A bridge detection robot based on vibration sensing and a power characteristic detection method

Abstract

The application discloses a kind of vibration sensing bridge detection robot and power characteristic detection method, robot includes running and fixed system, signal acquisition system and electromechanical control system;Bridge power characteristic detection method detects bridge identification bridge vibration frequency and modal shape vibration mode.The present application is detected by detecting robot riding on bridge crash barrier and carries out detection operation, without controlling traffic, also without installing structural health detection system on bridge to realize the identification of bridge power characteristics;Bridge detection robot is debugged before carrying out detection operation, without manual fixing according to the width difference of guardrail, only needs to be realized by the remote control of wireless signal Robot self-style adjustment and fixing, reduce the safety risk that high-speed traffic vehicle can cause to detection personnel in detection process, save detection cost and labor cost.

Description

TECHNICAL FIELD

[0001] The application relates to the field of bridge detection, in particular to a bridge detection robot based on vibration sensing and a dynamic characteristic detection method. BACKGROUND

[0002] Bridge detection technology has a very wide application field, including new bridge acceptance, old bridge detection, structure evaluation, maintenance and reinforcement and the like, through bridge detection technology, the structure condition of the bridge can be determined, the bearing capacity and service life are evaluated, and a scientific basis is provided for the maintenance and management of the bridge.

[0003] Bridge detection technology is continuously developing, initially, bridge detection mainly relies on manual observation and simple tools, the detection precision and efficiency are low, with the development of nondestructive testing technology, bridge detection technology develops in the direction of intelligence, high precision and high efficiency, nowadays, bridge detection technology has formed a variety of methods and technical means, including radar, sound wave, magnetic powder, infrared and the like, sensors can also be installed on the bridge to sense the vibration characteristics of the bridge, but the installation and detection of the sensors and the detection of the bridge through this way need to consider the temporary traffic control of the bridge, which brings certain traffic safety hazards and influences the transportation economy.

[0004] Therefore, reducing the cost of bridge dynamic characteristic detection and avoiding the influence on the running traffic of the target detection bridge in the detection process are the key and difficulty of carrying out rapid detection of bridge dynamic characteristics, the robot is introduced into bridge detection in the application, which not only improves the safety and efficiency, but also provides a forward-looking method for bridge detection. SUMMARY

[0005] The application aims at the above technical problems, and provides a bridge detection robot based on vibration sensing and a dynamic characteristic detection method, which integrates advanced automatic control technology, precise signal acquisition and processing capability and flexible fixing and moving mechanism, and is suitable for automatic detection and evaluation of road network bridge groups without affecting traffic.

[0006] A bridge detection robot based on vibration sensing comprises a walking and fixing system, a signal acquisition system and an electromechanical control system.

[0007] The walking and fixing system comprises a fixing device and a moving device.

[0008] The fixing device enables the robot to be clamped on different width crash barriers and closely adhere to the crash barriers.

[0009] The moving device enables the robot to move back and forth along the crash barrier and allows small-angle oblique walking.

[0010] The signal acquisition system comprises a sensing device and an integrated device;

[0011] The sensing device senses and transmits the acceleration vibration signal of the bridge;

[0012] The integrated device stores, transmits and feeds back the vibration signal;

[0013] The sensing device and the storage device are both mounted on the walking and fixing system;

[0014] The signal acquisition system is mounted on the walking and fixing system, and the electromechanical control system controls the walking and fixing system to work on the bridge guardrail and collect the bridge vibration signal;

[0015] The electromechanical control system is in interactive transmission connection with the walking and fixing system, receives the feedback signal of the first direct-current reduction motor of the walking and fixing system, and sends the control instruction of starting or stopping to the first direct-current reduction motor;

[0016] The electromechanical control system is in interactive transmission connection with the signal acquisition system, receives and displays the acceleration data of the integrated device in the signal acquisition system in real time, and sends the control instruction of starting or stopping to the integrated device;

[0017] The bridge detection robot further comprises a robot shell and a robot shell fixing plate;

[0018] The robot shell fixing plate fixes the robot shell.

