Box girder robot

Abstract

The invention relates to the technical field of ultrasonic detection, in particular to a box girder robot, an ultrasonic detector comprises a control box and a detection head, the control box is mounted on a detection vehicle, the detection head is mounted on the control box, and the detection head is used for transmitting and receiving ultrasonic signals; a sliding seat and a rotating seat are arranged in the control box, the sliding seat slides in the control box in the horizontal direction, the sliding seat drives the rotating seat to rotate in the vertical direction in the sliding process, the detection head is fastened on the rotating seat, and the rotating seat rotates in the vertical direction while the rotating seat rotates in the vertical direction. And the detection head is synchronously driven to rotate. The purpose of the invention is to realize the omnibearing monitoring of the box girder from macroscopic to microscopic, so that the potential tiny diseases of the bridge can be found in time, and the transformation from passive maintenance to active prevention is realized. Meanwhile, the detection accuracy is effectively improved, and the detection quality is improved.

Description

Technical Field

[0001] The present application relates to the field of ultrasonic detection technology, and in particular to a box girder robot. Background Art

[0002] With the rapid development of transportation infrastructure construction, steel box girder bridges have been widely used in many large-span bridge projects due to their excellent mechanical properties and ease of construction. However, under the influence of long-term continuous loads and environmental erosion, steel box girder bridges will inevitably have structural problems such as coating degradation, rivet rust, and fatigue cracking during use. If these problems are not discovered and handled in time, they will greatly threaten the safe operation of the bridge. Therefore, the continuous health monitoring and maintenance of steel box girder bridges is particularly important, which is not only related to the safety of life and property of the public, but also to the stable operation and economic benefits of the transportation network.

[0003] In the related technologies, the field of health monitoring of steel box girder bridges still relies on traditional detection methods, such as regular manual inspections. These methods are not only time-consuming and inefficient, but are also easily limited by human judgment, making it difficult to detect potential subtle defects of bridges in a timely manner. Summary of the invention

[0004] The present application provides a box girder robot that can perform stable and reliable manned automatic inspections, has a strong load capacity, can operate manned inside a steel box girder, and assists maintenance personnel in moving inside a narrow box girder, thereby improving the efficiency of maintenance and operation. At the same time, the robot carries a special detection system that can accurately identify and quantitatively evaluate the rust of rivets and the integrity of welds, and can achieve all-round monitoring of the box girder from macro to micro, thereby timely discovering potential subtle diseases of the bridge. This real-time monitoring and automatic early warning mechanism provides strong decision-making support for bridge managers, realizing the transition from passive maintenance to active prevention.

[0005] The present application provides a box beam robot, which adopts the following technical solution:

[0006] A box beam robot comprises a probe car, a seat, a universal wheel and an ultrasonic detector, wherein the seat is mounted on the probe car, the seat is used to carry a detection person, the universal wheel is mounted on the bottom of the probe car, and the ultrasonic detector is arranged at the front end of the probe car;

[0007] The ultrasonic detector comprises a control box and a detection head, wherein the control box is mounted on the detection vehicle, and the detection head is mounted on the control box, and the detection head is used to transmit and receive ultrasonic signals;

[0008] A sliding seat and a rotating seat are provided in the control box. The sliding seat slides in the horizontal direction in the control box, and the sliding seat drives the rotating seat to rotate in the vertical direction during the sliding process. The detection head is fastened to the rotating seat. When the rotating seat rotates in the vertical direction, it simultaneously drives the detection head to rotate.

[0009] By adopting the above technical solution, this setting method uses an ultrasonic detector to detect cracks in the box girder, so that the detection vehicle can accurately identify and quantitatively evaluate the rust of the rivets and the integrity of the welds, thereby realizing all-round monitoring of the box girder from macro to micro, and thus timely discovering potential subtle defects of the bridge, realizing the transformation from passive maintenance to active prevention.

[0010] At the same time, the detection head on the control box is set to a rotating installation mode by using a sliding seat and a rotating seat, which makes it possible to adjust the detection angle of the detection head. Specifically, when detecting the cracked box body of the box beam, by rotating the detection angle of the detection head, the detection head can detect from multiple different angles, so as to find the angle with the best detection effect among multiple different angles, which is conducive to improving the accuracy and quality of detection.

[0011] Preferably, an adjustment mechanism is provided in the control box, and the adjustment mechanism includes a sliding assembly and a rotating assembly, the sliding assembly is used to drive the sliding seat to slide in the horizontal direction, and the sliding seat drives the rotating seat to rotate in the vertical direction through the rotating assembly during the sliding process, and the rotating seat drives the detection head to rotate synchronously while rotating;

[0012] The sliding assembly comprises a first driving cylinder, the cylinder body of the first driving cylinder is installed in the control box through a corresponding hinge seat, the sliding seat is connected to the piston rod of the first driving cylinder, and the first driving cylinder is used to drive the sliding seat to slide;

[0013] The rotating assembly comprises a first rotating rod, a second rotating rod and a push rod, the first rotating rod and the second rotating rod are both arranged horizontally, one end of the first rotating rod is connected to the sliding seat, a rotating cylinder is provided between the end of the first rotating rod away from the sliding seat and the second rotating rod, the rotating cylinder is used to set the first rotating rod and the second rotating rod as a rotating connection;

[0014] The rotating drum is installed in the control box through a corresponding support seat, a rotating shaft is installed on the support seat in a vertical direction, and the rotating drum is sleeved on the circumference of the rotating shaft and rotates along the circumference of the rotating shaft;

[0015] One end of the push rod is connected to the second rotating rod, and the push rod and the second rotating rod are kept vertical, and the other end of the push rod is connected to the rotating seat, and the push rod is connected to the side of the rotating seat close to the bottom;

[0016] A hinge shaft is inserted into one end of the rotating seat connected to the push rod along its length direction, and a hinge seat is connected to the end of the hinge shaft. The end of the rotating seat connected to the push rod is set to a hinged installation mode through the hinge shaft and the hinge seat.

