Municipal bridge state detection method

Abstract

The invention discloses a municipal bridge state detection method. The method comprises the following steps: S1, preparation work; s2, climbing detection: continuously shooting the surface of the bridge pier through a camera module arranged on the robot so as to detect and identify cracks appearing on the bridge pier in real time, S3, rebound detection: carrying out concrete strength detection on different height positions of the bridge pier through a rebound module; s4, data processing: a data receiving and processing module receives detection data of the springback module and the camera module in real time; s5, comprehensive evaluation: the data receiving and processing module remotely transmits an evaluation signal to the terminal module; through the camera module and the rebound module equipped on the robot, comprehensive detection of bridge pier surface cracks and concrete strength is realized, the camera module can capture fine cracks and transmit image data in real time, and the rebound module can perform concrete strength measurement at different heights. The multi-level and multi-angle detection mode can improve the accuracy of the detection result.

Description

Technical Field

[0001] This invention relates to the field of bridge inspection technology, specifically a method for inspecting the condition of municipal bridges. Background Technology

[0002] With the acceleration of urbanization, municipal bridges, as an important component of urban transportation systems, bear an ever-increasing traffic load. However, due to their long-term exposure to the natural environment, bridges are affected by various factors such as vehicle loads, wind, temperature changes, and corrosion, which can gradually degrade their structural performance and safety. If not inspected and maintained in a timely manner, bridge aging and damage can lead to serious safety hazards. Therefore, condition monitoring and inspection of municipal bridges are of great significance.

[0003] Chinese Patent (Announcement No.: CN118332655A) describes a solution that uses finite element analysis and non-destructive testing (NDA) techniques to acquire images of road and bridge stress distribution. This is combined with a multimodal convolutional neural network (CNN-LSTM) fusion model for feature extraction and stress analysis, enabling real-time monitoring and prediction of road and bridge stress distribution. By fusing different types of images to predict road and bridge stress distribution, this application helps to quickly detect potential problems, reduces the workload of maintenance personnel, and allows managers to better understand the health status of road and bridge structures.

[0004] When inspecting bridges, the piers, as one of the main supporting components of the bridge, need to have their quality measured. However, during the inspection of piers, it is difficult to measure the overall concrete strength, and the concrete strength of the upper part of the pier is difficult to measure. Therefore, it is difficult to determine whether the location still meets the design standards. Therefore, a method for inspecting the condition of municipal bridges is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide a method for detecting the condition of municipal bridges, which has the advantages of automatically climbing bridge piers and conducting inspections, reducing the need for manual intervention, improving the automation level of the inspection process, and solving the problem of difficulty in determining the concrete strength of the upper part of the bridge piers.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method for detecting the condition of municipal bridges, comprising the following steps: S1. Preparation: Adjust the horizontal distance between the two sets of climbing components in the robot according to the size of the pier to be inspected, so that the distance between the two sets of climbing components is adapted to the size of the pier, and ensure that the robot can be stably supported on the pier. S2. Climbing detection: The robot is driven to climb along the bridge pier from bottom to top by two sets of climbing components. The camera module set on the robot continuously takes pictures of the surface of the bridge pier in real time to detect and identify cracks on the bridge pier. S3. Rebound Detection: The robot is equipped with a rebound module for detecting the concrete strength of the bridge pier. As the robot crawls from bottom to top, the horizontal height of the rebound module is changed at all times, and the concrete strength of the bridge pier is detected at different height positions through the rebound module. S4. Data Processing: The data receiving and processing module receives the detection data from the rebound module and the camera module in real time, including crack images and concrete strength data, and analyzes and processes the two sets of data to comprehensively evaluate the quality of the bridge pier. S5. Comprehensive Evaluation: The data receiving and processing module remotely transmits the evaluation signal to the terminal module. The terminal module generates a test report based on the evaluation signal and proposes corresponding maintenance suggestions.

[0007] Preferably, the data receiving and processing module is electrically connected to the rebound module and the camera module. In step S, the data evaluation process of the data receiving and processing module includes the following steps: S41. Crack Analysis: Based on the processing of the received camera signals, the location, width, and distribution of cracks are determined. Combined with the crack severity assessment algorithm, the severity of the cracks is comprehensively assessed. S42. Strength Analysis: Based on the received rebound signals, the strength data of concrete in piers of different heights are processed and analyzed. Combined with the strength distribution evaluation algorithm, the structural strength of the piers is comprehensively analyzed. S43. Quality Analysis: By comprehensively analyzing crack data and strength data, and combining them with a comprehensive quality assessment algorithm, it is determined whether there are quality problems with the bridge piers.

[0008] Preferably, the crack severity assessment algorithm is as follows: ,in: : represents the width of the i-th crack; : represents the length of the i-th crack; : Represents the weight coefficient of the i-th crack; : Represents the total number of cracks; : Represents the severity index of cracks; in, The formula uses the average width of the crack. The formula uses the coordinate spacing of the measurement points.