[0019] Further, a vibration sensing bridge detection robot, the walking and fixing system moving device comprises a side wheel guard plate, a balance wheel and a universal wheel;

[0020] The balance wheel comprises a side wheel adjuster, a side wheel, a driving wheel shaft rotating support, a driving wheel shaft and a driving wheel;

[0021] The side wheel is connected with the side wheel adjuster;

[0022] The driving wheel shaft rotating support is connected to the robot chassis through bolts;

[0023] The side wheel is installed on the inner side of the side wheel guard plate, and the side wheel is in contact with the side of the bridge anti-collision guardrail;

[0024] The universal wheel is fixedly installed below the robot chassis through bolts;

[0025] The driving wheel shaft is inserted into the circular groove inside the balance wheel.

[0026] Further, a vibration sensing bridge detection robot, the driving wheel comprises a direct-current reduction motor, a gear belt, a motor gear, a driving shaft gear and a driving shaft;

[0027] The direct current motor is installed on the robot chassis;

[0028] The motor gear sleeve is installed on the rotor of the direct current motor;

[0029] The gear belt sleeve is installed on the motor gear and the drive shaft gear;

[0030] The drive shaft gear sleeve is installed on the drive shaft.

[0031] Further, a vibration sensing bridge detection robot, the fixing device comprises a compression rotating wheel, a sliding plate and a telescopic mechanism;

[0032] The compression rotating wheel is installed on the inner side of the side wheel guard plate;

[0033] The sliding plate is installed below the robot chassis;

[0034] The telescopic mechanism is installed on the side of the sliding plate;

[0035] The compression rotating wheel comprises a pulley, a pulley plate, a pressing rotating mechanism, a side wheel cover plate;

[0036] The side wheel cover outer plate and the side wheel cover inner plate constitute the side wheel cover plate;

[0037] The pulley is embedded in the round hole of the pressing rotating mechanism;

[0038] One end of the pulley is in contact with the pressing rotating mechanism, and the other end is in contact with the side of the bridge crash barrier;

[0039] The pressing rotating mechanism and one end of the pulley are inserted into the limiting hole of the circular limiter provided in the outer side plate, and the other end is connected with the side wheel cover inner plate;

[0040] The outer side plate and the side wheel cover inner plate are connected through the limiting hole and the screw;

[0041] The side wheel cover outer plate is connected with the sliding plate by welding;

[0042] The pressing rotating mechanism comprises a compression spring, a sliding groove, a pressing button and a pin;

[0043] The compression spring comprises a strong spring, a weak spring and a cover plate;

[0044] The cover plate is connected with the strong spring and the weak spring;

[0045] The compression spring and the sliding groove are put into the recess of the pressing button, and the sliding groove is connected with the compression spring;

[0046] The pin is inserted into the sliding groove.

[0047] Further, a bridge detection robot of vibration sensing, the telescopic mechanism comprises a gear belt, an engine, a drive shaft bevel gear, a drive shaft, an equal-toothed synchronous wheel, a straight gear, a telescopic rod, an adjuster loading plate and a fixer;

[0048] The lower wheel of the equal-toothed synchronous wheel is buckled with the straight gear and inserted into the gear hole of the gear belt, and the upper wheel of the equal-toothed synchronous wheel is buckled with the drive shaft bevel gear;

[0049] The adjuster loading plate is connected with the robot chassis by welding;

[0050] The telescopic rod is installed on the gear belt;

[0051] The drive shaft is installed on the engine;

[0052] The drive shaft bevel gear is installed on the drive shaft;

[0053] The fixer is installed on the adjuster loading plate.

[0054] Further, a bridge detection robot of vibration sensing, the bridge detection robot further comprises a master control system;

[0055] The master control system is in signal transmission connection with the DC speed reducer, the DC speed reducer feeds back the movement information of the walking and fixing system to the master control system, and receives the control instruction of starting or stopping sent by the master control system.

