A bridge pier strength detection device and method

Abstract

The present application discloses a bridge pier strength detection device and method, which relates to the field of bridge maintenance. The device includes a climbing robot unit, a strength detection module, a camera module and a terminal. The climbing robot unit is equipped with a strength detection module and a camera module. The first retractable pretensioning system and the second retractable pretensioning system in the climbing robot unit both surround the bridge pier. When the strength of the bridge pier is detected, the terminal controls the second climbing unit in the climbing robot unit to move vertically along the guide plate, controls the first climbing unit to move synchronously along the first retractable pretensioning system and the second climbing unit to move synchronously along the second retractable pretensioning system, and drives the climbing robot unit as a whole to move vertically along the bridge pier by controlling the vertical drive assembly, so that the climbing robot unit reaches each preset position, and performs circular visual detection and strength detection on the bridge pier at each preset position. The present application can automatically and comprehensively detect the strength of bridge piers.

Description

Technical Field

[0001] The present application relates to the field of bridge maintenance, and in particular to a bridge pier strength detection device and method. Background Art

[0002] Urban highway bridges should be inspected regularly according to their ratings. However, due to the limitations of equipment and technical conditions, conventional inspections are often unable to reach high-rise structures such as urban highway bridges, resulting in blind spots in the daily maintenance and safety evaluation of bridge piers, which directly affects the safety of high-pier bridges. Therefore, accurate inspection of high-pier bridge diseases has become a pain point and difficulty that needs to be solved urgently in the transportation maintenance industry.

[0003] At present, the strength test of bridge piers is generally carried out manually by using bridge inspection vehicles. The lifting platform of the bridge inspection vehicle carries technicians to a certain height for inspection. When the inspection position is high and the inspection environment is slightly complex, it is difficult for the inspection vehicle to achieve inspection. At the same time, the inspection vehicle will temporarily interrupt traffic when working. In addition, it is sometimes difficult for manual inspection to reach important parts for inspection, which affects the analysis and evaluation of the health status of bridge piers and causes blind spots in the daily maintenance and safety evaluation of bridges. In addition, in order to adapt to various complex terrains, the height of bridge piers may be higher, resulting in longer cycles, greater dangers, and greater challenges for manual inspections.

[0004] Therefore, how to improve the understanding of the structural status of bridges during operation has become an important research topic to ensure bridge safety and smooth traffic. Summary of the invention

[0005] The purpose of the present application is to provide a bridge pier strength detection device and method, which can automatically and comprehensively detect the strength of bridge piers.

[0006] To achieve the above objectives, this application provides the following solutions.

[0007] In the first aspect, the present application provides a bridge pier strength detection device, including: a climbing robot unit, a strength detection module, a camera module and a terminal; the climbing robot unit includes a first climbing unit, a second climbing unit, a first retractable pretensioning system, a second retractable pretensioning system, a guide rail plate and a vertical drive assembly; the first climbing unit is fixed on one end of the guide rail plate, and the second climbing unit is slidably arranged on the guide rail plate; the first retractable pretensioning system and the second retractable pretensioning system both surround the bridge pier, the first climbing unit is arranged on the first retractable pretensioning system, and the second climbing unit and the camera module are both slidably arranged on the second retractable pretensioning system; the strength detection module is slidably arranged on the first climbing unit; the vertical drive assembly is arranged on the second climbing unit; the terminal is used to control the second climbing unit to move vertically along the guide rail plate, control the synchronous movement of the first climbing unit along the first retractable pretensioning system and the second climbing unit along the second retractable pretensioning system, and drive the climbing robot unit as a whole to move vertically along the bridge pier by controlling the vertical drive assembly, so that the climbing robot unit reaches each Preset position; after each preset position is reached by the climbing robot unit, the terminal is also used to adjust the length of the first retractable pretensioning system and the second retractable pretensioning system around the preset position of the bridge pier, so that the first retractable pretensioning system and the second retractable pretensioning system tighten the bridge pier, and control the camera module to move around the bridge pier along the second retractable pretensioning system; the camera module is used to take multiple bridge pier surface images in the annular area during the movement, and transmit the multiple bridge pier surface images to the terminal; the annular area is the area passed by the first climbing unit along the first retractable pretensioning system to drive the strength detection module around the bridge pier for one circle; the terminal is also used to detect and locate bridge pier defects in the multiple bridge pier surface images, eliminate the bridge pier defect area from the annular area, and select multiple measurement areas and measurement points in each measurement area in the remaining annular area; according to the selected measurement area and measurement point, control the first climbing unit and the strength detection module to detect the concrete strength of the bridge pier at each measurement point, and receive the concrete strength of the bridge pier at each measurement point.

