosis method based on controllable mobile vehicle load (vibration of vehicle-bridge coupling system) has gradually become a research hotspot, and the dynamic response data of the bridge structure or the mobile vehicle under the mobile vehicle load are recorded and analyzed to rapidly assess the health status of the bridge structure in service. Related scholars have carried out a series of theoretical, numerical and experimental researches in this direction.

[0004] The bridge indirect measurement method based on the response of the passing vehicle has been more and more widely applied in bridge detection in recent years. Unlike the direct monitoring method, this method does not need to install sensors on the bridge, but only needs to identify the bridge characteristics through the response of the sensors installed on the passing vehicle, so the economy of this method is more obvious. And this method is convenient and fast, and the time cost is low, so it has become a research and application hotspot in recent years.

[0005] However, the most widely used detection vehicle system at present is still a single axle vehicle. The single axle vehicle cannot walk independently in the actual measurement process, and needs to be towed on a tractor. The tractor itself will inevitably have a certain impact on the vibration of the detection vehicle, which is a defect that cannot be overcome by the single axle detection vehicle.

[0006] Therefore, some scholars have carried out research on the double axle vehicle in order to solve the problems such as the need for traction and inconvenience of application of the single axle vehicle. However, the pitch effect of the body of the ordinary double axle vehicle will bring certain difficulties to the test. The pitch response of the vehicle body cannot be directly measured, and needs to be deduced and converted by using the vertical responses of the front and rear of the vehicle, further increasing the error of obtaining the response. SUMMARY

[0007] The purpose of the present application is to overcome the deficiencies of the prior art, and provide a modular intelligent split type bridge detection vehicle, aiming to realize convenient and fast bridge detection and safety evaluation. The detection vehicle adopts modular design, and each component can be quickly installed and disassembled, and can realize the requirements of bridge mobile loading and detection of different load, wheelbase, wheel material, self-vibration characteristics, spring and damper parameters; the driving motor intelligent control unit of the vehicle equipment can realize automatic walking and automatic steering, and the intelligent data processing unit can collect the measurement data of each wireless acceleration sensor and laser displacement meter in the mobile detection process, and upload it to the cloud platform, and the cloud platform can quickly give the detection results of bridge frequency, modal shape, damping ratio and damage condition after processing and analyzing the measurement data. Therefore, the device has the advantages of low cost, convenience, wide applicability, etc., and can be widely applied to bridge detection and state evaluation.

[0008] The present application solves its technical problems by the following technical solutions:

[0009] A modular intelligent split type bridge detection vehicle, characterized in that: a vehicle frame is provided, the vehicle frame is provided with wheels at four corners, a base is fixedly installed on the vehicle frame by bolts and nuts, a plurality of vehicle body limiting columns are fixedly installed on the base, a first vehicle body and a second vehicle body are respectively fixedly installed on the upper portions of the vehicle body limiting columns, a vehicle body spring is sleeved on the vehicle body limiting columns, and both ends of the vehicle body spring are connected to the vehicle frame, the first vehicle body and the second vehicle body; a counterweight is placed on the first vehicle body and the second vehicle body; a cover plate spring limiting column is arranged on the first vehicle body and the second vehicle body; a cover plate is fixedly installed on the cover plate spring limiting column; a cover plate spring is sleeved on the cover plate spring limiting column; both ends of the cover plate spring are connected to the cover plate, the first vehicle body and the second vehicle body; wireless acceleration sensors are installed on the vehicle frame, the first vehicle body, the second vehicle body and the cover plate; a laser displacement meter, a driving motor, a storage battery, a driving motor intelligent control unit and an intelligent data processing unit are fixedly installed on the vehicle frame; the driving motor is connected to the wheels; the storage battery is connected to the driving motor intelligent control unit and the intelligent data processing unit; the driving motor intelligent control unit is connected to the driving motor; and the intelligent data processing unit is connected to the wireless acceleration sensors and the laser displacement meter.

[0010] Furthermore, the first vehicle body and the second vehicle body are each provided with a vehicle body limiting column through hole, the vehicle body limiting column passes through the vehicle body limiting column through hole, a linear bearing is arranged in the vehicle body limiting column through hole, and a baffle is welded on both sides of the counterweight of the first vehicle body and the second vehicle body.