[0017] By adopting the above technical solution, when in use, the first driving cylinder drives the sliding seat to slide in the horizontal direction. The sliding seat drives the first rotating rod to rotate in the same direction during the forward and backward sliding process. Since the first rotating rod and the second rotating rod are connected in a rotating manner through the rotating cylinder, and the two remain vertical, the first rotating rod slides along the sliding seat while the second rotating rod slides in a direction perpendicular to the first rotating rod.

[0018] During the sliding process, the second rotating rod drives the push rod to push the rotating seat. The end of the rotating seat connected to the push rod is hingedly installed, and the push rod is connected to the bottom of the rotating seat. When the push rod pushes the rotating seat, the rotating seat can rotate in the vertical direction, thereby driving the detection head to rotate, so as to adjust the detection angle of the detection head.

[0019] Preferably, the rotating components are provided in two groups, and the two groups of rotating components are distributed at the left and right ends of the rotating seat.

[0020] By adopting the above technical solution, two sets of rotating components are used to drive the rotating seat to rotate, which is beneficial to ensuring the stability of the rotating seat during the rotation process, and thus can effectively ensure the stability of the detection head during the box beam detection process.

[0021] Preferably, a protective cover is horizontally provided in the control box, the protective cover slides horizontally in the control box, the detection head is installed in the protective cover, the protective cover covers the detection head, and the detection head slides along the length direction of the protective cover.

[0022] By adopting the above technical solution, the detection head is covered with a protective cover, and both the protective cover and the detection head are set to a sliding installation mode. When the distance between the detection head and the object to be measured needs to be adjusted, the protective cover is first slid out until the front end of the protective cover abuts against the inner wall of the box beam to be measured. Then, the detection head is slid in the protective cover, and the distance between the detection head and the inner wall of the box beam is continuously adjusted until the optimal detection distance is found.

[0023] This setting method uses a protective cover to cover the detection head, so that the detection head will not be affected by the external environment. At the same time, it can also adjust the distance between the detection head and the object to be tested, which is beneficial to ensure the detection effect of the detection head on the object to be tested.

[0024] Preferably, a second driving cylinder is provided in the control box, a cylinder body of the second driving cylinder is fastened in the control box by a fastening bolt, a piston rod of the second driving cylinder is connected to an end of the protective cover, and the second driving cylinder is used to drive the protective cover to slide;

[0025] A third driving cylinder is added in the protective cover, the cylinder body of the third driving cylinder is fastened in the protective cover by fastening bolts, the piston rod of the third driving cylinder is connected to the mounting seat on the detection head, and the third driving cylinder is used to drive the detection head to slide in the protective cover.

[0026] By adopting the above technical solution, the second driving cylinder and the third driving cylinder are used to drive the protective cover and the detection head to slide, and the materials are generally easy to find, so it is convenient to replace the worn parts.

[0027] Preferably, both left and right sides of the protective cover are provided with slide grooves along the length direction thereof, and both left and right sides of the detection head are integrally formed with sliders, and the two sliders are slidably installed in the two slide grooves respectively.

[0028] By adopting the above technical solution, when the third driving cylinder drives the detection head to slide, the slider and the corresponding slide groove can guide the detection head, which is beneficial to further improve the sliding stability of the detection head in the protective cover.

[0029] Preferably, the second driving cylinder is retained, and the third driving cylinder in the protective cover is removed, the detection head is fixedly installed at a position close to the rear end of the protective cover, and the protective cover is configured as a spring cover.

[0030] By adopting the above technical solution, when it is necessary to adjust the distance between the detection head and the object to be measured, the spring cover is driven to slide by the second driving cylinder until the front end of the spring cover abuts against the box beam. While the spring cover slides, it also drives the detection head to slide. After the front end of the spring cover abuts against the box beam, the spring cover is continued to slide by the second driving cylinder. At this time, the front end of the spring cover is compressed by the box beam. As the front end of the spring cover is gradually compressed, the distance from the detection head installed in the spring cover to the box beam can be adjusted.

[0031] With this arrangement, the distance between the detection head and the object to be detected can be adjusted only by the second driving cylinder, so that the overall installation structure is simpler, which is beneficial to improving the efficiency of the overall assembly of the equipment and is more convenient to use.

[0032] Preferably, the detection head is coated with sound absorbing material.

[0033] By adopting the above technical solution and utilizing sound-absorbing materials, the number of reflections of sound waves in the environment can be effectively reduced, thereby facilitating improving the accuracy of the flaw detection results of the detection head.

