Multifunctional multi-dimensional flaw detection device and method for bridge detection after fire

Abstract

The invention belongs to the technical field of bridge detection, and particularly discloses a multifunctional multi-dimensional flaw detection device and method for bridge detection after a fire, and the flaw detection device comprises a main body supporting assembly, and a driving assembly, an adsorption assembly, a data detection and acquisition assembly, a data transceiving processing and control assembly and an energy storage power supply which are arranged on the main body supporting assembly; wherein the main body supporting assembly is composed of a connecting table and a supporting frame, the connecting table and the supporting frame can form a 90-degree included angle through the rotating assembly, the driving assembly is mainly composed of a plurality of power propellers, the adsorption assembly comprises a vacuum suction cup and a vacuum pump, and the data detection and acquisition assembly is provided with an image acquisition structure and a disease detection structure. The data transceiving processing assembly comprises a data box, a network bridge antenna and a central processing unit, the control assembly comprises a controller and a remote controller, and the energy storage power supply provides electric energy for each assembly. Compared with the prior art, the flaw detection device has the advantages that the detection safety is improved, the detection time is shortened, multi-task and multi-dimensional synchronous detection is realized, and the detection efficiency and accuracy are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of bridge detection, and in particular relates to a multifunctional and multi-dimensional flaw detection device and method for detecting a bridge after a fire. Background Art

[0002] With the rapid development of my country's infrastructure construction and transportation industry, a large number of bridges and vehicles have emerged, bringing great convenience to people's travel. However, the increase in the number of bridges and vehicles has undoubtedly increased the probability of fire accidents. The inspection of damaged bridges is crucial, because once the bridge is damaged and not discovered and handled in time, it will pose a serious threat to the safety of public life and property and traffic safety. At the same time, as a key component of transportation, once the bridge is damaged by fire, it is very likely to affect the smooth flow of traffic. Therefore, it is necessary to inspect and evaluate the bridges after the disaster as soon as possible, so as to quickly restore the traffic function and minimize the adverse effects on the transportation system.

[0003] At present, there are many problems in the existing detection methods of fire-affected bridges, which seriously affect the detection efficiency and safety, as follows:

[0004] First, the problem of detection method and safety: the existing detection mainly relies on the detection personnel to operate on scaffolding or elevators. The detection facilities are often unable to be set up due to environmental factors, which greatly hinders the smooth implementation of the detection work. There are certain risks in high-altitude operations, which will cause inconvenience in movement. In addition, the stability of the bridge structure after the fire is poor, and there is a risk of material peeling or even structural collapse, which threatens the life safety of the detection personnel.

[0005] The second is the problem of detection time: after a fire, the temperature of the location to be tested is usually high at the first time, which makes it impossible to carry out the detection work in time, thus delaying the best time for detection. As time goes by, the damage to the bridge may further deteriorate, increasing the difficulty and cost of subsequent repairs;

[0006] The third is the problem of detection dimension and synchronization: currently most instruments can only collect post-disaster data for a single factor and a single spatial dimension, and cannot collect data synchronously, so they cannot fully reflect the damage status of the bridge in the first place;

[0007] Fourth, the problem of measuring point selection and efficiency: engineers need to manually select points based on experience and specifications, which is inefficient and prone to human errors. This method is difficult to ensure the uniform distribution of measuring points, which may lead to over- or under-detection of certain areas of the bridge, affecting the comprehensiveness and effectiveness of the detection results, thereby reducing the overall detection efficiency.

[0008] In summary, due to the shortcomings of existing technologies in terms of detection methods, time, dimensions, synchronization, and measurement point selection, the speed of bridge detection and subsequent repair after a fire has been seriously reduced. Engineers need to spend a lot of time to conduct a comprehensive analysis and assessment of the strength, cracking degree, and deformation degree of component materials after the fire. This process is cumbersome and complicated, which greatly affects the timely repair of the bridge and the normal restoration of traffic. Therefore, a measure that can solve the above problems is urgently needed at this stage.

[0009] In view of this, this invention is proposed. Summary of the invention

[0010] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and to provide a multifunctional and multi-dimensional flaw detection device and method for detecting bridges after a fire. The flaw detection device of the present invention is provided with a high temperature resistant material at the part that is in direct contact with the position to be detected, so that the bridge can be detected as soon as possible after the fire occurs. In addition, the device is equipped with a rotating component that can switch the detection surface to achieve multi-dimensional detection. At the same time, the device can set the number and spacing of measuring points, and automatically move to perform multiple detection tasks, which can quickly realize the material strength inspection and disease detection of the bridge after the fire, and can also realize the synchronous uploading of damage data and location information, and perform automatic early warning and safety assessment.

[0011] The purpose of the present invention is to be solved by the following technical solutions:

[0012] On the one hand, the present invention provides a multifunctional multi-dimensional flaw detection device for post-fire bridge inspection, comprising a main body support assembly, on which a driving assembly for driving the flaw detection device to move, an adsorption assembly capable of adsorbing a position to be inspected, a data detection and collection assembly for detecting the position to be inspected and collecting data, a data transceiver processing assembly, and a control assembly are arranged;

[0013] The main support assembly is composed of a connecting platform and a support frame located below the connecting platform, and both are shell structures. An energy storage power supply is provided in the support frame. The connecting platform and the support frame are connected through a rotating assembly. Under the drive of the rotating assembly, the connecting platform can form an angle of 90 degrees relative to the support frame.

[0014] The energy storage power supply is electrically connected to the driving component, adsorption component, data detection and acquisition component, data transceiver processing component and control component respectively to provide power for each component; the control component is electrically connected to the driving component, adsorption component, data detection and acquisition component, data transceiver processing component and rotation component respectively to control the coordinated work of each component.

[0015] Furthermore, the drive assembly includes a plurality of power propellers, and correspondingly, connecting arms having the same number as the power propellers are protruding from the periphery of the support frame in a circular array along the circumferential direction, and each of the power propellers is installed at the end of the corresponding connecting arm. The motor of each power propeller is electrically connected to the energy storage power supply, and a protective structure for protecting the blades is arranged on the periphery of each power propeller.

[0016] Preferably, the protective structure includes a rolling wheel and a rolling bearing, the rolling bearing is fixedly sleeved on the output shaft of the power propeller motor, the rolling wheel is fixedly mounted on the outer ring of the rolling bearing and is located at the periphery of the power propeller blade, and the rolling wheel is wrapped with high temperature resistant silicone rubber.

[0017] Preferably, a support member is installed at the bottom of each connecting arm, and the distance between each support member and the center of the support frame is the same, so as to facilitate the smooth take-off and landing of the flaw detection device.

