Bridge dynamic characteristic detection robot straddling anti-collision guardrail and detection method

Abstract

The invention relates to the technical field of bridge detection, in particular to a bridge dynamic characteristic detection robot straddling an anti-collision guardrail and a detection method. The bridge detection robot comprises a moving device and a detection device. The moving device is used for enabling the robot to walk along an anti-collision guardrail on one side of a bridge; the detection device is installed on the moving device and used for detecting the bridge to be detected so as to obtain the dynamic characteristics of the bridge. The bridge detection robot can stride on the anti-collision guardrail of the bridge to carry out detection operation, has no influence on bridge floor traffic, and can realize identification of dynamic characteristics of the bridge without installing a structural health detection system on the bridge. The second purpose of the invention is to provide a bridge detection method, and by means of the method, the bridge detection robot can run or stop on the anti-collision guardrail of the bridge to carry out vibration signal acquisition, so that the dynamic characteristic parameters of the bridge are identified. The method can replace a traditional bridge dynamic load test, and rapid movement detection is carried out on the dynamic characteristics of the road network bridge group under the condition that traffic is not affected.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge detection, and in particular to a bridge dynamic characteristic detection robot straddling an anti-collision guardrail and a detection method. Background Art

[0002] Bridges are infrastructure nodes that promote economic and social development and ensure smooth road transportation. Ensuring their service life and load-bearing safety is a key task in the field of bridge engineering. As a transportation infrastructure that can cross terrain obstacles, the number of bridges is increasing in the context of the growing traffic volume in my country. At the same time, the demand for daily inspection and maintenance of bridges is also increasing. Among them, the inspection of the dynamic characteristics of bridges is one of the important contents of bridge health inspection.

[0003] At present, there are two ways to detect the dynamic characteristics of bridges. The first way is to install a structural health detection system on the bridge to be detected. However, the cost of installing and maintaining a structural health detection system is high, and it is not suitable for a large number of small and medium-span bridges. The second way is to arrange a sensor array on the bridge deck to be detected, collect bridge vibration signals for a period of time, and finally extract the dynamic characteristics of the bridge from the vibration signals. This method requires temporary traffic control on the bridge to be detected, which is likely to cause traffic safety hazards.

[0004] Therefore, reducing the cost of bridge dynamic characteristics testing and avoiding the impact on the operating traffic of the target bridge during the testing process are the key and difficulty of conducting rapid testing of bridge dynamic characteristics. Summary of the invention

[0005] The first object of the present invention is to provide a bridge dynamic characteristics detection robot straddling a crash barrier, which can straddle the bridge crash barrier to perform detection operations, without the need to control traffic or install a structural health detection system on the bridge to achieve identification of the bridge dynamic characteristics;

[0006] The second purpose of the present invention is to provide a method for detecting the dynamic characteristics of a bridge. Through this method, a bridge dynamic characteristics detection robot can travel or dock on the bridge anti-collision guardrail to collect vibration signals, thereby being able to identify the dynamic characteristics of the bridge and further identify possible damage to the bridge.

[0007] The present invention provides a bridge dynamic characteristic detection robot straddling an anti-collision guardrail, comprising a moving device and a detection device;

[0008] The moving device is used to enable the robot to walk along the anti-collision guardrail on one side of the bridge;

[0009] The detection device is installed on the mobile device and is used to detect the tested bridge to obtain the dynamic characteristics of the bridge.

[0010] Preferably, the mobile device comprises a robot chassis and a steering wheel, and the steering wheel is installed below the robot chassis.

[0011] Further preferably, the moving device includes stabilizing wheel frames, and the four stabilizing wheel frames are all kept perpendicular to the robot chassis, and the stabilizing wheel frames are connected to the four corners of the robot chassis through limiting holes and screws.

[0012] Further preferably, the moving device comprises a stabilizing wheel device, and the stabilizing wheel device comprises a stabilizing wheel axle, a stabilizing wheel axle baffle, a pulley, a pulley frame and a compression spring;

[0013] The stabilizing wheel axle is inserted into a rectangular mounting hole provided on the stabilizing wheel frame, one end of the stabilizing wheel axle is connected to the pulley frame, and the other end is connected to the stabilizing wheel axle baffle;

[0014] The pulley is in contact with the side of the bridge anti-collision guardrail;

[0015] The compression spring is installed between the pulley frame and the stabilizing wheel frame.

