Bridge dynamic characteristic detection robot straddling crash barrier and detection method

Abstract

The present application relates to bridge detection technical field, especially in the bridge dynamic characteristic detection robot straddling crash barrier and detection method. The bridge detection robot includes a mobile device and a detection device; The mobile device is used for walking along the bridge side crash barrier robot; The detection device is installed on the mobile device, and is used for detecting the measured bridge to obtain the bridge dynamic characteristic. The bridge detection robot can ride on the bridge crash barrier and detect the work, and has no any influence on the bridge traffic, and the structural health detection system does not need to be installed on the bridge, so that the bridge dynamic characteristic can be identified. The second purpose of the present application is to provide a kind of bridge detection method, by which, bridge detection robot can travel or stop on bridge crash barrier and carry out vibration signal acquisition, so as to identify bridge dynamic characteristic parameter. The present application can replace the traditional bridge dynamic load test, and the dynamic characteristic of road network bridge group can be quickly detected without affecting traffic.

Description

A robot and method for detecting the dynamic characteristics of bridges straddling guardrails Technical Field

[0001] This invention relates to the field of bridge inspection technology, and in particular to a bridge dynamic characteristic inspection robot and inspection method that straddles a crash barrier. Background Technology

[0002] Bridges are crucial infrastructure projects 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 transportation infrastructure capable of overcoming terrain obstacles, bridges are becoming increasingly numerous in my country due to the ever-increasing traffic volume. Simultaneously, the demand for routine inspection and maintenance of bridges is also growing. Among these, the testing of bridge dynamic characteristics is a vital aspect of bridge health monitoring.

[0003] Currently, there are two methods for detecting the dynamic characteristics of bridges. The first method involves installing a structural health monitoring system on the bridge being inspected. However, the cost of installing and maintaining such systems is high, making them unsuitable for the numerous small-to-medium span bridges. The second method involves deploying a sensor array on the bridge deck, collecting bridge vibration signals over a period of time, and then extracting the bridge's dynamic characteristics from the vibration signals. This method requires temporary traffic control on the bridge being inspected, which can easily create traffic safety hazards.

[0004] Therefore, reducing the cost of testing the dynamic characteristics of bridges while avoiding any impact on the traffic flow of the target bridge during the testing process is both the key and the challenge in conducting rapid testing of bridge dynamic characteristics. Summary of the Invention

[0005] The first objective of this invention is to provide a bridge dynamic characteristic detection robot that straddles a crash barrier. This bridge dynamic characteristic detection robot can perform detection work while straddling the bridge crash barrier, without the need for traffic control or the installation of a structural health monitoring system on the bridge, thus enabling the identification of bridge dynamic characteristics.

[0006] The second objective of this invention is to provide a method for detecting the dynamic characteristics of a bridge. Through this method, a bridge dynamic characteristic detection robot can drive or stop on the bridge crash barrier to collect vibration signals, thereby enabling the identification of the bridge's dynamic characteristics and potential damage to the bridge.

[0007] This invention provides a bridge dynamic characteristic detection robot that straddles a crash barrier, including a mobile device and a detection device;

[0008] The mobile device is used to enable the robot to walk along the guardrail on one side of the bridge.

[0009] The detection device is mounted on a mobile device and is used to detect the bridge under test to obtain the bridge's dynamic characteristics.

[0010] Preferably, the mobile device includes a robot chassis and steering wheels, with the steering wheels mounted below the robot chassis.

[0011] More preferably, the mobile device includes stabilizing wheel frames, all four of which are perpendicular to the robot chassis. The stabilizing wheel frames are connected to the four corners of the robot chassis via limiting holes and screws.

[0012] More preferably, the moving device includes a stabilizing wheel device, which includes 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 the 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 crash barrier;

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

[0016] More preferably, the mobile device includes a drive device, which includes a DC geared motor, a gear belt, a motor gear, a drive shaft gear, and a drive shaft;

[0017] The DC geared motor is mounted on the robot chassis, the motor gear is sleeved on the rotor of the DC geared 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] More preferably, the detection device includes a vibration acceleration sensor, which is mounted on the robot chassis and is at the same vertical position as the steering wheel.

[0019] More preferably, the detection device includes a GPS device, which 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 mounted on the outside of the mobile device.