[0056] A fixing method of a bridge detection robot of vibration sensing, comprising the following sub-steps:

[0057] A: Place the bridge detection robot on the bridge guardrail, preliminarily set the side wheels according to the width of the bridge anti-collision guardrail, and ensure that the side wheels are initially arranged vertically to the ground;

[0058] B: Press the rotating mechanism by operating the press button along the inclined downward sliding groove, activate the 90-degree rotation mechanism of the embedded pin shaft, realize that the side wheels are parallel to the ground, the strong spring is automatically reset, and the locking state is stable;

[0059] C: Start the telescopic mechanism, the engine drive shaft, the bevel gear, the equal-toothed synchronous wheel and the lower gear work cooperatively, the sliding plate is retracted until reaching the preset critical point, the automatic locking of the drive shaft is realized through the change of the engine current, and the fixing is completed.

[0060] A bridge dynamic characteristic detection method of vibration sensing, comprising the following steps:

[0061] S1: Segmentally divide the detected bridge, determine the point where the bridge detection robot needs to stay for testing, and input the information into the remote control end of the master control system to complete the presetting;

[0062] S2: The bridge detection robot is fixed on the bridge guardrail, and the remote control end starts according to the preset starting instruction, and the moving device and the integrated device are started to operate;

[0063] S3: The moving device realizes intermittent operation according to the instruction of the remote control end, and feeds back the moving information to the main control system, and the integrated device collects and stores signals when the moving device stops and feeds back to the remote control end;

[0064] S4: Repeat step S3 until the preset acquisition process is completed, and all data are stored and transmitted to the remote control end;

[0065] S5: Construct a detection robot transfer rate matrix based on vibration sensing, process the data of the remote control end, and identify the frequency and modal shape of the bridge.

[0066] Further, a vibration sensing bridge dynamic characteristic detection method, the S5 includes the following sub-steps:

[0067] S51: Convert the collected acceleration data to the frequency domain by using Fourier transform, and construct a transfer rate function:

[0068]

[0069] wherein, represents the transfer rate function, N represents the modal order, represents the modal shape coefficient at position d2, represents the modal shape coefficient at position d1*, H represents the ratio of the Laplace transform of the system input and output response, d2(ω) represents the Laplace transform expression of the output response at d2, d1(ω) represents the Laplace transform expression of the output response at d1, P represents the load excitation, ω f represents the external load frequency, represents the complex conjugate of the ratio of the Laplace transform of the system input and output response at position d1;

[0070] S52: Construct a transfer rate matrix using the transfer rate function:

[0071]

[0072] wherein, represents the transfer rate function, represents position i*, represents position i, d j represents position j, i, j respectively represent position labels, n, m respectively represent numerical increasing parameters;

[0073] S53: singular value and singular vector are obtained by processing the transfer rate matrix by singular value decomposition, the bridge vibration frequency is obtained by using the second singular value, and the bridge modal shape is obtained by using the first singular vector.

[0074] The bridge detection robot can ride on the bridge guardrail to perform detection work, without the need to control traffic or install a structural health detection system on the bridge to identify the dynamic characteristics of the bridge. BRIEF DESCRIPTION OF DRAWINGS

[0075] Figure 1 The structural diagram of the present application is shown in the figure;

[0076] Figure 2 The robot chassis diagram of the present application is shown in the figure;

[0077] Figure 3 The compression rotating wheel diagram of the present application is shown in the figure;

[0078] Figure 4 The driving wheel device diagram of the present application is shown in the figure;

[0079] Figure 5 The side wheel outer plate diagram of the present application is shown in the figure;

[0080] Figure 6 The vertical surface diagram of the present application running on the guardrail is shown in the figure;

[0081] Figure 7 The driving device diagram of the present application is shown in the figure;

[0082] Figure 8 The bridge dynamic characteristic detection method flow chart of the present application is shown in the figure;

[0083] Figure 9 The bridge test point acceleration time domain data graph of the embodiment of the present application is shown in the figure;

[0084] Figure 10 The bridge frequency graph identified by the embodiment of the present application is shown in the figure.

