Multifunctional bridge maintenance vehicle and detection system thereof

Abstract

The invention discloses a multifunctional bridge maintenance vehicle and a detection system thereof.The multifunctional bridge maintenance vehicle comprises a chassis traveling along a track, a heightening frame, a balancing weight and a controller are fixed to the chassis, the top end of the heightening frame is connected with a telescopic arm through a first sliding assembly, one end of the telescopic arm is connected with a sliding column through a second sliding assembly, and a rotating disc assembly is fixed to the bottom end of the sliding column; hanging baskets are fixed at the bottom ends of the turntable assemblies; the bridge detection system comprises a controller, a detection module and an auxiliary module, a control module, an alarm module and an analysis module are arranged in the controller, the output end of the detection module is connected with the input end of the analysis module, the output end of the analysis module is connected with the input end of the control module, and the output end of the control module is connected with the input end of the detection module. The alarm module input end is connected with the auxiliary module input end. The detection vehicle can freely walk on the bridge floor, overhaul of all parts of a bridge can be achieved, detection is accurate, operation is easy, convenience and flexibility are achieved, the working efficiency is high, and economic benefits are good.

Description

Technical Field

[0001] The invention relates to the technical field of bridge operation, and in particular to a multifunctional bridge maintenance vehicle and a detection system thereof. Background Art

[0002] With the continuous development of national infrastructure, the construction of different types of bridges is increasing. During the construction of bridges and subsequent maintenance and inspection, work needs to be carried out outside and under the bridge to ensure the construction quality of the bridge and the safety of the bridge during operation.

[0003] In the existing bridge construction and inspection and maintenance, crash barriers or sound barriers are installed on both sides of the bridge by erecting scaffolding and setting up extension platforms. After the construction is completed, they are directly dismantled. During the inspection and maintenance work, scaffolding is erected on the bridge, and the maintenance workers climb up the scaffolding to inspect and maintain the railway steel structure bridge, which is time-consuming and labor-intensive, and there are the following problems with the use of scaffolding: 1. The workload of scaffolding is large, resulting in a slow assembling speed, which is difficult to complete at one time within the skylight time point, reducing the efficiency of inspection and maintenance; 2. Since the assembled scaffolding is on the railway line where the train passes, the safety hazard is extremely high, because when the train passes the scaffolding, the train is in a high-speed running state. At this time, if one of the parts of the scaffolding falls from above, a serious safety accident may occur; 3. During inspection and maintenance, maintenance workers are required to climb up the scaffolding to operate, and the personal safety of maintenance workers cannot be guaranteed.

[0004] The prior art CN218233175U discloses an adjustable bridge crash barrier outer side construction operation equipment, which belongs to the technical field of bridge construction auxiliary equipment. The operation equipment drives the operation platform to rise or fall through a lifting mechanism to adjust the construction height, thereby reducing the construction difficulty. However, it can only realize the platform rising or falling and moving forward and backward, that is, it can only perform construction work on the outer side of the bridge, and cannot perform maintenance work on the bottom of the bridge.

[0005] Therefore, there is an urgent need for a multifunctional bridge maintenance vehicle and its detection system that can be used for maintenance and construction of the side and bottom of the bridge, can be used multiple times, and improve work efficiency. Summary of the invention

[0006] The purpose of the present invention is to provide a multifunctional bridge maintenance vehicle and its detection system. The detection vehicle can move freely on the bridge deck, can realize the maintenance of various parts of the bridge, has accurate detection, simple operation, convenience and flexibility, strong versatility, high work efficiency, good economic benefits, and effectively solves the problems existing in the background technology.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] A multifunctional bridge maintenance vehicle comprises a chassis vehicle traveling along a track, a heightening frame, a counterweight block and a controller for receiving, processing and sending control instructions are fixed on the chassis vehicle, a telescopic arm is connected to the top of the heightening frame through a first sliding assembly, one end of the telescopic arm is connected to a sliding column through a second sliding assembly, a turntable assembly is fixed to the bottom of the sliding column, and a hanging basket is fixed to the bottom of the turntable assembly;

[0009] The hanging basket is provided with a first camera for collecting images of the side and bottom of the bridge and a first lighting element for lighting during shooting and maintenance of the bottom and side of the bridge;

[0010] A second camera for collecting images of the top of the bridge and a second lighting element for lighting during photography and maintenance on the top of the bridge are arranged at the bottom of the chassis vehicle;

[0011] The chassis vehicle, the first camera, the first lighting element, the second camera, the second lighting element, the first sliding assembly, the second sliding assembly and the turntable assembly are all electrically connected to the controller;

[0012] The controller is provided with operation buttons, a display screen, a flashing light and a sound box for warning.

[0013] Preferably, the chassis vehicle includes a moving motor, a plurality of moving wheels and a supporting platform, the moving motor is fixed at the bottom of the supporting platform, the plurality of moving wheels are evenly arranged at the bottom of the supporting platform, baffles are arranged on both sides of the moving wheels, the top of the baffle is fixedly connected to the bottom of the supporting platform, the plurality of moving wheels are all connected to the output end of the moving motor, and the moving motor is electrically connected to the controller.

[0014] Preferably, the first sliding assembly includes a first sliding seat, a plurality of first guide wheels and an electric push rod, the bottom end of the first sliding seat is fixed to the top end of the heightening frame, two groups of oppositely arranged first guide wheels are fixed at each corner of the first sliding seat, the telescopic arm is arranged between the two groups of first guide wheels, and the telescopic arm slides horizontally back and forth along the first guide wheel, an electric push rod is fixed to one side of the telescopic arm, the bottom end of the electric push rod is fixedly connected to the side end of the first sliding seat away from the sliding column, and the electric push rod is electrically connected to the controller.