[0022] More preferably, the detection device further includes a control component, which includes a control motherboard and a signal acquisition unit;

[0023] The signal acquisition device is mounted on the robot chassis;

[0024] The control motherboard is mounted on the robot chassis and is connected to the signal acquisition instrument and the DC geared motor.

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

[0026] S1.1: Install a first bridge inspection robot on one side of the guardrail of the bridge to be inspected, and install a second bridge inspection robot on the other side of the guardrail of the bridge to be inspected. The walking distance and number of stops of the inspection robots are preset according to the bridge span.

[0027] S2.1: The first bridge inspection robot stops at the first inspection robot reference measurement point to collect data;

[0028] S2.2: The second bridge inspection robot travels on the crash barrier of the bridge to be inspected. Every time it travels a certain distance, it stops at the measurement point of the crash barrier to collect data for a period of time, and then continues to travel to the next measurement point and stops to collect data.

[0029] S2.3: The second bridge inspection robot will repeat S2.2 until it reaches the last bridge railing inspection position. The first bridge inspection robot will always perform signal acquisition at the first inspection robot reference measurement point position throughout the process.

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

[0031] S3.2: The first bridge inspection robot travels on the crash barrier of the bridge to be inspected. Every time it travels a certain distance, it stops at the measurement point of the crash barrier to collect data for a period of time, and then continues to travel 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 railing inspection position. The second bridge inspection robot will always perform signal acquisition at the reference measurement point position of the second inspection robot throughout the process.

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

[0034] Beneficial effects:

[0035] The bridge inspection robot of this invention can straddle the bridge's crash barrier to perform inspection work without affecting traffic on the bridge surface. It also eliminates the need for a structural health monitoring system on the bridge, enabling the identification of the bridge's dynamic characteristics. Furthermore, the bridge inspection robot of this invention eliminates the need to deploy a large array of sensors on the bridge surface during inspection operations, significantly reducing inspection costs and lowering the risk of traffic accidents during the inspection process.

[0036] This invention also provides a bridge inspection method. Using this method, a bridge inspection robot can travel or stop on bridge crash barriers to collect vibration signals, thereby identifying the bridge's dynamic characteristic parameters. This method can replace traditional bridge dynamic load testing, enabling rapid mobile testing of the dynamic characteristics of road network bridge groups without disrupting traffic. Attached Figure Description

[0037] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

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

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

[0040] Figure 3 shows the stabilizing wheel frame of the present invention;

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

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

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

[0044] Figure 7 is a schematic diagram of the present invention driving on the crash barrier;

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

[0046] Explanation of reference numerals in the attached figures:

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

[0048] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

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

[0052] The bridge inspection robot of the present invention can ride on the bridge crash barrier 29 to carry out inspection work without traffic control or the installation of a structural health monitoring system on the bridge to identify the dynamic characteristics of the bridge. When carrying out inspection work, the bridge inspection robot of the present invention does not need to deploy a large number of sensor arrays on the bridge surface, 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 steering wheels 5, which are mounted 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 rainwater and dust from entering the robot's interior. The steering wheels 5 are omnidirectional wheels used to steer the bridge inspection robot.

[0054] The mobile device includes four stabilizing wheel frames 3, all of which are perpendicular to 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 assembly 4, which comprises 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 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 contacts the side of the bridge crash barrier 29. The compression spring 22 is installed between the pulley frame 19 and the stabilizing wheel frame 3. Specifically, the stabilizing wheel axle baffle 21 prevents the stabilizing wheel assembly 4 from detaching from the stabilizing wheel frame 3, the pulley 20 stabilizes the left and right balance of the bridge inspection robot, and the compression spring 22 adapts to the distance between the pulley 20 and the stabilizing wheel frame 3.

[0056] The mobile device includes a drive unit, which comprises a DC geared motor 7, a gear belt 24, a motor gear 27, a drive shaft gear 25, and a drive shaft 26. The DC geared motor 7 is mounted on the robot chassis 1. The motor gear 27 is mounted on the rotor of the DC geared motor 7. The gear belt 24 is mounted on both the motor gear 27 and the drive shaft gear 25. The drive shaft gear 25 is mounted on the drive shaft 26. Specifically, the DC geared motor 7 drives the motor gear 27 to rotate, which in turn drives the drive shaft gear 25 to rotate via the gear belt 24, thereby rotating the drive wheel 6.