[0016] Further preferably, the moving device includes a driving device, and the driving device includes a DC reduction motor, a gear belt, a motor gear, a driving shaft gear and a driving shaft;

[0017] The DC reduction motor is mounted on the robot chassis, the motor gear is sleeved on the rotor of the DC reduction motor, the gear belt is sleeved on the motor gear and the drive shaft gear, and the drive shaft gear is sleeved on the drive shaft.

[0018] Further preferably, the detection device comprises a vibration acceleration sensor, and the vibration acceleration sensor is mounted on the robot chassis and at the same vertical position as the steering wheel.

[0019] Further preferably, the detection device includes a GPS device, and the GPS device includes a GPS board and a GPS signal receiving antenna;

[0020] The GPS board is installed on the robot chassis;

[0021] The GPS signal receiving antenna is installed outside the mobile device.

[0022] Further preferably, the detection device further comprises a control component, and the control component comprises a control mainboard and a signal acquisition instrument;

[0023] The signal collector is installed on the robot chassis;

[0024] The control mainboard is installed on the robot chassis, the control mainboard is connected to the signal acquisition instrument, and the control mainboard is connected to the DC reduction motor.

[0025] The present invention also provides a bridge detection method, comprising the following steps:

[0026] S1.1: Install a first bridge inspection robot on the anti-collision guardrail on one side of the bridge to be inspected, and install a second bridge inspection robot on the anti-collision guardrail on the other side of the bridge to be inspected, and pre-set the walking distance and the number of stops of the inspection robots according to the span of the bridge;

[0027] S2.1: The first bridge inspection robot stops and collects at the first inspection robot reference measurement point;

[0028] S2.2: The second bridge inspection robot drives on the anti-collision guardrail of the bridge to be inspected. After driving a certain distance, it stops at a measurement point of the bridge anti-collision guardrail to collect data for a period of time, and then continues to drive to the next measurement point and stops to collect data;

[0029] S2.3: The second bridge inspection robot repeats S2.2 until it reaches the last bridge guardrail inspection position, and the first bridge inspection robot always performs signal collection at the reference measurement point of the first inspection robot during the whole process;

[0030] S3.1: The second bridge inspection robot stops and collects data at the last bridge guardrail inspection position, which is the reference point of the second bridge inspection robot.

[0031] S3.2: The first bridge inspection robot drives on the anti-collision guardrail of the bridge to be inspected, stops at a measurement point of the bridge anti-collision guardrail every time it drives a certain distance to collect data for a period of time, and then continues to drive to the next measurement point and stops to collect data;

[0032] S3.3: The first bridge inspection robot will repeat S3.2 until it reaches the last bridge guardrail inspection position, and the second bridge inspection robot will always perform signal collection operations at the reference measurement point position of the second inspection robot during the whole process;

[0033] S4.1: All tests are completed.

[0034] Beneficial effects:

[0035] The bridge inspection robot in the technical solution of the present invention can perform inspection operations by riding on the bridge anti-collision guardrail, without any impact on the bridge deck traffic, and without the need to install a structural health inspection system on the bridge, so as to realize the identification of the dynamic characteristics of the bridge. When the bridge inspection robot of the present invention performs inspection operations, it is not necessary to arrange a large number of sensor arrays on the bridge deck, which greatly saves the inspection cost and reduces the risk of traffic accidents during the inspection process.

[0036] The present invention also provides a bridge detection method, through which a bridge detection robot can drive or park on a bridge anti-collision guardrail to collect vibration signals, thereby identifying bridge dynamic characteristic parameters. This method can replace the traditional bridge dynamic load test and perform rapid mobile detection of the dynamic characteristics of a road network bridge group without affecting traffic. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 It is a structural schematic diagram of the present invention;

[0039] Figure 2 It is a schematic diagram of the robot chassis of the present invention;

[0040] Figure 3 A stable wheel frame of the present invention;

[0041] Figure 4 is a schematic diagram of a stabilizing wheel device of the present invention;

[0042] Figure 5 It is a schematic diagram of the pulley and stabilizing wheel device of the present invention;

[0043] Figure 6 It is a schematic diagram of the driving device of the present invention;

[0044] Figure 7 It is a schematic elevation view of the present invention driving on the anti-collision guardrail;

[0045] Figure 8 It is a schematic diagram of the detection operation performed by the present invention.