[0008] In the second aspect, the present application provides a bridge pier strength detection method, the bridge pier strength detection method adopts the above-mentioned bridge pier strength detection device, the bridge pier strength detection method comprises: fastening a climbing robot unit in the bridge pier strength detection device to one end of the bridge pier, and positioning a second climbing unit in the climbing robot unit at one end of a guide rail plate; controlling a camera module in the climbing robot unit to move around the bridge pier along the second retractable and pretensioning system in the climbing robot unit, and taking multiple bridge pier surface images in the annular area during the movement. image; the annular area is the area passed by the first climbing unit along the first retractable pretensioning system driving the strength detection module to circle the bridge pier for one circle; the bridge pier column defects are detected and located in the multiple bridge pier column surface images, the bridge pier column defect area is eliminated from the annular area, and multiple measurement areas and measurement points in each measurement area are selected in the remaining annular area; according to the selected measurement areas and measurement points, the first climbing unit and the strength detection module in the bridge pier column surface image are controlled to detect the concrete strength of the bridge pier column at each measurement point, and the concrete strength of the bridge pier column at each measurement point is received; the bridge pier column concrete strength at each measurement point is controlled; the bridge pier column concrete strength at each measurement point is detected ... The second retractable and pre-tensioning system is controlled to be in a semi-relaxed state, and the second climbing unit is controlled to move vertically on the guide plate according to a preset moving distance and then tighten the second retractable and pre-tensioning system, and the step of returning to execute controlling the camera module in the climbing robot unit to move around the bridge pier along the second retractable and pre-tensioning system in the climbing robot unit, and taking multiple surface images of the bridge pier in the annular area during the movement, until the second climbing unit reaches the other end of the guide plate, and obtaining the concrete strength of the bridge pier at each measuring point in the annular area of ​​the guide plate length; controlling the second retractable and pre-tensioning system to tighten the bridge pier and The first retractable and pretensioning system is in a semi-relaxed state, and drives the first climbing unit, the first retractable and pretensioning system and the guide rail plate to move vertically by controlling the vertical drive assembly until the second climbing unit reaches one end of the guide rail plate, and returns to execute the step of controlling the camera module in the climbing robot unit to move around the bridge pier along the second retractable and pretensioning system in the climbing robot unit, and taking multiple surface images of the bridge pier in the annular area during the movement; when the climbing robot unit in the bridge pier strength detection device reaches the other end of the bridge pier, the concrete strength of the entire bridge pier is obtained.

[0009] According to the specific embodiments provided in this application, this application discloses the following technical effects.

[0010] The present application provides a bridge pier strength detection device and method. A climbing robot unit is equipped with a strength detection module and a camera module. When detecting the strength of the bridge pier, the terminal controls the second climbing unit in the climbing robot unit to move vertically along the guide plate, controls the first climbing unit to move synchronously along the first retractable and pretensioning system and the second climbing unit to move synchronously along the second retractable and pretensioning system, and drives the climbing robot unit as a whole to move vertically along the bridge pier by controlling the vertical drive assembly, so that the climbing robot unit reaches each preset position, and performs circular visual inspection and strength inspection on the bridge pier at each preset position, thereby realizing automatic and all-round inspection of the strength of the bridge pier, overcoming the defects of poor safety performance, high inspection cost, long inspection cycle and traffic interruption of manual inspection.

[0011] The first retractable pretensioning system and the second retractable pretensioning system of the present application automatically adjust the length around the preset position of the bridge pier under the control of the terminal. The bridge pier can be tightened under the shapes and diameters of different preset positions of the bridge pier, and can be applied to strength testing of all styles of bridge piers. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 It is a structural schematic diagram of a bridge pier strength detection device in one embodiment of the present application.

[0014] Figure 2 A schematic diagram of the bottom installation of a first climbing unit provided in another embodiment of the present application.

[0015] Figure 3 This is a flow chart of a bridge pier strength detection method in one embodiment of the present application.

[0016] Figure 4 A schematic diagram of a process for post-processing data provided in another embodiment of the present application.

[0017] Figure numerals: bridge pier-1, first climbing unit-2, first vehicle body-21, strength detection module-211, rebound tester-2111, three-axis motion mechanism-2112, second vehicle body-22, strap-221, rolling device-222, second climbing unit-3, gear-31, rack-32, camera module-4, guide plate-5, third climbing unit-6, terminal-7, power supply unit-8. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0020] Climbing robots are often used in tasks such as facade inspection and cleaning. Common facade attachment methods include magnetic, negative pressure and embracing. Magnetic climbing robots have the advantages of small size and light weight, but since magnetic climbing robots are only suitable for limited application scenarios such as ships and wind power where the facades are made of metal, they are not suitable for the application environment of bridge piers. Negative pressure climbing robots are a more common type of climbing robot. This type of robot has the characteristics of being applicable to many facades and has been widely used in cleaning scenarios of smooth facades such as glass, but its adhesion ability to non-smooth and irregular surfaces is relatively weak. At the same time, its load-carrying capacity is also weak, which cannot meet the needs of concrete strength testing in bridge pier inspection. The embracing climbing robot is a type of climbing robot that has been widely used in the field of bridge inspection in recent years. It has good detection capabilities for cylindrical bridge piers, but poor adaptability to other types of bridge piers.

[0021] In view of this, if Figure 1 As shown, an embodiment of the present application provides a bridge pier strength detection device, including: a climbing robot unit, a strength detection module 211, a camera module 4 and a terminal 7. The climbing robot unit includes a first climbing unit 2, a second climbing unit 3, a first retractable pretensioning system, a second retractable pretensioning system, a guide plate 5 and a vertical drive assembly. The first climbing unit 2 is fixed to one end of the guide plate 5, and the second climbing unit 3 is slidably arranged on the guide plate 5; the first retractable pretensioning system and the second retractable pretensioning system both surround the bridge pier 1, the first climbing unit 2 is arranged on the first retractable pretensioning system, and the second climbing unit 3 and the camera module 4 are both slidably arranged on the second retractable pretensioning system; the strength detection module 211 is slidably arranged on the first climbing unit 2; and the vertical drive assembly is arranged on the second climbing unit 3.