[0034] Preferably, a first compression spring is installed in the control box along the vertical direction, the top of the first compression spring is connected to the top of the control box, the bottom of the first compression spring is integrally connected with a compression block along the horizontal direction, a side of the compression block close to the detection head is integrally formed with a compression plate along the horizontal direction, the installation height of the compression plate is lower than the installation height of the detection head mounting plate, and the mounting plate on the detection head is used to press down the compression plate;

[0035] A rack is installed below the pressing block so as to slide in the horizontal direction, a gear is meshed on the top of the rack, and the gear is located below the pressing block. The pressing block is used to drive the gear to rotate, and the gear drives the rack to slide during the rotation process;

[0036] A baffle is fixed on one side of the rack in a direction perpendicular to the sliding seat, and a limiting plate is integrally formed at one end of the sliding seat, and the baffle and the limiting plate are used to limit the sliding seat;

[0037] A second compression spring is provided at the end of the rack.

[0038] By adopting the above technical solution, as the detection head rotates clockwise, the mounting plate on the detection head will also rotate accordingly. As the detection head rotates. When it rotates to a certain angle, the mounting plate of the detection head presses down on the pressure plate. The downward pressure on the pressure plate drives the pressure block to descend synchronously. When the pressure block gradually descends and abuts against the gear below, the pressure block drives the gear to rotate. During the rotation, the gear drives the rack to slide to the left until the baffle on the rack abuts against the limit plate on the sliding seat that slides to the right. In this state, the baffle and the limit plate move in opposite directions, and the sliding seat stops sliding under the restriction of the baffle and the limit plate. At this time, the detection head can no longer continue to rotate, and the detection head reaches the maximum rotation angle.

[0039] When the detection head stops rotating, the staff can operate the first driving cylinder to drive the detection head to reset. At this time, the rack and the pressure block are also reset under the action of the first compression spring and the second compression spring respectively.

[0040] In summary, the present application includes at least one of the following beneficial technical effects:

[0041] 1. The ultrasonic detector is used to detect cracks in the box girder, so that the detection vehicle can accurately identify and quantitatively evaluate the rust of rivets and the integrity of welds, thereby realizing all-round monitoring of the box girder from macro to micro, and timely discovering potential subtle diseases of the bridge, realizing the transformation from passive maintenance to active prevention.

[0042] At the same time, the detection head on the control box is set to a rotating installation mode by using a sliding seat and a rotating seat, which makes it possible to adjust the detection angle of the detection head. Specifically, when detecting the cracked box beam, by rotating the detection angle of the detection head, the detection head can detect from multiple different angles, so as to find the angle with the best detection effect among multiple different angles, which is conducive to improving the detection accuracy and quality;

[0043] 2. Use the protective cover to cover the detection head, and set both the protective cover and the detection head to a sliding installation mode. When the distance between the detection head and the object to be measured needs to be adjusted, first slide the protective cover out until the front end of the protective cover abuts against the inner wall of the box beam to be measured. Then, slide the detection head in the protective cover, and continuously adjust the distance between the detection head and the inner wall of the box beam until the best detection distance is found.

[0044] This setting method uses a protective cover to cover the detection head, so that the detection head will not be affected by the external environment. At the same time, it can also adjust the distance between the detection head and the object to be tested, which is beneficial to ensure the detection effect of the detection head on the object to be tested;

[0045] 3. In specific use, when the distance between the detection head and the object to be measured needs to be adjusted, the spring cover is driven to slide by the second driving cylinder until the front end of the spring cover abuts against the box beam. While the spring cover slides, it also drives the detection head to slide. After the front end of the spring cover abuts against the box beam, the spring cover is continued to slide by the second driving cylinder. At this time, the front end of the spring cover is compressed by the box beam. As the front end of the spring cover is gradually compressed, the distance from the detection head installed in the spring cover to the box beam can be adjusted.

[0046] With this arrangement, the distance between the detection head and the object to be detected can be adjusted only by the second driving cylinder, so that the overall installation structure is simpler, which is beneficial to improving the efficiency of the overall assembly of the equipment and is more convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the overall structure of the embodiment of the present application;

[0048] Figure 2It is a structural schematic diagram of the embodiment of the present application specifically showing the positional relationship between the sliding seat, the rotating seat, the first driving cylinder, the first rotating rod, the second rotating rod, the push rod, the rotating drum and the rotating shaft;

[0049] Figure 3 It is a structural schematic diagram of the embodiment of the present application specifically showing the positional relationship between the protective cover, the second driving cylinder and the slide groove;

[0050] Figure 4 is a structural schematic diagram of an embodiment of the present application specifically showing the positional relationship between the third driving cylinder and the slider;

[0051] Figure 5 This is a schematic diagram of the specific structure of the embodiment of the present application after the protective cover is set as a spring cover;

[0052] Figure 6 is a structural schematic diagram of an embodiment of the present application specifically showing the positional relationship among the first compression spring, the compression block, the compression plate, the rack and the limiting plate;

[0053] Figure 7 is a structural schematic diagram of an embodiment of the present application specifically showing the positional relationship between the gear and the baffle;

[0054] Figure 8 It is a structural schematic diagram of an embodiment of the present application specifically showing the position relationship of the second compression spring.

[0055] Figure numerals: 1. detection vehicle; 2. seat; 3. universal wheel; 4. ultrasonic detector; 41. control box; 42. detection head; 5. sliding seat; 6. rotating seat; 7. first driving cylinder; 8. first rotating rod; 9. second rotating rod; 10. push rod; 11. rotating drum; 12. rotating shaft; 13. protective cover; 14. second driving cylinder; 15. third driving cylinder; 16. slide groove; 17. slider; 18. first compression spring; 19. pressure block; 20. pressure plate; 21. rack; 22. gear; 23. baffle; 24. limit plate; 25. second compression spring. DETAILED DESCRIPTION

[0056] The following is combined with Figure 1 -Attached Figure 8 , further details of this application are given.