[0046] Description of reference numerals:

[0047] 1. Robot chassis; 2. Robot shell; 3. Stable wheel frame; 4. Stable wheel device; 5. Steering wheel; 6. Driving wheel; 7. DC reduction motor; 8. Signal acquisition instrument; 9. Vibration acceleration sensor; 10. GPS board; 11. GPS signal receiving antenna; 12. Control main board; 13. Power supply device; 14. Limiting hole; 15. Column frame; 16. Bearing sleeve; 17. Stable wheel suspension body; 18. Stable wheel suspension baffle; 19. Pulley frame; 20. Pulley; 21. Stable wheel shaft baffle; 22. Compression spring; 23. Stable wheel shaft; 24. Gear belt; 25. Drive shaft gear; 26. Drive shaft; 27. Motor gear; 28. Bridge anti-collision guardrail detection robot; 29. ​​Bridge anti-collision guardrail; 30. First bridge detection robot; 31. Second bridge detection robot; 32. Measuring point; 33. Reference measuring point of first detection robot; 34. Reference measuring point of second detection robot. DETAILED DESCRIPTION

[0048] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than 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.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0050] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] like Figures 1 to 8 As shown, the present invention provides a bridge dynamic characteristics detection robot that straddles a crash barrier, which includes a moving device and a detection device. The moving device is used to enable the robot to walk along the crash barrier on one side of the bridge. The detection device is installed on the moving device and is used to detect the bridge to obtain the dynamic characteristics of the bridge.

[0052] The bridge inspection robot of the present invention can ride on the bridge anti-collision guardrail 29 to perform inspection operations. It is not necessary to control traffic or install a structural health inspection system on the bridge to realize the identification of the dynamic characteristics of the bridge. When performing inspection operations, the bridge inspection robot of the present invention does not need to arrange a large number of sensor arrays on the bridge deck, which greatly saves inspection costs and reduces the risk of traffic accidents during the inspection process.

[0053] The mobile device includes a robot chassis 1 and a steering wheel 5, which is installed below the robot chassis 1. Specifically, the mobile device also includes a robot shell 2, which is a transparent rectangular plastic shell used to prevent rain and dust from entering the robot. The steering wheel 5 is a universal wheel used to make the bridge inspection robot turn.

[0054] The mobile device includes a stabilizing wheel frame 3. The four stabilizing wheel frames 3 are all kept vertically with the robot chassis 1. The stabilizing wheel frames 3 are connected to the four corners of the robot chassis 1 through limiting holes 14 and screws.

[0055] The mobile device includes a stabilizing wheel device 4, which includes a stabilizing wheel axle 23, a stabilizing wheel axle baffle 21, a pulley 20, a pulley frame 19 and a compression spring 22. The stabilizing wheel axle 23 is inserted into a rectangular mounting hole provided on the stabilizing wheel frame 3, one end of the stabilizing wheel axle 23 is connected to the pulley frame 19, and the other end is connected to the stabilizing wheel axle baffle 21, the pulley 20 is in contact with the side of the bridge anti-collision guardrail 29, and the compression spring 22 is installed between the pulley frame 19 and the stabilizing wheel frame 3. Specifically, the stabilizing wheel axle baffle 21 is used to prevent the stabilizing wheel device 4 from detaching from the stabilizing wheel frame 3, the pulley 20 is used to stabilize the left and right balance of the bridge detection robot, and the compression spring 22 is used to adapt the distance between the self-adapting pulley 20 and the stabilizing wheel frame 3.