[0022] Terminal 7 is used to control the vertical movement of the second climbing unit 3 along the guide plate 5, control the synchronous movement of the first climbing unit 2 along the first retractable and pretensioning system and the second climbing unit 3 along the second retractable and pretensioning system, and drive the climbing robot unit as a whole to move vertically along the bridge pier 1 by controlling the vertical drive assembly, so that the climbing robot unit reaches each preset position. After each preset position is reached by the climbing robot unit, the terminal 7 is also used to adjust the length of the first retractable pretensioning system and the second retractable pretensioning system around the preset position of the bridge pier, so that the first retractable pretensioning system and the second retractable pretensioning system tighten the bridge pier 1, and control the camera module 4 to move around the bridge pier 1 along the second retractable pretensioning system; the camera module 4 is used to take multiple surface images of the bridge pier 1 in the annular area during the movement, and transmit the multiple surface images of the bridge pier 1 to the terminal 7; the annular area is the area passed by the first climbing unit 2 along the first retractable pretensioning system to drive the strength detection module 211 around the bridge pier 1 for one circle; the terminal 7 is also used to detect and locate the bridge pier 1 defects in the multiple surface images of the bridge pier 1, eliminate the bridge pier 1 defect area from the annular area, and select multiple measurement areas and measurement points in each measurement area in the remaining annular area; according to the selected measurement area and measurement point, control the first climbing unit 2 and the strength detection module 211 to detect the concrete strength of the bridge pier at each measurement point, and receive the concrete strength of the bridge pier at each measurement point.

[0023] The device of the present application can effectively replace manual routine inspection of bridge piers, and carry out concrete strength inspection and disease inspection. For bridge piers with regular or variable cross-sections, the climbing robot unit can adaptively adjust the length of the retractable preload system to achieve a close fit between the climbing robot unit and the bridge pier, and at the same time can carry out inspection of the concrete strength of fixed positions on the surface of the bridge pier. The climbing robot unit is a variable diameter binding bridge pier climbing robot, which has the characteristics of simple structure, high safety, large load capacity, strong flexibility, etc., and can be applied to the inspection of most bridge piers.

[0024] Since bridge pier column defects may affect the detection of concrete strength, when using the strength detection module 211 to detect the concrete strength of the bridge pier column 1, the present application avoids the defect area that affects the concrete rebound strength value for detection, and selects a smooth and flat surface for measurement to avoid causing deviations in the detection results. Bridge pier column defects include cracks, damage, leakage, exposed steel corrosion, loose layers, slurry, grease, layers, honeycombs, and pockmarks.

[0025] In another exemplary embodiment of the present application, the strength detection module 211 includes: a three-axis motion mechanism 2112, a rebound hammer 2111, a driving device and an electric push device. The three-axis motion mechanism 2112 is arranged on the first climbing unit 2, and the rebound hammer 2111 is arranged on the three-axis motion mechanism 2112. The terminal 7 is used to control the three-axis motion mechanism 2112 to drive the rebound hammer 2111 to move to the measuring point through the driving device, and control the electric push device to drive the rebound hammer 2111 to perform impact detection, so as to obtain the concrete strength of the bridge pier column at the measuring point.

[0026] The three-axis motion mechanism 2112 provides the rebound tester 2111 with a flexible motion space, and can move freely on the vertical and horizontal guide rails, and the movable range is 300mm×300mm.

[0027] Exemplarily, the driving device includes three drivers, which are responsible for driving the three orthogonal degrees of freedom of the rebound tester 2111. The driver consists of a high-torque stepper motor, a high-precision encoder disk and a linear slide rail. The electric push device is a small electric push device, which drives the rebound tester 2111 to perform impact detection and automatically record the concrete strength of the bridge pier column.

[0028] In order to ensure that the rebound hammer 2111 is perpendicular to the surface of the bridge pier 1, before using the rebound hammer 2111 for detection, the bottom of the three-axis motion mechanism 2112 includes a high-precision laser ranging device, which scans the detection area on the surface of the bridge pier 1 and constructs a three-dimensional model of the scanned area to evaluate the angle between the rebound hammer 2111 and the surface of the bridge pier 1. The rebound hammer 2111 is adjusted according to the angle to make it perpendicular to the surface of the bridge pier 1.

[0029] In another exemplary embodiment of the present application, the first climbing unit 2 includes: a first vehicle body 21, a second vehicle body 22, and a rolling device 222. The first vehicle body 21 is connected to the second vehicle body 22, and the second vehicle body 22 is fixed to one end of the guide rail plate 5. The strength detection module 211 is arranged on the first vehicle body 21; the rolling device 222 is arranged on the second vehicle body 22, and the strap 221 contacts the rolling surface of the rolling device 222. The control end of the rolling device 222 is connected to the signal output end of the terminal 7; the terminal 7 is used to control the rolling device 222 to drive the first vehicle body 21 and the second vehicle body 22 to move along the strap 221.

[0030] The first climbing unit 2 can be installed on the top or bottom of the climbing robot unit to complete different detection tasks. The top installation diagram is shown in FIG. Figure 1 As shown, the bottom installation diagram is as follows Figure 2 The first vehicle body 21 is connected to the second vehicle body 22 via a connecting device.

[0031] In this example, the strength detection module 211 may adopt the specific structure in the previous embodiment. Figure 1 In the embodiment, the strength detection module 211 is installed in the middle of the first vehicle body 21. The first vehicle body 21 is also equipped with two mechanical arms, which are independently controlled. The maximum movable radius of the mechanical arms is 600mm, and the maximum load-bearing weight is 3kg. The functions of the mechanical arms can be customized. The first vehicle body 21 is flexible to install and disassemble, and can be expanded to carry various types of detection devices or detection auxiliary tools, so as to facilitate further transformation and expansion to complete different types of detection work in the future.