[0085] In the figure, 1 - side wheel adjuster, 2 - robot shell, 3 - robot chassis, 4 - sliding plate, 5 - compression rotary wheel mechanism, 6 - side wheel, 7 - side wheel cover plate, 8 - adjuster loading plate, 9 - robot shell fixing plate, 10 - pin, 11 - strong spring, 12 - cover plate, 13 - sliding groove, 14 - weak spring, 15 - press button, 16 - limit stop, 17 - driving wheel shaft rotating support, 18 - driving wheel shaft, 19 - driving wheel, 20 - side wheel cover outer plate, 21 - side wheel cover inner plate. DETAILED DESCRIPTION

[0086] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will be described with reference to the accompanying drawings.

[0087] As shown in the accompanying drawings, a bridge detection robot for vibration sensing includes a walking and fixing system, a signal acquisition system and an electromechanical control system. Figure 1

[0088] The walking and fixing system includes a fixing device and a moving device.

[0089] The fixing device enables the robot to be clamped to different width crash barriers and to be kept in close contact.

[0090] The moving device enables the robot to move back and forth along the crash barrier and to allow small angle oblique walking.

[0091] The signal acquisition system includes a sensing device and an integration device.

[0092] The sensing device senses and transmits the acceleration vibration signals of the bridge.

[0093] The integration device stores, transmits and feeds back the vibration signals.

[0094] The sensing device and the storage device are both installed on the walking and fixing system.

[0095] The signal acquisition system is installed on the walking and fixing system, and the electromechanical control system controls the walking and fixing system to work on the bridge barrier and collect the bridge vibration signals.

[0096] The electromechanical control system is in interactive transmission connection with the walking and fixing system, receives the feedback signals of the first direct current speed reduction motor of the walking and fixing system, and sends the control instructions of starting or stopping to the first direct current speed reduction motor.

[0097] The electromechanical control system is in interactive transmission connection with the signal acquisition system, receives and displays the acceleration data of the integration device in the signal acquisition system in real time, and sends the control instructions of starting or stopping to the integration device.

[0098] ​The bridge detection robot further comprises a robot shell 2 and a robot shell fixing plate 9.

[0099] The robot shell fixing plate 9 fixes the robot shell 2.

[0100] As shown in the accompanying drawings, a vibration-sensing bridge detection robot comprises a walking and fixing system moving device, a side wheel guard plate, a balance wheel and a universal wheel. Figure 4

[0101] The balance wheel comprises a side wheel adjuster 1, a side wheel 6, a driving wheel shaft rotating support 17, a driving wheel shaft 18 and a driving wheel 19.

[0102] The side wheel 6 is connected with the side wheel adjuster 1.

[0103] The driving wheel shaft rotating support 17 is connected with the robot chassis 3 through bolts.

[0104] The side wheel 6 is installed on the inner side of the side wheel guard plate, and the side wheel 6 is in contact with the side of the bridge crash barrier.

[0105] The universal wheel is installed below the robot chassis 3 through bolts.

[0106] The driving wheel shaft 18 is inserted into the circular groove of the balance wheel.

[0107] Further, the driving wheel 19 comprises a DC speed reduction motor, a gear belt, a motor gear, a driving shaft gear and a driving shaft.

[0108] The DC speed reduction motor is installed on the robot chassis 3.

[0109] The motor gear is sleeved on the rotor of the DC speed reduction motor.

[0110] The gear belt is sleeved on the motor gear and the driving shaft gear.

[0111] The driving shaft gear is sleeved on the driving shaft.

[0112] As shown in the accompanying drawings, a vibration-sensing bridge detection robot comprises a walking and fixing system moving device, a side wheel guard plate, a balance wheel and a universal wheel. Figures 2-5

[0113] The compression rotating wheel 5 is installed on the inner side of the side wheel guard plate.

[0114] The sliding plate 4 is installed below the robot chassis 3.

[0115] The telescopic mechanism is installed on the side of the sliding plate.

[0116] ​​The compression rotating wheel comprises a pulley, a pulley plate, a pressing rotating mechanism, and a side wheel covering plate 7.