[0057] Embodiment 1:

[0058] The present application embodiment discloses a box beam robot, referring to Figure 1, including a detection vehicle 1, a seat 2, universal wheels 3 and an ultrasonic detector 4. The detection vehicle 1 is in the shape of a rectangular parallelepiped as a whole, and the seat 2 is installed on the detection vehicle 1, and the seat 2 is used to carry the detection personnel. There are four universal wheels 3, which are distributed at the bottom of the detection vehicle 1. The universal wheels 3 enable the detection vehicle 1 to move inside the box beam, thereby realizing the detection vehicle 1 to stably and reliably carry people and automatically inspect inside the box beam. The ultrasonic detector 4 is arranged at the front end of the detection vehicle 1, and is used to detect cracks in the structure of the box beam.

[0059] The box girder inspection robot is a wheeled manned automatic inspection equipment that runs on a dedicated track inside a steel box girder bridge. It has a stable and reliable load capacity, can carry people inside the steel box girder, and assist maintenance personnel in moving inside the box girder, which is beneficial to improving the efficiency of manual inspection and maintenance operations.

[0060] At the same time, the visual active perception technology on the box girder inspection robot can perform real-time analysis of the monitoring video stream through deep learning and image processing technology, identify and quantitatively evaluate the rust of rivets and the integrity of welds, detect coating degradation, rivet corrosion, fatigue cracking and other structural problems, and thus continuously and effectively monitor the health of steel box girder bridges.

[0061] Specifically, refer to Figure 1 The ultrasonic detector 4 includes a control box 41 and a detection head 42. The control box 41 is installed on the detection vehicle 1. The control box 41 is provided with a corresponding display screen and buttons for controlling the detection head 42. The detection head 42 is installed on the control box 41 and is used to transmit and receive ultrasonic signals. The detection head 42 is coated with a sound-absorbing material. The use of the sound-absorbing material can effectively reduce the number of reflections of the sound wave in the environment, thereby facilitating the improvement of the accuracy of the flaw detection results of the detection head 42.

[0062] Reference Figure 1 and Figure 2 The control box 41 is hollow inside, and a sliding seat 5 and a rotating seat 6 are arranged inside the control box 41. The sliding seat 5 slides in the horizontal direction inside the control box 41, and the sliding seat 5 drives the rotating seat 6 to rotate in the vertical direction during the sliding process. The detection head 42 is fastened to the rotating seat 6 by corresponding fastening bolts, and the rotating seat 6 rotates in the vertical direction, and synchronously drives the detection head 42 to rotate.

[0063] This setting uses an ultrasonic detector 4 to detect cracks in the box girder, so that the detection vehicle 1 can accurately identify and quantitatively evaluate the rust of the rivets and the integrity of the welds, thereby achieving all-round monitoring of the box girder from macro to micro, and thus timely discovering potential subtle defects in the bridge, realizing the transition from passive maintenance to active prevention.

[0064] At the same time, the detection head 42 on the control box 41 is set to a rotating installation mode by using the sliding seat 5 and the rotating seat 6, so that the detection angle of the detection head 42 can be adjusted. Specifically, when detecting the cracked box body of the box beam, by rotating the detection angle of the detection head 42, the detection head 42 can detect from multiple different angles, so as to find the angle with the best detection effect among the multiple different angles, which is conducive to improving the accuracy and quality of detection.

[0065] The box girder inspection robot has the functions of automatic charging, automatic execution of inspection tasks, automatic data analysis and uploading of inspection results, and long-term stable operation without human intervention. It can realize fully automatic inspection of the health status of steel box girder bridges and is very convenient to use.

[0066] Specifically, a corresponding adjustment mechanism is provided in the control box 41, and the adjustment mechanism includes a sliding assembly and a rotating assembly. The sliding assembly is used to drive the sliding seat 5 to slide in the horizontal direction, and the sliding seat 5 drives the rotating seat 6 to rotate in the vertical direction through the rotating assembly during the sliding process. When the rotating seat 6 rotates, it synchronously drives the detection head 42 to rotate.

[0067] The sliding assembly and the rotating assembly are then used to drive the detection head 42 to rotate, so that the detection angle of the detection head 42 can be adjusted according to specific working conditions.

[0068] Specifically, refer to Figure 1 and Figure 2 The sliding assembly includes a first driving cylinder 7, the cylinder body of the first driving cylinder 7 is installed in the control box 41 through a corresponding hinged seat, the sliding seat 5 is connected to the piston rod of the first driving cylinder 7, and the first driving cylinder 7 is used to drive the sliding seat 5 to slide in the horizontal direction.

[0069] Reference Figure 1 and Figure 2 The rotating assembly includes a first rotating rod 8, a second rotating rod 9 and a push rod 10. The first rotating rod 8 and the second rotating rod 9 are both in the shape of a cuboid. The first rotating rod 8 and the second rotating rod 9 are both arranged horizontally. One end of the first rotating rod 8 is connected to the sliding seat 5. A rotating cylinder 11 is provided between the end of the first rotating rod 8 away from the sliding seat 5 and the second rotating rod 9. The rotating cylinder 11 is used to set the first rotating rod 8 and the second rotating rod 9 in a rotating connection. The angle between the first rotating rod 8 and the second rotating rod 9 is 90°.