[0032] In another exemplary embodiment of the present application, the first retractable pretensioning system is a servo retractable pretensioning system, which includes: a strap retractable reel, a drive controller, a servo motor, a brake device and a strap 221. The strap 221 is wrapped around the bridge pier 1 via the strap retractable reel. The terminal 7 is used to control the rotation of the strap retractable reel through the drive controller and the servo motor in turn to retract and release the strap 221 and adjust the diameter of the strap 221 that holds the bridge pier 1. The brake device is used to lock the servo motor if the climbing robot unit loses power while the climbing robot unit is operating on the bridge pier 1. A slide rail is also provided on the strap 221 of one of the servo retractable pretensioning systems in the dual servo retractable pretensioning system, and the camera module 4 moves on the slide rail.

[0033] The strap retracting device is mainly composed of a strap retracting reel, a drive controller, a servo motor and a brake device, wherein the strap retracting reel mainly realizes the retraction and release of the strap 221 and the storage of the strap 221 by rotation; the drive controller and the servo motor are mainly used to control the rotation of the strap retracting reel, thereby realizing the controllable retraction and release of the strap 221; the brake device can ensure that the climbing robot unit does not lose the binding force after power failure, and at the same time, the motor is locked during operation, thereby reducing energy consumption and increasing the operation time of the climbing robot unit. The strap retracting device has a variable length, ranging from 5m to 20m, and can adapt to bridge piers with a diameter of 1m to 6m. The strap retracting device realizes the retraction and release of the strap 221 by rotating different numbers of circles, thereby adjusting the diameter of the bridge pier 1 that the strap 221 can hold. In addition, the strap retracting and releasing device also includes a speed reduction mechanism and a torque sensor. The speed reduction mechanism mainly increases the maximum torque that can be output by the strap retracting and releasing device by reducing the rotation speed of the servo motor, thereby increasing the binding force of the climbing robot unit on the pier column; the torque sensor is mainly used to measure the binding force of the climbing robot unit on the bridge pier column 1. The servo retracting and releasing pre-tightening system can adjust the retracting and releasing diameter of the strap 221 according to the cross-sectional size of the bridge pier column 1. The rated torque is 450N / m. It has a power-off locking function to prevent loosening. In the event of a sudden power outage, the retracting and releasing function can be actively locked in time to ensure that the strap 221 tightly binds the bridge pier column to prevent the climbing robot unit from loosening, thereby preventing unnecessary equipment damage and ensuring the safety of the operator. Exemplarily, the strap 221 is a high-strength fiber flexible strap. Compared with metal materials such as steel, it has the advantages of being soft and easy to adjust, more closely fitting to the bridge pier column, and easier to tighten the bridge pier column.

[0034] The second retractable pretensioning system is a dual servo retractable pretensioning system. The dual servo retractable pretensioning system includes two servo retractable pretensioning systems, one of which is provided with a slide rail, and the slide rail has the same diameter as the servo retractable pretensioning system. Compared with the high-strength fiber flexible strap in the other servo retractable pretensioning system, the outer layer is wrapped with rubber and used as a slide rail for the movement of the camera module 4. Figure 1 Only the strap 221 with a slide rail in the dual servo retractable pretensioning system is shown, and the other high-strength fiber flexible strap is not shown.

[0035] The first retractable pre-tightening system and the second retractable pre-tightening system of the present application automatically adjust the length of the preset position of the bridge pier under the control of the terminal, and can tighten the bridge pier under the shapes and diameters of different preset positions of the bridge pier. It overcomes the defect that the existing embracing measurement can only have good detection ability for cylindrical bridge piers and has poor adaptability to other types of bridge piers, and can be applied to the strength detection of all types of bridge piers.

[0036] Figure 1The second climbing unit 3 has a servo climbing system that can move vertically on the guide rail plate 5. The servo climbing system adopts a gear rack transmission structure and has a climbing speed of 50 mm / s. Figure 1 The gear 31 and the rack 32 are shown in FIG. At the same time, it is also considered to use an upper and lower tensioning strap structure to climb and descend the second climbing unit 3.

[0037] In another exemplary embodiment of the present application, the bridge pier strength detection device further includes: a third climbing unit 6 and a third retractable pretensioning system. The third climbing unit 6 is fixed to the other end of the guide plate 5; the third retractable pretensioning system surrounds the bridge pier 1, and the third climbing unit 6 is arranged on the third retractable pretensioning system. The terminal 7 is used to simultaneously perform the same control on the first climbing unit 2 and the third climbing unit 6, and simultaneously perform the same control on the first retractable pretensioning system and the third retractable pretensioning system.

[0038] The structure of the third climbing unit 6 is the same as that of the second vehicle body 22 in the first climbing unit 2, and the third climbing unit 6 cooperates with the second vehicle body 22 in synchronization during operation. The first climbing unit 2 and the third climbing unit 6 are located at two ends of the guide rail plate 5, respectively.

[0039] In another exemplary embodiment of the present application, the third retractable and release pretensioning system is also a servo retractable and release pretensioning system. The structure and function of the servo retractable and release pretensioning system are the same as those of the servo retractable and release pretensioning system mentioned above, and will not be repeated here.

[0040] In another exemplary embodiment of the present application, the camera module 4 is responsible for collecting the surface image of the bridge pier column by using the fixed-focus optical camera with depth measurement while moving on the strap 221 carried by the second climbing unit 3, and sending the surface image of the bridge pier column to the terminal 7 (for example: ground station computer) by wireless transmission. Finally, the terminal 7 with the ability to deploy deep learning algorithms is used to process the surface image of the bridge pier column, so as to realize intelligent detection of the apparent quality of concrete and high-precision positioning of the bridge pier column disease. In addition, the terminal 7 will also construct a three-dimensional model diagram of the bridge pier column through a reconstruction algorithm to identify the defective parts found in the detection. The camera module 4 is set on the strap 221 in a slot-type manner, which is convenient for installation and disassembly. Exemplarily, the device for collecting the surface image of the bridge pier column in the camera module 4 is a 360-degree panoramic camera.