[0117] The side wheel covering outer plate 20 and the side wheel covering inner plate 21 constitute the side wheel covering plate 7.

[0118] The pulley is embedded in the round hole of the pressing rotating mechanism.

[0119] One end of the pulley is in contact with the pressing rotating mechanism, and the other end is in contact with the side of the bridge guardrail.

[0120] One end of the pressing rotating mechanism and the pulley is inserted into the limiting hole of the circular limiter 16 arranged in the outer side plate of the vehicle, and the other end is connected with the side wheel covering inner plate 21.

[0121] The outer side plate of the vehicle and the side wheel covering inner plate 21 are connected through the limiting hole and the screw.

[0122] The side wheel covering outer plate 20 is connected with the sliding plate 4 through welding.

[0123] The pressing rotating mechanism comprises a compression spring, a sliding groove 13, a pressing button 15, and a pin 10.

[0124] The compression spring comprises a strong spring 11, a weak spring 14, and a cover plate 12.

[0125] The cover plate 12 is connected with the strong spring 11 and the weak spring 14.

[0126] The compression spring and the sliding groove 13 are placed in the recess of the pressing button 15, and the sliding groove 13 is connected with the compression spring.

[0127] The pin 10 is inserted into the sliding groove 13.

[0128] As shown in the accompanying drawings, Figures 6-7 A bridge detection robot with vibration sensing, the telescopic mechanism comprises a gear belt, an engine, a drive shaft helical gear, a drive shaft, a equal-toothed synchronous wheel, a straight gear, a telescopic rod, an adjuster loading plate 8, and a fixer.

[0129] The lower wheel of the equal-toothed synchronous wheel is buckled with the straight gear and inserted into the tooth hole of the gear belt, and the upper wheel of the equal-toothed synchronous wheel is buckled with the drive shaft helical gear.

[0130] The adjuster loading plate 8 is connected with the robot chassis 3 through welding.

[0131] The telescopic rod is installed on the gear belt.

[0132] The drive shaft is installed on the engine.

[0133] The drive shaft helical gear is installed on the drive shaft.

[0134] The fixator is mounted on the regulator loading plate 8.

[0135] Further, a vibration-sensing bridge detection robot also comprises a master control system;

[0136] The master control system is in signal transmission connection with the DC speed reducer motor, which feeds back the movement information of the walking and fixing system to the master control system, and receives the control instructions of starting or stopping sent by the master control system.

[0137] A fixing method of a vibration-sensing bridge detection robot, comprising the following sub-steps:

[0138] A: Place the bridge detection robot on the bridge guardrail, preliminarily set the side wheels 6 according to the width of the bridge anti-collision guardrail, and ensure that the side wheels 6 are initially arranged vertically to the ground;

[0139] B: Press the rotating mechanism by pressing the button 15 along the inclined sliding groove, activate the 90-degree rotation mechanism of the embedded pin shaft, realize that the side wheels 6 are parallel to the ground, and the strong spring 11 is automatically reset to ensure the stability of the locking state;

[0140] C: Start the telescopic mechanism, the engine drive shaft, the bevel gear, the synchronous gear and the lower gear work cooperatively, the sliding plate 4 is retracted until it reaches the preset critical point, the automatic locking of the drive shaft is realized through the change of engine current, and the fixing is completed.

[0141] As shown in the accompanying Figure 8 A vibration-sensing bridge dynamic characteristic detection method, comprising the following steps:

[0142] S1: The detection bridge is segmented and divided, the points where the bridge detection robot needs to stay for testing are determined, and the information is input to the remote control end of the master control system to complete the presetting;

[0143] S2: Fix the bridge detection robot on the bridge guardrail, and the remote control end sends a starting instruction according to the presetting to start the movement device and the integrated device to work;

[0144] S3: The movement device realizes intermittent stop-start operation according to the instruction of the remote control end, and feeds back the movement information to the master control system, and the integrated device collects, stores and feeds back the signal to the remote control end when the movement device stops;

[0145] S4: Repeat step S3 until the preset acquisition process is completed, and all data are stored and transmitted to the remote control end after being stored;

[0146] S5: Construct a vibration-sensing detection robot transfer rate matrix to process the data of the remote control end and identify the frequency and modal shape of the bridge.