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

[0058] The detection device includes a GPS unit, which comprises a GPS board 10 and a GPS signal receiving antenna 11. The GPS board 10 is mounted on the robot chassis 1, and the GPS signal receiving antenna 11 is mounted on the robot shell 2. Specifically, the GPS board 10 is used to process and calculate the current real location of the bridge detection robot and feed it back to the control motherboard 12.

[0059] The detection device also includes a control component, which comprises a control motherboard 12 and a signal acquisition device 8. The signal acquisition device 8 is mounted on the robot chassis 1, and the control motherboard 12 is also mounted on the robot chassis 1. The control motherboard 12 is connected to the signal acquisition device 8 and the DC geared motor 7. Specifically, the signal acquisition device 8 stores and backs up the vibration signals collected by the vibration acceleration sensor 9. The control motherboard 12 determines whether the bridge detection robot is on the bridge to be detected based on the location feedback from the GPS device. If it is on the bridge, it controls the signal acquisition device 8 to collect bridge vibration signals; if it leaves the bridge, it controls the signal acquisition device 8 to stop collecting signals. The control motherboard 12 controls the motor to rotate and stop according to the set program, controlling the bridge detection robot to move or stop at the measurement point 32 of the crash barrier.

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

[0061] S1.1: Install a first bridge inspection robot 30 on one side of the guardrail of the bridge to be inspected, and install a second bridge inspection robot 31 on the other side of the guardrail of the bridge to be inspected. The walking distance and number of stops of the inspection robot are preset according to the bridge span.

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

[0063] S2.2: The second bridge inspection robot 31 travels on the crash barrier of the bridge to be inspected. Every time it travels a certain distance, it stops at the measurement point 32 of the bridge crash barrier to collect data for a period of time, and then continues to travel to the next measurement point 32 and stops to collect data.

[0064] S2.3: The second bridge inspection robot 31 will repeat S2.2 until it reaches the last bridge railing inspection position. The first bridge inspection robot will always perform signal acquisition at the first inspection robot reference measurement point 33 throughout the process.

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

[0066] S3.2: The first bridge inspection robot 30 travels on the crash barrier of the bridge to be inspected. Every time it travels a certain distance, it stops at the measurement point 32 of the bridge crash barrier to collect data for a period of time, and then continues to travel 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 railing inspection position. The second bridge inspection robot 31 will always perform signal acquisition at the second inspection robot reference measurement point 34 position throughout the process.

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

[0069] It should be noted that as long as the top of the guardrail section of the bridge to be inspected is flat, the guardrail straddle inspection robot of this invention for identifying the dynamic characteristics of bridges is applicable to inspecting such bridges. In order to clearly describe the specific implementation process, the specific implementation steps of this invention will be described below with reference to Figures 1 to 8:

[0070] S1: Input the starting coordinates A and ending coordinates B of the bridge to be detected, the distance X (meters) between measurement points 32, and the stopping time T (seconds) into the control motherboard 12, and start the countdown S (minutes);

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

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

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

[0074] S5: During the installation process of S4, pull the stabilizer wheel axle baffle 21 to open the stabilizer wheel device 4 of this testing machine by a certain distance, so that the steering wheel 5 and drive wheel 6 are in contact with the top plane of the bridge crash barrier. Then, release the stabilizer wheel axle baffle 21 so that the pulley is in contact with the side of the bridge crash barrier.

[0075] S6: The mobile inspection robot of S3 will stop on the bridge crash barrier for T seconds every X meters according to the parameters set before inspection, and then continue to the next measurement point 32 and stop. During the movement, the control motherboard 12 always receives the current coordinate position fed back by the GPS board 10, and controls the DC geared motor 7 to start and decelerate according to the current position. The DC geared 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 fixed 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 fixed to the drive wheel 6 and is inserted into the bearing sleeve 16. When the drive shaft rotates, it will drive the drive wheel 6 to rotate, thereby realizing the movement of the inspection robot on the barrier. In addition, in the moving and stopping state, the pulley 20 is always kept in close contact with the side of the bridge crash barrier by the pressure of the compression spring 22. During the movement, the steering wheel 5 can make fine adjustments to the robot's driving direction to adapt to different linear bridge crash barriers.