[0041] The guide plate 5 is responsible for connecting the first climbing unit 2, the second climbing unit 3 and the third climbing unit 6. The rack 32 of the climbing system is attached to the guide plate 5, and the climbing and descending functions are realized in cooperation with the gear 31. The bottom of the guide plate 5 is equipped with a guide wheel to ensure the normal movement of the guide plate 5.

[0042] In another exemplary embodiment of the present application, the terminal 7 is composed of a portable computer and a wireless communication module, which is mainly responsible for the manual control of the climbing robot unit. The portable computer can store and process the collected data, and can timely determine the overall quality of the currently detected bridge pier 1. Exemplarily, the system inside the terminal 7 includes a visual control system and a data transmission and processing system.

[0043] In another exemplary embodiment of the present application, the bridge pier strength detection device also includes: a power supply unit 8. The power supply unit 8 is composed of an internal combustion engine generator set and a protection circuit, which provides unified power supply for the control and communication unit and the climbing robot unit. When performing the detection task, the internal combustion engine generator set continuously supplies power to the climbing robot unit, the strength detection module, the camera module and the terminal rectifier, which can ensure that the bridge pier strength detection device can work in the field environment. The protection circuit ensures that the system is provided with emergency power when the internal combustion engine generator set fails, including the locking and anti-loosening of each retractable and pre-tightening system and the timely preservation and processing of collected data. Exemplarily, the power supply unit 8 is a lithium battery.

[0044] A bridge pier strength detection device of the present application is composed of three major parts: a climbing robot unit, a terminal 7, and a power supply unit 8. The climbing robot unit, the strength detection module 211, and the camera module 4 constitute a climbing robot. First, the device can achieve up and down climbing on regular or variable cross-section bridge piers by adjusting the length of the strap 221. At the same time, the climbing robot unit is equipped with a high-definition camera and synchronous image acquisition and transmission, and uses the software in the terminal 7 to achieve all-round, rapid and accurate detection and positioning of bridge pier diseases in the surface image of the bridge pier, which is convenient for later maintenance and repair. At the same time, the climbing robot unit is also equipped with a strength detection module, which can collect data online on the concrete strength of different positions of the bridge pier according to needs. In addition, the climbing robot unit also has the ability to install two collaborative robotic arms to expand the detection capability of the climbing robot unit, providing expansion space for subsequent other related tests on the durability of concrete structures.

[0045] The first vehicle body 21, the second vehicle body 22, the second climbing unit 3, the third climbing unit 6, the camera module 4 and the guide rail plate 5 can all be disassembled separately. The modular installation and disassembly is more convenient for transportation and can cope with bridge pier inspection under different terrains.

[0046] The measurement process of the bridge pier strength detection device is roughly as follows: the climbing robot unit is powered by a lithium battery to provide power, and the terminal (visual control system end) controls the climbing robot unit to carry the camera module 4 to rise at a constant speed, and transmits the surface image of the bridge pier to the display screen of the visual control system end in real time, avoiding areas such as honeycomb surface that affect the rebound strength value. The visual control system end monitors the surface image of the bridge pier in real time, avoiding the above-mentioned detection area that affects the rebound strength value. The strength test is performed through the rebound tester 2111 to obtain the concrete strength of the bridge pier, and transmit it to the terminal 7 at the same time.

[0047] An operation flow of the bridge pier strength detection device is as follows.

[0048] 1) Adjust the diameter of the strap 221 according to the measured diameter of the bridge pier 1, and fasten the climbing robot unit to the bottom of the bridge pier 1.

[0049] 2) Install the rebound tester 2111, camera and other detection devices to ensure that the display screen is clear and the data transmission system is normal.

[0050] 3) Set the detection area, detect one area every two meters, and measure sixteen values ​​in each area.

[0051] 4) Connect the climbing robot unit, strength detection module, camera module and terminal 7, and debug the transmission signal and camera position.

[0052] 5) Start detection.

[0053] 6) Based on the collected surface images of bridge piers, avoid loose layers, slurry, oil stains, layers, honeycombs, and rough surfaces to avoid deviations in the test results.

[0054] 7) Obtain the concrete strength of each measuring point.

[0055] Based on the same inventive concept, the embodiment of the present application also provides a bridge pier strength detection method using the bridge pier strength detection device involved above. The implementation scheme for solving the problem provided by the method is similar to the implementation scheme recorded in the above device, so the specific limitations in one or more bridge pier strength detection method embodiments provided below can refer to the limitations of the bridge pier strength detection device above, and will not be repeated here.

[0056] In an exemplary embodiment, Figure 3 As shown, a bridge pier strength detection method is provided, including the following steps 101 to 107.

[0057] Step 101: Fasten the climbing robot unit in the bridge pier strength detection device to one end of the bridge pier, and position the second climbing unit in the climbing robot unit at one end of the guide rail plate.

[0058] Step 102: Control the camera module in the climbing robot unit to move along the second retractable and pretensioning system in the climbing robot unit around the bridge pier, and take multiple surface images of the bridge pier in the annular area during the movement; the annular area is the area passed by the first climbing unit along the first retractable and pretensioning system to drive the strength detection module around the bridge pier.

[0059] Step 103: Detect and locate bridge pier column defects in the plurality of bridge pier column surface images, remove the bridge pier column defect area from the annular area, and select a plurality of measurement areas and measurement points in each measurement area in the remaining annular area.

