Bridge detection vehicle, control method thereof and bridge detection vehicle disease inspection platform

Abstract

The invention relates to a bridge detection vehicle, a control method thereof and a bridge detection vehicle disease inspection platform. The bridge detection vehicle comprises a bridge detection vehicle body, a disease detection module, an automatic inspection module, a bridge detection vehicle control module and a remote inspection module, wherein the disease detection module, the automatic inspection module, the bridge detection vehicle control module and the remote inspection module are installed on the bridge detection vehicle body. The bridge detection vehicle control module is electrically connected with the disease detection module, the automatic inspection module and the remote inspection module. The bridge inspection vehicle control module is used for executing the inspection task issued by the remote inspection module to control the bridge inspection vehicle body to start to move, and controlling the disease detection module to collect a bridge appearance image and perform visual identification processing on the bridge appearance image to obtain a disease detection result in the movement process of the bridge inspection vehicle body; and controlling the automatic inspection module to collect environment wind power data, and controlling the bridge inspection vehicle body to stop moving when the environment wind power data exceeds a preset wind power threshold value. By adopting the method, remote detection of bridge diseases can be realized, and the inspection safety of the bridge detection vehicle in high-altitude operation is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of bridge inspection, and in particular to a bridge inspection vehicle and a control method thereof, and a bridge inspection vehicle disease inspection platform. Background Art

[0002] A bridge inspection vehicle is a special vehicle or inspection equipment that can provide a working platform for bridge inspectors during the inspection process and is used for mobile inspection and (or) maintenance operations. Bridge inspectors can ride on the bridge inspection vehicle and manually control it to move along the direction of the bridge. During the operation of the bridge inspection vehicle, they can observe the appearance of the bottom of the bridge or the side wall of the bridge to determine whether there are any defects on the bottom of the bridge or the side wall of the bridge.

[0003] However, since the bridge inspection vehicle is in a high-altitude operation scenario, it is easily affected by external environmental factors. For example, when the wind is too strong, the bridge inspection vehicle will be shaken by the wind, which greatly affects the operational safety of the bridge inspection personnel. Therefore, a safer bridge inspection vehicle is urgently needed. Summary of the invention

[0004] Based on this, it is necessary to provide a safer bridge inspection vehicle and its control method, and a bridge inspection vehicle disease inspection platform to address the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a bridge inspection vehicle, including a bridge inspection vehicle body and a disease detection module, an automatic inspection module, a bridge inspection vehicle control module and a remote inspection module installed on the bridge inspection vehicle body, wherein the bridge inspection vehicle control module is electrically connected to the disease detection module, the automatic inspection module and the remote inspection module respectively;

[0006] The bridge inspection vehicle control module is used to execute the inspection tasks issued by the remote inspection module to control the bridge inspection vehicle body to start moving, and during the movement of the bridge inspection vehicle body, control the disease detection module to collect the bridge appearance image and perform visual recognition processing on the bridge appearance image to obtain the disease detection result, control the automatic inspection module to collect environmental wind data, and control the bridge inspection vehicle body to stop moving when the environmental wind data exceeds a preset wind threshold.

[0007] In one of the embodiments, the bridge inspection vehicle control module includes a wireless communication unit, an edge controller, and a bridge inspection vehicle motion control unit;

[0008] The bridge inspection vehicle control module is further used to receive the inspection task sent by the remote inspection module through the wireless communication unit, and execute the inspection task through the edge controller to control the bridge inspection vehicle motion control unit to drive the bridge inspection vehicle body to start moving;

[0009] The bridge inspection vehicle control module is also used to receive the environmental wind data collected by the automatic inspection module through the wireless communication unit, and control the bridge inspection vehicle motion control unit through the edge controller to stop the movement of the bridge inspection vehicle body when the environmental wind data exceeds the preset wind threshold.

[0010] In one of the embodiments, the bridge inspection vehicle control module is also used to receive the bridge appearance image and the disease detection result collected by the disease detection module through the wireless communication unit, and send the bridge appearance image and the disease detection result to the remote inspection module for visual display of the disease.

[0011] In one of the embodiments, the disease detection module includes a visual recognition unit and a disease collection unit;

[0012] The defect detection module is used to collect the bridge appearance image through the defect collection unit, and perform defect recognition and positioning processing on the bridge appearance image through the visual recognition unit to obtain the defect detection result.

[0013] In one of the embodiments, the defect detection module further includes a fill light unit, and the fill light unit is used to illuminate the image acquisition area of ​​the defect acquisition unit during the bridge appearance image acquisition process.

[0014] In one of the embodiments, the automatic inspection module includes an obstacle avoidance radar;

[0015] The bridge inspection vehicle control module is also used to receive obstacle detection results detected by the obstacle avoidance radar within multiple set ranges from the bridge inspection vehicle body. When the obstacle detection result of the set range being the identification area range is that an obstacle exists, the bridge inspection vehicle body is controlled to maintain the current motion state; when the obstacle detection result of the set range being the buffer area range is that an obstacle exists, the movement speed of the bridge inspection vehicle body is controlled to be reduced; when the obstacle detection result of the set range being the emergency parking area range is that an obstacle exists, the bridge inspection vehicle body is controlled to stop moving.