[0070] Reference Figure 1 and Figure 2 The rotating drum 11 is installed in the control box 41 through a corresponding support seat, and a rotating shaft 12 is installed on the support seat in a vertical direction. The rotating drum 11 is sleeved on the side of the rotating shaft 12 and rotates along the side of the rotating shaft 12.

[0071] The push rod 10 is columnar, one end of the push rod 10 is connected to the second rotating rod 9, and the push rod 10 and the second rotating rod 9 are kept vertical, and the other end of the push rod 10 is connected to the rotating seat 6, and the push rod 10 is connected to the side of the rotating seat 6 close to the bottom. The push rod 10 is located above the sliding seat 5 as a whole.

[0072] The end of the rotating seat 6 connected to the push rod 10 is inserted with a hinge shaft along its length direction, and the end of the hinge shaft is connected to the hinge seat. The end of the rotating seat 6 connected to the push rod 10 is set to a hinged installation mode through the hinge shaft and the hinge seat.

[0073] When in use, the first driving cylinder 7 drives the sliding seat 5 to slide in the horizontal direction. The sliding seat 5 drives the first rotating rod 8 to rotate in the same direction during the forward and backward sliding process. Since the first rotating rod 8 and the second rotating rod 9 are connected in a rotating manner through the rotating cylinder 11, and the two remain vertical, the first rotating rod 8 slides with the sliding seat 5, and the second rotating rod 9 slides in a direction perpendicular to the first rotating rod 8.

[0074] During the sliding process, the second rotating rod 9 drives the push rod 10 to push the rotating seat 6. The end of the rotating seat 6 connected to the push rod 10 is hingedly installed, and the push rod 10 is connected to the bottom of the rotating seat 6. When the push rod 10 pushes the rotating seat 6, the rotating seat 6 can rotate in the vertical direction, thereby driving the detection head 42 to rotate, so as to adjust the detection angle of the detection head 42.

[0075] A certain gap is reserved between the installation position of the detection head 42 and the control box 41 to allow the detection head 42 to rotate.

[0076] Reference Figure 2 In the present embodiment, the rotating components are provided in two groups, and the two groups of rotating components are distributed at the left and right ends of the rotating seat 6. The rotating seat 6 is driven to rotate by the two groups of rotating components, which is beneficial to ensure the stability of the rotating process of the rotating seat 6, and further can effectively ensure the stability of the detection head 42 in the process of detecting the box beam.

[0077] In the internal monitoring system of steel box girders, crack detection is a key task. Crack detection in steel box girders needs to deal with the interference of pseudo cracks, such as welds, corrosion marks, water stains or other debris. These pseudo cracks may be very similar to real cracks in texture and pixel values, and are easily misdetected, affecting the accuracy and recall rate.

[0078] This paper analyzes the internal monitoring image data of steel box girders and identifies three main categories: beam texture, real cracks and pseudo cracks. To verify the negative impact of pseudo cracks on deep neural network models in crack detection, the feature maps from the well-trained detection model were subjected to region of interest (ROI) weight analysis and overlaid on the input image in the form of a heat map. The presence of pseudo cracks significantly affects the detection model's region of interest. After "removing" these pseudo cracks, the ROI is mainly concentrated on real cracks. Although pseudo cracks have a different appearance from real cracks, they still have a negative impact on detection.

[0079] To solve this problem, this paper proposes an algorithm based on image inpainting to "remove" pseudo cracks in steel box girder images. The image inpainting task is to fill the occluded area in the image with pixels of correct semantics and reasonable spatial positions. Based on the pixel inference calculation of the local or whole image, the zero-value pixels in the original occluded area are filled in order to more accurately detect and analyze the real cracks inside the steel box girder. Furthermore, this paper proposes a crack detection network based on the structure and training mode of Pix2Pix. The original U-Net generator is replaced by a high-resolution (HR) generator in the generator branch network. The HR generator fuses multi-level image information and keeps the fused feature map relatively large. The fused features enable the network to locate the area to be replaced more accurately, while generating outputs with rich semantic information and retaining low-level image details. A hybrid loss function is designed during training to control the quality of the generated image with multi-dimensional constraints on pixel values, structural similarity, and high-dimensional representation.

[0080] At the same time, the accuracy of rivet corrosion detection is crucial to ensure the safety of steel box girder structures. Considering the particularities of the internal environment of steel box girders, such as limited viewing angles, uneven lighting conditions, and complex background textures, these factors pose significant challenges to accurately detecting the rivet corrosion state. Given that rivets are small and detailed, their corrosion detection requires highly accurate image analysis technology.

[0081] In response to the above challenges, a multi-feature combined rivet corrosion detection network is proposed. The model performs efficient feature extraction on the internal monitoring images of steel box girders, accurately identifies the rivet positions and analyzes their corrosion status. The detection network first divides the image of the rivet area into multiple small blocks, and analyzes each small block separately through feature extraction technology to extract local information. Then, using the Transformer attention mechanism, the network can focus on the details of the global image of the rivet. Combining local and global information, the network can capture the corrosion characteristics of the rivets more finely, and maintain high accuracy even in uneven lighting or complex backgrounds.

[0082] Further, refer to Figure 1 , Figure 6 as well as Figure 7A first compression spring 18 is installed in the control box 41 along the vertical direction. The top of the first compression spring 18 is connected to the top of the control box 41. The bottom of the first compression spring 18 is connected to a pressure block 19 in the horizontal direction. The pressure block 19 is in the shape of a rectangular parallelepiped. A long strip-shaped pressure plate 20 is integrally formed in the horizontal direction on one side of the pressure block 19 close to the detection head 42. The installation height of the pressure plate 20 is lower than the installation height of the mounting plate of the detection head 42. As the detection head 42 rotates, the mounting plate on the detection head 42 will press down the pressure plate 20.

