A single-pillar pier bridge full bridge pier detection system and control method thereof

Abstract

The present invention discloses a whole-bridge pier detection system for a single-pillar pier bridge and a control method thereof. The whole-bridge pier detection system for a single-pillar pier bridge comprises: an onboard computer submodule, a linear guide submodule, a robotic arm submodule, a wall-climbing robot submodule and a high-definition camera submodule; the linear guide submodule drives the onboard computer submodule, the robotic arm submodule and the wall-climbing robot submodule to translate along the longitudinal direction of the bridge. The whole-bridge pier detection system for a single-pillar pier bridge provided by the present invention and a control method thereof can directly place the wall-climbing robot submodule and the high-definition camera submodule on the pier that needs to be inspected by setting a linear guide submodule and a robotic arm submodule, and use the wall-climbing robot submodule and the high-definition camera submodule to perform 360-degree inspection of the pier from top to bottom, with no blind spots in the inspection and no restrictions on the pier height. After the inspection is completed, the system can be easily retracted, thereby improving inspection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of single-pillar pier detection, and in particular to a full-bridge pier detection system for a single-pillar pier bridge and a control method thereof. Background Art

[0002] With the rapid development of transportation, bridges of all types have become an indispensable part of cities. The safety and stability of bridges are directly related to the safety of people's lives and property. The stability of a bridge depends primarily on the strength of the piers and the severity of the damage, making pier damage detection crucial.

[0003] Document CN114604334A discloses a wall-climbing robot and method for detecting defects in high bridge piers and beams, comprising a hoop-type main structure on which a wall-climbing unit and a detection unit are mounted; the wall-climbing unit comprises an adsorption mechanism and a walking mechanism, wherein the adsorption mechanism provides an adsorption force for stable adsorption on the surface of the pier through negative pressure, and the walking mechanism is used to drive the wall-climbing robot to move along the surface of the pier to be bridged; the detection unit is used to detect the surface of the pier and the bottom of the beam during the operation of the walking mechanism; the robot solves the problems of current drone detection such as short flight time, strong wind influence, and low safety, as well as the poor adaptability of articulated wall-climbing robots, which are prone to overall instability in windy weather on high bridge piers. The robot can achieve one-time collection, complete defect positioning and information description, and effectively adapt to bridge piers of different sizes.

[0004] Document CN117705800A discloses a guide rail-based robotic arm visual bridge inspection system and its control method. The system comprises a linear guide submodule, a robotic arm submodule, an onboard computer submodule, and a high-speed camera submodule. The high-speed camera submodule captures images of bridge defects. The robotic arm submodule drives the high-speed camera submodule to translate in a plane perpendicular to the longitudinal direction of the bridge. The linear guide submodule drives the robotic arm submodule and the onboard computer submodule to translate along the longitudinal direction of the bridge. The linear guide submodule is attached to the bridge structure and positioned outside the traffic zone. The onboard computer submodule includes a guide rail displacement control system, a robotic arm rotation control system, a bridge defect image recognition system, and a network transmission system. This invention has good versatility and has no impact on traffic during post-processing.

[0005] However, the above two methods do not solve the problem of how to conveniently place the wall-climbing robot on the bridge pier for use, and have certain limitations.

[0006] Therefore, it is necessary to provide a single-pillar pier bridge full-bridge pier detection system and a control method thereof to solve the above technical problems. Summary of the Invention

[0007] In view of the above situation, in order to overcome the defects of the existing technology, the present invention provides a single-pillar pier bridge full-bridge pier detection system and a control method thereof, which are not restricted by the pier height, can be easily retracted, and improve the detection efficiency.