[0016] In one of the embodiments, the automatic inspection module further includes a battery management system, a lithium battery and a charging device;

[0017] The bridge inspection vehicle control module is also used to receive the power parameters of the lithium battery collected by the battery management system, and when the power parameters are lower than a preset power threshold, control the bridge inspection vehicle body to return to the working area of ​​the charging device for charging.

[0018] In one of the embodiments, the automatic inspection module further includes a position sensor;

[0019] The bridge inspection vehicle control module is also used to receive the current position information of the bridge inspection vehicle body collected by the position sensor.

[0020] In a second aspect, the present application further provides a control method for a bridge inspection vehicle, which is applied to the bridge inspection vehicle described in any embodiment of the first aspect, comprising:

[0021] Execute an inspection task to control the bridge inspection vehicle to start moving, wherein the inspection task is used to instruct the acquisition of bridge appearance images and to perform visual recognition processing on the bridge appearance images to obtain disease detection results;

[0022] Obtain environmental wind data;

[0023] When the environmental wind force data exceeds a preset wind force threshold, the bridge inspection vehicle body is controlled to stop moving.

[0024] In a third aspect, the present application further provides a bridge inspection vehicle defect inspection platform. The bridge inspection vehicle defect inspection platform exchanges data with the remote inspection module in the bridge inspection vehicle described in any embodiment of the first aspect. The bridge inspection vehicle defect inspection platform is used to:

[0025] Sending inspection task instructions to the remote inspection modules of the plurality of bridge inspection vehicles, wherein the inspection task instructions are used to instruct the remote inspection modules to send the inspection tasks corresponding to the inspection task instructions to the corresponding bridge inspection vehicle control modules,

[0026] Receive the disease detection results returned by the remote inspection module of each bridge inspection vehicle.

[0027] The above-mentioned bridge inspection vehicle and its control method, and bridge inspection vehicle disease inspection platform, send inspection tasks to the bridge inspection vehicle control module through the remote inspection module, without the need for operators to operate on-site in the bridge inspection vehicle, and can realize remote control of bridge disease detection, thereby improving the operational safety of bridge disease detection. The bridge inspection vehicle control module controls the disease detection module to collect bridge appearance images and visually recognize the bridge appearance images to obtain disease detection results. Compared with the existing method of detecting bridge diseases by manual estimation, it can reduce the influence of manual subjective evaluation on the accuracy of bridge disease detection, and improve the accuracy and reliability of disease detection results. The bridge inspection vehicle control module makes work safety judgments based on the environmental wind data collected by the automatic inspection module. When the environmental wind data exceeds the preset wind threshold, the bridge inspection vehicle body is controlled to stop moving, which can not only ensure the inspection safety of the bridge inspection vehicle under high-altitude operations, but also avoid the influence of the bridge inspection vehicle body shaking on the bridge appearance image collected by the disease detection module in windy weather, thereby helping to improve the image quality of the bridge appearance image collected by the disease detection module. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 is a structural block diagram of a bridge inspection vehicle 100 in one embodiment;

[0030] Figure 2 is a structural block diagram of a bridge inspection vehicle control module 108 in one embodiment;

[0031] Figure 3 is a structural block diagram of the disease detection module 104 in one embodiment;

[0032] Figure 4 is a structural block diagram of the automatic inspection module 106 in one embodiment;

[0033] Figure 5 is a structural block diagram of a bridge inspection vehicle 500 in one embodiment;

[0034] Figure 6 It is a structural block diagram of a bridge inspection vehicle disease inspection platform 600 in one embodiment;

[0035] Figure 7 The figure is a flow chart of a control method of a bridge inspection vehicle in one embodiment. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0037] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0038] In an exemplary embodiment, Figure 1 As shown, a bridge inspection vehicle 100 is provided, including: a bridge inspection vehicle body 102 and a disease detection module 104, an automatic inspection module 106, a bridge inspection vehicle control module 108 and a remote inspection module 110 installed on the bridge inspection vehicle body 102.

[0039] The bridge inspection vehicle control module 108 is electrically connected to the disease detection module 104 , the automatic inspection module 106 and the remote inspection module 110 , respectively.

[0040] The bridge inspection vehicle body 102 may be a track-type bridge inspection vehicle body, and may move along the direction of the bridge.

[0041] The disease detection module 104 , the automatic inspection module 106 , the bridge inspection vehicle control module 108 and the remote inspection module 110 may be implemented by software, hardware or a combination thereof.