[0011] Moreover, the frame comprises a first frame and a second frame, the first frame comprises a first frame transverse shaft and a first frame longitudinal shaft, the first frame transverse shaft and the first frame longitudinal shaft are weldedly connected, the second frame comprises a second frame transverse shaft and a second frame longitudinal shaft, the second frame transverse shaft and the second frame longitudinal shaft are weldedly connected, the first frame and the second frame are connected through the first frame longitudinal shaft and the second frame longitudinal shaft, the four corners of the first frame and the second frame are fixedly provided with bases, the upper end surfaces of the first frame transverse shaft and the second frame transverse shaft are provided with the wireless acceleration sensors on both sides, the lower end surfaces of the first frame transverse shaft and the second frame transverse shaft are provided with the laser displacement meters on both sides, the storage battery is glued to the first frame longitudinal shaft, the driving motor intelligent control unit is glued to the lower middle part of the first frame transverse shaft, and the intelligent data processing unit is glued to the lower middle part of the second frame transverse shaft.

[0012] Moreover, the first frame longitudinal shaft is thinner than the second frame longitudinal shaft, the first frame longitudinal shaft is inserted into the second frame longitudinal shaft and is connected through a frame fastening bolt and a frame fastening nut, and the insertion depth of the first frame longitudinal shaft can be adjusted.

[0013] Moreover, dampers are arranged between the first body and the first frame and between the second body and the second frame.

[0014] Moreover, the cover plate is slightly larger than the cover plate spring in planar size.

[0015] The present application has the following advantages and beneficial effects:

[0016] The present application can be used for static load tests of various bridges and can also be used for modal parameter and damage identification test researches of various bridges under vehicle loads with different parameters.

[0017] The present application adopts modular design, and the modules such as wheels, springs, dampers and cover plates can be quickly replaced, the body weight and wheelbase can be quickly changed, and the requirements of bridge mobile loading and detection for different loads, different wheelbases, different wheel materials, different self-vibration characteristics, different spring and damper parameters can be met.

[0018] The present application realizes the deep integration of informatization and intelligentization. The driving motor intelligent control unit of the detection vehicle can realize automatic walking and automatic steering, the intelligent data processing unit can collect the measurement data of the wireless acceleration sensors and the laser displacement meters in real time during the mobile detection process, and upload the measurement data to a cloud platform, the cloud platform can quickly give the detection results such as bridge frequency, modal shape, damping ratio and damage condition after processing and analyzing the measurement data. The informatization and intelligentization degree of the whole vehicle is high.

[0019] The present application solves the defect that single-axle vehicles cannot walk independently without external support by multi-axle design and electric intelligent design, and does not need to provide support and power through an additional towing vehicle; and by the split body design, the single-axle vehicle's simple response transmission path advantage is retained, the influence of the body pitch effect of ordinary multi-axle vehicles is solved, the error of the measured response is smaller, and the reliability of the detection result is higher.

[0020] The present application can realize roughness scanning of the road surface of the vehicle running route by installing a laser displacement meter on the frame, and can eliminate the influence of the road roughness on the detection result by intelligent processing of the roughness scanning result. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present application;

[0022] Figure 2 It is a structural schematic diagram of the first body or the second body of the present application;

[0023] Figure 3 It is a front view of the first body or the second body of the present application;

[0024] Figure 4 It is a left view of the first body or the second body of the present application;

[0025] Figure 5 It is a top view of the first body or the second body of the present application;

[0026] Figure 6 It is a structural schematic diagram of the frame of the present application;

[0027] Figure 7 It is a structural schematic diagram of the first frame of the present application;

[0028] Figure 8 It is a front view of the first frame of the present application;

[0029] Figure 9 It is a left view of the first frame of the present application;

[0030] Figure 10 It is a top view of the first frame of the present application;

[0031] Figure 11 It is a structural schematic diagram of the second frame of the present application;

[0032] Figure 12 It is a front view of the second frame of the present application;

[0033] Figure 13 It is a left view of the second frame of the present application;

[0034] Figure 14 It is a top view of the second frame of the present application;

[0035] Figure 15 Figure 1 is a schematic view of the connection between the first frame longitudinal axis and the second frame longitudinal axis of the present application;

[0036] Figure 16 Figure 2 is a schematic view of the wheel connection of the present application;

[0037] Figure 17 Figure 3 is a schematic view of the connection between the cover plate and the wireless acceleration sensor of the present application;

[0038] Figure 18 Figure 4 is a front view of the cover plate of the present application;

[0039] Figure 19 Figure 5 is a bridge detection and evaluation path diagram of the present application.