[0015] Preferably, the second sliding assembly includes a second sliding seat, a plurality of second guide wheels, a rotating motor, a drum and a steel rope, the second sliding seat being fixed to one end of the telescopic arm close to the sliding column, three groups of second guide wheels arranged oppositely are fixed at each corner of the second sliding seat, the sliding column is arranged between the third guide wheels, and the sliding column slides vertically up and down along the third guide wheels, a roller is fixed to the top end of the second sliding seat, the rotating motor is fixed to one end of the telescopic arm away from the sliding column, a drum is fixed to the output end of the rotating motor, a steel rope is wound around the drum, one end of the steel rope is fixed to the drum, and the other end is fixed to the middle part of the bottom end of the sliding column through the roller, and the rotating motor is electrically connected to the controller.

[0016] Preferably, the turntable assembly includes a base plate, a large gear, a small gear and a motor. The base plate is fixed to one side of the top of the hanging basket, an extension plate is provided on one side of the base plate, the motor is fixed to the bottom end of the extension plate, an output shaft is fixed to the output end of the motor, the output shaft passes through the extension plate and is rotatably connected to the extension plate, the bottom end of the output shaft is fixedly connected to the small gear, the large gear is fixed to the top of the base plate, the small gear is meshed with the large gear, and the motor is electrically connected to the controller.

[0017] A bridge detection system comprises a controller, a detection module and an auxiliary module. The controller is provided with a control module, an alarm module and an analysis module. The output end of the detection module is connected to the input end of the analysis module, the output end of the analysis module is linked to the input end of the control module, and the output end of the control module is respectively connected to the input end of the detection module, the input end of the alarm module and the input end of the auxiliary module.

[0018] Preferably, the detection module includes a first camera for capturing images of the bottom and sides of the bridge and a second camera for capturing images of the top of the bridge, and input ends of the first camera and the second camera are connected to an output end of the control module.

[0019] Preferably, the analysis module includes a recognition unit, a graphic extraction unit and a graphic comparison and analysis unit, the output ends of the first camera and the second camera are connected to the input end of the recognition unit, the output end of the recognition unit is connected to the input end of the graphic extraction unit, the output end of the graphic extraction unit is connected to the input end of the graphic comparison and analysis unit, the output end of the graphic extraction unit is connected to the input end of the graphic comparison and analysis unit, and the output end of the graphic comparison and analysis unit is connected to the input end of the control module; the graphic comparison and analysis unit is used to analyze the differences between the extracted graphics and the graphics in the database, including cracks, cracks and damage, exposed reinforcement rust and support hollowing.

[0020] Preferably, the alarm module includes a light display unit for flashing a red light to prompt and a voice broadcast unit for voice broadcast prompts, the light display unit is specifically the flashing light, the voice broadcast unit is specifically the speaker, and the input ends of the flashing light and the speaker are both connected to the output end of the control module.

[0021] Preferably, the auxiliary module includes a power supply for power supply, the first lighting element and the second lighting element, the power supply is connected to the input end of the control module, and the first lighting element and the second lighting element are both connected to the output end of the control module.

[0022] The present invention discloses the following technical effects: The present invention discloses a multifunctional bridge maintenance vehicle and a detection system thereof.

[0023] 1) The chassis vehicle is moved by driving the moving wheels through the mobile motor, so that the bridge maintenance vehicle can walk freely on the bridge deck or the bridge deck track. The telescopic arm is horizontally moved left and right by setting the first sliding component, and the sliding column is vertically moved up and down by setting the second sliding component, so as to realize the movement of the hanging basket in the horizontal direction and the vertical direction. The turntable component is set to realize the 360-degree rotation of the hanging basket. The hanging basket of the bridge maintenance vehicle of the present application has a wide movable surface, which increases the construction operation surface, and can be folded after the construction is completed, eliminating the construction process of disassembling and assembling the construction platform. The construction operation is convenient, simple to operate, convenient and flexible, meets the needs of on-site operations, and improves the operation efficiency.

[0024] 2) By setting up a control module, a detection module, an analysis module, an alarm module and an auxiliary module, the detection module is used to take photos and videos of the bridge, and the analysis module is used to analyze and compare the cracks, cracks and damage, exposed steel bars and rust, and support detachment on the bridge surface to draw conclusions. The auxiliary module is used to assist in the detection. The detection system identifies problems and analyzes them accurately. The detection results are accurate, which makes it convenient for maintenance personnel to understand the bridge condition and assist maintenance personnel to identify bridge problems, facilitates later maintenance, and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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 will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] Figure 1 : A schematic diagram of the overall structure of a multifunctional bridge maintenance vehicle of the present invention;

[0027] Figure 2 : A schematic structural diagram of a multifunctional bridge maintenance vehicle chassis vehicle of the present invention;

[0028] Figure 3 : A schematic structural diagram of the first sliding assembly of a multifunctional bridge inspection vehicle of the present invention;

[0029] Figure 4 : A schematic diagram of the structure of the second sliding assembly of a multifunctional bridge inspection vehicle of the present invention;

[0030] Figure 5 : A schematic diagram of the structure of a turntable assembly of a multifunctional bridge inspection vehicle of the present invention;

[0031] Figure 6 : A principle block diagram of a bridge detection system of the present invention;

[0032] Figure 7 : A schematic diagram of a working state of the multifunctional bridge maintenance vehicle of the present invention;

[0033] Figure 8 : Schematic diagram of working state of working condition 2 of the multifunctional bridge maintenance vehicle of the present invention;

[0034] Fig. 9 : Schematic diagram of the third working state of the multifunctional bridge maintenance vehicle of the present invention;

[0035] Fig.10 : Schematic diagram of working state 4 of the multifunctional bridge maintenance vehicle of the present invention;