[0076] S7: The second bridge inspection robot 31 will repeat S6 until it reaches the termination coordinate and automatically ends the operation; the first bridge inspection robot 30 will always perform signal acquisition at the first inspection robot reference measurement point 33 throughout the process.

[0077] S8: Repeat the above work S1-S7, but at this time the first bridge inspection robot 30 is a mobile inspection robot, while the second bridge inspection robot 31 is a fixed inspection robot with its last second inspection robot reference measurement point 34 as a fixed acquisition point, until the first bridge inspection robot 30 reaches the termination coordinate to complete the acquisition.

[0078] S9: After the inspection robot completes the inspection work, the first bridge inspection robot 30 and the second bridge inspection robot 31 are retrieved and the data in the signal acquisition instrument 8 is extracted and processed to extract the dynamic characteristic information of the bridge.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 characteristic testing robot straddling a crash barrier, characterized in that, The system includes a mobile device and a detection device. The mobile device enables the robot to move along a guardrail on one side of a bridge. The detection device, mounted on the mobile device, detects the bridge to obtain its dynamic characteristics. The mobile device includes a robot chassis and steering wheels, with the steering wheels mounted below the robot chassis. The mobile device also includes four stabilizing wheel frames, all perpendicular to the robot chassis, connected to the four corners of the chassis via limiting holes and screws. Finally, the mobile device includes a stabilizing wheel assembly, comprising a stabilizing wheel axle, a stabilizing wheel axle baffle, and a pulley. The system includes a pulley frame and a compression spring; the stabilizing wheel axle is inserted into a rectangular mounting hole 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 a stabilizing wheel axle baffle; the pulley contacts the side of the bridge crash barrier; the compression spring is installed between the pulley frame and the stabilizing wheel frame; the method for bridge inspection using the above-mentioned bridge dynamic characteristic detection robot includes the following steps: S1.1: Install a first bridge inspection robot on one side of the crash barrier of the bridge to be inspected, and install a second bridge inspection robot on the other side of the crash barrier of the bridge to be inspected, and pre-set the inspection robot according to the bridge span. The robot's walking distance and number of stops; S2.1: The first bridge inspection robot stops and collects data at the first inspection robot reference measurement point; S2.2: The second bridge inspection robot travels on the guardrail of the bridge to be inspected, stopping at the measurement point of the guardrail every so often to collect data for a period of time, and then continues 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, while the first bridge inspection robot continues to collect signals at the first inspection robot reference measurement point throughout the entire process; S3 S3.1: The second bridge inspection robot stops and collects data at the last bridge railing inspection position, which is also the reference point position of the second bridge inspection robot; S3.2: The first bridge inspection robot travels on the crash barrier of the bridge to be inspected, stopping at the measurement point of the crash barrier every certain distance to collect data for a period of time, and then continues to the next measurement point and stops to collect data; S3.3: The first bridge inspection robot repeats S3.2 until it reaches the last bridge railing inspection position, while the second bridge inspection robot always performs signal collection operations at the reference measurement point position of the second inspection robot throughout the entire process; S4.1: All tests are complete.

2. The bridge dynamic characteristic detection robot straddling a crash barrier as described in claim 1, characterized in that, The mobile device includes a drive unit, which includes a DC geared motor, a gear belt, a motor gear, a drive shaft gear, and a drive shaft. The DC geared motor is mounted on the robot chassis, the motor gear is sleeved on the rotor of the DC geared 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.

3. The bridge dynamic characteristic testing robot straddling a crash barrier as described in claim 1, characterized in that, The detection device includes a vibration acceleration sensor, which is mounted on the robot chassis and is at the same vertical position as the steering wheel.

4. The bridge dynamic characteristic testing robot straddling a crash barrier according to claim 1, characterized in that, The detection device includes a GPS device, which includes a GPS board and a GPS signal receiving antenna; the GPS board is mounted on the robot chassis; and the GPS signal receiving antenna is mounted on the outside of the mobile device.

5. The bridge dynamic characteristic detection robot straddling a crash barrier according to claim 2, characterized in that, The detection device also includes a control component, which includes a control motherboard and a signal acquisition device; the signal acquisition device is mounted on the robot chassis; the control motherboard is mounted on the robot chassis and is connected to the signal acquisition device and the DC geared motor.

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