[0040] BRIEF DESCRIPTION OF THE DRAWINGS

[0041] 1 - first vehicle body, 2 - second vehicle body, 3 - frame, 4 - wheel, 5 - counterweight, 6 - vehicle body spring, 7 - damper, 8 - cover plate, 9 - cover plate spring, 10 - cover plate spring limiting column, 11 - vehicle body limiting column, 12 - base, 13 - base fastening bolt, 14 - base fastening nut, 15 - wireless acceleration sensor, 16 - laser displacement meter, 17 - drive motor, 18 - storage battery, 19 - drive motor intelligent control unit, 20 - intelligent data processing unit. DETAILED DESCRIPTION

[0042] The present application will be further described in detail below through specific examples, the following examples are only descriptive, not limiting, and cannot limit the protection scope of the present application.

[0043] Reference should be made to Figure 1The application discloses a modular intelligent split type bridge detection vehicle, which is characterized in that: the first vehicle body (1) is connected with the vehicle frame (3) through a vehicle body spring (6) and a damper (7), the second vehicle body (2) is connected with the vehicle frame (3) through the vehicle body spring (6) and the damper (7), and the first vehicle body (1) and the second vehicle body (2) are not directly connected; the counterweight (5) is arranged on the first vehicle body (1) and the second vehicle body (2), the number of the counterweight (5) can be increased or reduced according to requirements, so that the total mass of the detection vehicle is adjusted, and different loading requirements are met; the vehicle body spring (6) is sleeved on a vehicle body limiting column (11), and the vehicle body spring (6) can only deform along the direction of the vehicle body limiting column (11), so that the vehicle body can only have vertical displacement when the vehicle is running; the damper (7) is connected with the first vehicle body (1), the second vehicle body (2) and the vehicle frame (3) through bolts respectively; the vehicle body limiting column (11) is welded with a steel base (12); the steel base (12) is connected with the vehicle frame (3) through a base fastening bolt (13) and a base fastening nut (14); the cover plate (8) is connected with the first vehicle body (1) and the second vehicle body (2) through a cover plate spring (9); the cover plate spring limiting column (10) is welded with the first vehicle body (1) and the second vehicle body (2), and is used for limiting the roll of the cover plate spring (9); the wireless acceleration sensor (15) is arranged on the vehicle frame (3), the first vehicle body (1), the second vehicle body (2) and the cover plate (8) respectively; the laser displacement meter (16) is arranged on the outer side of the vehicle frame (3) and close to the wheel (4), and is used for scanning the roughness of a road surface on a running route of the detection vehicle; the wheel (4) is arranged below the vehicle frame (3), and the driving motor (17) is arranged below the vehicle frame (3) through bolt connection, and is used for driving the wheel (4) to rotate, so that the detection vehicle runs.

[0044] Please refer to Figures 2-5 The linear bearing (1-1), the baffle (1-2) and the cover plate spring limiting column (10) are welded with the first vehicle body (1) and form an integral whole, and the linear bearing (1-1) is used for ensuring that the vehicle body moves linearly along the vehicle body limiting column (11). The first vehicle body (1) and the second vehicle body (2) are completely same, the counterweight (5) is arranged between the two baffles (1-2), and the baffle (1-2) is used for limiting the movement of the counterweight (5).

[0045] Please refer to Figure 6 The first vehicle frame and the second vehicle frame are connected through a vehicle frame fastening bolt (3-3) and a vehicle frame fastening nut (3-4), so that the stable vehicle frame is formed.

[0046] Please refer to Figures 7-10The first frame transverse shaft (3-8) is welded to the first frame longitudinal shaft (3-6); the driving motor fixing steel plate (3-5) is welded to the first frame transverse shaft (3-8); two wireless acceleration sensors (15) are respectively installed at positions close to both side ends of the first frame transverse shaft (3-8); two laser displacement meters (16) are installed below both side ends of the first frame transverse shaft (3-8) and are used for scanning and detecting the road roughness on the running route of the vehicle; the storage battery (18) is installed on the first frame longitudinal shaft (3-6), is glued to the first frame longitudinal shaft (3-6) and is electrically connected to the driving motor intelligent control unit (19) and the intelligent data processing unit (20) and is used for supplying power to the two; the driving motor intelligent control unit (19) is installed below the middle part of the first frame transverse shaft (3-8) in a gluing mode, the driving motor intelligent control unit (19) is respectively electrically connected to each driving motor (17) and is used for controlling the driving motor (17) and changing the running direction and speed of the detection vehicle.