[0042] In some optional implementations, an image acquisition unit and an image processing device may be deployed in the disease detection unit 104. The image processing device may store a deep neural network model pre-trained based on bridge disease image samples, so as to perform visual recognition processing on the bridge appearance image through the pre-trained deep neural network model, determine whether there is a bridge disease in the bridge appearance image, locate the area where the bridge disease is located and the category to which the bridge disease belongs when it is determined that there is a bridge disease, and output whether there is a bridge disease, the area where the bridge disease is located and the category to which the bridge disease belongs as the disease detection result.

[0043] In some other optional implementations, a wind sensor may be deployed in the automatic inspection module 106 to collect environmental wind data.

[0044] In other optional implementations, a controller may be deployed in the bridge inspection vehicle control module 108 to process data sent by the disease detection module 104 , the automatic inspection module 106 , and the remote inspection module 110 , and control the motion state of the bridge inspection vehicle body 102 .

[0045] In other optional embodiments, a human-computer interaction interface may be deployed in the remote inspection module 110 to receive task instructions input by bridge inspection personnel, or to display the movement status, location or disease detection results of the bridge inspection vehicle to bridge inspection personnel.

[0046] Specifically, the remote inspection module 110 may respond to a regular inspection instruction triggered by a bridge inspection person, or trigger a pre-stored regular inspection instruction by itself at preset time intervals, and issue an inspection task to the bridge inspection vehicle control module 108 .

[0047] The bridge inspection vehicle control module 108 can perform inspection tasks to control the bridge inspection vehicle body 102 to move along the direction of the bridge, and instruct the defect detection module 104 to collect the bridge appearance image within its image acquisition area during the movement of the bridge inspection vehicle body 102, and provide computing power for the defect detection module 104 to perform visual recognition processing on the bridge appearance image, so as to obtain the corresponding defect detection result by performing visual recognition processing on the bridge appearance image.

[0048] Meanwhile, in the process of performing the inspection task, the bridge inspection vehicle control module 108 can instruct the automatic inspection module 106 to collect the environmental wind data of the current environment, and control the bridge inspection vehicle body 102 to stop moving when the collected environmental wind data exceeds the preset wind threshold. The preset wind threshold can be determined based on the operation safety of the bridge inspection vehicle under different wind conditions.

[0049] The above-mentioned bridge inspection vehicle issues inspection tasks to the vehicle control module of the bridge inspection vehicle through the remote inspection module, and there is no need for operators to operate on-site in the bridge inspection vehicle. It can realize remote control of bridge disease detection and improve the operational safety of bridge disease detection. The vehicle control module of the bridge inspection vehicle controls the disease detection module to collect bridge appearance images and visually recognize the bridge appearance images to obtain disease detection results. Compared with the existing method of detecting bridge diseases by manual estimation, it can reduce the influence of manual subjective evaluation on the accuracy of bridge disease detection and improve the accuracy and reliability of disease detection results. The vehicle control module of the bridge inspection vehicle makes work safety judgments based on the environmental wind data collected by the automatic inspection module. When the environmental wind data exceeds the preset wind threshold, the bridge inspection vehicle body is controlled to stop moving. This can not only ensure the inspection safety of the bridge inspection vehicle under high-altitude operations, but also avoid the influence of the shaking of the bridge inspection vehicle body on the bridge appearance images collected by the disease detection module in strong winds, thereby helping to improve the image quality of the bridge appearance images collected by the disease detection module.

[0050] Optionally, in other embodiments, when the bridge appearance image received by the bridge inspection vehicle control module 108 is blurred, the automatic inspection module 106 can be controlled to collect and transmit the current environmental wind data in real time. If the environmental wind data does not exceed the preset wind threshold, the image acquisition parameters of the disease detection module 104 can be adjusted. If the environmental wind data exceeds the preset wind threshold, the bridge inspection vehicle body 102 can be controlled to stop moving.

[0051] In this embodiment, the current wind conditions are judged by combining the image quality of the bridge appearance image and the environmental wind data to control the image acquisition parameters of the disease detection module or control the bridge inspection vehicle to stop moving. This can improve the timeliness of controlling the movement state of the bridge inspection vehicle in adverse weather conditions and help improve the image acquisition quality of the disease detection module.

[0052] In an exemplary embodiment, Figure 2 As shown, the bridge inspection vehicle control module 108 may include a wireless communication unit 202 , an edge controller 204 , and a bridge inspection vehicle motion control unit 206 .

[0053] The wireless communication unit 202 may be used to implement transparent data transmission between the bridge inspection vehicle control module 108 and the disease detection module 104 , the automatic inspection module 106 and the remote inspection module 110 .

[0054] The edge controller 204 can be used to implement all algorithm controls in the bridge inspection vehicle 100 , serving as the central control and computing system of the bridge inspection vehicle 100 .

[0055] The bridge inspection vehicle motion control unit 206 can be implemented by a programmable logic controller (PLC for short).