[0018] Furthermore, the drive assembly includes a plurality of power propellers, and correspondingly, connecting arms having the same number as the power propellers are protruding from the periphery of the support frame in a circular array along the circumferential direction, and each of the power propellers is installed at the end of the corresponding connecting arm. The motor of each power propeller is electrically connected to the energy storage power supply, and a protective structure for protecting the blades is arranged on the periphery of each power propeller.

[0019] Furthermore, there are two sets of adsorption components, each set of which includes two vacuum suction cups fixedly arranged on the top of the connecting platform and a vacuum pump installed in the supporting frame;

[0020] The vacuum pump is connected to two vacuum suction cups respectively through an air hole interface, a one-to-two air pipe and a connecting pipe. The vacuum suction cup is fixed on the connecting platform through a suction cup support column, and the vacuum suction cup is made of high-temperature resistant silicone rubber material.

[0021] Furthermore, the data detection and acquisition component includes a plurality of image acquisition structures, and the plurality of image acquisition structures are evenly arranged on the support frame;

[0022] Each of the image acquisition structures includes a rotating bearing, a first motor, a universal joint, a cross pin and a high-definition camera. The high-definition camera is hinged to the universal joint through the cross pin. The universal joint is provided with a rotating bearing and a first motor. The first motor drives the universal joint, the cross pin and the high-definition camera to rotate in a horizontal direction by driving the rotating bearing.

[0023] The cross pin is a shell structure, in which a second motor is arranged. The output shaft end of the second motor is provided with a driving bevel gear, which is meshed with a driven bevel gear arranged inside the cross pin and the universal joint. The second motor drives the driving bevel gear to rotate, thereby driving the driven bevel gear, the cross pin and the high-definition camera to rotate in a vertical direction. The driving bevel gear and the driven bevel gear are distributed in an "L" shape.

[0024] Furthermore, the data detection and collection component also includes a defect detection structure, which includes a rebound tester for measuring the surface hardness of a concrete structure bridge, a Leeb hardness tester for measuring the hardness of a steel structure bridge, a laser rangefinder for detecting the deflection of a bridge after fire, and an odometer for detecting the moving distance of the detection position of the flaw detection device;

[0025] The rebound hammer and Leeb hardness tester are installed at a distance on the top of the connecting platform, and the rebound hammer is located at the top center of the connecting platform. The laser rangefinder is fixedly set in the support frame, and the odometer is fixedly set inside the connecting platform.

[0026] Furthermore, a rebound hammer limiter is arranged on the circumference of the rebound hammer, and the rebound hammer limiter is fixedly connected to the connecting platform to limit the horizontal movement of the rebound hammer, and the circular ring on the top of the rebound hammer limiter is used to ensure that the axis of the rebound hammer is perpendicular to the bridge deck;

[0027] The circular ring at the lower part of the rebound tester limiter is evenly connected with a plurality of directional wheels made of high-temperature resistant silicone rubber material through a shock-absorbing spring telescopic rod. A speed sensor is installed on the directional wheel, and the odometer measures the mileage of the directional wheel through the speed sensor.

[0028] In the present invention, each directional wheel is located on a vertical bisecting extension line between two adjacent power propellers, so as to facilitate the control of the flaw detection device to roll close to the bottom of the position to be detected.

[0029] Furthermore, the data transceiver processing component includes a data box with GPS positioning function installed in the support frame, a bridge antenna arranged on the data box, and a central processor located on the ground;

[0030] Among them, the data box is connected to the data detection and acquisition component, which is used to receive and record the data detected and collected by the data detection and acquisition component. At the same time, the bridge antenna establishes a wireless connection with the central processor, which is used to transmit the data detected and collected by the data detection and acquisition component to the central processor in real time for it to perform bridge safety assessment.

[0031] Furthermore, the control component includes a controller and a remote control located in the connection station. The controller and the remote control are wirelessly connected through a wifi module with a fixed frequency and encryption method. The controller controls the driving component, the adsorption component, the data detection and collection component, the data transceiver processing component and the rotating component to perform corresponding actions.

[0032] Furthermore, the rotating assembly includes a concave base fixedly connected to the top of the support frame, a rotating top plate is hinged on one side above the concave base, the rotating top plate is fixedly connected to the bottom of the connecting platform, a hydraulic cylinder is fixedly arranged in the concave base, the end of the hydraulic cylinder piston is connected to the bottom of the rotating top plate, and the hydraulic cylinder is connected to the control assembly.

[0033] On the other hand, the present invention provides a detection method based on the above-mentioned flaw detection device, comprising the following steps:

[0034] Step 1: When inspecting the bottom surface of the bridge, first start the driving component through the control component to move the flaw detection device to the area to be inspected, then start the adsorption component, and use the vacuum pump of the adsorption component to make the vacuum suction cup reach a vacuum state, so that it is adsorbed at the position to be inspected;

[0035] If the side of the bridge is to be inspected, the flaw detection device should be retracted first, and the hydraulic cylinder in the rotating assembly should be extended through the control assembly until it reaches the set position, that is, the rotating top plate is tilted 90 degrees relative to the concave base;

[0036] Step 2: Select a single or multiple inspection tasks through the remote controller of the control component, wherein the inspection tasks include concrete structure bridge strength inspection, steel structure bridge strength inspection, bridge deflection inspection, and image scanning inspection;

[0037] Among them, the concrete structure bridge strength test is measured by the rebound tester of the data detection and acquisition component; the steel structure bridge strength test is measured by the Leeb hardness tester of the data detection and acquisition component; the bridge deflection test is measured by the laser rangefinder of the data detection and acquisition component; the image scanning test is photographed by the image acquisition structure of the data detection and acquisition component;

[0038] Step 3, when changing the detection position, the control component controls the adsorption component to stop working, so that the vacuum suction cup is separated from the current detection position. At this time, the driving component continues to work, and the directional wheel perpendicular to the travel direction in the data detection and collection component is retracted through the control component. The odometer of the data detection and collection component measures the moving distance through the speed sensor set on the directional wheel. When the next set detection position is reached, the control component stops the movement of the flaw detection device by controlling the driving component, and starts the adsorption component to be adsorbed at the detection position, and then the detection operation described in step 2 is performed;

[0039] All data detected and collected by the data detection and collection component in step 4, step 2 and step 3 are recorded in the data box in the data transceiver processing component, and the data are synchronously transmitted to the central processing unit in real time through the bridge antenna. The central processing unit performs a bridge safety assessment based on the data; the remote control of the control component is equipped with a display panel, and the central processing unit wirelessly transmits the detected data and the assessment results to the remote control. The staff can learn the damage status of the detection area in real time through the display panel and make the next detection decision.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The flaw detection device provided by the present invention is mainly composed of a main support component, a drive component, an adsorption component, a data detection and collection component, a data transceiver processing component, a control component, an energy storage power supply, and a rotating component; wherein the drive component is composed of a plurality of power propellers, and the components in direct contact with the detection position (such as the vacuum suction cup, the directional wheel, and the outer part of the rolling wheel) are all made of high temperature resistant materials, and the connecting platform and the support frame can form a 90-degree angle through the rotating component, etc. Based on the above settings, the flaw detection device of the present invention has at least the following advantages:

[0042] First, in terms of safety, it avoids the risk of inspectors performing high-altitude operations, and reduces the threat to the lives of inspectors caused by unstable bridge structures after a fire.