[0147] Further, a bridge dynamic characteristic detection method of vibration sensing, the S5 comprises the following sub-steps:

[0148] S51: converting the collected acceleration data to the frequency domain by using Fourier transform, and constructing a transfer rate function:

[0149]

[0150] Wherein, represents the transfer rate function, and N represents the modal order, represents the modal shape coefficient at position d2, represents the modal shape coefficient at position d1*, H represents the ratio of the Laplace transform of the system input and output response, d2(ω) represents the Laplace transform expression of the output response at d2, d1(ω) represents the Lapace transform expression of the output response at d1, P represents the load excitation, and ω f represents the external load frequency, represents the complex conjugate of the ratio of the Laplace transform of the system input and output response at position d1;

[0151] S52: constructing a transfer rate matrix by using the transfer rate function:

[0152]

[0153] Wherein, represents the transfer rate function, represents position i*, d i represents position i, d j represents position j, i and j represent position labels respectively, and n and m represent numerical increasing parameters respectively;

[0154] S53: processing the transfer rate matrix by using singular value decomposition to obtain singular values and singular vectors, obtaining the bridge vibration frequency by using the second singular value, and obtaining the bridge modal shape by using the first singular vector.

[0155] Specific embodiment 1 bridge dynamic characteristic detection method

[0156] Step one: pre-analyzing the bridge to be detected, dividing the bridge into 7 sections, and arranging 6 test points on the left and right sides, respectively, and naming them as A1-A6, B1-B6;

[0157] The bridge is a scaled model with a size of 3m*0.55m*0.1m.

[0158] Step two: installing the two robots on the left and right guardrails of the bridge respectively, and arranging a reference test point on the bridge at any position;

[0159] The detection robot is a scaled model.

[0160] Step three: input the pre-analysis information into the master system to complete the preset and issue instructions, and two detection robots start working synchronously to collect the vibration acceleration signals of each test point of the bridge. The acceleration signals of each test point are shown in the attached Figure 9

[0161] Step four: after the detection robot completes the collection, the acceleration time domain data are transmitted to the terminal and converted into frequency domain information.

[0162] Step five: the transfer rate function is established and the transfer rate matrix is constructed according to the multi-point transfer rate, and the bridge frequency is identified. The bridge frequency identification is shown in the attached Figure 10

[0163] The transfer rate function is represented as:

[0164]

[0165] wherein, represents the transfer rate function, N represents the modal order, represents the modal shape coefficient at position d2, represents the modal shape coefficient at position d1*, H represents the ratio of the Laplace transform of the system input and output response, d2(ω) represents the Laplace transform expression of the output response at d2, d1(ω) represents the Laplace transform expression of the output response at d1, P represents the load excitation, ω f represents the external load frequency, represents the complex conjugate of the ratio of the Laplace transform of the system input and output response at position d1;

[0166] The transfer rate matrix is represented as:

[0167]

[0168] wherein, represents the transfer rate function, represents position i*, d i represents position i, d j represents position j, i and j represent position labels respectively, and n and m represent digital incremental parameters respectively.

[0169] Step six: singular value decomposition is performed on the constructed transfer rate matrix, the bridge frequency is obtained from the singular value, and the bridge modal shape is reconstructed from the singular vector.

[0170] The singular value decomposition is represented as:

[0171]

[0172] ​​Wherein, U(ω) represents the left singular vector after singular value decomposition, S(ω) represents the position bridge frequency identification, V(ω) represents the right singular vector after singular value decomposition;

[0173] Wherein, the bridge frequency identification is expressed as:

[0174]

[0175] Wherein, represents the bridge modal shape;

[0176] Wherein, the bridge modal shape is expressed as:

[0177]

[0178] Wherein, Ui ( ω) represents the first left singular vector, represents the bridge modal shape.