[0056] The mobile device includes a driving device, which includes a DC reduction motor 7, a gear belt 24, a motor gear 27, a drive shaft gear 25 and a drive shaft 26. The DC reduction motor 7 is mounted on the robot chassis 1, the motor gear 27 is sleeved on the rotor of the DC reduction motor 7, the gear belt 24 is sleeved on the motor gear 27 and the drive shaft gear 25, and the drive shaft gear 25 is sleeved on the drive shaft 26. Specifically, the DC reduction motor 7 is used to drive the motor gear 27 to rotate, and the motor gear 27 drives the drive shaft gear 25 to rotate through the gear belt 24, thereby driving the drive wheel 6 to rotate.

[0057] The detection device includes a vibration acceleration sensor 9, which is mounted on the robot chassis 1 and at the same vertical position as the steering wheel 5. Specifically, the vibration acceleration sensor 9 is used to receive the vibration signal transmitted from the bridge to the bridge detection robot.

[0058] The detection device includes a GPS device, and the GPS device includes a GPS board 10 and a GPS signal receiving antenna 11. The GPS board 10 is installed on the robot chassis 1, and the GPS signal receiving antenna 11 is installed on the robot housing 2. Specifically, the GPS board 10 is used to process and calculate the real position of the current bridge detection robot and feed it back to the control mainboard 12.

[0059] The detection device also includes a control component, which includes a control mainboard 12 and a signal collector 8. The signal collector 8 is installed on the robot chassis 1, and the control mainboard 12 is installed on the robot chassis 1. The control mainboard 12 is connected to the signal collector 8, and the control mainboard 12 is connected to the DC reduction motor 7. Specifically, the signal collector 8 stores and backs up the vibration signal collected by the vibration acceleration sensor 9. The control mainboard 12 is used to determine whether the bridge detection robot is on the bridge to be detected based on the position feedback from the GPS device. If it is on the bridge to be detected, the signal collector 8 is controlled to collect the bridge vibration signal. If it leaves the bridge to be detected, the signal collector 8 is controlled to stop collecting. The control mainboard 12 controls the motor to rotate and stop according to the set program, and is used to control the bridge detection robot to travel or dock at the measuring point 31 of the anti-collision guardrail.

[0060] The present invention also provides a bridge detection method, comprising the following steps:

[0061] S1.1: A first bridge inspection robot 31 is installed on the anti-collision guardrail on one side of the bridge to be inspected, and a second bridge inspection robot 32 is installed on the anti-collision guardrail on the other side of the bridge to be inspected, and the walking distance and the number of stops of the inspection robots are pre-set according to the span of the bridge;

[0062] S2.1: The first bridge inspection robot 30 stops at the first inspection robot reference measurement point 33 for collection;

[0063] S2.2: The second bridge inspection robot 31 travels on the anti-collision guardrail of the bridge to be inspected, and stops at a measurement point 32 of the bridge anti-collision guardrail to collect data for a period of time after each travel. Then, the robot continues to travel to the next measurement point 32 and stops to collect data.

[0064] S2.3: The second bridge inspection robot 31 repeats S2.2 until it reaches the last bridge guardrail inspection position, and the first bridge inspection robot always performs signal collection at the first inspection robot reference measurement point 33 during the entire process;

[0065] S3.1: The second bridge inspection robot 31 stops and collects data at the last bridge guardrail inspection position, that is, the second bridge inspection robot reference point position 34.

[0066] S3.2: The first bridge inspection robot 30 drives on the anti-collision guardrail of the bridge to be inspected, stops at a measurement point 32 of the bridge anti-collision guardrail every time it drives a certain distance to collect data for a period of time, and then continues to drive to the next measurement point 32 and stops to collect data;

[0067] S3.3: The first bridge inspection robot 30 will repeat S3.2 until it reaches the last bridge guardrail inspection position, and the second bridge inspection robot 31 will always perform signal collection operations at the second inspection robot reference measurement point 34 during the whole process;

[0068] S4.1: All tests are completed.

