Intelligent prefabricated box girder internal appearance quality detection device

Abstract

The invention relates to an intelligent prefabricated box girder internal appearance quality detection device, the end part of a telescopic support rod adopts a universal pulley to contact with the inner wall of a box girder, the universal pulley can rotate by 360 degrees, the length of the telescopic support rod extending out of a sliding sleeve and the rotation of the universal pulley are controlled by a main control device, and the camera shooting function is matched to detect the internal appearance quality of the box girder. Active obstacle avoidance in the prefabricated box girder can be realized, so that the detection device can flexibly steer in the box girder and easily bypass the obstacle or adjust the operation position, and the automation rate of quality detection of the prefabricated box girder is improved; the internal space of the box girder is supported by the detection device through the four telescopic supporting rods, the detection device can adapt to the internal spaces of the irregular box girders with different sizes by adjusting the telescopic quantity of the telescopic supporting rods, and the detection device has high universality.

Description

Technical Field

[0001] The invention belongs to the technical field of prefabricated box girder appearance detection, and in particular relates to an intelligent prefabricated box girder internal appearance quality detection device. Background Art

[0002] As the main load-bearing structure of a bridge, the quality of prefabricated box girders is directly related to the safety and service life of the bridge. Therefore, accurate inspection of the internal appearance quality of prefabricated box girders is an important part of ensuring bridge safety. Traditional inspection of the internal appearance quality of prefabricated box girders often relies on manual visual inspection, which is intuitive but inefficient, especially for large and complex prefabricated box girder structures, which requires a lot of manpower and time.

[0003] In the process of using the detection device to automatically walk inside the prefabricated box beam to inspect the appearance quality, it is crucial for the detection device to move autonomously in a small and complex space. How to efficiently and comprehensively collect the internal appearance quality of the prefabricated box beam on the basis of autonomous walking determines the efficiency and accuracy of the inspection. However, the detection device in the prior art has the problem of difficulty in automatically walking or turning in a small and complex space, so it is extremely dependent on manpower to adjust and control it, and the inspection efficiency is low.

[0004] Therefore, there is an urgent need for an intelligent prefabricated box girder internal appearance quality detection device to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an intelligent device for detecting the internal appearance quality of a prefabricated box girder.

[0006] The intelligent prefabricated box girder internal appearance quality inspection device comprises: a main frame, a telescopic support rod and a camera; sliding sleeves are arranged in parallel on the front and rear sides of the main frame, and a camera is installed at each end of the sliding sleeve for photographing the interior of the prefabricated box girder;

[0007] Telescopic support rods are slidably inserted at both ends of each sliding sleeve, and universal pulleys are provided at the end of the telescopic support rods. The telescopic support rods are supported inside the prefabricated box girder through the universal pulleys. The universal pulleys are used to control the movement and rotation of the detection device inside the prefabricated box girder; a main control device is installed on the main frame to control the length of the telescopic support rod extending from the sliding sleeve and the rotation of the universal pulley.

[0008] Preferably, a camera support is provided at each end of the sliding sleeve, and the camera is mounted on the camera support.

[0009] Preferably, the main control device is arranged in the center of the main frame, and the four cameras are symmetrically installed on the same surface of the main frame.

[0010] The method for using the intelligent prefabricated box girder internal appearance quality detection device comprises the following steps:

[0011] Step 1: adjust the extension length of the telescopic support rod according to the width of the interior of the prefabricated box beam to be tested, so that the detection device is placed inside the prefabricated box beam and then placed at a certain height;

[0012] Step 2: According to the inclination angle of the inner walls on both sides of the prefabricated box beam to be inspected, adjust the camera angle so that the cameras on both sides are perpendicular to the inner walls on both sides of the prefabricated box beam;

[0013] Step 3: The main control device controls the universal pulleys on the left and right sides of the detection device to move, and the camera takes pictures to collect the internal appearance image of the prefabricated box girder; by adjusting the rotation speed or direction of the universal pulleys on both sides, the detection device is turned or rotated inside the prefabricated box girder.

[0014] Preferably, the telescopic support rod is connected to a pressure sensor and a hydraulic control system, and the hydraulic control system is arranged in the main control device. The hydraulic control system adjusts the contact pressure between the universal pulley and the inner wall of the prefabricated box beam by controlling the telescopic length of the telescopic support rod, and cooperates with the torque generated by the rotation of the universal pulley to overcome the torque generated by the overall gravity of the component.