[0009] Preferably, the robot includes a frame supporting the climbing components. The climbing components include a side frame mounted on the frame. The side frame includes an integrally formed side extension. A bidirectional lead screw is fixedly rotatable on the frame. The side extensions of both climbing components are threadedly connected to the bidirectional lead screw. The two climbing components move synchronously towards or away from each other in the horizontal direction. Two sets of central seats are fixedly connected to the side frame. A transverse axis is fixedly rotatable between the two sets of central seats. A set of end swing rods is coaxially fixed at both ends of the transverse axis. The two sets of end swing rods are oriented in opposite directions in the vertical direction. A connecting rod is fixedly rotatable at the end of each set of end swing rods away from the transverse axis. A longitudinal rod is fixedly rotatable at the end of the connecting rod away from the end swing rod. A support plate is provided at the end of the longitudinal rod away from the side frame that abuts against the surface of the pier. The neutral seat has a guide block that rotates on a fixed axis, and the guide block is slidably sleeved on the connecting rod.

[0010] Preferably, the side frame is provided with a longitudinal slider and a longitudinal groove for the longitudinal slider to slide vertically. The longitudinal groove is provided with a groove for the longitudinal rod to slide horizontally. The end of the longitudinal rod facing the abutment plate is provided with a receiving groove. A pressing rod is slidably connected in the receiving groove, and a pressing spring is provided in the receiving groove. The two ends of the pressing spring are respectively fixedly connected to the longitudinal rod and the pressing rod.

[0011] Preferably, the intensity distribution evaluation algorithm is as follows: ,in: : Represents the average intensity at the j-th height end; : Represents the height of the j-th height segment; : Represents the total height of the bridge piers; : Indicates the number of height segments; : Represents the intensity distribution index.

[0012] Preferably, the rebound module includes a rebound hammer for measuring concrete strength, and a displacement component for adjusting the measuring position of the rebound hammer is provided on the side frame; The displacement component includes a transverse sliding plate disposed on a side frame, and a transverse sliding groove is provided on the side frame for the transverse sliding plate to slide horizontally. The transverse sliding plate is provided with a push seat fixedly connected to the rebound spring, and a rectangular groove is provided on the transverse sliding plate for the push seat to slide horizontally. A limiting plate is fixedly connected to the side frame, and a limiting pin is fixedly connected to one end of the push base facing the limiting plate. A wave-shaped limiting groove is provided on the limiting plate for the limiting pin to slide.

[0013] Preferably, the displacement assembly further includes an adjustment disk that is connected to the transverse axis and rotates on the side frame. The adjustment disk is provided with a freely swinging directional rocker arm. The middle part of the directional rocker arm rotates on the side frame. A directional pin is fixedly connected to one side of the adjustment disk facing the directional rocker arm, and a directional groove is provided on the directional rocker arm for the directional pin to slide. The end of the directional rocker arm away from the directional groove is fixedly connected to a sector gear, which meshes with a rack, and the rack is fixedly connected to the transverse plate.

[0014] Preferably, the comprehensive quality assessment algorithm is as follows: ,in, and These are the crack weighting coefficient and the strength weighting coefficient, respectively, set according to bridge inspection standards. This is represented as the comprehensive quality index of bridge piers.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention achieves comprehensive detection of surface cracks and concrete strength of bridge piers by using a camera module and a rebound module equipped on the robot. The camera module can capture minute cracks and transmit image data in real time, while the rebound module can measure concrete strength at different heights. This multi-level and multi-angle detection method can improve the accuracy of the detection results.

[0016] 2. By setting up a climbing component, this invention drives the robot to automatically climb bridge piers and perform inspections, reducing the need for manual intervention and improving the automation level of the inspection process. This not only improves inspection efficiency but also enables operation in complex and dangerous environments, ensuring the safety of the operation.

[0017] 3. The data receiving and processing module in this invention comprehensively analyzes crack images and concrete strength data, and uses crack severity assessment algorithms and strength distribution assessment algorithms to generate a detailed quality assessment report, thereby enabling a comprehensive evaluation of the overall quality of the bridge and providing a scientific basis for maintenance and reinforcement. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the process for a municipal bridge condition detection method according to the present invention; Figure 2 This is a schematic diagram of the robot in use according to the present invention; Figure 3 This is a schematic diagram of the component containing the side frame of the present invention; Figure 4 This is a schematic diagram of the component containing the upright base in this invention; Figure 5 For the present invention Figure 3 Enlarged view of point A in the middle; Figure 6 For the present invention Figure 4 Enlarged view at point B in the middle; Figure 7 This is a schematic diagram of the component containing the adjustment disk of the present invention; Figure 8 This is a schematic diagram of the component containing the directional pendulum rod of the present invention; Figure 9 For the present invention Figure 7 Enlarged view of point C.