[0179] The scheme shows the basic principle and main features and advantages of the present application. The skilled in the art should understand that the present application is not limited to the above examples, and the above examples and descriptions in the specification are only to illustrate the principle of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A vibration-sensing bridge inspection robot, characterized by, The walking and fixing system, the signal acquisition system and the electromechanical control system are included. The walking and fixing system includes a fixing device and a moving device. The fixing device enables the robot to be clamped on the crash barrier with different widths and keep close contact. The moving device enables the robot to move back and forth along the crash barrier and allows small-angle oblique walking. The signal acquisition system includes a sensing device and an integrated device. The sensing device senses and transmits the acceleration vibration signal of the bridge. The integrated device stores, transmits and feeds back the vibration signal. The sensing device and the integrated device are both installed on the walking and fixing system. The signal acquisition system is installed on the walking and fixing system, and the electromechanical control system controls the walking and fixing system to work on the bridge guardrail and collect the bridge vibration signal. The electromechanical control system is in interactive transmission connection with the walking and fixing system, receives the feedback signal of the first direct current speed reduction motor of the walking and fixing system, and sends the control instruction of starting or stopping to the first direct current speed reduction motor. The electromechanical control system is in interactive transmission connection with the signal acquisition system, receives and displays the acceleration data of the integrated device in the signal acquisition system in real time, and sends the control instruction of starting or stopping to the integrated device. The bridge detection robot further includes a robot shell (2) and a robot shell fixing plate (9). The robot shell fixing plate (9) fixes the robot shell (2). The fixing device includes a compression rotating wheel (5), a sliding plate (4) and an extension mechanism. The compression rotating wheel (5) is installed on the inner side of the side wheel guard plate. The sliding plate (4) is installed below the robot chassis (3). The extension mechanism is installed on the side of the sliding plate. The compression rotating wheel includes a pulley, a pulley plate, a pressing rotating mechanism, a side wheel covering plate (7). The side wheel covering outer plate (20) and the side wheel covering inner plate (21) constitute the side wheel covering plate (7). The pulley is embedded in the round hole of the pressing rotating mechanism. One end of the pulley is in contact with the pressing rotating mechanism, and the other end is in contact with the side of the bridge crash barrier. The pressing rotating mechanism and one end of the pulley are inserted into the limiting hole of the circular limiter (16) arranged in the outer side plate, and the other end is connected with the side wheel covering inner plate (21). The outer side plate and the side wheel covering inner plate (21) are connected through the limiting hole and the screw. The side wheel covering outer plate (20) is connected with the sliding plate (4) through welding. The pressing rotating mechanism includes a compression spring, a sliding groove (13), a pressing button (15) and a pin (10). The compression spring includes a strong spring (11), a weak spring (14) and a cover plate (12). The cover plate (12) is connected with the strong spring (11) and the weak spring (14). The compression spring and the sliding groove (13) are put into the recess inside the pressing button (15), and the sliding groove (13) is connected with the compression spring. The pin shaft of the pin (10) is inserted into the sliding groove (13).

2. A vibration sensing bridge inspection robot as claimed in claim 1, wherein, The moving device of the walking and fixing system includes a side wheel guard plate, a balance wheel and a universal wheel. The balance wheel comprises a side wheel adjuster (1), a side wheel (6), a driving wheel shaft rotating support (17), a driving wheel shaft (18), and a driving wheel (19); The side wheel (6) is connected with the side wheel adjuster (1); The driving wheel shaft rotating support (17) is connected with the robot chassis (3) through bolts; The side wheel (6) is installed on the inner side of the side wheel guard plate, and the side wheel (6) is in contact with the side of the bridge guardrail; The universal wheel is fixedly installed below the robot chassis (3) through bolts; The driving wheel shaft (18) is inserted into the circular groove of the balance wheel.

3. A vibration sensing bridge inspection robot as claimed in claim 2, wherein The driving wheel (19) comprises a DC motor, a gear belt, a motor gear, a driving shaft gear, and a driving shaft. The DC motor is installed on the robot chassis (3); The motor gear is sleeved on the rotor of the DC motor; The gear belt is sleeved on the motor gear and the driving shaft gear; The driving shaft gear is sleeved on the driving shaft.