[0069] It should be noted that as long as the top of the cross-section of the anti-collision guardrail of the bridge to be inspected is flat, the anti-collision guardrail straddle detection robot for identifying the dynamic characteristics of the bridge of the present invention is suitable for inspecting such bridges. Figures 1 to 8 The specific implementation steps of the present invention are described as follows:

[0070] S1: Input the starting coordinate A, the ending coordinate B, the distance X (meters) between the measuring points 32, and the stop time T (seconds) of the bridge to be inspected in the control mainboard 12, and start the countdown S (minutes);

[0071] S2: In S1, when the distance X between the measuring points 32 is set to 0m and the stop time T is set to the total collection time, the inspection robot will be regarded as the first bridge inspection robot 30 whose position remains unchanged. The first bridge inspection robot 30 will automatically start to drive to the starting position A after S minutes to stop and collect until the entire inspection process is completed;

[0072] S3: In S1, when the distance X between the measuring points 32 is set to be less than the straight-line distance from the starting coordinate A to the ending coordinate B, the inspection robot will be regarded as the second bridge inspection robot 31 whose position can be changed. The second bridge inspection robot 31 will automatically start to drive to the starting longitude and latitude coordinate A to carry out inspection after S minutes;

[0073] S4: After completing S1, the first bridge inspection robot 30 described in S2 is installed on the anti-collision guardrail on one side of the bridge to be inspected, and the second bridge inspection robot 31 described in S3 is installed on the other side;

[0074] S5: During the installation process of S4, pull the stabilizing wheel axle baffle 20 to open the stabilizing wheel device 4 of the detection machine to a certain distance, fit the steering wheel 5 and the driving wheel 6 to the top plane of the bridge anti-collision guardrail, and then loosen the stabilizing wheel axle baffle 20 to make the pulley fit the side of the bridge anti-collision guardrail;

[0075] S6: The mobile detection robot of S3 will stop on the bridge anti-collision guardrail for T seconds every X meters according to the parameters set before the detection, and then continue to drive to the next measurement point 32 and stop; during the driving process, the control main board 12 always receives the current coordinate position fed back by the GPS card application 10, and controls the DC reduction motor 7 to start and decelerate according to the current position, and the DC reduction motor 7 drives the motor gear 27 to rotate, and the motor gear 27 drives the drive shaft gear 25 to rotate through the gear belt 24. The drive shaft gear 25 is fixedly connected to the drive shaft 26. When the drive shaft gear 25 rotates, it will drive the drive shaft 26 to rotate. The drive shaft 26 is fixedly connected to the drive wheel 6 and inserted in the bearing sleeve 16. When the drive shaft rotates, it will drive the drive wheel 26 to rotate, thereby realizing the movement of the detection robot on the guardrail; in addition, in the moving and docking state, the pulley 19 always keeps in close contact with the side of the bridge anti-collision guardrail by relying on the pressure of the compression spring 22; during the moving process, the steering wheel 5 can make slight adjustments to the driving direction of the robot to adapt to different linear bridge anti-collision guardrails;

[0076] S7: The second bridge inspection robot 31 will repeat S6 until it reaches the end coordinate and automatically ends the operation; the first bridge inspection robot 30 will always perform signal collection operations at the first inspection holiday reference measurement point 33 during the entire process;

[0077] S8: repeat the above steps S1-S7, but at this time the first bridge inspection robot 30 is used as a mobile inspection robot, and the second bridge inspection robot 31 is used as a fixed inspection robot with its last second inspection robot reference measurement point 34 as a fixed collection point, until the first bridge inspection robot 30 reaches the termination coordinate to complete the collection;

[0078] S9: After the inspection robot completes the inspection operation, the first bridge inspection robot 30 and the second bridge inspection robot 31 are recovered and the data in the signal acquisition device 8 are extracted for processing to extract the bridge dynamic characteristic information.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bridge dynamic characteristics detection robot straddling an anti-collision guardrail, characterized in that: It includes a moving device and a detection device; The moving device is used to enable the robot to walk along the anti-collision guardrail on one side of the bridge; The detection device is installed on the mobile device and is used to detect the tested bridge to obtain the dynamic characteristics of the bridge.

2. The bridge dynamic characteristics detection robot straddling the anti-collision guardrail according to claim 1 is characterized in that: The mobile device comprises a robot chassis and a steering wheel, wherein the steering wheel is installed below the robot chassis.

3. The bridge dynamic characteristics detection robot straddling the anti-collision guardrail according to claim 2 is characterized in that: The mobile device includes a stabilizing wheel frame, and the four stabilizing wheel frames are all kept vertically with the robot chassis. The stabilizing wheel frames are connected to the four corners of the robot chassis through limiting holes and screws.