[0036] Specifically, 1 is a chassis vehicle, 11 is a supporting platform, 12 is a moving wheel, 13 is a baffle, 14 is a second camera, 15 is a second lighting element, 16 is a moving motor, 2 is a heightening frame, 3 is a counterweight, 4 is a controller, 41 is a display screen, 42 is an operation button, 5 is a first sliding assembly, 51 is a first sliding seat, 52 is a first guide wheel, 53 is an electric push rod, 6 is a telescopic arm, 7 is a second sliding assembly, 71 is a second sliding seat, 72 is a second guide wheel, 73 is a rotating motor, 74 is a roller, 75 is a steel rope, 76 is Roller, 8 is a sliding column, 9 is a turntable assembly, 91 is a base plate, 92 is a large gear, 93 is a small gear, 95 is a motor, 96 is an output shaft, 97 is an extension plate, 10 is a hanging basket, 101 is a first camera, 102 is a first lighting element, 100 is a control module, 200 is a detection module, 300 is an analysis module, 301 is a recognition unit, 302 is a graphic extraction unit, 303 is a graphic comparison and analysis unit, 400 is an alarm module, 401 is a light display unit, 402 is a voice broadcast unit, and 500 is an auxiliary module. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] Embodiment 1:

[0040] like Figure 1-3 As shown, the present invention discloses a multifunctional bridge maintenance vehicle, including a chassis vehicle 1 moving along a track, a heightening frame 2, a counterweight block 3 and a controller 4 are fixed on the chassis vehicle 1, a top of the heightening frame 2 is connected to a telescopic arm 6 through a first sliding assembly 5, one end of the telescopic arm 6 is connected to a sliding column 8 through a second sliding assembly 7, a turntable assembly 9 is fixed to the bottom end of the sliding column 8, and a hanging basket 10 is fixed to the bottom end of the turntable assembly 9;

[0041] A first camera 101 and a first lighting element 102 are provided on the hanging basket 10;

[0042] A second camera 14 and a second lighting element 15 are provided at the bottom of the chassis vehicle 1;

[0043] The chassis vehicle 1, the first camera 101, the first lighting element 102, the second camera 14, the second lighting element 15, the first sliding assembly 5, the second sliding assembly 7 and the turntable assembly 9 are all connected to the controller 4;

[0044] The controller 4 is provided with operation buttons 42, a display screen 41, a flashing light and a speaker.

[0045] In this embodiment, the first camera 101 and the second camera 14 are high-definition cameras and can rotate freely.

[0046] The present invention realizes horizontal left and right movement of the telescopic arm 6 by setting a first sliding component 5, and realizes vertical up and down movement of the sliding column 8 by setting a second sliding component 7, thereby realizing horizontal and vertical movement of the hanging basket 10, and a turntable component 9 is set to realize 360-degree rotation of the hanging basket 10; a counterweight block 3 is set to prevent the chassis 1 from tipping over due to the increase in the weight of the hanging basket 10, thereby ensuring the stability of the chassis 1; a first camera 101 and a second camera 14 are set to take pictures and videos of the side, bottom and top of the bridge respectively, so as to facilitate subsequent analysis and comparison of the bridge; a first lighting element 102 and a second lighting element 15 are set to illuminate the bridge when working at night or under poor light conditions, so as to facilitate the work of the camera and the maintenance personnel.

[0047] In this embodiment, the chassis vehicle 1 includes a moving motor 16, multiple moving wheels 12 and a support platform 11. The moving motor 16 is fixed at the bottom of the support platform. The multiple moving wheels 12 are evenly arranged at the bottom of the support platform 11. Baffles 13 are arranged on both sides of the moving wheels 12. The top of the baffle 13 is fixedly connected to the bottom of the support platform. The multiple moving wheels 12 are all connected to the output end of the moving motor 16, and the moving motor 16 is electrically connected to the controller 4.

[0048] Specifically, in this embodiment, four moving wheels 12 are provided, and the four moving wheels 12 are respectively fixed at the bottom of the four corners of the supporting platform 11 . The controller 4 transmits a signal to the moving motor 16 , and the moving motor 16 is used to drive the moving wheels 12 to move and turn.

[0049] In this embodiment, the first sliding assembly 5 includes a first sliding seat 51, a plurality of first guide wheels 52 and an electric push rod 53. The bottom end of the first sliding seat 51 is fixed to the top of the heightening frame 2. Two groups of oppositely arranged first guide wheels 52 are fixed at each corner of the first sliding seat 51. The telescopic arm 6 is arranged between the two groups of first guide wheels 52, and the telescopic arm 6 slides horizontally back and forth along the first guide wheels 52. An electric push rod 53 is fixed to one side of the telescopic arm 6. The bottom end of the electric push rod 53 is fixedly connected to the side end of the first sliding seat 51 away from the sliding column 8, and the electric push rod 53 is electrically connected to the controller 4.

[0050] The electric push rod 53 of the present invention includes a servo motor and a plurality of sleeved screw rods. The bottom end of the innermost screw rod is fixedly connected to the side end of the first sliding seat 51 away from the sliding column 8. The servo motor drives the innermost screw rod to rotate and move left and right along the axial direction (horizontal direction), and drives the second layer of screw rods to rotate and move left and right along the axial direction (horizontal direction) as needed. The first sliding seat 51 is fixed, and the telescopic arm 6 slides radially along the first guide wheel 52, thereby causing the telescopic arm 6 to move left and right in the horizontal direction.

[0051] In this embodiment, the second sliding assembly 7 includes a second sliding seat 71, a plurality of second guide wheels 72, a rotating motor 73, a drum 74 and a steel rope 75. The second sliding seat 71 is fixed to one end of the telescopic arm 6 close to the sliding column 8. Three groups of second guide wheels 72 arranged opposite to each other are fixed at each corner of the second sliding seat 71. The sliding column 8 is arranged between the third guide wheels, and the sliding column 8 slides vertically up and down along the third guide wheels. A roller 76 is fixed to the top of the second sliding seat 71. The rotating motor 73 is fixed to one end of the telescopic arm 6 away from the sliding column 8. A drum 74 is fixed to the output end of the rotating motor 73. A steel rope 75 is wound around the drum 74. One end of the steel rope 75 is fixed to the drum 74, and the other end is fixed to the middle part of the bottom end of the sliding column 8 through the roller 76. The rotating motor 73 is electrically connected to the controller 4.