[0043] Second, in terms of time efficiency, due to the installation of high-temperature resistant materials, detection can be carried out immediately after a fire, preventing the deterioration of bridge damage and the increase in subsequent repair costs due to delayed detection. In addition, multiple detection functions (including steel structure bridge strength detection, concrete structure bridge structural strength detection, bridge deflection detection, and image scanning detection) can simultaneously perform multiple detection tasks, shortening the detection time;

[0044] Third, in terms of detection dimension, the rotating component realizes the switching of detection surfaces, and multi-dimensional synchronous detection can comprehensively reflect the damage condition of the bridge. The vacuum pump and vacuum suction cup cooperate to facilitate detection. At the same time, the number and spacing of measuring points can be automatically set to perform multiple detection tasks, thereby improving detection efficiency and accuracy.

[0045] In addition, the remote control function is used to improve safety and is quick and convenient. The vacuum suction cup and protective structure prevent the body from being damaged by collision. The directional wheels allow the body to move close to the surface. It can also simultaneously upload damage data and location information for automatic early warning and safety assessment, providing real-time detection results for staff, facilitating timely decision-making, and strongly supporting the timely repair of bridges and the restoration of normal traffic. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are incorporated in and constitute a part of this specification and, together with the description, serve to explain the principles of the present invention.

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 It is a schematic diagram of the overall structure of the flaw detection device for detecting the bottom surface of a bridge according to the present invention;

[0049] Figure 2 It is a schematic diagram of the overall structure of the flaw detection device for bridge side inspection according to the present invention;

[0050] Figure 3 It is a schematic diagram of the connection between the main support assembly and the rotating assembly in the present invention;

[0051] Figure 4 It is a schematic diagram of the connection between the power propeller and the protective structure in the present invention;

[0052] Figure 5 It is a schematic diagram of the connection between the adsorption component and the connection platform in the present invention;

[0053] Figure 6 It is a schematic diagram of the image acquisition structure splitting in the present invention;

[0054] Figure 7 It is a schematic diagram of the cross pin structure in the image acquisition structure of the present invention;

[0055] Figure 8 It is a schematic diagram of the connection between the data detection and acquisition component (intensity) and the connection platform in the present invention;

[0056] Fig. 9 It is a schematic diagram of the position distribution of the directional wheels and the power propeller in the present invention;

[0057] Fig.10 It is a schematic diagram of data and control transmission of the present invention;

[0058] Fig.11 It is a schematic diagram of the default moving route of the measuring point of the present invention.

[0059] in:

[0060] 1 is a main support assembly; 11 is a connecting platform; 12 is a support frame; 121 is a connecting arm; 122 is a support member;

[0061] 2 is a driving assembly; 21 is a power propeller; 22 is a protective structure; 221 is a rolling wheel; 222 is a rolling bearing;

[0062] 3 is an adsorption component; 31 is a vacuum suction cup; 32 is a vacuum pump; 33 is an air hole interface; 34 is a one-to-two air pipe; 35 is a connecting pipe;

[0063] 4 is a data detection and acquisition component; 41 is an image acquisition structure; 42 is a disease detection structure; 411 is a rotary bearing; 412 is a first motor; 413 is a universal joint; 414 is a cross pin; 415 is a high-definition camera; 421 is a rebound tester; 422 is a Leeb hardness tester; 423 is a laser rangefinder; 424 is an odometer; 425 is a rebound tester stopper; 426 is a directional wheel; 4141 is a second motor; 4142 is a driving bevel gear; 4143 is a driven bevel gear;

[0064] 5 is a data transceiver processing component; 51 is a data box; 52 is a bridge antenna; 53 is a central processing unit;

[0065] 6 is a control component; 61 is a controller; 62 is a remote controller;

[0066] 7 is a storage power supply;

[0067] 8 is a rotating assembly; 81 is a concave base; 82 is a rotating top plate; 83 is a hydraulic cylinder. DETAILED DESCRIPTION

[0068] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples consistent with some aspects of the present invention as detailed in the appended claims.

[0069] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0070] See also Figures 1 to 11The embodiment of the present invention provides a multifunctional and multi-dimensional flaw detection device for bridge detection after fire, including a main body support component 1, on which a driving component 2 for driving the entire flaw detection device to move, an adsorption component 3 capable of adsorbing the bridge position to be detected, a data detection and collection component 4 for detecting and collecting data at the bridge position to be detected, a data transceiver processing component 5 for storing and processing the data detected and collected by the data detection and collection component 4, and a control component 6 are provided. The control component 6 is respectively connected to the driving component 2, the adsorption component 3, the data detection and collection component 4, and the data transceiver processing component 5 to control the coordinated work of each component. An energy storage power supply 7 is provided in the main body support component 1, and the energy storage power supply 7 is respectively electrically connected to the driving component 2, the adsorption component 3, the data detection and collection component 4, the data transceiver processing component 5, and the control component 6 to provide power to each power-consuming component.

[0071] Specifically, the main support assembly 1 in the embodiment of the present invention is composed of a connecting platform 11 and a support frame 12 located below it, both of which are shell structures, so as to reduce the weight of the entire flaw detection device while ensuring that the main structure has sufficient strength. Among them, the connecting platform 11 is a circular step-shaped structure; the energy storage power supply 7 is installed in the support frame 12 of a square structure, and each corner of the square support frame 12 is provided with a protruding connecting arm 121, that is, the support frame 12 is an "X" shape as a whole. In addition, a support member 122 is installed at the bottom of each connecting arm 121, and the distance between each support member 122 and the center of the support frame 12 is the same. The foot pad under the support member 122 is made of high-temperature resistant silicone rubber material, which can prevent the flaw detection device from accidentally falling or wearing, and play a role in shock absorption and buffering.