[0008] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0009] The whole bridge pier detection system of a single-pillar pier bridge includes: an onboard computer submodule, a linear guide submodule, a robotic arm submodule, a wall-climbing robot submodule and a high-definition camera submodule; the linear guide submodule drives the onboard computer submodule, the robotic arm submodule and the wall-climbing robot submodule to move longitudinally along the bridge; the linear guide submodule is installed on the bridge structure and is located in an area outside the driving area; the onboard computer submodule is equipped with a guide displacement control system, a robotic arm control system, a wall-climbing robot submodule control system, a bridge disease image recognition system and a network transmission system; the guide displacement control system is used to control the linear guide The rail submodule controls the longitudinal position of the robotic arm submodule; the robotic arm control system controls the movement of the robotic arm submodule, thereby controlling the height and lateral position of the wall-climbing robot submodule, so that the wall-climbing robot submodule approaches the bridge pier; the wall-climbing robot submodule control system controls the movement of the wall-climbing robot submodule and the high-definition camera submodule, so that the wall-climbing robot submodule is fixed on the bridge pier and moves up and down along the bridge pier, and controls the target position and shooting angle of the high-definition camera submodule; the bridge defect image recognition system recognizes the captured bridge defect images; the network transmission system transmits the recognition results to the terminal.

[0010] Preferably, the linear guide rail submodule comprises a guide rail and a vehicle body, and the vehicle body is provided with a space for accommodating the onboard computer submodule.

[0011] Preferably, the robotic arm sub-module includes a vertical robotic arm, a horizontal robotic arm and a clamping device. The vertical robotic arm and the horizontal robotic arm are both electric telescopic arms. The top of the vertical telescopic arm is connected to the slider, and the horizontal robotic arm is installed at the bottom end of the vertical telescopic arm. The clamping device is installed at the end of the horizontal robotic arm, which uses a three-jaw electric or pneumatic chuck to clamp the wall-climbing robot sub-module.

[0012] Preferably, the wall-climbing robot submodule includes a support frame, one end of which is mounted with a clamping portion, and one end of which is mounted with an annular track frame. The track frame includes component one, component two, and component three, wherein component one is fixedly connected to the support frame, and component two, component three, and component one are assembled to form the track frame. Electric push rods are installed between component two, component three, and the support frame. Components two and three are each mounted with multiple six-way wheels, each driven by a motor. Two guide rods are radially mounted on one side of the six-way wheels, and springs are mounted on the guide rods. A suction plate is mounted at the distal end of component two, and an electromagnet is mounted at the distal end of component three.

[0013] Preferably, the high-definition camera submodule includes a track car installed on a track frame, the track car is driven by a motor, and the track car moves in a circular motion along the track frame. A camera is installed on the track car, and a flashlight is installed next to the camera.

[0014] The control method of the whole bridge pier detection system of a single-pillar pier bridge includes the following steps:

[0015] Step 1: Set the working route for bridge inspection in the system, and control the mobile body to move to the corresponding position on the linear guide rail through the onboard computer;

[0016] Step 2: After the mobile vehicle reaches the designated position, the vertical robotic arm descends to the bridge pier below the cap beam, and the horizontal robotic arm extends so that the wall-climbing robot submodule is located on one side of the bridge pier.

[0017] Step 3: Continue to slowly extend the horizontal robotic arm, and then start the electric push rod to snap parts 2 and 3 together;

[0018] Step 4: The friction force generated by the six-way wheels squeezing the bridge pier fixes the wall-climbing robot submodule on the bridge pier;

[0019] Step 5: The clamping device releases the clamping portion, the horizontal robotic arm is disconnected from the wall-climbing robot submodule, and the horizontal robotic arm retracts;

[0020] Step 6: The onboard computer controls the rotation of the six-way wheels to enable the wall-climbing robot submodule to ascend / descend to the specified height;

[0021] Step 7: Turn on the camera and flashlight, move along the track frame, and inspect the bridge piers;

[0022] Step 8: The camera transmits the captured bridge damage image to the onboard computer, which then performs image recognition through the bridge damage image recognition system.

[0023] Step 9: The onboard computer transmits the identified disease results to the terminal through the network transmission system;

[0024] Step 10: After the current pier inspection is completed, the wall-climbing robot submodule is retracted and steps 1-9 are repeated to continue the disease observation of the next pier until the entire bridge inspection process is completed.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) The present invention provides a linear guide rail submodule and a robotic arm submodule, so that the wall-climbing robot submodule and the high-definition camera submodule can be directly placed on the bridge pier to be inspected. The wall-climbing robot submodule and the high-definition camera submodule can be used to perform 360-degree inspection of the bridge pier from top to bottom. The inspection has no blind spots and is not restricted by the height of the bridge pier. After the inspection is completed, the submodule can be easily retracted, thereby improving the inspection efficiency.