[0015] Preferably, when the detection device turns or rotates in the prefabricated box girder, the telescopic support rod is correspondingly extended and retracted, and is always supported on the inner wall of the prefabricated box girder; the direction of the camera remains perpendicular to the corresponding inner wall of the prefabricated box girder.

[0016] As a preferred method, chaotic mapping and dimension-by-dimension reverse learning strategy are used to improve the standard tunicate model and optimize the search space distribution.

[0017] The beneficial effects of the present invention are:

[0018] 1) The end of the telescopic support rod of the present invention adopts a universal pulley to contact the inner wall of the box beam. The universal pulley can rotate 360 ​​degrees. The length of the telescopic support rod extending from the sliding sleeve and the rotation of the universal pulley are controlled by the main control device. In combination with the shooting function of the camera, active obstacle avoidance inside the prefabricated box beam can be achieved, so that the detection device can flexibly turn inside the box beam, easily bypass obstacles or adjust the working position, thereby improving the automation rate of prefabricated box beam quality detection.

[0019] 2) The present invention supports the detection device in the internal space of the box beam through four telescopic support rods. By adjusting the telescopic amount of the telescopic support rods, the detection device can adapt to the internal space of the box beam of different sizes and irregular shapes, and the detection device has high versatility.

[0020] 3) The present invention adjusts the position and angle of the camera according to the posture of the detection device, which can achieve comprehensive coverage of various areas inside the box girder, reduce the risks of missed detection and false detection, and collect high-definition images of the internal appearance quality of the box girder through the camera. Through machine vision technology, automatic identification of internal appearance defects of the prefabricated box girder can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the detection device working inside the prefabricated box girder;

[0022] Figure 2 It is a front view of the detection device working inside the prefabricated box girder;

[0023] Figure 3 Schematic diagram of an intelligent device for detecting the internal appearance quality of prefabricated box girders.

[0024] Description of the accompanying drawings: main frame 1, camera support 11, sliding sleeve 12, telescopic support rod 2, universal pulley 3, camera 4, main control device 5. DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with embodiments. The description of the following embodiments is only used to help understand the present invention. It should be noted that for ordinary persons in the art, without departing from the principle of the present invention, the present invention can also be modified in some ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0026] Embodiment 1

[0027] As an example, Figures 1 to 3 As shown in the figure, this intelligent prefabricated box girder internal appearance quality detection device is as follows: Figure 3 As shown, it includes: a main frame 1, a telescopic support rod 2 and a camera 4; a sliding sleeve 12 is arranged in parallel on the front and rear sides of the main frame 1, and a camera support 11 is provided at each end of the sliding sleeve 12, and a camera 4 is installed on each camera support 11 for photographing the interior of the prefabricated box girder; the camera support 11 includes a rotating disk and a camera base, and the angle of the camera 4 is adjustable and is controlled by the main control device 5. By adjusting the position and angle of the support rotating disk, it is kept in a state perpendicular to the inner wall of the prefabricated box girder, covering the area to be inspected, reducing the risk of missed detection and false detection, and collecting high-definition images of the internal appearance quality of the box girder.

[0028] Each end of each sleeve 12 is slidably inserted with a telescopic support rod 2, and a universal pulley 3 is provided at the end of the telescopic support rod 2. The telescopic support rod 2 is supported inside the prefabricated box beam through the universal pulley 3 to offset the torque caused by the weight of the detection device. Figure 1 and Figure 2As shown, since the cross-section inside the prefabricated box girder is narrow at the bottom and wide at the top, the detection device can be initially placed inside the prefabricated box girder as long as the telescopic support rod 2 is extended to a certain width and the detection device is kept in a relatively horizontal state without the need for a vertical support structure. Therefore, the detection device of the present application is less affected by obstacles below and can achieve balanced walking inside box girders of different models.

[0029] The universal pulley 3 is used to control the detection device to move and rotate inside the prefabricated box beam; the main frame 1 is equipped with a main control device 5, which is used to control the angle of the camera 4, the length of the telescopic support rod 2 extending from the sliding sleeve 12 and the rotation of the universal pulley 3. It can rotate 360 ​​degrees, so that the device can flexibly turn inside the box beam, easily bypass obstacles or adjust the working position.

[0030] The main control device 5 is arranged at the center of the main frame 1, and the four cameras 4 are symmetrically mounted on the same surface of the main frame 1, so that the center of gravity is more concentrated in the center, which is convenient for control.

[0031] Embodiment 2

[0032] As another embodiment, this embodiment 2 proposes, based on the embodiment 1, a method for using the intelligent prefabricated box girder internal appearance quality detection device, comprising the following steps:

[0033] Step 1: Install the telescopic support rod 2 at both ends of the sliding sleeve 12, and install the universal pulley 3 at the end of the telescopic support rod 2; install the camera support 11 and the camera 4 at the end of the sliding sleeve 12, and install the main control device 5 at the center of the main frame 1.