[0052] The present invention drives the drum 74 to rotate by a rotating motor 73, fixes one end of a steel rope 75 on the drum 74, and makes the steel rope 75 be wound around the outer surface of the drum 74, and the other end is passed around a roller 76 and fixed to the bottom end of the sliding column 8. When the drum 74 rotates, the length of the steel rope 75 wound around the drum 74 increases or decreases. The more the steel rope 75 is wound around the drum 74, the shorter the steel rope 75 left outside becomes, driving the sliding column 8 to move vertically upward. The less the steel rope 75 is wound around the drum 74, the longer the steel rope 75 left outside becomes, driving the sliding column 8 to move vertically downward, thereby realizing the up and down movement of the hanging basket 10 in the vertical direction.

[0053] In this embodiment, the turntable assembly 9 includes a base plate 91, a large gear 92, a small gear 93 and a motor 95. The base plate 91 is fixed to one side of the top of the hanging basket 10. An extension plate 97 is provided on one side of the base plate 91. The motor 95 is fixed to the bottom end of the extension plate 97. An output shaft 96 is fixed to the output end of the motor 95. The output shaft 96 passes through the extension plate and is rotatably connected to the extension plate. The bottom end of the output shaft 96 is fixedly connected to the small gear 93. The large gear 92 is fixed to the top of the base plate 91. The small gear 93 and the large gear 92 are meshed. The motor 95 is electrically connected to the controller 4.

[0054] The motor 95 of the present invention rotates the output shaft 96, driving the small gear 93 to rotate. Since the small gear 93 is meshed with the large gear 92, the large gear 92 also rotates. Since the large gear 92 is fixed on the bottom plate 91, the hanging basket 10 driven by the bottom plate 91 also rotates accordingly, thereby realizing a 360-degree rotation of the hanging basket 10.

[0055] During the construction operation of this embodiment, the hanging basket 10 of different lengths can be replaced to adapt to different bridge side width requirements.

[0056] In this embodiment, the first lighting element 102 and the second lighting element 15 are both long cylindrical LED lights. The first lighting element 102 is fixed to the top of the hanging basket 10 close to the first camera 101, and the second lighting element 10 is fixed to the bottom of the supporting platform 11 close to the second camera 14.

[0057] In this embodiment, the bridge maintenance vehicle designed by the present invention is not only used to repair bridges, but can also be applied to construction and maintenance operations on the sides and bottom of the bridge.

[0058] In this embodiment, the multifunctional bridge maintenance vehicle is 4.2 meters long, 0.62 meters wide, and 1 meter high, with a design load of 300kg uniformly distributed. According to the structural characteristics of the bridge maintenance vehicle, Autodesk Inventor Professional 2019 software is used to calculate and analyze the structural strength, the main structural beam unit simulation, the pressure-only rods in the truss structure are simulated by units, the walkway panels are simulated by plate units, and the assembly of each part of the model is simulated by common node consolidation, node coupling and contact analysis. Based on the finite element analysis, the structural rods and related components are calculated in detail according to the internal stress and other related information obtained as follows:

[0059] From the finite element calculation, we know that:

[0060] The maximum stress of the customized bridge inspection platform structure is σmax=105.5MPa<[σ]=235MPa, and the maximum displacement is ε=7.635mm<16mm.

[0061] Minimum safety factor 3.32>1

[0062] Conclusion: The structural strength and stiffness of the bridge maintenance vehicle meet the relevant requirements.

[0063] The weight of the counterweight selected by the multifunctional bridge maintenance vehicle designed by the present invention is calculated according to the following process:

[0064] 1. Working condition 1

[0065] When the multifunctional bridge maintenance vehicle is in the working state of the line straight line and the hanging basket is outside the bridge, the working state of the multifunctional bridge maintenance vehicle is as follows: Figure 7 As shown:

[0066] The weight of the hanging basket is 255kg; the column slide is 270kg; the weight of the telescopic arm is 300kg; the weight of the personnel and equipment is 200kg; the calculation is based on the center point of the left line in the figure as the reference point.

[0067] (1) The counterweight is assumed to be 3 tons. Assume that the actual distance between the center of gravity and point A is x (offset to the field side). According to the moment balance, the following formula is obtained:

[0068] 0.255*(4.1-x)+0.27*(3.67-x)+0.2*(4.1-x)+

[0069] 0.3*(3.6-x) / 2=3*(1.381 / 2+x)

[0070] x=0.3361m

[0071] (2) The counterweight is assumed to be 3.5 tons. Assume that the actual distance between the center of gravity and point A is x (offset to the field side). According to the moment balance, the following formula is obtained:

[0072] 0.255*(4.1-x)+0.27*(3.67-x)+0.2*(4.1-x)+0.3*(3.6-x) / 2=3.5*(1.381 / 2+x)

[0073] x=0.218m

[0074] Conclusion of working condition 1: When the counterweight is 3-3.5 tons, the working center of gravity of the multifunctional bridge maintenance vehicle is between the two wheels, meeting the balance requirements.

[0075] 2. Working condition 2

[0076] When the multifunctional bridge maintenance vehicle is in the working state of the line straight line and the hanging basket is inside the bridge, the working state of the multifunctional bridge maintenance vehicle is as follows: Figure 8 As shown:

[0077] The weight of the hanging basket is 255kg; the column slide is 270kg; the weight of the telescopic arm is 300kg; the weight of the personnel and equipment is 200kg; the calculation is based on the center point of the left line in the figure as the reference point.