[0083] At the same time, refer to Figure 6 and Figure 7 A long strip of rack 21 is installed horizontally below the pressing block 19, and a mounting plate is fixed horizontally below the pressing block 19. The mounting plate has a movable groove along its length, and the rack 21 is slidably installed in the groove. A gear 22 is meshed at the top of the rack 21, and the gear 22 is located below the pressing block 19. A toothed plate is installed vertically at the bottom of the pressing block 19, and the side of the toothed plate close to the gear can mesh with the gear.

[0084] At the same time, refer to Figure 6 and Figure 7 A baffle 23 is welded to the bottom of the rack 21 in the horizontal direction, and an "L"-shaped limit plate 24 is integrally formed at one end of the sliding seat 5. The sliding seat 5 is driven by the first driving cylinder 7 to perform hinged sliding. During the hinged sliding process, the sliding seat 5 synchronously drives the limit plate 24 to perform hinged movement.

[0085] When the rotation angle of the detection head 42 reaches the limit value, the baffle 23 abuts against the limit plate 24, and in this state, the baffle 23 and the limit plate 24 move in opposite directions. The baffle 23 and the limit plate 24 can limit the sliding seat 5 from continuing to slide. When the sliding seat 5 stops sliding, the detection head 42 can no longer continue to rotate. The baffle 23 and the limit plate 24 can limit the detection head 42 in time when the detection head 42 reaches the maximum rotation angle, effectively preventing it from being irreversibly damaged due to excessive rotation.

[0086] Specifically, as the detection head 42 rotates clockwise, the mounting plate on the detection head 42 also rotates accordingly. As the detection head 42 rotates. When it rotates to a certain angle, the mounting plate of the detection head 42 presses down the pressure plate 20. The pressure plate 20 is subjected to the downward pressure and drives the pressure block 19 to descend synchronously. As the pressure block 19 descends, when the toothed plate at the bottom of the pressure block 19 is meshed and connected with the gear 22 below, the toothed plate drives the gear 22 to rotate, and the gear 22 drives the rack 21 to slide forward during the rotation process until the baffle 23 on the rack 21 abuts against the limit plate 24 on the sliding seat 5.

[0087] In this state, the baffle 23 and the limit plate 24 move in opposite directions, and the sliding seat 5 stops sliding under the restriction of the baffle 23 and the limit plate 24. At this time, the detection head 42 can no longer rotate, that is, the detection head 42 reaches the maximum rotation angle.

[0088] In this embodiment, a certain space is reserved between the toothed plate at the bottom of the pressing block 19 and the gear 22, and this space provides a buffering effect for the detection head 42 to stop rotating. When the mounting plate of the detection head 42 is pressed on the pressing plate 20, the rotation of the detection head 42 will be resisted, and this resistance will slow down the rotation speed of the detection head 42. If the detection head 42 stops rotating directly when the rotation speed is too fast, it is easy to cause structural damage. Therefore, a certain space is reserved between the pressing block 19 and the gear 22, so that the rotation speed of the detection head 42 is gradually slowed down, which is conducive to ensuring that it is more stable and safer when it stops rotating.

[0089] At the same time, refer to Figure 2 , Figure 6 as well as Figure 8 A second compression spring 25 is provided between the end of the rack 21 and the inner wall of the groove. When the detection head 42 stops rotating, the staff can operate the first driving cylinder 7 to drive the detection head 42 to reset. At this time, the rack 21 and the pressure block 19 are also reset under the action of the first compression spring 18 and the second compression spring 25 respectively.

[0090] The implementation principle of a box beam robot in the embodiment of the present application is:

[0091] When in use, the first driving cylinder 7 drives the sliding seat 5 to slide in the horizontal direction. The sliding seat 5 drives the first rotating rod 8 to rotate in the same direction during the forward and backward sliding process. Since the first rotating rod 8 and the second rotating rod 9 are connected in a rotating manner through the rotating cylinder 11, and the two remain vertical, the first rotating rod 8 slides with the sliding seat 5, and the second rotating rod 9 slides in a direction perpendicular to the first rotating rod 8.

[0092] During the sliding process, the second rotating rod 9 drives the push rod 10 to push the rotating seat 6. The end of the rotating seat 6 connected to the push rod 10 is hingedly installed, and the push rod 10 is connected to the bottom of the rotating seat 6. When the push rod 10 pushes the rotating seat 6, the rotating seat 6 can rotate in the vertical direction, thereby driving the detection head 42 to rotate, so as to adjust the detection angle of the detection head 42.

[0093] By using the ultrasonic detector 4 to detect cracks in the box girder, the detection vehicle 1 can accurately identify and quantitatively evaluate the rust of the rivets and the integrity of the welds, thereby achieving all-round monitoring of the box girder from macro to micro, and timely discovering potential subtle defects in the bridge, realizing the transition from passive maintenance to active prevention.

[0094] At the same time, the detection head 42 on the control box 41 is set to a rotating installation mode by using the sliding seat 5 and the rotating seat 6, so that the detection angle of the detection head 42 can be adjusted. Specifically, when detecting the cracked box body of the box beam, by rotating the detection angle of the detection head 42, the detection head 42 can detect from multiple different angles, so as to find the angle with the best detection effect among the multiple different angles, which is conducive to improving the accuracy and quality of detection.