[0047] Please refer to Figures 11-14 The second frame transverse shaft (3-9) is welded to the second frame longitudinal shaft (3-7); the driving motor fixing steel plate (3-5) is welded to the second frame transverse shaft (3-9); two wireless acceleration sensors (15) are respectively installed at positions close to both side ends of the second frame transverse shaft (3-9); two laser displacement meters (16) are installed below both side ends of the second frame transverse shaft (3-9) and are used for scanning and detecting the road roughness on the running route of the vehicle; the intelligent data processing unit (20) is installed below the middle part of the second frame transverse shaft (3-9) in a gluing mode, is electrically connected to the storage battery (18) and is used for automatically collecting and processing the data measured by each wireless acceleration sensor (15) and each laser displacement meter (16) and uploading the data to a cloud platform.

[0048] Please refer to Figure 15 The first frame longitudinal shaft (3-6) is slightly thinner than the second frame longitudinal shaft (3-7), after the first frame longitudinal shaft (3-6) is inserted into the second frame longitudinal shaft (3-7), the frame fastening bolt (3-3) and the frame fastening nut (3-4) are connected, so that a stable frame is formed. Moreover, the depth of the first frame longitudinal shaft (3-6) inserted into the second frame longitudinal shaft (3-7) can be adjusted according to different requirements, so that the purpose of adjusting the wheelbase of the whole vehicle is achieved.

[0049] Please participate Figure 16 The driving motor (17) is connected to the driving motor fixing steel plate (3-5) through a bolt, the driving motor (17) is electrically connected to the driving motor intelligent control unit (19) and is used for driving the rotation of the wheel (4); the wheel (4) is installed on the side of the driving motor fixing steel plate (3-5) and is connected to the driving motor (17).

[0050] Please refer to Figures 17-18 The cover plate (8) is connected with the first vehicle body (1) and the second vehicle body (2) through a cover plate spring (9); the cover plate spring limiting column (10) is welded with the first vehicle body (1) and the second vehicle body (2) and is used for limiting the roll of the cover plate spring (9); the cover plate spring (9) is sleeved on the cover plate spring limiting column (10) and only allows the cover plate spring (9) to deform along the direction of the cover plate spring limiting column (10), so that the wireless acceleration sensor (15) above the cover plate (8) can only have vertical displacement.

[0051] Moreover, the cover plate (8) is designed to be replaceable, different specifications of the cover plate (8) are selected according to different requirements, the mass of the cover plate (8) is different, and therefore the self-vibration characteristics of the vehicle are tuned.

[0052] Further, the counterweight (5) can be placed in different numbers and positions according to different requirements, so that the mass and distribution of the whole vehicle are adjusted.

[0053] Further, the frame (3) can be designed as a two-axle or a two-axle or more different size frame according to different requirements.

[0054] Further, the vehicle body spring (6), the damper (7) and the cover plate spring (9) can be selected in different models, different parameters and different installation arrangement positions according to different requirements.

[0055] Further, the damper (7) can be selected to be installed or not installed according to different requirements.

[0056] Further, the wheel (4) can be selected in different models and different materials, such as inflatable rubber tires, solid rubber tires, plastic tires, etc.

[0057] The path diagram of the modular intelligent split type bridge detection vehicle in the bridge detection is as shown in Figure 19 The specific bridge detection implementation steps are as follows:

[0058] Step 1: Place the bridge detection vehicle at the bridgehead position, and the driving motor intelligent control unit issues a driving instruction to give a driving speed, and the bridge detection vehicle starts to work.

[0059] Step 2: During the driving process of the bridge detection vehicle, each wireless acceleration sensor records the acceleration signal, each laser displacement meter records the distance signal, and the signals are transmitted to the intelligent data processing unit in real time.

[0060] Step 3: The intelligent data processing unit first performs time synchronization operation on all collected signals, and then uploads them to the cloud platform.

[0061] Step 4: The cloud platform integrates signal processing algorithms, including bridge frequency analysis module, bridge mode analysis module, bridge damping analysis module, road roughness analysis module and bridge damage analysis module, processes the received signals and gives the bridge detection results.

[0062] Step 5: The same bridge can be detected multiple times. The bridge detection vehicle adopts modular design, and after replacing the detection vehicle components, it can perform bridge detection with another set of vehicle parameters, repeating steps 1~4.

[0063] Although the embodiments of the present application and the drawings are disclosed for the purpose of illustration, those skilled in the art can understand that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present application and the appended claims, therefore, the scope of the present application is not limited to the disclosed content of the embodiments and drawings.