[0056] For example, the bridge inspection vehicle control module 108 can receive the inspection task issued by the remote inspection module 110 through the wireless communication unit 202 and send the inspection task to the edge controller 204 for execution. The edge controller 204 executes the inspection task to control the bridge inspection vehicle motion control unit 206 to drive the bridge inspection vehicle body 102 to start moving.

[0057] The bridge inspection vehicle control module 108 can receive the environmental wind data collected by the automatic inspection module 106 through the wireless communication unit 202 and send the environmental wind data to the edge controller 204. The edge controller 204 compares the environmental wind data with the preset wind threshold, and when the current environmental wind data exceeds the preset wind threshold, controls the bridge inspection vehicle motion control unit 206 to drive the bridge inspection vehicle body 102 to stop moving.

[0058] In this embodiment, by using a wireless communication unit for information interaction and transmission, the efficiency of information transmission between modules in the bridge inspection vehicle can be improved. By implementing algorithm control of the entire bridge inspection vehicle through an edge controller, there is no need to deploy independent algorithm processors in each module, which can improve the data control efficiency of the entire bridge inspection vehicle. At the same time, when user needs change, only the algorithm logic in the edge controller needs to be adjusted, which can also improve the deployment flexibility and scalability of the bridge inspection vehicle. The motion control of the bridge inspection vehicle body is implemented through the bridge inspection vehicle motion control unit, which can improve the accuracy of the motion state control of the bridge inspection vehicle.

[0059] In an exemplary embodiment, the bridge inspection vehicle control module 108 can also be used to receive the bridge appearance image and the defect detection result collected by the defect detection module 104 through the wireless communication unit 202. The bridge appearance image and the defect detection result are sent to the remote inspection module 110 through the wireless communication unit 202 for visual display of the defect.

[0060] Optionally, in some embodiments, the bridge inspection vehicle control module 108 can also be used to send the whole machine status parameters of the bridge inspection vehicle 100 (including the operation parameters and configuration parameters of the bridge inspection vehicle body 102, the disease detection module 104, the automatic inspection module 106 and the bridge inspection vehicle control module 108) to the remote inspection module 110 through the wireless communication unit 202, so as to realize remote monitoring of the bridge inspection vehicle 100. Alternatively, in other embodiments, the bridge inspection vehicle control module 108 can also generate corresponding abnormal alarm information through the edge controller 204 when the operation parameters of the bridge inspection vehicle body 102, the disease detection module 104, the automatic inspection module 106 and the bridge inspection vehicle control module 108 exceed the preset threshold. The abnormal alarm information is sent to the remote inspection module 110 through the wireless communication unit 202 to realize remote monitoring alarm of the bridge inspection vehicle 100.

[0061] Optionally, in other embodiments, the bridge inspection vehicle control module 108 can also generate a corresponding defect detection report according to the defect detection result, defect detection time or solution measures matching the defect detection category through the edge controller 204. The defect detection report is sent to the remote inspection module 110 through the wireless communication unit 202 for visual display, so as to provide more bridge defect information to the bridge inspection personnel.

[0062] In this embodiment, through the data interaction between the wireless communication unit and the remote inspection module, functions such as remote control management of the bridge inspection vehicle, remote monitoring of the whole machine status, remote alarm and visualization of defects can be realized, which enriches the remote control function of the bridge inspection vehicle and can provide bridge inspection personnel with more bridge defect information.

[0063] In an exemplary embodiment, Figure 3 As shown, the disease detection module 104 may include a visual recognition unit 302 and a disease collection unit 304 .

[0064] The visual recognition unit 302 may store a deep neural network pre-trained based on bridge defect image samples, and the pre-trained deep neural network may be used to identify the bridge defect category in the bridge appearance image and locate the identified bridge defect. The bridge defect category may include but is not limited to any one or more of a variety of categories such as cracks, breakage, exposed reinforcement, rust, paint deterioration, bolt detachment, etc.

[0065] The disease acquisition unit 304 can be implemented by an image acquisition unit.

[0066] Exemplarily, the defect detection module 104 can also be used to collect bridge appearance images in real time through the defect collection unit 304, and send the collected bridge appearance images to the visual recognition unit 302. The visual recognition unit 302 dispatches the computing power of the edge controller 204 to identify the defects of the bridge appearance image. For example, the bridge appearance image can be feature extracted, and based on the matching results of the image features of the extracted bridge appearance image and the defect sample features under different bridge defect categories, it is determined whether there is a bridge defect in the bridge appearance image and the category to which the bridge defect belongs. According to the location area where the image features matching the bridge defect category are located, the area where the bridge defect is located is located. Thus, the defect detection result output by the visual recognition unit 302 is obtained.

[0067] In this embodiment, the bridge appearance image is collected in real time through the defect detection module, and the bridge appearance image is subjected to defect identification, classification and positioning through the visual recognition unit to obtain the corresponding defect detection result, which can improve the classification accuracy of the defect detection result and enrich the data content of the defect detection result.