[0027] (2) The present invention provides an openable and closable track frame, which enables the wall-climbing robot submodule to be opened and closed, thereby facilitating the connection and separation of the wall-climbing robot submodule from the bridge pier. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A flow chart of a control method for a full-bridge pier detection system for a single-pillar pier bridge provided by the present invention;

[0029] Figure 2 A schematic diagram of an application embodiment of the present invention;

[0030] Figure 3 It is a structural diagram of the robotic arm submodule;

[0031] Figure 4 This is a schematic diagram of the structure of the wall-climbing robot submodule;

[0032] Figure 5 This is a schematic diagram of the structure of the wall-climbing robot submodule;

[0033] Figure 6 This is a schematic diagram of the structure of the wall-climbing robot submodule;

[0034] Figure 7 This is a structural diagram of the wall-climbing robot submodule.

[0035] Among them, the names corresponding to the figure marks are: 1-guide rail, 2-car body, 3-vertical robotic arm, 4-horizontal robotic arm, 5-clamping device, 6-wall-climbing robot submodule, 7-support frame, 8-clamping part, 9-track frame, 10-component one, 11-component two, 12-component three, 13-electric push rod, 14-six-way wheel, 15-guide rod, 16-spring, 17-high-definition camera submodule, 18-rail car, 19-camera, 20-flashlight, 21-suction plate, 22-electromagnet. DETAILED DESCRIPTION

[0036] The present invention will be further described below with reference to the accompanying drawings and examples. The embodiments of the present invention include but are not limited to the following examples.

[0037] like Figure 1-7As shown, the whole bridge pier detection system of a single-pillar pier bridge provided by the present invention includes: an onboard computer submodule, a linear guide submodule, a mechanical arm submodule, a wall-climbing robot submodule 6 and a high-definition camera submodule 17; the linear guide submodule drives the onboard computer submodule, the mechanical arm submodule and the wall-climbing robot submodule 6 to move longitudinally along the bridge; the linear guide submodule is installed on the bridge structure and is located in an area outside the driving area; the onboard computer submodule is provided with a guide displacement control system, a mechanical arm control system, a wall-climbing robot submodule control system, a bridge disease image recognition system and a network transmission system; the guide displacement control system is used to control The linear guide submodule controls the longitudinal position of the robotic arm submodule; the robotic arm control system is used to control the movement of the robotic arm submodule, thereby controlling the height and lateral position of the wall-climbing robot submodule 6, so that the wall-climbing robot submodule 6 is close to the bridge pier; the wall-climbing robot submodule control system is used to control the movement of the wall-climbing robot submodule 6 and the high-definition camera submodule 17, so that the wall-climbing robot submodule 6 is fixed on the bridge pier and moves up and down along the bridge pier, and controls the target position and shooting angle of the high-definition camera submodule 17; the bridge disease image recognition system recognizes the captured bridge disease images; the network transmission system transmits the recognition results to the terminal.

[0038] The linear guide rail submodule includes a guide rail 1 and a vehicle body 2. The vehicle body 2 is provided with a space for placing the onboard computer submodule. The movement of the vehicle body 2 is controlled by the onboard computer submodule.

[0039] The guide rail 1 is laid on the outside of the bridge deck fence, the side of the bridge or the bottom of the bridge. In this embodiment, the guide rail 1 is laid on the outside of the bridge deck fence.

[0040] The robotic arm submodule includes a vertical robotic arm 3, a horizontal robotic arm 4 and a clamping device 5. The vertical robotic arm 3 and the horizontal robotic arm 4 are both electric telescopic arms. The top of the vertical telescopic arm is connected to the slider, and the horizontal robotic arm 4 is installed at the bottom end of the vertical telescopic arm. The clamping device 5 is installed at the end of the horizontal robotic arm 4. It uses a three-claw electric or pneumatic chuck to clamp the wall-climbing robot submodule 6 and can release the wall-climbing robot submodule 6 when inspection is required.