Claims

1. A modular intelligent split-type bridge inspection vehicle, characterized in that: The utility model relates to a kind of vehicle, including frame (3), the frame (3) four corners are equipped with wheel (4), the frame (3) is fixedly installed with base (12) by bolt (13), nut (14), the base (12) is fixedly installed with several car body limiting column (11), the first car body (1) and second car body (2) are respectively fixedly installed on the several car body limiting column (11) upper portion, car body spring (6) is sleeved on the several car body limiting column (11), the both ends of the car body spring (6) are connected to the frame (3) and first car body (1), second car body (2), first car body (1) and second car body (2) are placed with counterweight (5), first car body (1) and second car body (2) are provided with cover plate spring limiting column (10), cover plate (8) is fixedly installed on the cover plate spring limiting column (10), cover plate spring (9) is sleeved on the cover plate spring limiting column (10), the both ends of the cover plate spring (9) are connected to cover plate (8) and first car body (1), second car body (2), frame (3), first car body (1), second car body (2) and cover plate (8) are equipped with wireless acceleration sensor (15), frame (3) is fixedly installed with laser displacement meter (16), drive motor (17), battery (18), drive motor intelligent control unit (19) and intelligent data processing unit (20), drive motor (17) is connected to wheel (4), battery (18) is connected to drive motor intelligent control unit (19) and intelligent data processing unit (20);Drive motor intelligent control unit (19) is connected with drive motor (17), and intelligent data processing unit (20) is connected to wireless acceleration sensor (15) and laser displacement meter (16); First car body (1) and second car body (2) are provided with car body limiting column through hole, and the car body limiting column (11) passes through the car body limiting column through hole, and linear bearing (1-1) is arranged in the car body limiting column through hole, and the counterweight (5) of first car body (1) and second car body (2) is welded with baffle (1-2) on both sides; The frame (3) comprises a first frame (3-1) and a second frame (3-2), the first frame (3-1) comprises a first frame transverse shaft (3-8) and a first frame longitudinal shaft (3-6), the first frame transverse shaft (3-8) and the first frame longitudinal shaft (3-6) are weldedly connected, the second frame (3-2) comprises a second frame transverse shaft (3-9) and a second frame longitudinal shaft (3-7), the second frame transverse shaft (3-9) and the second frame longitudinal shaft (3-7) are weldedly connected, the first frame (3-1) and the second frame (3-2) are connected through the first frame longitudinal shaft (3-6) and the second frame longitudinal shaft (3-7), the four corners of the first frame (3-1) and the second frame (3-2) are fixedly provided with bases (12), the two sides of the upper end surfaces of the first frame transverse shaft (3-8) and the second frame transverse shaft (3-9) are provided with the wireless acceleration sensors (15), the two sides of the lower end surfaces of the first frame transverse shaft (3-8) and the second frame transverse shaft (3-9) are provided with the laser displacement meters (16), the battery (18) is glued to the first frame longitudinal shaft (3-6), the driving motor intelligent control unit (19) is glued to the lower middle part of the first frame transverse shaft (3-8), and the intelligent data processing unit (20) is glued to the lower middle part of the second frame transverse shaft (3-9); The first frame longitudinal shaft (3-6) is thinner than the second frame longitudinal shaft (3-7), the first frame longitudinal shaft (3-6) is inserted into the second frame longitudinal shaft (3-7) and is connected through the frame fastening bolt (3-3) and the frame fastening nut (3-4), and the insertion depth of the first frame longitudinal shaft (3-6) is adjustable; Dampers are arranged between the first body (1) and the first frame (3-1) and between the second body (2) and the second frame (3-2); The cover plate (8) is slightly larger than the cover plate spring (9) in plan size; The steps of the modular intelligent split type bridge detection vehicle in bridge detection are as follows: Step 1: the bridge detection vehicle is placed at the bridge head position, the driving motor intelligent control unit issues a driving instruction, a given driving speed is given, and the bridge detection vehicle starts to work; Step 2: during the driving of the bridge detection vehicle, each wireless acceleration sensor records an acceleration signal, each laser displacement meter records a distance signal, and the signals are transmitted to the intelligent data processing unit in real time; Step 3: the intelligent data processing unit firstly performs time synchronization operation on all the collected signals, and then uploads the signals to a cloud platform; Step 4: the cloud platform integrates signal processing algorithms, including a bridge frequency analysis module, a bridge mode analysis module, a bridge damping analysis module, a road roughness analysis module and a bridge damage analysis module, processes the received signals, and gives a bridge detection result; Step 5: the same bridge can be detected for multiple times, the bridge detection vehicle adopts a modular design, after the detection vehicle parts are replaced, the bridge detection vehicle can be used for bridge detection with another set of vehicle parameters, and steps 1 to 4 are repeated.

Images