[0068] Optionally, in some other implementations, the disease detection module 104 may further include a fill light unit.

[0069] The fill light unit can be used to provide lighting. The fill light unit can be set at a preset position of the disease collection unit 304 to provide lighting to the disease collection unit 304.

[0070] Exemplarily, when the brightness of the bridge appearance image received by the bridge inspection vehicle control module 108 is too low, or the visual recognition unit 302 is unable to recognize the bridge appearance image due to the low image quality of the bridge appearance image, the bridge inspection vehicle control module 108 can control the fill light unit in the defect detection module 104 to start working, so as to illuminate the image acquisition area of ​​the defect acquisition unit 304 through the fill light unit.

[0071] In this embodiment, by deploying a fill light unit in the disease detection module, the image acquisition quality of the disease acquisition unit can be improved.

[0072] In an exemplary embodiment, the automatic inspection module 106 may include an obstacle avoidance radar.

[0073] Exemplarily, the bridge inspection vehicle control module 108 can also be used to control the obstacle avoidance radar in the automatic inspection module 106 to start working, so as to collect obstacle detection results within multiple set ranges from the bridge inspection vehicle body 102. The set ranges may include but are not limited to the identification area range, the buffer area range, the emergency parking area range, etc. The distance corresponding to the identification area range is greater than the distance corresponding to the buffer area range, and the distance corresponding to the buffer area range is greater than the distance corresponding to the emergency parking area range.

[0074] When the obstacle detection result received by the bridge inspection vehicle control module 108 includes an obstacle detection result in the set range as the identification area indicating the existence of an obstacle, since the obstacle is far away from the bridge inspection vehicle body 102, the bridge inspection vehicle control module 108 can control the bridge inspection vehicle body 102 to maintain the current motion state, that is, control the bridge inspection vehicle body 102 to maintain the current motion direction and motion speed.

[0075] When the obstacle detection result received by the bridge inspection vehicle control module 108 includes an obstacle detection result in the buffer zone set as the existence of an obstacle, in order to avoid a collision between the bridge inspection vehicle body 102 and the obstacle, the bridge inspection vehicle control module 108 can be used to control the movement speed of the bridge inspection vehicle body 102 to reduce, so as to facilitate the subsequent adjustment of the movement direction of the bridge inspection vehicle body 102 or control it to stop moving.

[0076] When the obstacle detection result received by the bridge inspection vehicle control module 108 includes an obstacle detection result in the set range of the emergency parking area indicating the existence of an obstacle, since the bridge inspection vehicle body 102 is close to the obstacle, there is a great risk of collision between the bridge inspection vehicle body 102 and the obstacle, and the bridge inspection vehicle body 102 can be controlled to stop moving by the bridge inspection vehicle control module 108.

[0077] In this embodiment, by deploying an obstacle avoidance radar in the automatic inspection module, the bridge inspection vehicle control module adjusts the movement state of the bridge inspection vehicle body according to the obstacle detection results within different set ranges collected by the obstacle avoidance radar, thereby avoiding the collision between the bridge inspection vehicle body and obstacles and ensuring the safe operation of the bridge inspection vehicle body.

[0078] In an exemplary embodiment, the automatic inspection module 106 may include a battery management system, a lithium battery, and a charging device.

[0079] Among them, the battery management system can be used to obtain the power status of the lithium battery.

[0080] The lithium battery can be used to provide electrical energy for the operation of each module in the bridge inspection vehicle 100 .

[0081] The charging device can be used to charge the lithium battery.

[0082] Exemplarily, the bridge inspection vehicle control module 108 can be used to collect the power parameters of the lithium battery by controlling the battery management system, and receive the power parameters of the lithium battery returned by the battery management system. The bridge inspection vehicle control module 108 can be used to compare the current power parameters with the preset power threshold, and when the power parameters are lower than the preset power threshold, determine the movement direction of the bridge inspection vehicle body 102 according to the current location of the bridge inspection vehicle body 102 and the industrial area of ​​the charging device. Control the bridge inspection vehicle body 102 to move in the movement direction of the bridge inspection vehicle body 102 to return to the industrial area of ​​the charging device for charging.

[0083] In this embodiment, the battery management system in the automatic inspection module collects the power parameters of the lithium battery. When the power parameters are lower than the preset power threshold, the bridge inspection vehicle body is controlled to return to the working area of ​​the charging device for charging. This can avoid data loss due to insufficient power during the inspection of the bridge inspection vehicle. At the same time, it can also avoid the shortening of the battery life due to over-discharge of the lithium battery.

[0084] In an exemplary embodiment, the automatic patrol module 106 further includes a position sensor.

[0085] The bridge inspection vehicle control module 108 can also be used to control the position sensor to collect the real-time position of the bridge inspection vehicle body 102 during movement, receive the current position information of the bridge inspection vehicle body 102 collected by the position sensor, and realize the positioning of the bridge inspection vehicle body 102.