[0072] It should be noted that if Figure 3 As shown, in the embodiment of the present invention, the connecting platform 11 and the support frame 12 are connected by a rotating assembly 8. Under the drive of the rotating assembly 8, the connecting platform 11 can form a 90-degree angle relative to the support frame 12 to achieve the switching of the detection surface, thereby achieving the purpose of multi-dimensional detection. Specifically, the rotating assembly 8 includes a concave base 81 fixedly connected to the top of the support frame 12, and a rotating top plate 82 is hinged on one side above the concave base 81 through a hinge. The rotating top plate 82 is fixedly connected to the bottom of the connecting platform 11. A hydraulic cylinder 83 is fixedly arranged in the concave cavity of the concave base 81. The end of the piston of the hydraulic cylinder 83 is connected to the bottom of the rotating top plate 82, and the hydraulic cylinder 83 is connected to the control assembly 6.

[0073] In the embodiment of the present invention, the driving assembly 2 includes four power propellers 21, which are respectively fixedly arranged at one end of the connecting arm 121 away from the center of the support frame 12, the motor of each power propeller 21 is electrically connected to the energy storage power supply 7, and the periphery of each power propeller 21 is provided with a protective structure 22 for protecting the blades, such as Figure 4As shown. Preferably, the protective structure 22 includes a rolling wheel 221 and a rolling bearing 222. The inner ring of the rolling bearing 222 is fixedly sleeved on the output shaft of the motor of the power propeller 21. The rolling wheel 221 is fixedly mounted on the outer ring of the rolling bearing 222 and is located at the periphery of the blades of the power propeller 21. The rolling wheel 221 is wrapped with high-temperature resistant silicone rubber. When the flaw detection device moves horizontally at the bottom of the bridge body and the side of the machine is close to the cap beam, web, diaphragm and other positions, the protective structure 22 can prevent the blades of the power propeller 21 from colliding, and can roll at the same time, thereby assisting the flaw detection device to move horizontally.

[0074] like Figure 5 As shown, in the embodiment of the present invention, there are two sets of adsorption components 3, which are symmetrically arranged. Each set of adsorption components 3 includes two vacuum suction cups 31 fixedly arranged on the top of the connecting platform 11 and a vacuum pump 32 installed in the support frame 12. Among them, the vacuum pump 32 is connected to the two vacuum suction cups 31 through the air hole interface 33, the one-to-two air pipe 34 and the connecting pipe 35 respectively. The vacuum suction cup 31 is fixed on the connecting platform 11 through the suction cup support column. The four vacuum suction cups 31 are at the same height, and the vacuum suction cup 31 is made of high-temperature resistant silicone rubber material. The vacuum pump 32 uses a micro vacuum pump. During adsorption, first control the flaw detection device to reach the position to be detected, so that the vacuum suction cup 31 is close to the position to be detected; then the control component 6 controls to open the vacuum pump 32, and the vacuum pump 32 sucks away the air in the contact part between the vacuum suction cup 31 and the position to be detected through the exhaust pipe, so that the vacuum suction cup 31 reaches a vacuum state, so that it is adsorbed at the position to be detected, which is convenient for the corresponding detection work.

[0075] The data detection and acquisition component 4 in the embodiment of the present invention includes four image acquisition structures 41 and a disease detection structure 42. The four image acquisition structures 41 are respectively arranged on the connecting arms of the support frame 12, and each image acquisition structure 41 includes a rotating bearing 411, a first motor 412, a universal joint 413, a cross pin 414 and a high-definition camera 415. The high-definition camera 415 is hinged to the universal joint 413 through the cross pin 414. The universal joint 413 is provided with a rotating bearing 411 and a first motor 412. The first motor 412 drives the universal joint 413, the cross pin 414 and the high-definition camera 415 to rotate in the horizontal direction by driving the rotating bearing 411. Figure 6 shown.

[0076] Further, if Figure 7As shown, the cross pin 414 used in the embodiment of the present invention is in a shell structure, in which a second motor 4141 is arranged, and an active bevel gear 4142 is arranged at the output shaft end of the second motor 4141, and the active bevel gear 4142 is meshed with a driven bevel gear 4143 arranged inside the hinge of the cross pin 414 and the universal joint 413, and the second motor 4141 drives the active bevel gear 4142 to rotate, thereby driving the driven bevel gear 4143, the cross pin 414 and the high-definition camera 415 to rotate in a vertical direction. In addition, the high-definition camera 415 selected in the embodiment of the present invention has a night vision function, and the shooting content is synchronously uploaded to the data transceiver processing component 5, and changing the angle of the high-definition camera 415 will also be synchronously uploaded to the data transceiver processing component 5. Since the bottom of the high-definition camera 415 is at a certain distance from the top of the vacuum suction cup 31, when the flaw detection device is attached to the area to be inspected, the distance between the high-definition camera 415 and the shooting point can be calculated. Through this distance, the proportional relationship between the pixel points in the mapped image and the actual physical size can be obtained, that is, the actual size of the object in the captured image can be obtained through the proportional relationship.

[0077] In the embodiment of the present invention, the defect detection structure 42 includes a rebound tester 421 for measuring the surface hardness of a concrete structure bridge, a Leeb hardness tester 422 for measuring the hardness of a steel structure bridge, a laser rangefinder 423 for detecting the deflection of a bridge after fire, and an odometer 424 for detecting the moving distance of the detection position of the flaw detection device.

[0078] Among them, Figure 8As shown, the rebound hammer 421 and the Leeb hardness tester 422 are installed at a distance on the top of the connecting platform 11, and the rebound hammer 421 is located at the top center of the connecting platform 11. The four vacuum suction cups 31 are distributed in a circle with the rebound hammer 421 as the center. The Leeb hardness tester 422 is located between any two vacuum suction cups 31 to avoid interference during installation. Shock-absorbing springs are installed around the pneumatic rod of the rebound hammer 421 to reduce the rebound impact force. The bottom is fixed in the connecting platform 11. When measuring the surface hardness of the concrete structure bridge, the elastic modulus and strength of the object being measured are calculated according to the rebound distance and time of the rebound hammer. It should be noted that a rebound tester limiter 425 is provided on the circumference of the rebound tester 421, and the rebound tester limiter 425 is fixedly connected to the connecting platform 11, and is used to limit the horizontal movement of the rebound tester 421. At the same time, the circular ring on the top of the rebound tester limiter 425 is used to ensure that the axis of the rebound tester 421 is perpendicular to the bridge deck, and the top circular ring is provided with a high-temperature resistant silicone rubber pad, which is convenient for preventing the rebound tester 421 from slipping and fixing the position during measurement. When the flaw detection device is adsorbed on the position to be detected to measure the hardness, the top ring of the rebound hammer limiter 425 is first made close to the position to be detected, so that the axis of the rebound hammer 421 is perpendicular to the concrete detection surface; then the control component 6 controls the pneumatic rod of the rebound hammer 421 to extend upward, and slowly and evenly applies pressure to make the impact rod of the rebound hammer 421 enter the casing, and the hardness of the concrete at the position to be detected is measured, and the data is uploaded to the data detection and acquisition component 4; then the control component 6 controls the pneumatic rod of the rebound hammer 421 to contract, gradually decompress it, so that the impact rod extends out of the rebound hammer 421 and resets, so as to facilitate the next impact detection.