[0041] The wall-climbing robot submodule 6 includes a support frame 7, one end of which is equipped with a clamping part 8, and the clamping device 5 clamps the part. An annular track frame 9 is installed at one end of the support frame 7, and the track frame 9 includes component one 10, component two 11 and component three 12, wherein component one 10 is fixedly connected to the support frame 7, component two 11 and component three 12 are rotatably installed on both sides of component one 10, component two 11 and component three 12 rotate inward, and after the two ends are connected at the far end, component two 11, component three 12, and component one 10 are combined into a track frame 9, and electric push rods 13 are installed between component two 11, component three 12 and the support frame 7, and the electric push rods 13 are used to drive component two 11 and component three 12 to rotate, and multiple six-way wheels 14 are installed on component two 11 and component three 12, and the six-way wheels 14 are driven by a motor. Two guide rods 15 are radially installed on one side of the six-way wheel 14, and a spring 16 is installed on the guide rod 15. A suction plate 21 is installed at the far end of component two 11, and an electromagnet 22 is installed at the far end of component three 12. When the far ends of component two 11 and component three 12 are closed, the suction plate 21 is attached to the electromagnet 22. After the electromagnet 22 is energized, it attracts the suction plate 21, so that the far ends of component two 11 and component three 12 are connected.

[0042] The high-definition camera submodule 17 includes a track car 18 mounted on a track frame 9. Driven by a motor, track car 18 moves in a circular motion along track frame 9. A camera 19 is mounted on track car 18, and a flashlight 20 and a light sensor are located next to camera 19. As track car 18 orbits the bridge pier, camera 19 captures the pier and uploads the data. In low light conditions, flashlight 20 automatically activates, improving image quality and making the image easier to identify and less prone to misidentification.

[0043] In the onboard computer submodule, by presetting the work route, the guide rail displacement control system and the robotic arm control system automatically calculate the optimal work path, as well as the pause time for image recognition by the high-definition camera submodule 17. The bridge defect image recognition system receives the images and pictures transmitted by the high-definition camera submodule 17, uses a deep learning algorithm to identify bridge defects, and transmits them to the terminal via the network transmission system. The algorithm used for bridge defect recognition varies depending on the task. For example, the YOLOv8 algorithm can be used for bridge crack recognition.

[0044] The control method of the whole bridge pier detection system of a single-pillar pier bridge includes the following steps:

[0045] Step 1: Set the working route of bridge inspection in the system, and control the mobile body 2 to move to the corresponding position on the linear guide rail 1 through the onboard computer;

[0046] Step 2: After the mobile vehicle body 2 reaches the designated position, the vertical robotic arm 3 descends to the bridge pier below the cap beam, and the horizontal robotic arm 4 is extended so that the wall-climbing robot submodule 6 is located on one side of the bridge pier, with component two 11 and component three 12 in the open state;

[0047] Step 3: Continue to slowly extend the horizontal robotic arm 4, then start the electric push rod 13, causing the second component 11 and the third component 12 to rotate inward until the distal ends engage. The electromagnet 22 attracts the engaging plate 21, and the six-way wheel 14 presses against the outer circle of the pier, causing the guide rod 15 to move outward and compress the spring 16.

[0048] Step 4: Power is supplied to the motor of the six-way wheel 14. The wheels of the six-way wheel 14 are stationary. The friction force generated by the wheels squeezing the bridge pier fixes the wall-climbing robot submodule 6 on the bridge pier.

[0049] Step 5: The clamping device 5 releases the clamping portion 8, the horizontal robotic arm 4 is disconnected from the wall-climbing robot submodule 6, and the horizontal robotic arm 4 retracts;

[0050] Step 6: The onboard computer controls the rotation of the six-way wheel 14 to enable the wall-climbing robot submodule 6 to ascend / descend to a specified height;

[0051] Step 7: Turn on the camera 19 and the lighting flashlight, move along the track frame 9, and inspect the bridge pier in one circle;

[0052] Step 8: The camera 19 transmits the captured bridge damage image to the onboard computer, which performs image recognition through the bridge damage image recognition system;

[0053] Step 9: The onboard computer transmits the identified disease results to the terminal through the network transmission system;

[0054] Step 10: After the inspection of the current bridge pier is completed, the wall-climbing robot submodule 6 is retracted and steps 1-9 are repeated to continue the disease observation of the next bridge pier until the entire bridge inspection process is completed.