[0086] Optionally, in some implementations, a global positioning system (GPS) unit may be deployed in the automatic inspection module 106 to improve the positioning accuracy of the bridge inspection vehicle body 102 .

[0087] In this embodiment, by deploying position sensors in the automatic inspection module, the bridge inspection vehicle body can be positioned during the inspection process, which helps to correspond the disease detection results with the specific location in the bridge and improve the subsequent treatment efficiency of bridge diseases.

[0088] In an exemplary embodiment, Figure 4 As shown, the automatic inspection module 106 may include an automatic charging unit 402 , an active obstacle avoidance unit 404 , a position sensor 406 , and a wind sensor 408 .

[0089] The automatic charging unit 402 may include a battery management system 4022 , a lithium battery 4024 and a charging device 4026 .

[0090] The active obstacle avoidance unit 404 may include an obstacle avoidance radar 4042 .

[0091] Exemplarily, the bridge inspection vehicle control module 108 can be used to control the battery management system 4022 in the automatic charging unit 402 to collect the power parameters of the lithium battery 4024, control the obstacle avoidance radar 4042 in the active obstacle avoidance unit 404 to collect obstacle detection results within multiple set ranges from the bridge inspection vehicle body 102, control the position sensor 406 to collect the current position information of the bridge inspection vehicle body 102, and control the wind sensor 408 to collect the current environmental wind data.

[0092] When the power parameter is lower than the preset power threshold, the bridge inspection vehicle control module 108 can determine the movement direction of the bridge inspection vehicle body 102 based on the position information collected by the position sensor 406 and the working area of ​​the charging device 4026, and then control the bridge inspection vehicle body 102 to return along the movement direction to the working area of ​​the charging device 4026 so that the charging device 4026 can charge the lithium battery 4024.

[0093] When the obstacle detection result of the set range as the identification area is that there is an obstacle, the bridge inspection vehicle control module 108 can control the bridge inspection vehicle body 102 to maintain the current motion state. When the obstacle detection result of the set range as the buffer zone is that there is an obstacle, the bridge inspection vehicle control module 108 can control the movement speed of the bridge inspection vehicle body 102 to decrease. When the obstacle detection result of the set range as the emergency parking area is that there is an obstacle, the bridge inspection vehicle control module 108 can control the bridge inspection vehicle body 102 to stop moving.

[0094] When the environmental wind force data exceeds a preset wind force threshold, the bridge inspection vehicle control module 108 can control the bridge inspection vehicle body 102 to stop moving.

[0095] In this embodiment, the data information such as power, position, wind force, obstacles, etc. during the inspection process of the bridge inspection vehicle are collected through various sensing elements in the automatic inspection module, which can effectively ensure the operation safety of the bridge inspection vehicle.

[0096] In an exemplary embodiment, Figure 5 As shown, a bridge inspection vehicle 500 is also provided, including a disease detection module 502 , an automatic inspection module 504 , a bridge inspection vehicle control module 506 and a remote inspection module 508 .

[0097] Among them, the disease detection module 502 may include a visual recognition unit 5022 and a disease collection unit 5024.

[0098] The automatic inspection module 504 may include a battery management system 5040 , a lithium battery 5043 and a charging device 5045 , an obstacle avoidance radar 5042 , a position sensor 5044 , and a wind sensor 5046 .

[0099] The bridge inspection vehicle control module 506 may include a wireless communication unit 5062 , an edge controller 5064 , a bridge inspection vehicle motion control unit 5066 and a bridge inspection vehicle body 5068 .

[0100] The remote inspection module 508 can be connected to the bridge inspection vehicle disease inspection platform.

[0101] Exemplarily, the bridge inspection vehicle control module 506 can receive the inspection task sent by the remote inspection module 508 through the wireless communication unit 5062, execute the inspection task through the edge controller 5064, and control the bridge inspection vehicle motion control unit 5066 to drive the bridge inspection vehicle body 5068 to start moving.

[0102] The bridge inspection vehicle control module 506 can receive the bridge appearance image collected by the defect collection unit 5024 and the defect detection result obtained by the visual recognition unit 5022 through the wireless communication unit 5062, and send the bridge appearance image and the defect detection result to the remote inspection module 508.

[0103] The bridge inspection vehicle control module 506 can receive the power parameters of the lithium battery 5043 collected by the battery management system 5040 and the current location information of the bridge inspection vehicle body 5068 collected by the position sensor 5044 through the wireless communication unit 5062. When the power parameters are lower than the preset power threshold, the edge controller 5064 determines the movement direction of the bridge inspection vehicle body 5068 according to the location information, and controls the bridge inspection vehicle movement control unit 5066 to drive the bridge inspection vehicle body 5068 to return to the charging device 5045 along the movement direction for charging.