[0079] It should be pointed out that although the rebound method is not applicable to the strength test of concrete with obvious differences in surface and internal quality, considering that the rebound method has the advantages of being fast, convenient and efficient, the use of the rebound method to test concrete strength still has certain engineering practicality. Concrete strength testing can be carried out by using the rebound method combined with the subsequent core drilling method. The rebound method is used to compare and test the concrete strength of the spalling area, the affected area and the unaffected area, and to infer the area of ​​concrete quality decline caused by the fire. The concrete strength conversion value is calculated using a unified strength measurement curve, and can be further modified based on experience or specifications. The present invention uses a rebound hammer to measure and determine the spalling area and the affected area and performs real-time positioning, which is convenient for subsequent testing work.

[0080] In the embodiment of the present invention, the ring at the lower part of the rebound tester stopper 425 is evenly connected to the body through the shock-absorbing spring telescopic rod, and each directional wheel 426 is located on the vertical bisector extension line between two adjacent power propellers 21, such as Fig. 9As shown, in order to control the flaw detection device to roll close to the bottom of the position to be tested. In addition, a speed sensor is installed on the directional wheel 426, and the odometer 424 measures the mileage of the directional wheel 426 through the speed sensor. In order to prevent the directional wheel 426 from slipping at the bottom of the bridge to be tested and affecting the normal recording of the odometer 424, the outer contour of the directional wheel 426 is made of high-temperature resistant silicone rubber material with a rough surface. When the measuring point position is changed, the control component 6 controls the lower telescopic rods of the two directional wheels 426 perpendicular to the travel direction to retract to prevent the wheels perpendicular to the travel direction from causing travel interference. At the same time, since a speed sensor is installed on the directional wheel 426, when it rotates, the odometer 424 measures the number of rotations through the speed sensor to obtain the mileage. When the mileage reaches the distance to the next measuring point, the control component 6 controls the flaw detection device to stop moving and performs a detection operation. During the process of moving the measuring point position, the travel direction of the flaw detection device is kept fixed. When the measuring point direction is changed, the travel direction of the flaw detection device is changed to be perpendicular to the original travel direction. The control component 6 controls the lower telescopic rods of the two directional wheels 426 in the same direction as the travel direction to be restored, and the lower telescopic rods of the two directional wheels 426 perpendicular to the travel direction are retracted. The above-mentioned moving detection operation is repeated until the measurement quantity requirement is met.

[0081] In the embodiment of the present invention, the bottom of the pneumatic rod of the Leeb hardness tester 422 is fixedly connected to the connecting platform 11. Since there is a corresponding relationship between the hardness of steel and the material strength of steel, the detection strength of the steel in the fire area is obtained. The Leeb hardness tester 422 adopts an integrated Leeb hardness tester, which is compact and can automatically compensate for the measurement errors in different impact directions. Preferably, the ball head of the Leeb hardness tester 422 of the present invention adopts tungsten carbide material, which has the characteristics of high hardness, wear resistance and high temperature resistance. During measurement, after the flaw detection device is adsorbed on the position to be detected, the control component 6 controls the pneumatic rod of the hardness tester 422 to push the loading sleeve of the Leeb hardness tester 422 upward to lock the impact body, and presses the measuring end of the Leeb hardness tester 422 against the surface of the position to be detected and keeps it still; then the control component 6 controls the Leeb hardness tester 422 to release the switch, and the hardness of the object to be measured can be measured. After the measurement is completed, the data is stored in the data detection and acquisition component 4.

[0082] In the embodiment of the present invention, the laser rangefinder 423 is arranged in the support frame 12. A hole is opened at the overlap between the support frame 12 and the laser emission position at the bottom of the laser rangefinder 423 to facilitate laser emission. After the flaw detection device is adsorbed on the position to be detected, the height from the ground is measured by the laser rangefinder 423. Data at different positions are measured multiple times, and modeling and analysis can obtain the deflection change value of the affected area of ​​the bridge (prior art).

[0083] In the embodiment of the present invention, the data transceiver processing component 5 includes a data box 51 with a GPS positioning function installed in the support frame 12, a bridge antenna 52 arranged on the data box 51, and a central processor 53 located on the ground, wherein the data box 51 is used to receive the image data taken by the image acquisition structure 41, the material strength data after the fire measured by the rebound tester 421 and the Leeb hardness tester 422, and the distance data measured by the laser rangefinder 423 and the odometer 424; the bridge antenna 52 can establish a local wifi network with the central processor 53 to facilitate long-distance data transmission. The data box 51 has a long-distance wireless data transmission module, and the output end of the data box 51 is connected to the input end of the central processor 53, such as Fig.10 As shown. The wireless data transmission module in the data box 51 has the characteristics of low latency, high stability and long-distance transmission; the central processor 53 has the function of storing and self-identifying data, and is equipped with a crack image recognition and data comparison system. After a given image, it can automatically identify the crack size range, and after a given collected data, it can automatically compare with the standard value specified in the specification, and combine the position positioning for marking and warning. At the same time, it will automatically perform a bridge safety assessment based on the above collected data, and then wirelessly transmit the detection information and assessment results to the remote controller 62 of the control component 6.

[0084] In the embodiment of the present invention, the control component 6 includes a controller 61 and a remote controller 62 located in the connection station 11. The controller 61 and the remote controller 62 are wirelessly connected through a wifi module with a fixed frequency and encryption mode. The controller 61 directly controls the driving component 2, the adsorption component 3, the data detection and collection component 4, the data transceiver processing component 5 and the rotation component 8 to perform corresponding actions. Among them, the remote controller 62 has a display panel, and the central processor 53 wirelessly transmits the detection information and evaluation results to the remote controller 62. The staff can know the damage of the detection area in real time through the display panel and make the next detection decision.