Claims

1. A single-pillar bridge pier detection system, characterized in that: include: Onboard computer submodule, linear guide submodule, robotic arm submodule, wall climbing robot submodule (6) and high-definition camera submodule (17); The linear guide rail submodule drives the onboard computer submodule, the robotic arm submodule and the wall-climbing robot submodule (6) to move longitudinally along the bridge; The onboard computer submodule is equipped with a guide rail displacement control system, a robotic arm control system, a wall-climbing robot submodule control system, a bridge disease image recognition system, and a network transmission system; The manipulator control system is used to control the movement of the manipulator submodule, thereby controlling the height and lateral position of the wall-climbing robot submodule (6); The wall-climbing robot submodule control system is used to control the actions of the wall-climbing robot submodule (6) and the high-definition camera submodule (17), so that the wall-climbing robot submodule (6) is fixed on the bridge pier and moves up and down along the bridge pier, and to control the target position and shooting angle of the high-definition camera submodule (17); The bridge defect image recognition system recognizes the photographed bridge defect image; The network transmission system transmits the identification result to the terminal; The linear guide rail submodule comprises a guide rail (1) and a vehicle body (2), wherein the vehicle body (2) is connected to and controlled by the onboard computer submodule; The robotic arm submodule comprises a vertical robotic arm (3), a horizontal robotic arm (4) and a clamping device (5); The wall-climbing robot submodule (6) comprises a support frame (7), one end of the support frame (7) is mounted with a clamping portion (8), and one end of the support frame (7) is mounted with an annular track frame (9); The track frame (9) includes component one (10), component two (11) and component three (12), wherein component two (11) and component three (12) are rotatably mounted on both sides of component one (10), and a plurality of six-way wheels (14) are mounted on component two (11) and component three (12), and electric push rods (13) are mounted between component two (11), component three (12) and the support frame (7); Two guide rods (15) are installed radially on one side of the six-way wheel (14), and springs (16) are installed on the guide rods (15); The distal end of the second component (11) is provided with a suction plate (21), and the distal end of the third component (12) is provided with an electromagnet (22); The high-definition camera submodule (17) comprises a rail vehicle (18) mounted on the rail frame (9), and a camera (19) and a flashlight (20) are mounted on the rail vehicle (18).

2. A control method for a single-pillar bridge pier detection system, applicable to the single-pillar bridge pier detection system according to claim 1, characterized in that: The following steps are involved: Step 1: Set the working route of the bridge inspection in the system, and control the mobile vehicle (2) to move to the corresponding position on the linear guide rail (1) through the onboard computer; Step 2: After the mobile vehicle body (2) reaches the designated position, the vertical robotic arm (3) descends to the bridge pier below the cap beam, and the horizontal robotic arm (4) is extended so that the wall-climbing robot submodule (6) is located on one side of the bridge pier; Step 3: Continue to slowly extend the horizontal robotic arm (4), and then start the electric push rod (13) to engage the second component (11) and the third component (12); Step 4: The friction force generated by the six-way wheels squeezing the bridge pier enables the wall-climbing robot submodule (6) to be fixed on the bridge pier; Step 5: The clamping device (5) releases the clamping portion (8), the horizontal robotic arm (4) is disconnected from the wall-climbing robot submodule (6), and the horizontal robotic arm (4) retracts; Step 6: The onboard computer controls the rotation of the six-way wheel (14) to enable the wall-climbing robot submodule (6) to ascend / descend to a specified height; Step 7: The camera (19) and the lighting flashlight are turned on and moved along the track frame (9) to inspect the bridge pier in one circle; Step 8: The camera (19) transmits the captured bridge damage image to the onboard computer, which performs image recognition through the bridge damage image recognition system; Step 9: The onboard computer transmits the identified disease results to the terminal through the network transmission system; Step 10: After the inspection of the current bridge pier is completed, the wall-climbing robot submodule (6) is retracted and steps 1-9 are repeated to continue the disease observation of the next bridge pier until the entire bridge inspection process is completed.

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