[0104] The bridge inspection vehicle control module 506 can receive obstacle detection results within multiple set ranges from the bridge inspection vehicle body 5068 detected by the obstacle avoidance radar 5042 through the wireless communication unit 5062. When the obstacle detection result of the set range is the identification area range is that there is an obstacle, the edge controller 5064 controls the bridge inspection vehicle motion control unit 5066 to drive the bridge inspection vehicle body 5068 to maintain the current motion state. When the obstacle detection result of the set range is the buffer zone range is that there is an obstacle, the edge controller 5064 controls the bridge inspection vehicle motion control unit 5066 to drive the bridge inspection vehicle body 5068 to reduce the movement speed. When the obstacle detection result of the set range is the emergency parking area range is that there is an obstacle, the edge controller 5064 controls the bridge inspection vehicle motion control unit 5066 to drive the bridge inspection vehicle body 5068 to stop moving.

[0105] The bridge inspection vehicle control module 506 can receive the environmental wind data collected by the wind sensor 5046 through the wireless communication unit 5062. When the environmental wind data exceeds the preset wind threshold, the edge controller 5064 controls the bridge inspection vehicle motion control unit 5066 to drive the bridge inspection vehicle body 5068 to stop moving.

[0106] In this embodiment, by equipping the bridge inspection vehicle with an image acquisition unit (i.e., the disease acquisition unit in this embodiment), obstacle avoidance radar, wind sensor, position sensor and other sensing elements, and using artificial intelligence visual recognition calculation (i.e., the AI ​​visual recognition algorithm used by the visual recognition unit), active obstacle avoidance, automatic charging, autonomous navigation, wireless communication and other technologies, remote intelligent inspection of bridge diseases by the bridge inspection vehicle can be realized. At the same time, the remote inspection module can also be used to realize disease information statistics, track and predict disease development, and issue disease reports, providing a strong scientific basis for bridge maintenance and management.

[0107] In an exemplary embodiment, Figure 6 As shown, a bridge inspection vehicle defect inspection platform 600 is provided.

[0108] Among them, the bridge inspection vehicle disease inspection platform 600 can be used to represent a human-computer interaction software platform, and can interact with the remote inspection module in the bridge inspection vehicle described in any of the embodiments above for data.

[0109] For example, the bridge inspection vehicle defect inspection platform 600 can be used to respond to the user's interactive operation, issue inspection task instructions to the remote inspection modules 622 of multiple bridge inspection vehicles 620 currently connected to the bridge inspection vehicle defect inspection platform, and receive the defect detection results returned by the remote inspection module 622 of each bridge inspection vehicle 620. The inspection task instruction can be used to instruct the remote inspection module 622 to issue the inspection task corresponding to the inspection task instruction to the corresponding bridge inspection vehicle control module 624.

[0110] Optionally, in some embodiments, the bridge inspection vehicle defect inspection platform can also be used to receive location information sent by remote inspection modules of multiple bridge inspection vehicles to achieve the positioning of each bridge inspection vehicle.

[0111] Optionally, in other embodiments, the bridge inspection vehicle defect inspection platform can also be used to receive defect detection results sent by remote inspection modules of multiple bridge inspection vehicles to achieve a visual presentation of bridge defects.

[0112] The above-mentioned bridge inspection vehicle defect inspection platform, by connecting to the remote inspection modules of multiple bridge inspection vehicles, can manage all bridge inspection vehicles connected to the bridge inspection vehicle defect inspection platform, complete the functions of issuing inspection tasks, remotely controlling the inspection process, remotely monitoring the status of the whole machine, abnormal alarms, defect data management and report generation, defect visualization, system management, equipment maintenance management, etc., to improve the flexibility of bridge inspection vehicle control.

[0113] Based on the same inventive concept, the embodiment of the present application also provides a control method for a bridge inspection vehicle for realizing the control function of the bridge inspection vehicle involved above. The implementation scheme for solving the problem provided by the method is similar to the implementation scheme recorded in the above embodiment, so the specific limitations in one or more embodiments of the control method for a bridge inspection vehicle provided below can refer to the limitations on the bridge inspection vehicle above, and will not be repeated here.

[0114] In an exemplary embodiment, Figure 7 As shown, a control method for a bridge inspection vehicle is provided, comprising the following steps S702 to S706. Among them:

[0115] Step S702, executing the inspection task to control the bridge inspection vehicle to start moving. The inspection task is used to instruct the acquisition of bridge appearance images and perform visual recognition processing on the bridge appearance images to obtain disease detection results.

[0116] Step S704, obtaining environmental wind data.

[0117] Step S706: When the environmental wind force data exceeds a preset wind force threshold, the bridge inspection vehicle is controlled to stop moving.

[0118] The control method of the above-mentioned bridge inspection vehicle obtains environmental wind data during the inspection process of the bridge inspection vehicle, and controls the bridge inspection vehicle body to stop moving when the environmental wind data exceeds a preset wind threshold, thereby ensuring the operational safety of bridge disease inspection.