[0060] Step 104: According to the selected measuring area and measuring point, control the first climbing unit and the strength detection module in the bridge pier surface image to detect the concrete strength of the bridge pier at each measuring point, and receive the concrete strength of the bridge pier at each measuring point.

[0061] Step 105: Control the second retractable and pretensioning system to be in a semi-relaxed state, and control the second climbing unit to move vertically on the guide plate according to a preset moving distance to tighten the second retractable and pretensioning system, and return to execute the step of controlling the camera module in the climbing robot unit to move around the bridge pier along the second retractable and pretensioning system in the climbing robot unit, and taking multiple surface images of the bridge pier in the annular area during the movement, until the second climbing unit reaches the other end of the guide plate, and obtains the concrete strength of the bridge pier at each measuring point in the annular area of ​​the guide plate length.

[0062] Step 106: Control the second retractable and pretensioning system to tighten the bridge pier and the first retractable and pretensioning system to be in a semi-relaxed state, and control the vertical drive assembly to drive the first climbing unit, the first retractable and pretensioning system and the guide plate to move vertically until the second climbing unit reaches one end of the guide plate, and return to execute the step of controlling the camera module in the climbing robot unit to move around the bridge pier along the second retractable and pretensioning system in the climbing robot unit, and capture multiple images of the bridge pier surface in the annular area during the movement.

[0063] Step 107: When the climbing robot unit in the bridge pier strength detection device reaches the other end of the bridge pier, the concrete strength of the entire bridge pier is obtained.

[0064] In another exemplary embodiment of the present application, since the strength detection module includes a three-axis motion mechanism, the three-axis motion mechanism provides the rebound tester with a flexible motion space and can move freely on the vertical and horizontal guide rails, then the above step 104 can be replaced by the following steps 201~202.

[0065] Step 201: Control the movement of the first climbing unit so that the strength detection module reaches each measurement area.

[0066] Step 202: Slide the strength detection module in each measurement area, and perform a bridge pier concrete strength test after the strength detection module is located at the measurement point.

[0067] In another exemplary embodiment of the present application, when a third climbing unit and a third retractable pretensioning system are provided at the other end of the guide rail plate, the above step 106 may be replaced by the following steps 301 to 302.

[0068] Step 301: Control the second retractable pretensioning system to tighten the bridge pier, and control the first retractable pretensioning system and the third retractable pretensioning system to be in a semi-relaxed state.

[0069] The semi-relaxed state refers to a state in which the first retractable pretensioning system or the third retractable pretensioning system neither tightens the bridge pier nor falls off the bridge pier.

[0070] Step 302: Control the vertical drive assembly to drive the first climbing unit, the first retractable pretensioning system, the third climbing unit, the third retractable pretensioning system and the guide plate to move vertically together until the second climbing unit reaches one end of the guide plate.

[0071] by Figure 1 Taking the structure shown as an example, when the third climbing unit needs to drive the straps of the dual servo preload system to climb on the guide rail, or when the climbing robot unit as a whole performs climbing, the climbing movement is as follows: the straps of the servo retractable preload system of the second vehicle body and the third climbing unit are tightened, the straps of the dual preload system of the second climbing unit are in a semi-relaxed state, the second climbing unit can drive the straps of the dual preload system to move on the guide rail, and the camera module moves in circles on the straps of the additional slide rail for visual inspection. The rebound tester on the first vehicle body also works at the same time, and the surface of the bridge pier is sampled and inspected in an area of ​​300mm×300mm. After the second climbing unit reaches the top of the guide rail (the second climbing unit contacts the second vehicle body), the straps of the dual preload system of the second climbing unit are tightened, the straps of the servo retractable preload system of the second vehicle body and the third climbing unit are relaxed, and the vertical drive assembly on the second climbing unit works to drive the track plate and the remaining parts fixed on the track plate to move upward. The detection of this area is completed, and the above method is repeated to continue climbing.

[0072] Still Figure 1 Taking the structure shown as an example, when the third climbing unit needs to drive the straps of the dual servo pretensioning system to make a downward movement on the guide plate, or when the climbing robot unit as a whole makes a downward movement, the downward movement is as follows: the second climbing unit moves to contact with the third climbing unit, the straps of the dual pretensioning system of the second climbing unit are tightened, the straps of the servo retractable pretensioning system of the second vehicle body and the third climbing unit are in a semi-relaxed state, the first climbing unit, the third climbing unit and the guide plate move downward synchronously until the second climbing unit contacts with the second vehicle body, the straps of the servo retractable pretensioning system of the second vehicle body and the third climbing unit are tightened, the straps of the dual pretensioning system of the second climbing unit are in a semi-relaxed state, and the second climbing unit moves to contact with the third climbing unit. Repeat the cycle until it is cut off at 20cm from the ground.

[0073] In another exemplary embodiment of the present application, after obtaining the concrete strength of the entire bridge pier, further data post-processing can be performed, such as Figure 4 As shown, the bridge pier strength detection method also includes the following steps 401 to 403.

[0074] Step 401: pre-processing the concrete strength of the entire bridge pier; the pre-processing includes denoising and enhancement.

[0075] Step 402: Mark the strength of the pre-treated concrete to obtain strength coordinates (X, Y, Z, H); wherein X represents the longitude of the measuring point, Y represents the latitude of the measuring point, H represents the absolute elevation of the measuring point, and Z represents the strength of the pre-treated concrete.

[0076] Step 403: Determine the strength grade of the entire bridge pier based on the strength coordinates of the entire bridge pier.

[0077] The above step 402 corresponds to Figure 4 "Data feature extraction" and "Precise intensity location" in Figure 4 It can be seen that based on the strength level test, a strength test report can be further obtained.