4. The bridge dynamic characteristics detection robot straddling the anti-collision guardrail according to claim 3 is characterized in that: The moving device comprises a stabilizing wheel device, and the stabilizing wheel device comprises a stabilizing wheel axle, a stabilizing wheel axle baffle, a pulley, a pulley frame and a compression spring; The stabilizing wheel axle is inserted into a rectangular mounting hole provided on the stabilizing wheel frame, one end of the stabilizing wheel axle is connected to the pulley frame, and the other end is connected to the stabilizing wheel axle baffle; The pulley is in contact with the side of the bridge anti-collision guardrail; The compression spring is installed between the pulley frame and the stabilizing wheel frame.

5. The bridge dynamic characteristics detection robot straddling the anti-collision guardrail according to claim 2, characterized in that: The moving device includes a driving device, and the driving device includes a DC reduction motor, a gear belt, a motor gear, a driving shaft gear and a driving shaft; The DC reduction motor is mounted on the robot chassis, the motor gear is sleeved on the rotor of the DC reduction motor, the gear belt is sleeved on the motor gear and the drive shaft gear, and the drive shaft gear is sleeved on the drive shaft.

6. The bridge dynamic characteristics detection robot straddling the anti-collision guardrail according to claim 2, characterized in that: The detection device comprises a vibration acceleration sensor, which is mounted on the robot chassis and is at the same vertical position as the steering wheel.

7. The bridge dynamic characteristics detection robot straddling the anti-collision guardrail according to claim 2, characterized in that: The detection device includes a GPS device, and the GPS device includes a GPS board and a GPS signal receiving antenna; The GPS board is installed on the robot chassis; The GPS signal receiving antenna is installed outside the mobile device.

8. The bridge dynamic characteristics detection robot straddling the anti-collision guardrail according to claim 5, characterized in that: The detection device also includes a control component, which includes a control mainboard and a signal acquisition instrument; The signal collector is installed on the robot chassis; The control mainboard is installed on the robot chassis, the control mainboard is connected to the signal acquisition instrument, and the control mainboard is connected to the DC reduction motor.

9. The bridge dynamic characteristics detection method according to claims 1-8, characterized in that: The steps include: S1: Install the bridge inspection robot on the anti-collision guardrail of the bridge to be inspected; S2: Start the bridge inspection robot to perform signal collection operations; S3: Recover the bridge inspection robot and extract the data in the signal acquisition instrument for processing to extract the dynamic characteristic information of the bridge.

10. The bridge detection method according to claim 9, characterized in that: It also includes the following steps, S1.1: Install a first bridge inspection robot on the anti-collision guardrail on one side of the bridge to be inspected, and install a second bridge inspection robot on the anti-collision guardrail on the other side of the bridge to be inspected, and pre-set the walking distance and the number of stops of the inspection robots according to the span of the bridge; S2.1: The first bridge inspection robot stops and collects at the first inspection robot reference measurement point; S2.2: The second bridge inspection robot drives on the anti-collision guardrail of the bridge to be inspected. After driving a certain distance, it stops at a measurement point of the bridge anti-collision guardrail to collect data for a period of time, and then continues to drive to the next measurement point and stops to collect data; S2.3: The second bridge inspection robot repeats S2.2 until it reaches the last bridge guardrail inspection position, and the first bridge inspection robot always performs signal collection at the reference measurement point of the first inspection robot during the whole process; S3.1: The second bridge inspection robot stops and collects data at the last bridge guardrail inspection position, which is the reference point of the second bridge inspection robot. S3.2: The first bridge inspection robot drives on the anti-collision guardrail of the bridge to be inspected, stops at a measurement point of the bridge anti-collision guardrail every time it drives a certain distance to collect data for a period of time, and then continues to drive to the next measurement point and stops to collect data; S3.3: The first bridge inspection robot will repeat S3.2 until it reaches the last bridge guardrail inspection position, and the second bridge inspection robot will always perform signal collection operations at the reference measurement point position of the second inspection robot during the whole process; S4.1: All tests are completed.

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