[0078] (1) The counterweight is assumed to be 3 tons. Assume that the actual distance between the center of gravity and point A is x (offset to the track side). According to the moment balance, the following formula is obtained:

[0079] 0.255*(1.85+x)+0.27*(1.317+x)+0.2*(1.85+x)=3*(1.381 / 2-x)+0.3*(3.3-x) / 2

[0080] x=0.3568m

[0081] (2) The counterweight is considered to be 3.5 tons. Assume that the actual distance between the center of gravity and point A is x (offset to the track side). According to the moment balance, the following formula is used: 0.255*(1.85+x)+0.27*(1.317+x)+0.2*(1.85+x)=3.5*(1.381 / 2-x)+0.3*(3.3-x) / 2

[0082] x=0.3978m

[0083] Conclusion of working condition 2: When the counterweight is 3-3.5 tons, the working center of gravity of the multifunctional bridge maintenance vehicle is between the two wheels, meeting the balance requirements.

[0084] 3. Working condition three

[0085] When the multifunctional bridge maintenance vehicle is in the working state where the line condition is at the maximum outer rail superelevation of 150mm and the hanging basket is outside the bridge, the working state of the multifunctional bridge maintenance vehicle is as follows: Fig. 9 As shown:

[0086] The weight of the hanging basket is 255kg; the column slide is 270kg; the weight of the telescopic arm is 300kg; the personnel and equipment are considered to be 200kg; the calculation is based on point A (the center point of the left line) in the figure as the reference point.

[0087] (1) The counterweight is assumed to be 3 tons. Assume that the actual distance between the center of gravity and point A is x (offset to the field side). According to the moment balance, the following formula is obtained:

[0088] 0.255*(4.1-x+0.15)+0.27*(3.67-x+0.15)+0.2*(4.1-x+0.15)+0.3*(3.6-x+0.15) / 2=3*(1.381 / 2+x-0.15)

[0089] x=0.4919m

[0090] Conclusion of working condition three: When the counterweight is 3 tons, the working center of gravity of the multifunctional bridge maintenance vehicle is between the two wheels, meeting the balance requirements.

[0091] 4. Working condition 4

[0092] When the multifunctional bridge maintenance vehicle is in the working state where the maximum outer rail superelevation is 150mm and the hanging basket is inside the bridge, the working state of the multifunctional bridge maintenance vehicle is as follows: Fig.10 As shown:

[0093] The weight of the hanging basket is 255kg; the column slide is 270kg; the weight of the telescopic arm is 300kg; the personnel and equipment are considered to be 200kg; the calculation is based on point A (the center point of the left line) in the figure as the reference point.

[0094] (1) The counterweight is assumed to be 3 tons. Assume that the actual distance between the center of gravity and point A is x (offset to the track side). According to the moment balance, the following formula is used: 0.255*(1.85+x+0.15)+0.27*(1.317+x+0.15)+0.2*(1.85+x+0.15)=3*(1.381 / 2-x-0.15)+0.3*(3.3-x-0.15) / 2

[0095] x=0.4356m

[0096] Conclusion of working condition 4: When the counterweight is 3 tons, the working center of gravity of the multifunctional bridge maintenance vehicle is between the two wheels, meeting the balance requirements.

[0097] The working principle of the multifunctional bridge maintenance vehicle of the present invention is as follows: when in use, the controller 4 controls the rotating motor 73 to raise the sliding column 8 to a higher position, and then controls the electric push rod 53 to move the telescopic arm 6 to the outside of the bridge, so that the hanging basket 10 can safely pass through the crash wall or sound insulation wall of the bridge, and then land at the construction working position on the side of the bridge, and then adjust the horizontal position of the hanging basket 10 by the electric push rod 53, and adjust the direction of the hanging basket 10 by the motor 95.

[0098] like Figure 4 As shown, the present invention also discloses a bridge detection system, including a controller 4, a detection module 200 and an auxiliary module 500, the controller 4 includes a control module 100, an analysis module 300 and an alarm module 400, the output end of the detection module 200 is connected to the input end of the analysis module 300, the output end of the analysis module 300 is linked to the input end of the control module 100, and the output end of the control module 100 is respectively connected to the input end of the detection module 200, the input end of the alarm module 400 and the input end of the auxiliary module 500.

[0099] The present invention controls each module to work through the control module 100, transmits the image data to the analysis module 300 for analysis and comparison, transmits the result to the control module 100, and controls whether to make the alarm module 400 sound an alarm according to the final result.

[0100] In this embodiment, the detection module 200 includes a first camera 101 for capturing images of the bottom and sides of the bridge and a second camera 14 for capturing images of the top of the bridge. The input ends of the first camera 101 and the second camera 14 are connected to the output end of the control module 100. The present invention uses the first camera 101 and the second camera 14 to take high-definition photos of the surfaces of the top, sides and bottom of the bridge.

[0101] In this embodiment, the analysis module 300 includes an identification unit 301, a graphic extraction unit 302 and a graphic comparison and analysis unit 303. The output ends of the first camera 101 and the second camera 14 are connected to the input end of the identification unit 301, the output end of the identification unit 301 is connected to the input end of the graphic extraction unit 302, the output end of the graphic extraction unit 302 is connected to the input end of the graphic comparison and analysis unit 303, the output end of the graphic extraction unit 302 is connected to the input end of the graphic comparison and analysis unit 303, and the output end of the graphic comparison and analysis unit 303 is connected to the input end of the control module 100; the graphic comparison and analysis unit 303 is used to analyze the differences between the extracted graphics and the graphics in the database, including cracks, cracks and damage, exposed reinforcement rust and support hollowness.

[0102] The present invention utilizes the recognition unit 301 to recognize the surface position of the bridge in the image, and extracts the image, and transmits the extracted data to the graphic comparison and analysis unit 303, analyzes the differences between the extracted graphics and the graphics in the database, including cracks, cracks and damage, exposed steel bars and rust, and support detachment, and transmits the final results to the control module 100.