[0085] In the embodiment of the present invention, the remote controller 62 has a detection task selection and automatic detection movement execution system. The flaw detection device has four detection tasks: steel structure bridge strength detection, concrete structure bridge structure strength detection, bridge deflection detection, and image scanning detection. The remote controller 62 can be used to select a single task or multiple tasks at the same time, and the task instructions can be wirelessly transmitted to the device controller 61, so that the flaw detection device executes the corresponding command. At the same time, the automatic detection movement execution program can be performed. The number of measuring points and the distance between measuring points can be set through the remote controller 62, and the initial position of the area to be tested and the moving route can be selected. The default device is in the upper right corner of the area to be tested, and the default moving route is "S" type. Fig.11 As shown, through the above task selection and measurement point quantity and spacing setting, the flaw detection device can automatically perform detection.

[0086] It should be noted that when the flaw detection device of the present invention is used to detect the side of the bridge, the flaw detection device must be retracted first, and the remote controller 62 extends the piston of the hydraulic cylinder 83 in the rotating assembly 8 through the remote controller 61. During the extension process, since the rotating top plate 82 is hinged to one side of the concave base 81, the rotating top plate 82 will rotate around the hinge point until the rotating top plate 82 rotates 90 degrees (the connecting pipe in the adsorption assembly 3 selects an elastic connecting pipe, or replaces the connecting pipe). At this time, the hydraulic cylinder 83 is extended again, but still maintains a working state, so as to facilitate the subsequent detection work. Figure 2 The subsequent movement and detection method is the same as the above-mentioned method for detecting the bottom surface of the bridge, and will not be repeated here.

[0087] Preferably, the flaw detection device of the present invention is wrapped with polyimide aerogel as a heat-insulating material as a whole, and only the high-definition camera 415, the hammer head of the rebound tester 421, the ball head of the Leeb hardness tester 422, the directional wheel 426, the laser emission point of the laser rangefinder 423, and the vacuum suction cup 31 are exposed. This is because polyimide aerogel (PIA) is a three-dimensional porous material composed of cross-linked polymer molecular chains, which combines the excellent properties of polyimide and aerogel, so that it not only has the good mechanical properties, excellent chemical resistance, good dielectric properties and high-temperature stability of polyimide, but also has the outstanding characteristics of aerogel such as light weight, ultra-low density, high specific surface area, low thermal conductivity and low dielectric constant. Therefore, polyimide aerogel is used as a heat-insulating protective material for flaw detection devices, and can be used to detect bridges as soon as possible after a fire.

[0088] In addition, based on the above-mentioned flaw detection device, the present invention provides a detection method, taking the operation of a single task as an example, so as to demonstrate the execution process of each detection task of the flaw detection device and the process of the flaw detection device performing the detection surface dimension conversion. The method includes the following process:

[0089] 1) First, before entering the area to be inspected, the remote controller 62 remotely controls the controller 61 to put the flaw detection device into flight mode. At this time, the controller 61 controls the power propeller 21 to rotate, so that the flaw detection device flies up as a whole, moves to the bottom of the bridge in the area to be inspected and hovers.

[0090] 2) Entering the adsorption mode, the power propeller 21 continues to work, so that the vacuum suction cup 31 is attached to the position to be detected, and then the controller 61 controls the vacuum pump 32 to start working, so as to suck away the air in the contact area between the vacuum suction cup 31 and the position to be detected, so that the vacuum suction cup 31 reaches a vacuum state, thereby being firmly adsorbed to the position to be detected.

[0091] 3) Enter the detection mode. The remote controller 62 has a detection task selection and automatic detection movement execution system. The flaw detection device has four detection tasks: steel structure bridge strength detection, concrete structure bridge structure strength detection, bridge deflection detection, and image scanning detection. The remote controller 62 can be used to select a single task or multiple tasks at the same time, and the task instructions can be wirelessly transmitted to the controller 61 so that the flaw detection device executes the command. At the same time, the automatic detection movement execution program can be performed. The number of measuring points and the distance between measuring points can be set through the remote controller 62. The initial position of the area to be tested and the moving route can be selected. The default flaw detection device is in the upper left corner of the area to be tested, and the default moving route is "S" type. Use the remote controller 62 to select a single task of concrete structure bridge structure strength detection, and set the number of measuring points and the distance.

[0092] 4) For the strength test of concrete bridge structure, the controller 61 controls the rebound hammer 421 to start working. During the measurement, firstly, the top ring of the rebound hammer stopper 425 is closely attached to the position to be tested, so that the axis of the rebound hammer 421 is perpendicular to the concrete test surface; then the controller 61 controls the pneumatic rod of the rebound hammer 421 to extend upward, slowly and evenly applies pressure, so that the impact rod of the rebound hammer 421 enters the casing, measures the hardness of the concrete at the position to be tested, and uploads the data to the data box 51; then the controller 61 controls the pneumatic rod of the rebound hammer 421 to contract, gradually decompresses the rebound hammer 421, and makes the impact rod extend from the rebound hammer 421 and reset, so as to facilitate the next impact test.

[0093] 5) When the measuring point position is changed, the controller 61 first controls the vacuum pump 32 to stop working, so that the vacuum suction cup 31 is separated from the measured part, and the power propeller 21 continues to run; then the controller 61 controls the lower telescopic rods of the two directional wheels 426 perpendicular to the traveling direction to retract to prevent the directional wheels 426 perpendicular to the traveling direction from causing travel interference. Since a speed sensor is installed on the directional wheel 426, when the directional wheel 426 rotates, the odometer 424 measures the number of revolutions of the directional wheel 426 through the speed sensor to obtain the mileage. When the mileage reaches the set distance of the next measuring point, the controller 61 controls the flaw detection device to stop moving and performs steps 2) and 4). During the process of moving the measuring point position, the moving direction of the flaw detection device is kept fixed. When the measuring point direction is changed, the moving direction of the flaw detection device is changed to be perpendicular to the original moving direction. The controller 61 controls the lower telescopic rods of the two directional wheels 426 in the same direction as the moving direction to restore, and the lower telescopic rods of the two directional wheels 426 perpendicular to the moving direction are retracted, and then steps 2) and 4) are repeated to complete the detection operation until the measurement quantity requirement is met.

[0094] 6) Use the remote controller 62 to select a single task image scanning test, and set the number and spacing of measuring points. For image scanning test, the high-definition camera 415 can realize horizontal observation by rotating the bearing 411, the first motor 412 and the universal joint 413; the high-definition camera 415 can realize vertical observation by the cross pin 414 and its internal structure, thereby realizing all-round observation without blind spots. The high-definition camera 415 has a built-in night vision function, and the shooting content is uploaded to the data box 51 synchronously. At the same time, when the angle of the high-definition camera 415 is changed, it will be uploaded to the data box 51 synchronously. Since the bottom of the high-definition camera 415 is at a certain distance from the top of the vacuum suction cup 31, when it is attached to the area to be detected, the distance between the high-definition camera 415 and the shooting point can be calculated. The proportional relationship between the pixel points in the mapped image and the real physical size is obtained through this distance, and the real size of the object in the captured image is obtained through the proportional relationship. The captured images include but are not limited to the appearance color, deformation, cracking and damage of structures, components and node connections, cracking and peeling of fire retardant coatings, etc.