[0034] The extension length of the telescopic support rod 2 is adjusted according to the width of the prefabricated box beam to be inspected, so that it adapts to the span inside the prefabricated box beam, so that the detection device can be placed horizontally inside the prefabricated box beam and then placed at a certain height without falling.

[0035] Step 2: According to the inclination angle of the inner walls on both sides of the prefabricated box beam to be inspected, adjust the angle of the camera 4 so that the cameras 4 on both sides are perpendicular to the inner walls on both sides of the prefabricated box beam and cover the area to be inspected.

[0036] Step 3: The main control device 5 controls the universal pulleys 3 on the left and right sides of the detection device to move, and the camera 4 takes pictures to collect the internal appearance image of the prefabricated box beam; by adjusting the rotation speed or direction of the universal pulleys 3 on both sides, the detection device is turned or rotated in the prefabricated box beam. The telescopic support rod 2 is connected to a pressure sensor and a hydraulic control system, which is arranged in the main control device 5. The hydraulic control system adjusts the contact pressure between the universal pulley 3 and the inner wall of the prefabricated box beam by controlling the telescopic length of the telescopic support rod 2, and cooperates with the torque generated by the rotation of the universal pulley 3 to overcome the torque generated by the overall gravity of the component.

[0037] When the detection device turns or rotates in the prefabricated box beam, the telescopic support rod 2 is correspondingly extended and retracted, and is always supported on the inner wall of the prefabricated box beam; the direction of the camera 4 changes, and remains perpendicular to the corresponding inner wall of the prefabricated box beam.

[0038] After the internal appearance quality inspection of the box girder is completed, the main control device 5 controls to close the universal pulley 3 and the camera 4, and finally the power supply of the main control device 5 can be turned off to recover the inspection device.

[0039] Embodiment 3

[0040] As another embodiment, this embodiment 3 proposes a more specific method for using an intelligent prefabricated box girder internal appearance quality detection device based on the embodiment 2:

[0041] Based on automation and machine vision technology, the main control device 5 is the brain of the device to control the automatic operation of the entire device in order to achieve efficient and accurate detection of the internal appearance quality of the prefabricated box beam. The universal pulley 3 is used to enable the device to move flexibly on the internal surface of the prefabricated box beam. The retractable support rod can adapt to prefabricated box beams of different sizes. The adjustable camera 4 is used to meet the requirements of high-definition data collection of the internal appearance quality of prefabricated box beams of different models.

[0042] The telescopic support rod 2 is equipped with a pressure sensor and a hydraulic control system. The hydraulic control system controls the telescopic length of the telescopic support rod 2, adjusts the contact pressure between the universal pulley 3 and the beam body to meet the pressure threshold range, and overcomes the torque generated by the overall gravity of the component. The hydraulic control algorithm expression of the telescopic support rod 2 is:

[0043]

[0044] Where F is the output pressure of the hydraulic system; m is the mass of the valve core in the pressure control valve; F p F is the hydraulic force on the valve core in the pressure control valve; c The spring force provided for the return spring in the control valve; q μ is the friction coefficient inside the pressure control valve; d is the displacement of the valve core in the pressure control valve; G is the gravity of the entire component; μ is the friction coefficient between the universal pulley 3 and the surface of the beam; A is the effective contact area between the universal pulley 3 and the surface of the beam; K is the reserved safety pressure threshold.

[0045] The main control device 5 integrates the attitude control algorithm of the quadcopter in the field of aircraft and the four-wheel differential motion model to realize the horizontal attitude and forward and backward travel control of the box beam quality detection device in this scene. The speeds of the two adjacent universal pulleys 3 in the front and back of the detection device are synchronized, and the steering angle control during travel on the horizontal plane is realized by controlling the speed difference between the left and right wheels. The expression is:

[0046]

[0047] Among them, V L 、V R is the speed of the left and right universal pulleys 3; c is the wheelbase between the left and right wheels; V cx is the instantaneous center velocity V c The component on the x-axis; W c is the angular velocity of the frame when it turns.

[0048] The free rotation direction of the universal pulley 3 can also be utilized. Through the mutual cooperation of four universal pulleys 3 and four telescopic support rods 2, the detection device can not only rotate in the horizontal plane, but also deflect left and right or pitch forward and backward to meet the needs of obstacle avoidance inside the prefabricated box girder, and can realize more extreme movements such as turning the detection device around, with extremely high flexibility.