[0103] Specifically, the present invention provides an analysis method for bridge detection:

[0104] Step 1: Identify the acquired partial image of the bridge, and add an image mask to the partial image of the bridge so that the pixel value of each pixel in the bridge area of ​​the partial image of the bridge is a set value;

[0105] Specifically, adding a mask is essentially to avoid errors in edge detection; when the pixel value of each pixel in the image area fluctuates greatly, it is easy to fail to detect the edge during edge detection, and some non-edges are regarded as edges; and uniformly setting the pixel values ​​of all pixels to the set value can avoid the occurrence of false edge detection;

[0106] Step 2: Perform edge detection in the local image of the bridge to determine the boundary of the bridge area in the bridge image, and then remove the image mask so that the pixel value of each pixel in the bridge area of ​​the bridge image is restored to the original value; remove the mask so that the pixel value of each pixel in the bridge area of ​​the bridge image is restored to the original value. In this case, the concave-convex detection of the bridge area can be performed;

[0107] Specifically, the method for performing edge detection in a bridge image to determine the boundary of a bridge area in the bridge image includes: generating an image pyramid of the bridge image; calculating the gradient amplitude and gradient direction of each layer of the image pyramid; calculating the edge intensity of each pixel point and the edge direction of each pixel point based on the gradient amplitude and gradient direction, thereby obtaining an edge intensity map; performing non-maximum suppression on the edge intensity map to retain the local maximum edge response; converting the edge intensity image into a binary image, edge-connecting the binary image to fill the broken edges to obtain an edge image; performing Gaussian blurring on the connected edge image to smooth the edges and reduce noise to obtain a blurred image; performing edge enhancement on the blurred image, and then thresholding the enhanced edge image to determine the boundary of the bridge area in the bridge image;

[0108] Step 3: Based on the determined boundary of the bridge area, image concavity and convexity detection is performed on the image of the bridge area within the boundary to determine the concavity and convexity part of the image of the bridge area;

[0109] The image of the bridge area is divided into M sub-images. For each sub-image, N image filters are set to initialize the parameter matrix of each sub-image. Where M is a set value, and its value range is:

[0110] PI is the resolution of the bridge image; N is a set value ranging from 3 to 6; in this step, the bridge image is divided into multiple sub-images. The purpose of this segmentation is to decompose the large image into small pieces so that the characteristics of each sub-region can be analyzed more accurately. Usually, this is done by dividing the image into grids or rectangular blocks. Each sub-image requires an initialization parameter matrix, which will be used in subsequent image processing steps. Initialization is to establish an initial state for each sub-image for further processing. Image partitioning makes each sub-image focus on a specific local area, which helps to improve the accuracy of the detection of concave and convex structures in the area. Because different areas may have different characteristics, dividing the image into sub-images allows for better adaptation to the characteristics of different areas. Dividing the image into sub-images also helps to evenly distribute the computational burden, making the processing more efficient. If the entire image is processed, it may result in excessive computational complexity. The initialization parameter matrix is ​​to create a starting point for each sub-image, which will be adjusted and optimized in subsequent processing. These parameters are usually used in filtering and feature extraction steps to highlight the characteristics of the concave and convex parts. The choice of M depends on the complexity of the image and the required analysis accuracy. Larger M values ​​will result in finer image partitioning, but will also increase the computational burden. Smaller M values ​​may result in information loss. N represents the number of initialized filters for each sub-image. The value of N ranges from 4 to 6. The choice of N involves the complexity of filtering and feature extraction. Larger N values ​​can better capture the detailed features of the image, but may also increase the computational cost. Smaller N values ​​may result in information loss;

[0111] Perform Laplace transform on the parameter matrix to obtain the Laplace transform result, use the edge detection filter to filter the parameter matrix to obtain the edge detection matrix; calculate the edge enhancement result based on the Laplace transform result and the edge detection matrix; Laplace transform is an image enhancement technique used to highlight the edge and texture features in the image. It is achieved by calculating the second-order derivative of the pixel value. In an image, the edge usually corresponds to the area where the pixel value changes rapidly, while the flat area corresponds to the area where the pixel value changes slowly. Laplace transform enhances the edge by enhancing the high-frequency components of the pixel value, thereby improving the visibility of the edge feature. Edge detection is an image processing technique used to detect the boundaries between objects in an image. It determines the boundaries by finding the location where the pixel value changes most dramatically in the image. Common edge detection methods include Sobel, Canny, and Prewitt, which are convolution filters that can capture edge features in an image. Through Laplace transform, the edge features in the image will be enhanced to make them more prominent. This helps to highlight the boundaries of concave and convex structures, making them easier to detect and analyze. Laplace transform can also reduce the noise in the image, because noise usually appears as high-frequency noise, and Laplace transform will enhance the high-frequency component, which helps to suppress noise. Edge detection is used to determine the boundary position between objects in the image, which is very important for identifying the contours of concave and convex structures. By applying the edge detection filter, an edge detection matrix can be obtained, in which the edge pixels have higher values. This edge information helps in subsequent analysis to further identify concave and convex structures;

[0112] Based on the Laplace transform result and the edge detection matrix, the edge enhancement result is obtained using the following formula:

[0113]

[0114] Among them, L is the edge enhancement result; ||·||F is the Frobenius norm; is the dot multiplication operation of the matrix; ψ is the edge enhancement parameter; E d is the edge detection matrix; Δ is the Laplace operator; ΔM is the Laplace change result;

[0115] Based on the edge enhancement results and the parameter matrix, the dynamic matrix is ​​calculated; the dynamic matrix is ​​usually used to represent the texture and structure information in the image, and then the dynamic matrix is ​​normalized and rotated to ensure consistency and comparability in subsequent processing;

[0116] Use the following formula to calculate the power matrix:

[0117] D = sin(L+αM+ρ×R);

[0118] Where D is the dynamic matrix; ρ is the perturbation coefficient; R is the random matrix;

[0119] Use the following formula to normalize and rotate the power matrix:

[0120]

[0121] Where σ(D) is the standard deviation of all elements in the dynamic matrix D; ∈ is the value to prevent the denominator from being zero; R θ is the rotation matrix with θ as the angle; ω is the power coefficient;

[0122] Perform SVD decomposition on the dynamic matrix and get the decomposition result:

[0123] U,Σ,V*=SVD(λN(t)E+ζP);