[0095] Embodiment 2:

[0096] In this embodiment, refer to Figure 1 and Figure 3 A protective cover 13 is added horizontally in the control box 41. The protective cover 13 is in a rectangular parallelepiped shape and can slide in and out horizontally in the control box 41. The protective cover 13 is hollow inside, and the detection head 42 is installed in the protective cover 13. The protective cover 13 covers the detection head 42, and the detection head 42 can slide in the protective cover 13 along the length direction of the protective cover 13.

[0097] When the detection head 42 detects the box girder, when facing different environments or different objects to be detected, different distance measurements will have different effects on the detection results. The traditional way of adjusting the distance between the detection head 42 and the object to be detected is to set the detection head 42 to be retractable through a telescopic mechanism. When facing different detection environments or different objects to be detected, the detection head 42 is extended from the control box 41 to adjust the distance between the detection head 42 and the object to be detected to adjust the optimal detection distance.

[0098] However, this method will cause the detection head 42 to be directly exposed to the external environment, which will affect the emission and reception of ultrasonic waves by the detection head 42, thereby affecting the accuracy of the detection head 42 in detecting the object to be detected and affecting the detection quality.

[0099] In this embodiment, the detection head 42 is covered by the protective cover 13, and both the protective cover 13 and the detection head 42 are set to a sliding installation mode. When the distance between the detection head 42 and the object to be measured needs to be adjusted, the protective cover 13 is first slid out until the front end of the protective cover 13 abuts against the inner wall of the box beam to be measured. Then, the detection head 42 is slid in the protective cover 13, and the distance between the detection head 42 and the inner wall of the box beam is continuously adjusted until the optimal detection distance is found.

[0100] In this arrangement, the protective cover 13 is used to cover the detection head 42, so that the detection head 42 will not be affected by the external environment. At the same time, the distance between the detection head 42 and the object to be detected can be adjusted, which is beneficial to ensuring the effect of the detection head 42 on the detection object.

[0101] Specifically, refer to Figure 1 , Figure 3 as well as Figure 4 A second driving cylinder 14 is provided in the control box 41. The cylinder body of the second driving cylinder 14 is fastened in the control box 41 by fastening bolts. The piston rod of the second driving cylinder 14 is connected to the end of the protective cover 13. The second driving cylinder 14 is used to drive the protective cover 13 to slide.

[0102] At the same time, refer to Figure 3 and Figure 4 A third driving cylinder 15 is provided inside the protective cover 13. The cylinder body of the third driving cylinder 15 is fastened inside the protective cover 13 by fastening bolts. The piston rod of the third driving cylinder 15 is connected to the mounting seat on the detection head 42. The third driving cylinder 15 is used to drive the detection head 42 to slide inside the protective cover 13.

[0103] The second driving cylinder 14 and the third driving cylinder 15 are used to drive the protective cover 13 and the detection head 42 to slide. The materials are common and easy to find, so it is convenient to replace the worn parts.

[0104] Specifically, refer to Figure 3 and Figure 4 The left and right sides of the protective cover 13 are provided with long slots 16 along the length direction thereof, and the left and right sides of the mounting seat of the detection head 42 are integrally formed with sliders 17, and the two sliders 17 are slidably mounted in the two slots 16 respectively. When the third driving cylinder 15 drives the detection head 42 to slide, the sliders 17 and the corresponding slots 16 can guide the detection head 42, which is conducive to further improving the stability of the detection head 42 sliding in the protective cover 13.

[0105] Embodiment 3:

[0106] In this embodiment, refer to Figure 1 , Figure 4 as well as Figure 5 Only the second driving cylinder 14 is retained, and the cylinder body of the second driving cylinder 14 is fastened in the control box 41 by corresponding fastening bolts, and the third driving cylinder 15 in the protective cover 13 is removed, and the detection head 42 is fixed in the protective cover 13. At the same time, the protective cover 13 is set as a spring cover. The detection head 42 is installed near the rear end of the spring cover.

[0107] In specific use, when the distance between the detection head 42 and the object to be measured needs to be adjusted, the spring cover is driven to slide by the second driving cylinder 14 until the front end of the spring cover abuts against the box beam. While the spring cover slides, it simultaneously drives the detection head 42 to slide. After the front end of the spring cover abuts against the box beam, the spring cover is continued to slide by the second driving cylinder 14. At this time, the front end of the spring cover is compressed by the box beam. As the front end of the spring cover is gradually compressed, the distance between the detection head 42 installed in the spring cover and the box beam can be adjusted.

[0108] With this arrangement, the distance between the detection head 42 and the object to be detected can be adjusted only by the second driving cylinder 14, so that the overall installation structure is simpler, which is beneficial to improving the efficiency of the overall assembly of the equipment and is more convenient to use.

[0109] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A box beam robot, characterized in that: The invention comprises a detection vehicle (1), a seat (2), a universal wheel (3) and an ultrasonic detector (4), wherein the seat (2) is installed on the detection vehicle (1), the seat (2) is used to carry detection personnel, the universal wheel (3) is installed at the bottom of the detection vehicle (1), and the ultrasonic detector (4) is arranged at the front end of the detection vehicle (1); The ultrasonic detector (4) comprises a control box (41) and a detection head (42), wherein the control box (41) is mounted on the detection vehicle (1), and the detection head (42) is mounted on the control box (41), and the detection head (42) is used to transmit and receive ultrasonic signals; The control box (41) is provided with a sliding seat (5) and a rotating seat (6). The sliding seat (5) slides in the horizontal direction in the control box (41), and the sliding seat (5) drives the rotating seat (6) to rotate in the vertical direction during the sliding process. The detection head (42) is fastened to the rotating seat (6). When the rotating seat (6) rotates in the vertical direction, it simultaneously drives the detection head (42) to rotate.