[0078] In another exemplary embodiment of the present application, the bridge pier strength detection method further includes the following steps 501 to 503.

[0079] Step 501: Acquire the concrete strength of the entire bridge pier at different ages, and obtain an age-strength curve by fitting.

[0080] Step 502: Compare the current predicted concrete strength value of the bridge pier in the age and strength curve with the current measured concrete strength value, and correct the age and strength curve.

[0081] Step 503: Based on the corrected age and strength curve, the future concrete strength of the entire bridge pier is predicted.

[0082] The concrete strength of the measured bridge piers at each curing age within one year is retained. Through the machine learning algorithm, the strength corresponding to different ages is fitted, and the current strength value corresponding to the fitted curve is compared with the measured value, and then re-fitted. In this way, a strength curve that is more in line with the age is obtained. Through the time value represented by the horizontal axis of the curve, the future strength value of the bridge pier is predicted, and the strength health of the bridge pier is evaluated.

[0083] The bridge pier strength detection device of the present application and the matching bridge pier strength detection method developed at the same time solve the problems of manual detection, poor safety performance, high detection cost, long detection cycle, sometimes interruption of traffic, complex data processing, etc., which greatly shortens the detection cycle and improves the mobility and safety of detection.

[0084] The advantages of this application are as follows.

[0085] 1) High safety, avoiding potential safety hazards when measuring high pier bridges.

[0086] 2) The detection efficiency is high, and data transmission and processing can be completed during the detection process, which greatly shortens the detection cycle.

[0087] 3) It has a wide range of applications and can be used for bridge piers of different diameters.

[0088] 4) High detection accuracy can avoid data deviation caused by human errors.

[0089] 5) The detection process will not affect or interrupt traffic.

[0090] 6) It is less affected by environmental factors and can complete the detection under a variety of complex weather conditions.

[0091] 7) Highly convenient, all parts are detachable, easy to carry and transfer.

[0092] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0093] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A bridge pier strength detection device, characterized in that: The bridge pier strength detection device comprises: a climbing robot unit, a strength detection module, a camera module and a terminal; The climbing robot unit includes a first climbing unit, a second climbing unit, a first retracting and releasing pretensioning system, a second retracting and releasing pretensioning system, a guide rail plate and a vertical drive assembly; The first climbing unit is fixed to one end of the guide rail plate, and the second climbing unit is slidably arranged on the guide rail plate; the first retractable pretensioning system and the second retractable pretensioning system both surround the bridge pier, the first climbing unit is arranged on the first retractable pretensioning system, and the second climbing unit and the camera module are both slidably arranged on the second retractable pretensioning system; the strength detection module is slidably arranged on the first climbing unit; and the vertical drive assembly is arranged on the second climbing unit; The terminal is used to control the second climbing unit to move vertically along the guide rail plate, control the first climbing unit to move along the first retractable pretensioning system and the second climbing unit to move synchronously along the second retractable pretensioning system, and drive the climbing robot unit to move vertically along the bridge pier as a whole by controlling the vertical drive assembly, so that the climbing robot unit reaches each preset position; After each preset position is reached by the climbing robot unit, the terminal is further used to adjust the length of the first retractable pre-tensioning system and the second retractable pre-tensioning system around the preset position of the bridge pier, so that the first retractable pre-tensioning system and the second retractable pre-tensioning system tighten the bridge pier, and control the camera module to move around the bridge pier along the second retractable pre-tensioning system; the camera module is used to take multiple bridge pier surface images in the annular area during the movement, and transmit the multiple bridge pier surface images to the terminal; the annular area is the area passed by the first climbing unit along the first retractable pre-tensioning system to drive the strength detection module around the bridge pier for one circle; the terminal is also used to detect and locate bridge pier defects in the multiple bridge pier surface images, eliminate the bridge pier defect area from the annular area, and select multiple measurement areas and measurement points in each measurement area in the remaining annular area; according to the selected measurement area and measurement point, control the first climbing unit and the strength detection module to detect the concrete strength of the bridge pier at each measurement point, and receive the concrete strength of the bridge pier at each measurement point; The strength detection module includes: a three-axis motion mechanism, a rebound tester, a driving device and an electric pushing device; The three-axis motion mechanism is arranged on the first climbing unit, and the rebound hammer is arranged on the three-axis motion mechanism; The terminal is used to control the three-axis motion mechanism through the driving device to drive the rebound tester to move to the measuring point, and control the electric propulsion device to drive the rebound tester to perform impact detection to obtain the concrete strength of the bridge pier column at the measuring point.

2. The bridge pier strength detection device according to claim 1, characterized in that: The bridge pier strength detection device further includes: a third climbing unit and a third retractable pretensioning system; The third climbing unit is fixed to the other end of the guide rail plate; the third retractable pre-tensioning system surrounds the bridge pier, and the third climbing unit is arranged on the third retractable pre-tensioning system; The terminal is used to simultaneously perform the same control on the first climbing unit and the third climbing unit, and simultaneously perform the same control on the first retractable and pretensioning system and the third retractable and pretensioning system.

3. The bridge pier strength detection device according to claim 2, characterized in that: The first retractable pretensioning system and the third retractable pretensioning system are both servo retractable pretensioning systems, and the second retractable pretensioning system is a dual servo retractable pretensioning system; The servo retractable pretensioning system comprises: a strap retractable reel, a drive controller, a servo motor, a brake device and a strap; The strap is wound around the bridge pier via a strap reel; The terminal is used to control the rotation of the strapping reel through the driving controller and the servo motor in turn, so as to retract and release the strapping and adjust the diameter of the bridge pier that the strapping embraces; The brake device is used to lock the servo motor if the climbing robot unit loses power during the operation of the climbing robot unit on the bridge pier; A slide rail is also provided on the strapping belt of one of the dual servo retractable / released and pretensioned systems, and the camera module moves on the slide rail.