[0119] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0120] Those skilled in the art will appreciate that the structures shown in the drawings in the above specification are merely block diagrams of partial structures related to the scheme of the present application, and do not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device may include more or fewer components than those shown in the drawings, or combine certain components, or have a different arrangement of components.

[0121] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0122] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0123] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A bridge inspection vehicle, characterized in that: It includes a bridge inspection vehicle body and a disease detection module, an automatic inspection module, a bridge inspection vehicle control module and a remote inspection module installed on the bridge inspection vehicle body, wherein the bridge inspection vehicle control module is electrically connected to the disease detection module, the automatic inspection module and the remote inspection module respectively; The bridge inspection vehicle control module is used to execute the inspection tasks issued by the remote inspection module to control the bridge inspection vehicle body to start moving, and during the movement of the bridge inspection vehicle body, control the disease detection module to collect the bridge appearance image and perform visual recognition processing on the bridge appearance image to obtain the disease detection result, control the automatic inspection module to collect environmental wind data, and control the bridge inspection vehicle body to stop moving when the environmental wind data exceeds a preset wind threshold.

2. The bridge inspection vehicle according to claim 1, characterized in that: The bridge inspection vehicle control module includes a wireless communication unit, an edge controller, and a bridge inspection vehicle motion control unit; The bridge inspection vehicle control module is further used to receive the inspection task sent by the remote inspection module through the wireless communication unit, and execute the inspection task through the edge controller to control the bridge inspection vehicle motion control unit to drive the bridge inspection vehicle body to start moving; The bridge inspection vehicle control module is also used to receive the environmental wind data collected by the automatic inspection module through the wireless communication unit, and control the bridge inspection vehicle motion control unit through the edge controller to stop the movement of the bridge inspection vehicle body when the environmental wind data exceeds the preset wind threshold.

3. The bridge inspection vehicle according to claim 2, characterized in that: The bridge inspection vehicle control module is also used to receive the bridge appearance image and the disease detection result collected by the disease detection module through the wireless communication unit, and send the bridge appearance image and the disease detection result to the remote inspection module for visual display of the disease.

4. The bridge inspection vehicle according to claim 1, characterized in that: The disease detection module includes a visual recognition unit and a disease collection unit; The defect detection module is used to collect the bridge appearance image through the defect collection unit, and perform defect recognition and positioning processing on the bridge appearance image through the visual recognition unit to obtain the defect detection result.

5. The bridge inspection vehicle according to claim 4, characterized in that: The defect detection module further includes a fill light unit, which is used to illuminate the image acquisition area of ​​the defect acquisition unit during the bridge appearance image acquisition process.

6. The bridge inspection vehicle according to claim 1, characterized in that: The automatic inspection module includes an obstacle avoidance radar; The bridge inspection vehicle control module is also used to receive obstacle detection results detected by the obstacle avoidance radar within multiple set ranges from the bridge inspection vehicle body. When the obstacle detection result of the set range being the identification area range is that an obstacle exists, the bridge inspection vehicle body is controlled to maintain the current motion state; when the obstacle detection result of the set range being the buffer area range is that an obstacle exists, the movement speed of the bridge inspection vehicle body is controlled to be reduced; when the obstacle detection result of the set range being the emergency parking area range is that an obstacle exists, the bridge inspection vehicle body is controlled to stop moving.

7. The bridge inspection vehicle according to claim 1, characterized in that: The automatic inspection module also includes a battery management system, a lithium battery and a charging device; The bridge inspection vehicle control module is also used to receive the power parameters of the lithium battery collected by the battery management system, and when the power parameters are lower than a preset power threshold, control the bridge inspection vehicle body to return to the working area of ​​the charging device for charging.

8. The bridge inspection vehicle according to claim 1, characterized in that: The automatic inspection module also includes a position sensor; The bridge inspection vehicle control module is also used to receive the current position information of the bridge inspection vehicle body collected by the position sensor.

9. A control method for a bridge inspection vehicle, characterized in that: A bridge inspection vehicle applied to any one of claims 1 to 8; The method comprises: Execute an inspection task to control the bridge inspection vehicle to start moving, wherein the inspection task is used to instruct the acquisition of bridge appearance images and to perform visual recognition processing on the bridge appearance images to obtain disease detection results; Obtain ambient wind data; When the environmental wind force data exceeds a preset wind force threshold, the bridge inspection vehicle body is controlled to stop moving.

10. A bridge inspection vehicle disease inspection platform, characterized in that: The bridge inspection vehicle disease inspection platform exchanges data with the remote inspection module in any one of claims 1 to 8; The bridge inspection vehicle disease inspection platform is used for: Sending inspection task instructions to the remote inspection modules of the plurality of bridge inspection vehicles, wherein the inspection task instructions are used to instruct the remote inspection modules to send the inspection tasks corresponding to the inspection task instructions to the corresponding bridge inspection vehicle control modules, Receive the disease detection results returned by the remote inspection module of each bridge inspection vehicle.

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