[0124] Among them, U is the orthogonal matrix decomposed by SVD, and its column vector is the left singular vector; Σ is the diagonal matrix decomposed by SVD; V* is the orthogonal matrix decomposed by SVD, and its column vector is the right singular vector; this decomposition can help extract feature information in the image;

[0125] Calculate the matrix entropy of the power matrix; Based on the matrix entropy, calculate the decision mapping matrix; Calculate the matrix entropy of the power matrix using the following formula:

[0126]

[0127] Where m is the number of elements in the matrix U or V*; p j is the probability of the element value of each element in U; ​​v i is the element value of each element in V*; p i is the probability of the element value of each element in V*; λ is the entropy weight ratio, ranging from 0.3 to 0.7; φ is the phase shift parameter; ∠M is the phase of the parameter matrix;

[0128] The decision mapping matrix is ​​calculated based on matrix entropy using the following formula:

[0129] Q = H × N - ξ·Z ⊕ T;

[0130] Among them, ξ is the noise correction parameter; Z is the noise matrix; ⊕ is the spatial transformation operation; T is the edge matrix.

[0131] Based on the decision mapping matrix, the concave-convex evaluation value is calculated using the following formula:

[0132]

[0133] Wherein, x is the horizontal coordinate of the element in the matrix; y is the vertical coordinate of the element in the matrix; η is the adaptive adjustment coefficient, which determines the weight of M in the concave-convex evaluation value; k is the adaptive adjustment index, which determines the weight scaling ratio of M in the concave-convex evaluation value; τ is the back propagation correction coefficient; B is the correction value; the calculated concave-convex evaluation value is compared with the set first threshold value, and when the absolute value of the difference with the set first threshold value exceeds the set second threshold value, the sub-image is judged to be a concave-convex part;

[0134] Based on the calculated concave-convex evaluation value, each sub-image is evaluated to see whether it is a concave-convex part, so as to determine the concave-convex part of the image in the bridge area; this evaluation value is used to determine whether each sub-image contains a concave-convex part; by evaluating each sub-image, the concave-convex part of the image in the bridge area can be determined, and these parts may be potential defects. The specific algorithm of concave-convex evaluation can be adjusted according to application requirements to adapt to different types of defect detection;

[0135] The parameter matrix of each sub-image is expressed using the following formula:

[0136]

[0137] Where I is the sub-image; F n is the nth image filter; W n is the nth weight matrix; G n is the Gaussian noise matrix; ⊙ is the Hadamard product; is the convolution operation; M is the parameter matrix of the sub-image;

[0138] Step 4: Compare the concave and convex parts with the image data stored in the database to identify defects and determine the defect type;

[0139] Specifically, the method includes: comparing the image data of the bridge area within the boundary with the stored image data, determining the concave value and the convex value, as well as the relative positions of the concave and convex, and setting corresponding defect judgment values ​​for them according to different defect characteristics; finding the defect judgment value closest to the concave and convex evaluation value of the sub-image in the functional part, so as to determine the corresponding defect type;

[0140] Specifically, through bump detection, various defects on the bridge can be identified, including but not limited to the following:

[0141] Cracks: Bump detection can help identify cracks on a bridge surface, as cracks often result in localized depressions or bumps in the surface; these bump areas can be detected, and their location, shape, and size can be used to determine the severity of the crack.

[0142] Cracking wear: Cracking wear usually appears as local depressions in the bridge surface because the material has been rubbed or worn away. Concave and convex testing can be used to detect these depressed areas and assess the extent of wear by analyzing their depth and distribution.

[0143] Exposed rebar corrosion: Exposed rebar corrosion areas on the bridge surface often appear as depressions or bulges, which may be areas of material loss due to corrosion. Bump inspection can help identify and locate these corroded areas for repair or maintenance work.

[0144] Support debonding: The support debonding area of ​​a bridge usually appears in the form of depressions or protrusions, because the misalignment between the support and the bridge will form protrusions and depressions. Concave-convex detection can be used to detect these concave and convex areas, and evaluate the degree of debonding by analyzing their depth and distribution.

[0145] The present invention utilizes image filters, Laplace transforms, edge detection filters and other technologies to calculate the parameter matrix. These technologies can be dynamically adjusted according to actual data to adapt to bridge images of different types and conditions; this means that as data accumulates, the detection performance will continue to improve, and the system will be able to adapt to the ever-changing and diverse defects of bridges.

[0146] In this embodiment, the alarm module 400 includes a light display unit 401 and a voice broadcast unit 402. The light display unit 401 is used to flash a red light to prompt, and the voice broadcast unit 402 is used to give voice broadcast prompts. The light display unit 401 and the voice broadcast unit 402 are both connected to the output end of the controller 4, and the final result is transmitted to the control module 100. The light display unit 401 is specifically a flashing light, and the voice broadcast unit 402 is specifically the speaker. When there is a problem with the comparison result, the control module 100 controls the light flashing and the voice broadcast to warn the maintenance personnel.

[0147] In this embodiment, the auxiliary module 500 includes a power supply 501 for power supply, a first lighting element 102 and a second lighting element 15. The power supply is connected to the input end of the controller 4, and the first lighting element 102 and the second lighting element 15 are both connected to the output end of the controller 4; the whole is powered by the power supply, and the first lighting element 102 and the second lighting element 15 are set for lighting at night or in poor light conditions, which facilitates image shooting and the work of maintenance personnel.

[0148] The working principle of a bridge detection system of the present invention is as follows: when in use, when the light conditions are bad, the first lighting element 102 and the second lighting element 15 are turned on, and when the light conditions are good, the lights do not need to be turned on; then the first camera 101 and the second camera 14 are used to take high-definition photos of the surface of the top, side and bottom of the bridge, and the recognition unit 301 is used to recognize the surface position of the bridge in the image, and the image is extracted, and the extracted data is transmitted to the graphic comparison and analysis unit 303, and the difference between the extracted graphics and the graphics in the database is analyzed, including cracks, cracks and damage, exposed steel bars and rust, and support detachment, and the final result is transmitted to the control module 100. The data abnormality is controlled by the control module 100 to control the light display unit 401 and the voice broadcast unit 402 to warn the maintenance personnel through light and voice.