[0095] 7) When the shooting position is changed, the moving operation in step 5 and the all-round observation without blind spots in step 6 are repeated until the area to be tested is completely detected.

[0096] 8) Use the remote controller 62 to select the single task steel structure bridge strength test, and set the number and spacing of measuring points. For the steel structure bridge strength test, the Leeb hardness tester 422 starts working. During the measurement, the controller 61 first controls the pneumatic rod of the Leeb hardness tester 422 to push upward so that its loading sleeve locks the impact body, and presses the measuring end of the Leeb hardness tester 422 tightly on the surface of the position to be tested and keeps it still; then the controller 61 controls the Leeb hardness tester 422 to release the switch, and the hardness of the object to be tested can be measured. After the measurement is completed, the data is stored in the data box 51.

[0097] 9) When changing the measuring point position, repeat the moving operation in step 5) and step 8) until the area to be measured is detected.

[0098] 10) Use the remote controller 62 to select a single task bridge deflection detection, and set the number and spacing of measuring points. For bridge deflection detection, the height from the ground is measured by the laser rangefinder 423. After the measurement is completed, the measuring position is changed. The data at different positions are measured multiple times, and the deflection change value of the bridge affected area can be obtained by modeling and analysis.

[0099] 11) When changing the measuring point position, repeat the moving operation in step 5 and step 10 until the area to be measured is completely inspected.

[0100] 12) When the flaw detection device is testing the material strength and defects on the side of the bridge, the flaw detection device is first retracted, and the remote controller 62 remotely controls the controller 61 to extend the hydraulic cylinder 83 of the rotating assembly 8 until the rotating top plate 82 rotates 90 degrees relative to the concave base 81. At this time, the hydraulic cylinder 83 no longer extends, but remains in working state to facilitate subsequent testing work, such as Figure 2 As shown, the subsequent movement and detection method are the same as the steps for detecting the bottom surface of the bridge mentioned above.

[0101] 13) The data transceiver processing component 5 includes a data box 51, a bridge antenna 52 and a central processor 53, and the real-time position information is uploaded synchronously through the bridge antenna 52. The input end of the data detection and acquisition component 4 is electrically connected to the output end of the data transceiver processing component 5. After each detection step is completed, the data results will be recorded in the data box 51, and a local area network can be established with the ground base station through the bridge antenna 52, which is convenient for synchronous data transmission. The data box 51 is equipped with a long-distance wireless data transmission module, and the output end of the data box 51 is electrically connected to the input end of the central processor 53 of the ground base station. The central processor 53 has the function of storing and self-identifying data, and is equipped with a crack image recognition and data comparison system. After a given image, it can automatically identify the size range of the cracks, and after the given collected data is compared with the standard value specified in the specification, and combined with the location positioning, it will mark and warn, and will automatically perform bridge safety assessment based on the above collected data.

[0102] 14) The remote controller 62 is provided with a display panel, and the central processing unit 53 wirelessly transmits the detection information and evaluation results to the remote controller 62. The staff can learn the damage of the detection area in real time through the display panel and make the next detection decision.

[0103] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention.

[0104] It should be understood that the present invention is not limited to what has been described above and that various modifications and changes may be made without departing from its scope. The scope of the present invention is limited only by the appended claims.

Claims

1. A multifunctional and multi-dimensional flaw detection device for bridge inspection after fire, characterized in that: The invention comprises a main body support component (1), on which a driving component (2) for driving the flaw detection device to move, an adsorption component (3) capable of adsorbing a position to be detected, a data detection and collection component (4) for detecting the position to be detected and collecting data, a data transceiver processing component (5) and a control component (6) are arranged; The main support assembly (1) is composed of a connecting platform (11) and a support frame (12) located below the connecting platform (11), and both are shell structures. An energy storage power source (7) is arranged inside the support frame (12). The connecting platform (11) and the support frame (12) are connected via a rotating assembly (8). Under the drive of the rotating assembly (8), the connecting platform (11) can form an angle of 90 degrees relative to the support frame (12); The energy storage power supply (7) is electrically connected to the driving component (2), the adsorption component (3), the data detection and collection component (4), the data transceiver processing component (5) and the control component (6) respectively, so as to provide power to each component; the control component (6) is electrically connected to the driving component (2), the adsorption component (3), the data detection and collection component (4), the data transceiver processing component (5) and the rotating component (8) respectively, so as to control each component to work in coordination.

2. The multifunctional and multi-dimensional flaw detection device for bridge inspection after fire according to claim 1 is characterized in that: The driving assembly (2) comprises a plurality of power propellers (21), and correspondingly, connecting arms (121) are protrudingly provided on the periphery of the support frame (12) in a circular array along the circumferential direction, the same number as the power propellers (21), each of the power propellers (21) is mounted at the end of a corresponding connecting arm (121), the motor of each power propeller (21) is electrically connected to an energy storage power source (7), and a protective structure (22) for protecting the blades is disposed on the periphery of each power propeller (21).

3. The multifunctional and multi-dimensional flaw detection device for post-fire bridge inspection according to claim 1 is characterized in that: There are two sets of the adsorption components (3), and each set of the adsorption components (3) comprises two vacuum suction cups (31) fixedly arranged on the top of the connecting platform (11) and a vacuum pump (32) installed in the support frame (12); The vacuum pump (32) is connected to two vacuum suction cups (31) respectively through an air hole interface (33), a two-way air pipe (34) and a connecting pipe (35); the vacuum suction cup (31) is fixed on the connecting platform (11) through a suction cup support column; and the vacuum suction cup (31) is made of high-temperature resistant silicone rubber material.