[0049] The posture of the main frame of the present invention is completely controlled by the main control device 5 on the universal pulley 3 to achieve the effect of no vertical support, while also having the characteristics of wide shooting angle and flexible movement of the camera 4. The front and rear wheel speed synchronization ensures the synchronous movement of the frame in the front and rear directions. The horizontal attitude control introduces the four-rotor attitude control technology to adjust the speed difference between the four wheels to achieve horizontal and stable operation of the frame. The position dynamic model expression of the main frame 1 is:

[0050]

[0051] Among them, V i (i=1,2,3,4) is the pulley speed, t is the movement duration, is the rotation angle on the x-axis, θ is the rotation angle on the y-axis, is the rotation angle on the z-axis.

[0052] Furthermore, the algorithm uses chaos mapping and dimension-by-dimension reverse learning strategy to improve the standard tunicate (TSA) model and optimize the search space distribution, thereby solving the problem that the global convergence speed and convergence accuracy are affected by the initial population quality of the optimization algorithm. The chaotic model mapping expression is:

[0053]

[0054] The dimension-by-dimension reverse learning expression formula is:

[0055]

[0056] in, is the optimal solution in the jth dimension, is its reverse solution, up and low are the upper and lower limits of the j-th dimension solution, and n is the adjustment coefficient.

[0057] It should be noted that the parts in this embodiment that are the same or similar to those in the second embodiment can be referenced to each other and will not be described in detail in this application.

[0058] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

Claims

1. An intelligent prefabricated box girder internal appearance quality inspection device, characterized in that: include: A main frame, a telescopic support rod and a camera; sliding sleeves are arranged in parallel on the front and rear sides of the main frame, and a camera is installed at each end of the sliding sleeve for photographing the interior of the prefabricated box beam; Telescopic support rods are slidably inserted at both ends of each sliding sleeve, and universal pulleys are provided at the end of the telescopic support rods. The telescopic support rods are supported inside the prefabricated box girder through the universal pulleys. The universal pulleys are used to control the movement and rotation of the detection device inside the prefabricated box girder; a main control device is installed on the main frame to control the length of the telescopic support rod extending from the sliding sleeve and the rotation of the universal pulley.

2. The intelligent prefabricated box girder internal appearance quality inspection device according to claim 1 is characterized in that: A camera support is respectively provided at both ends of the sliding sleeve, and the camera is mounted on the camera support.

3. The intelligent prefabricated box girder internal appearance quality detection device according to claim 1 is characterized in that: The main control device is located in the center of the main frame, and the four cameras are symmetrically installed on the same surface of the main frame.

4. The method for using the intelligent prefabricated box girder internal appearance quality detection device as described in any one of claims 1 to 3, characterized in that: The following steps are involved: Step 1: adjust the extension length of the telescopic support rod according to the width of the interior of the prefabricated box beam to be tested, so that the detection device is placed inside the prefabricated box beam and then placed at a certain height; Step 2: According to the inclination angle of the inner walls on both sides of the prefabricated box beam to be inspected, adjust the camera angle so that the cameras on both sides are perpendicular to the inner walls on both sides of the prefabricated box beam; Step 3: The main control device controls the universal pulleys on the left and right sides of the detection device to move, and the camera takes pictures to collect the internal appearance image of the prefabricated box girder; by adjusting the rotation speed or direction of the universal pulleys on both sides, the detection device is turned or rotated inside the prefabricated box girder.

5. The method for using the intelligent prefabricated box girder internal appearance quality detection device according to claim 4 is characterized in that: The telescopic support rod is connected to a pressure sensor and a hydraulic control system. The hydraulic control system is arranged in the main control device. The hydraulic control system adjusts the contact pressure between the universal pulley and the inner wall of the prefabricated box beam by controlling the telescopic length of the telescopic support rod, and cooperates with the torque generated by the rotation of the universal pulley to overcome the torque generated by the overall gravity of the component.

6. The method for using the intelligent prefabricated box girder internal appearance quality detection device according to claim 4 is characterized in that: When the detection device turns or rotates in the prefabricated box beam, the telescopic support rod is correspondingly extended and retracted, and is always supported on the inner wall of the prefabricated box beam; the direction of the camera remains perpendicular to the corresponding inner wall of the prefabricated box beam.

7. The method for using the intelligent prefabricated box girder internal appearance quality detection device according to claim 4 is characterized in that: Chaotic mapping and dimension-by-dimension reverse learning strategy are used to improve the standard tunicate model and optimize the search space distribution.

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