[0149] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0150] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A multifunctional bridge maintenance vehicle, characterized in that: It comprises a chassis vehicle traveling along a track, on which a heightening frame, a counterweight block and a controller for receiving, processing and sending control instructions are fixed, the top of the heightening frame is connected to a telescopic arm through a first sliding assembly, one end of the telescopic arm is connected to a sliding column through a second sliding assembly, a turntable assembly is fixed to the bottom of the sliding column, and a hanging basket is fixed to the bottom of the turntable assembly; The hanging basket is provided with a first camera for collecting images of the side and bottom of the bridge and a first lighting element for lighting during shooting and maintenance of the bottom and side of the bridge; A second camera for collecting images of the top of the bridge and a second lighting element for lighting during photography and maintenance on the top of the bridge are arranged at the bottom of the chassis vehicle; The chassis vehicle, the first camera, the first lighting element, the second camera, the second lighting element, the first sliding assembly, the second sliding assembly and the turntable assembly are all electrically connected to the controller; The controller is provided with operation buttons, a display screen, a flashing light and a sound box for warning.

2. A multifunctional bridge maintenance vehicle according to claim 1, characterized in that: The chassis vehicle includes a moving motor, multiple moving wheels and a supporting platform. The moving motor is fixed at the bottom of the supporting platform. The multiple moving wheels are evenly arranged at the bottom of the supporting platform. Baffles are arranged on both sides of the moving wheels. The top of the baffle is fixedly connected to the bottom of the supporting platform. The multiple moving wheels are all connected to the output end of the moving motor, and the moving motor is electrically connected to the controller.

3. A multifunctional bridge maintenance vehicle according to claim 1, characterized in that: The first sliding assembly includes a first sliding seat, a plurality of first guide wheels and an electric push rod. The bottom end of the first sliding seat is fixed to the top end of the heightening frame. Two groups of oppositely arranged first guide wheels are fixed to each corner of the first sliding seat. The telescopic arm is arranged between the two groups of first guide wheels, and the telescopic arm slides horizontally back and forth along the first guide wheels. An electric push rod is fixed to one side of the telescopic arm. The bottom end of the electric push rod is fixedly connected to the side end of the first sliding seat away from the sliding column, and the electric push rod is electrically connected to the controller.

4. A multifunctional bridge maintenance vehicle according to claim 1, characterized in that: The second sliding assembly includes a second sliding seat, a plurality of second guide wheels, a rotating motor, a drum and a steel rope. The second sliding seat is fixed to one end of the telescopic arm close to the sliding column. Three groups of second guide wheels arranged opposite to each other are fixed at each corner of the second sliding seat. The sliding column is arranged between the third guide wheels, and the sliding column slides vertically up and down along the third guide wheels. A roller is fixed to the top end of the second sliding seat. The rotating motor is fixed to one end of the telescopic arm away from the sliding column. A drum is fixed to the output end of the rotating motor. A steel rope is wound around the drum. One end of the steel rope is fixed to the drum, and the other end is fixed to the middle part of the bottom end of the sliding column through the roller. The rotating motor is electrically connected to the controller.

5. The multifunctional bridge maintenance vehicle according to claim 1 is characterized in that: The turntable assembly includes a base plate, a large gear, a small gear and a motor. The base plate is fixed to one side of the top of the hanging basket, an extension plate is provided on one side of the base plate, the motor is fixed to the bottom end of the extension plate, an output shaft is fixed to the output end of the motor, the output shaft passes through the extension plate and is rotatably connected to the extension plate, the bottom end of the output shaft is fixedly connected to the small gear, the large gear is fixed to the top of the base plate, the small gear is meshed with the large gear, and the motor is electrically connected to the controller.

6. A bridge inspection system based on the multifunctional bridge inspection vehicle according to any one of claims 1 to 5, characterized in that: It includes the controller, a detection module and an auxiliary module. The controller is provided with a control module, an alarm module and an analysis module. The output end of the detection module is connected to the input end of the analysis module, the output end of the analysis module is linked to the input end of the control module, and the output end of the control module is respectively connected to the input end of the detection module, the input end of the alarm module and the input end of the auxiliary module.

7. A bridge detection system according to claim 6, characterized in that: The detection module includes a first camera for collecting images of the bottom and sides of the bridge and a second camera for collecting images of the top of the bridge, and the input ends of the first camera and the second camera are connected to the output end of the control module.

8. A bridge detection system according to claim 7, characterized in that: The analysis module includes a recognition unit, a graphic extraction unit and a graphic comparison and analysis unit. The output ends of the first camera and the second camera are connected to the input end of the recognition unit, the output end of the recognition unit is connected to the input end of the graphic extraction unit, the output end of the graphic extraction unit is connected to the input end of the graphic comparison and analysis unit, the output end of the graphic extraction unit is connected to the input end of the graphic comparison and analysis unit, and the output end of the graphic comparison and analysis unit is connected to the input end of the control module; the graphic comparison and analysis unit is used to analyze the differences between the extracted graphics and the graphics in the database, including cracks, cracks and damage, exposed reinforcement rust and support hollowness.

9. A bridge detection system according to claim 6, characterized in that: The alarm module includes a light display unit and a voice broadcast unit. The light display unit is used to flash a red light to give a prompt, and the voice broadcast unit is used to give a voice broadcast prompt. The input ends of the light display unit and the voice broadcast unit are both connected to the output end of the control module.

10. A bridge detection system according to claim 6, characterized in that: The auxiliary module includes a power supply for power supply, the first lighting element and the second lighting element. The power supply is connected to the input end of the control module, and the first lighting element and the second lighting element are both connected to the output end of the control module.

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