4. The vibration-sensing bridge inspection robot of claim 1, wherein The telescopic mechanism comprises a gear belt, an engine, a driving shaft helical gear, a driving shaft, a toothed synchronous wheel, a straight gear, a telescopic rod, an adjuster loading plate (8), and a fixer. The lower wheel of the toothed synchronous wheel is buckled with the straight gear and is inserted into the tooth hole of the gear belt, and the upper wheel of the toothed synchronous wheel is buckled with the driving shaft helical gear; The adjuster loading plate (8) is connected with the robot chassis (3) through welding; The telescopic rod is installed on the gear belt; The driving shaft is installed on the engine; The driving shaft helical gear is installed on the driving shaft; The fixer is installed on the adjuster loading plate (8). The bridge detection robot further comprises a main control system; 5. A vibration sensing bridge inspection robot as claimed in claim 3, wherein, The main control system is in signal transmission connection with the DC motor, the DC motor feeds back the movement information of the walking and fixing system to the main control system, and receives the control instruction of starting or stopping sent by the main control system. The method comprises the following steps:

6. A fixing method of a vibration-sensing bridge inspection robot, based on any one of claims 1 to 5, wherein the vibration-sensing bridge inspection robot is implemented. A: The bridge detection robot is placed on the bridge guardrail, the side wheel (6) is preliminarily set according to the width of the bridge guardrail, and it is ensured that the side wheel (6) is initially arranged vertically to the ground; B: The rotating mechanism is pressed by operating the pressing button (15) along the inclined downward sliding groove, the embedded pin shaft rotation 90-degree mechanism is activated, the side wheel (6) is parallel to the ground, the strong spring (11) is automatically reset, and the locking state is stable; C: The telescopic mechanism is started, the engine driving shaft, the helical gear, the toothed synchronous wheel, and the lower gear are cooperatively operated, the sliding plate (4) is retracted until reaching the preset critical point, the automatic locking of the driving shaft is realized through the change of the engine current, and the fixing is completed. The method comprises the following steps:

7. A method of detecting bridge dynamic properties by vibration sensing, characterized by, S1: The detected bridge is segmented and divided, the point where the bridge detection robot needs to stay for testing is determined, and the information is input to the remote control end of the main control system to complete the presetting; S2: The bridge detection robot is fixed on the bridge guardrail, the remote control end starts the starting instruction according to the presetting, and the moving device and the integrated device are started to operate; S3: The moving device realizes intermittent walking and stopping operation according to the instruction of the remote control end, and feeds back the movement information to the main control system, and the integrated device collects, stores, and feeds back the signal to the remote control end when the moving device stops. ​ S4: repeat step S3 until the preset acquisition process is completed, and all data is stored and transmitted to the remote control end; S5: construct a detection robot transfer rate matrix based on vibration sensing, process the data of the remote control end, and identify the frequency and modal shape of the bridge.

8. A method of detecting the dynamic properties of a bridge by vibration sensing according to claim 7, characterized in that, S5 includes the following sub-steps: S51: convert the collected acceleration data to the frequency domain using Fourier transform to construct a transfer rate function: wherein, represents the transfer rate function, N represents the modal order, represents the modal shape coefficient at position d2, represents the modal shape coefficient at position d1*, H represents the ratio of the Laplace transform of the system input and output response, d2(ω) represents the Laplace transform expression of the output response at d2, d1(ω) represents the Laplace transform expression of the output response at d1, P represents the load excitation, ω f represents the external load frequency, represents the complex conjugate of the ratio of the Laplace transform of the system input and output response at position d1; S52: construct a transfer rate matrix using the transfer rate function: wherein, represents a transfer rate function, represents position i*, represents position i, d j represents position j, i, j represent position indices, respectively, and n, m represent numerical increment parameters, respectively; S53: process the transfer rate matrix using singular value decomposition to obtain singular values and singular vectors, use the second singular value to obtain the bridge vibration frequency, and use the first singular vector to obtain the bridge modal shape.

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