4. The multifunctional and multi-dimensional flaw detection device for bridge inspection after fire according to claim 1 is characterized in that: The data detection and acquisition component (4) comprises a plurality of image acquisition structures (41), and the plurality of image acquisition structures (41) are evenly arranged on the support frame (12); Each of the image acquisition structures (41) comprises a rotating bearing (411), a first motor (412), a universal joint (413), a cross pin (414) and a high-definition camera (415); the high-definition camera (415) is hinged to the universal joint (413) via the cross pin (414); a rotating bearing (411) and a first motor (412) are arranged inside the universal joint (413); the first motor (412) drives the rotating bearing (411) to drive the universal joint (413), the cross pin (414) and the high-definition camera (415) to rotate in a horizontal direction; The cross pin (414) is in a shell structure, in which a second motor (4141) is arranged. An active bevel gear (4142) is arranged at the end of the output shaft of the second motor (4141). The active bevel gear (4142) is meshed with a driven bevel gear (4143) arranged on the inner side of a hinge between the cross pin (414) and the universal joint (413). The second motor (4141) drives the active bevel gear (4142) to rotate, thereby driving the driven bevel gear (4143), the cross pin (414) and the high-definition camera (415) to rotate in a vertical direction.

5. The multifunctional and multi-dimensional flaw detection device for post-fire bridge inspection according to claim 1 is characterized in that: The data detection and collection component (4) also includes a defect detection structure (42), wherein the defect detection structure (42) includes a rebound tester (421) for measuring the surface hardness of a concrete structure bridge, a Leeb hardness tester (422) for measuring the hardness of a steel structure bridge, a laser rangefinder (423) for detecting the deflection of a bridge after fire, and an odometer (424) for detecting the moving distance of a detection position of a flaw detection device; The rebound hammer (421) and the Leeb hardness tester (422) are installed at a distance on the top of the connecting platform (11), and the rebound hammer (421) is located at the top center of the connecting platform (11), the laser rangefinder (423) is fixedly arranged in the support frame (12), and the odometer (424) is fixedly arranged inside the connecting platform (11).

6. The multifunctional and multi-dimensional flaw detection device for post-fire bridge inspection according to claim 5 is characterized in that: A rebound hammer stopper (425) is arranged on the circumference of the rebound hammer (421), and the rebound hammer stopper (425) is fixedly connected to the connecting platform (11) and is used to limit the horizontal movement of the rebound hammer (421). Meanwhile, the circular ring on the top of the rebound hammer stopper (425) is used to ensure that the axis of the rebound hammer (421) is perpendicular to the bridge deck; The circular ring at the lower part of the rebound tester stopper (425) is evenly connected to a plurality of directional wheels (426) made of high-temperature resistant silicone rubber material through a shock-absorbing spring telescopic rod. A speed sensor is installed on the directional wheel (426). The odometer (424) measures the mileage traveled by the directional wheel (426) through the speed sensor.

7. The multifunctional and multi-dimensional flaw detection device for bridge inspection after fire according to claim 1 is characterized in that: The data transceiver processing component (5) comprises a data box (51) with a GPS positioning function installed in a support frame (12), a bridge antenna (52) arranged on the data box (51), and a central processor (53) located on the ground; The data box (51) is connected to the data detection and collection component (4) to receive and record the data detected and collected by the data detection and collection component (4); meanwhile, the bridge antenna (52) establishes a wireless connection with the central processor (53) to transmit the data detected and collected by the data detection and collection component (4) to the central processor (53) in real time for the central processor to perform bridge safety assessment.

8. The multifunctional and multi-dimensional flaw detection device for bridge inspection after fire according to claim 7 is characterized in that: The control component (6) comprises a controller (61) and a remote controller (62) located in the connection platform (11); the controller (61) and the remote controller (62) are wirelessly connected via a wifi module with a fixed frequency and encryption mode; the controller (61) controls the driving component (2), the adsorption component (3), the data detection and collection component (4), the data transceiver processing component (5) and the rotating component (8) to perform corresponding actions.

9. The multifunctional and multi-dimensional flaw detection device for bridge inspection after fire according to claim 1 is characterized in that: The rotating assembly (8) comprises a concave base (81) fixedly connected to the top of the support frame (12); a rotating top plate (82) is hingedly connected to one side above the concave base (81); the rotating top plate (82) is fixedly connected to the bottom of the connecting platform (11); a hydraulic cylinder (83) is fixedly arranged inside the concave base (81); the end of the piston of the hydraulic cylinder (83) is connected to the bottom of the rotating top plate (82); and the hydraulic cylinder (83) is connected to the control assembly (6).

10. A detection method based on the multifunctional multi-dimensional flaw detection device for post-fire bridge detection according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: When inspecting the bottom surface of a bridge, firstly, the driving component (2) is started by the control component (6) to move the flaw detection device to the area to be inspected, and then the adsorption component (3) is started to make the vacuum suction cup (31) reach a vacuum state through the vacuum pump (32) of the adsorption component (3), so that the vacuum suction cup (31) is adsorbed at the position to be inspected; When inspecting the side of the bridge, the flaw detection device should be retracted first, and the hydraulic cylinder (83) in the rotating assembly (8) should be extended through the control assembly (6) until it reaches the set position, that is, the rotating top plate (82) is tilted 90 degrees relative to the concave base (81); Step 2: selecting a single or multiple detection tasks through the remote controller (62) of the control component (6), wherein the detection tasks include concrete structure bridge strength detection, steel structure bridge strength detection, bridge deflection detection, and image scanning detection; The strength test of the concrete structure bridge is carried out by using a rebound tester (421) of the data detection and acquisition component (4); the strength test of the steel structure bridge is carried out by using a Leeb hardness tester (422) of the data detection and acquisition component (4); the deflection test of the bridge is carried out by using a laser rangefinder (423) of the data detection and acquisition component (4); and the image scanning test is carried out by using an image acquisition structure (41) of the data detection and acquisition component (4). Step 3, when the detection position is changed, the control component (6) controls the adsorption component (3) to stop working, so that the vacuum suction cup (31) is separated from the current detection position. At this time, the driving component (2) continues to work, and the directional wheel (426) perpendicular to the travel direction in the data detection and collection component (4) is retracted through the control component (6). The odometer (424) of the data detection and collection component (4) measures the moving distance through the speed sensor provided on the directional wheel (426). When the next set detection position is reached, the control component (6) stops the movement of the flaw detection device by controlling the driving component (2), and starts the adsorption component (3) to be adsorbed at the detection position, and then performs the detection operation described in step 2; All data detected and collected by the data detection and collection component (4) in step 4, step 2 and step 3 are recorded in a data box (51) in the data transceiver processing component (5), and the data are synchronously transmitted to the central processing unit (53) in real time through the bridge antenna (52), and the central processing unit (53) performs a bridge safety assessment based on the data; the remote controller (62) of the control component (6) is provided with a display panel, and the central processing unit (53) wirelessly transmits the detected data and the assessment result to the remote controller (62), and the staff learns the damage status of the detection area in real time through the display panel, and makes the next detection decision.

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