2. A box beam robot according to claim 1, characterized in that: The control box (41) is provided with an adjustment mechanism, and the adjustment mechanism includes a sliding assembly and a rotating assembly. The sliding assembly is used to drive the sliding seat (5) to slide in the horizontal direction. During the sliding process, the sliding seat (5) drives the rotating seat (6) to rotate in the vertical direction through the rotating assembly. When the rotating seat (6) rotates, it synchronously drives the detection head (42) to rotate. The sliding assembly comprises a first driving cylinder (7), the cylinder body of the first driving cylinder (7) is installed in the control box (41) through a corresponding hinged seat, the sliding seat (5) is connected to the piston rod of the first driving cylinder (7), and the first driving cylinder (7) is used to drive the sliding seat (5) to slide; The rotating assembly comprises a first rotating rod (8), a second rotating rod (9) and a push rod (10); the first rotating rod (8) and the second rotating rod (9) are both arranged horizontally; one end of the first rotating rod (8) is connected to the sliding seat (5); a rotating cylinder (11) is provided between the end of the first rotating rod (8) away from the sliding seat (5) and the second rotating rod (9); the rotating cylinder (11) is used to set the first rotating rod (8) and the second rotating rod (9) in a rotating connection; The rotating drum (11) is installed in the control box (41) through a corresponding support seat, a rotating shaft (12) is installed on the support seat in a vertical direction, and the rotating drum (11) is sleeved around the rotating shaft (12) and rotates along the rotating shaft (12); One end of the push rod (10) is connected to the second rotating rod (9), and the push rod (10) and the second rotating rod (9) are kept vertically, and the other end of the push rod (10) is connected to the rotating seat (6), and the push rod (10) is connected to the rotating seat (6) near the bottom side; One end of the rotating seat (6) connected to the push rod (10) is inserted with a hinge shaft along its length direction, and the end of the hinge shaft is connected to a hinge seat. The end of the rotating seat (6) connected to the push rod (10) is set to a hinged installation mode through the hinge shaft and the hinge seat.

3. A box beam robot according to claim 2, characterized in that: The rotating components are provided in two groups, and the two groups of rotating components are distributed at the left and right ends of the rotating seat (6).

4. A box beam robot according to claim 1, characterized in that: A protective cover (13) is provided in the control box (41) along the horizontal direction. The protective cover (13) slides in the control box (41) along the horizontal direction. The detection head (42) is installed in the protective cover (13). The protective cover (13) covers the detection head (42). The detection head (42) slides along the length direction of the protective cover (13).

5. A box beam robot according to claim 4, characterized in that: A second driving cylinder (14) is provided in the control box (41), a cylinder body of the second driving cylinder (14) is fastened in the control box (41) by means of fastening bolts, a piston rod of the second driving cylinder (14) is connected to an end of the protective cover (13), and the second driving cylinder (14) is used to drive the protective cover (13) to slide; A third driving cylinder (15) is provided inside the protective cover (13); a cylinder body of the third driving cylinder (15) is fastened inside the protective cover (13) by means of fastening bolts; a piston rod of the third driving cylinder (15) is connected to a mounting seat on the detection head (42); and the third driving cylinder (15) is used to drive the detection head (42) to slide inside the protective cover (13).

6. A box beam robot according to claim 5, characterized in that: The left and right sides of the protective cover (13) are provided with sliding grooves (16) along the length direction thereof, and the left and right sides of the detection head (42) are integrally formed with sliding blocks (17), and the two sliding blocks (17) are respectively slidably installed in the two sliding grooves (16).

7. A box beam robot according to claim 6, characterized in that: The second driving cylinder (14) is retained, and the third driving cylinder (15) in the protective cover (13) is removed, the detection head (42) is fixedly installed at a position close to the rear end of the protective cover (13), and the protective cover (13) is set as a spring cover.

8. The box beam robot according to claim 1, characterized in that: The detection head (42) is coated with sound absorbing material.

9. The box beam robot according to claim 1, characterized in that: A first compression spring (18) is installed in the control box (41) along the vertical direction, the top of the first compression spring (18) is connected to the top of the control box (41), the bottom of the first compression spring (18) is integrally connected to a compression block (19) along the horizontal direction, and a pressure plate (20) is integrally formed along the horizontal direction on one side of the compression block (19) close to the detection head (42), the installation height of the pressure plate (20) is lower than the installation height of the installation plate of the detection head (42), and the installation plate on the detection head (42) is used to press the pressure plate (20) downward; A rack (21) is installed below the pressing block (19) so as to slide in the horizontal direction, a gear (22) is meshed on the top of the rack (21), and the gear (22) is located below the pressing block (19). The pressing block (19) is used to drive the gear (22) to rotate, and the gear (22) drives the rack (21) to slide during the rotation process; A baffle (23) is fixed on one side of the rack (21) in a direction perpendicular to the sliding seat, and a limiting plate (24) is integrally formed at one end of the sliding seat (5), and the baffle (23) and the limiting plate (24) are used to limit the sliding seat (5); A second compression spring (25) is provided at the end of the rack (21).

Images