4. The bridge pier strength detection device according to claim 3, characterized in that: The first climbing unit comprises: a first vehicle body, a second vehicle body, and a rolling device; The first vehicle body is connected to the second vehicle body, and the second vehicle body is fixed to one end of the guide rail plate; The strength detection module is arranged on the first vehicle body; the rolling device is arranged on the second vehicle body, and the strap contacts the rolling surface of the rolling device; The control end of the rolling device is connected to the signal output end of the terminal; the terminal is used to control the rolling device to drive the first vehicle body and the second vehicle body to move along the strap.

5. A bridge pier strength detection method, characterized in that: The bridge pier strength detection method adopts the bridge pier strength detection device according to any one of claims 1 to 4, and the bridge pier strength detection method comprises: The climbing robot unit in the bridge pier strength detection device is fastened to one end of the bridge pier, and the second climbing unit in the climbing robot unit is located at one end of the guide rail plate; Control the camera module in the climbing robot unit to move along the second retractable and pre-tensioning system in the climbing robot unit around the bridge pier, and take multiple images of the bridge pier surface in the annular area during the movement; the annular area is the area passed by the first climbing unit along the first retractable and pre-tensioning system driving the strength detection module to circle the bridge pier for one round; Detecting and locating bridge pier column defects in the plurality of bridge pier column surface images, removing the bridge pier column defect area from the annular area, and selecting a plurality of measurement areas and measurement points in each measurement area in the remaining annular area; According to the selected measuring area and measuring point, controlling the first climbing unit and the strength detection module in the bridge pier surface image to detect the concrete strength of the bridge pier at each measuring point, and receiving the concrete strength of the bridge pier at each measuring point; Control the second retractable and pre-tensioning system to be in a semi-relaxed state, and control the second climbing unit to move vertically on the guide plate according to a preset moving distance, and then tighten the second retractable and pre-tensioning system, and return to the step of controlling the camera module in the climbing robot unit to move around the bridge pier along the second retractable and pre-tensioning system in the climbing robot unit, and taking multiple images of the surface of the bridge pier in the annular area during the movement, until the second climbing unit reaches the other end of the guide plate, and obtain the concrete strength of the bridge pier at each measuring point in the annular area of ​​the guide plate length; Control the second retractable pretensioning system to tighten the bridge pier and the first retractable pretensioning system to be in a semi-relaxed state, and drive the first climbing unit, the first retractable pretensioning system and the guide plate to move vertically by controlling the vertical drive assembly until the second climbing unit reaches one end of the guide plate, and return to execute the step of controlling the camera module in the climbing robot unit to move around the bridge pier along the second retractable pretensioning system in the climbing robot unit, and taking multiple images of the bridge pier surface in the annular area during the movement; When the climbing robot unit in the bridge pier strength detection device reaches the other end of the bridge pier, the concrete strength of the entire bridge pier is obtained.

6. The bridge pier strength detection method according to claim 5, characterized in that: According to the selected measuring area and measuring point, controlling the first climbing unit and the strength detection module in the bridge pier surface image to detect the concrete strength of the bridge pier at each measuring point specifically includes: By controlling the movement of the first climbing unit, the strength detection module reaches each measurement area; A sliding strength detection module is installed in each measurement area, and after the strength detection module is located at the measurement point, the concrete strength of the bridge pier is detected.

7. The bridge pier strength detection method according to claim 5, characterized in that: When a third climbing unit and a third retractable pretensioning system are provided at the other end of the guide rail plate, the second retractable pretensioning system is controlled to tighten the bridge pier and the first retractable pretensioning system is in a semi-relaxed state, and the first climbing unit, the first retractable pretensioning system and the guide rail plate are driven to move vertically by controlling the vertical drive assembly until the second climbing unit reaches one end of the guide rail plate, specifically including: Control the second retractable pretensioning system to tighten the bridge pier, and control the first retractable pretensioning system and the third retractable pretensioning system to be in a semi-relaxed state; The vertical drive assembly is controlled to drive the first climbing unit, the first retractable pretensioning system, the third climbing unit, the third retractable pretensioning system and the guide rail plate to move vertically together until the second climbing unit reaches one end of the guide rail plate.

8. The bridge pier strength detection method according to claim 5, characterized in that: When the climbing robot unit in the bridge pier strength detection device reaches the other end of the bridge pier, the concrete strength of the entire bridge pier is obtained, and then the following steps are further included: Preprocessing the concrete strength of the entire bridge pier; the preprocessing includes denoising and enhancing; The strength of the pre-treated concrete is marked at points to obtain the strength coordinates (X, Y, Z, H); where X represents the longitude of the measuring point, Y represents the latitude of the measuring point, H represents the absolute elevation of the measuring point, and Z represents the strength of the pre-treated concrete; The strength grade of the entire bridge pier is determined based on the strength coordinates of the entire bridge pier.

9. The bridge pier strength detection method according to claim 5, characterized in that: When the climbing robot unit in the bridge pier strength detection device reaches the other end of the bridge pier, the concrete strength of the entire bridge pier is obtained, and then the following steps are further included: Obtain the concrete strength of the entire bridge pier at different ages, and fit the age and strength curve; Comparing the current predicted concrete strength value of the bridge pier in the age and strength curve with the current measured concrete strength value, and correcting the age and strength curve; Based on the revised age and strength curve, the future concrete strength of the entire bridge pier is predicted.

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