[0019] In the diagram: 1. Frame; 2. Side frame; 201. Side extension; 3. Two-way lead screw; 4. Central seat; 5. Transverse shaft; 6. End swing arm; 7. Connecting rod; 8. Guide block; 9. Longitudinal rod; 10. Receiving groove; 11. Compression spring; 12. Compression rod; 13. Longitudinal slider; 14. Longitudinal slide groove; 15. Support plate; 16. Rebound spring; 17. Transverse plate; 18. Transverse slide groove; 19. Adjustment plate; 20. Directional pin; 21. Directional swing arm; 22. Directional groove; 23. Sector gear; 24. Rack; 25. Push seat; 26. Limit pin; 27. Limit plate; 28. Wave-shaped limit groove. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1 to 9 This invention provides a technical solution: a method for detecting the condition of municipal bridges, comprising the following steps: S1. Preparation: Adjust the horizontal distance between the two sets of climbing components in the robot according to the size of the pier to be inspected, so that the distance between the two sets of climbing components is adapted to the size of the pier, and ensure that the robot can be stably supported on the pier. S2. Climbing detection: The robot is driven to climb along the bridge pier from bottom to top by two sets of climbing components. The camera module set on the robot continuously takes pictures of the surface of the bridge pier in real time to detect and identify cracks on the bridge pier. S3. Rebound Detection: The robot is equipped with a rebound module for detecting the concrete strength of the bridge pier. As the robot crawls from bottom to top, the horizontal height of the rebound module is changed at all times, and the concrete strength of the bridge pier is detected at different height positions through the rebound module. S4. Data Processing: The data receiving and processing module receives the detection data from the rebound module and the camera module in real time, including crack images and concrete strength data, and analyzes and processes the two sets of data to comprehensively evaluate the quality of the bridge pier. S5. Comprehensive Evaluation: The data receiving and processing module remotely transmits the evaluation signal to the terminal module. The terminal module generates a test report based on the evaluation signal and proposes corresponding maintenance suggestions.

[0022] like Figure 1 and Figure 2 As shown, before the inspection begins, the robot is adjusted according to the size of the pier to be inspected. The robot is equipped with two sets of climbing components, and the horizontal distance between the two sets of climbing components can be adjusted. By adjusting the horizontal distance, the two sets of climbing components are adapted to the size of the pier, thereby ensuring that the robot can be stably supported on the pier. This preparation step is the foundation of the entire inspection process, ensuring that the robot can work smoothly and reliably during the inspection.

[0023] The robot climbs from bottom to top on the bridge pier, relying on two sets of climbing components to achieve continuous climbing. During the climbing process, the camera module on the robot continuously captures images of the bridge pier surface, detects and identifies cracks on the bridge pier in real time. The camera module can capture minute cracks and transmit the image data to the data receiving and processing module in real time, providing basic data for subsequent analysis.

[0024] The robot is equipped with a rebound module for testing the concrete strength of bridge piers. During the robot's crawling process, the rebound module automatically adjusts its horizontal height according to a pre-set program to test the concrete strength at different heights of the bridge pier. By testing at multiple heights, the rebound module can comprehensively understand the concrete strength distribution of the bridge pier, providing crucial data for the overall assessment of the bridge pier structure.

[0025] The data receiving and processing module receives detection data from the rebound module and camera module in real time. Specifically, this data includes crack images and concrete strength data. The data receiving and processing module analyzes and processes the two sets of data, and comprehensively evaluates the quality of the bridge pier through image recognition technology and data analysis algorithms. This module can perform detailed analysis on the size and location of cracks and concrete strength, and combine the two sets of data to form a comprehensive evaluation report.

[0026] After completing data analysis, the data receiving and processing module remotely transmits the evaluation signal to the terminal module. Upon receiving the evaluation signal, the terminal module automatically generates an inspection report. The report details the distribution of cracks and the concrete strength of the bridge piers, and proposes corresponding maintenance recommendations based on the inspection results. These recommendations allow for targeted repairs and maintenance of the bridge piers, ensuring the safety and long-term stability of the bridge.

[0027] Furthermore, the data receiving and processing module is electrically connected to the rebound module and the camera module. In S4, the data evaluation process of the data receiving and processing module includes the following steps: S41. Crack Analysis: Based on the processing of the received camera signals, the location, width, and distribution of cracks are determined. Combined with the crack severity assessment algorithm, the severity of the cracks is comprehensively assessed. S42. Strength Analysis: Based on the received rebound signals, the strength data of concrete in piers of different heights are processed and analyzed. Combined with the strength distribution evaluation algorithm, the structural strength of the piers is comprehensively analyzed. S43. Quality Analysis: By comprehensively analyzing crack data and strength data, and combining them with a comprehensive quality assessment algorithm, it is determined whether there are quality problems with the bridge piers.

[0028] like Figure 1 As shown, when measuring the cracks in bridge piers, the width, length, and location of the cracks are comprehensively considered to assess the overall impact of the cracks on the bridge structure. A quantitative index is provided by calculating the crack severity index, which facilitates the monitoring and comparison of bridge conditions.

[0029] When determining the concrete strength of bridge piers, the strength distribution index is calculated to understand the strength of different height sections of the pier, and areas with low strength are detected so that appropriate remedial measures can be taken.

[0030] At the same time, by combining the two important indicators of cracks and strength, a comprehensive assessment of the quality of bridge piers can be made. Through the comprehensive index, engineers and managers can make decisions on maintenance and reinforcement. By regularly calculating the comprehensive quality index of bridge piers, the long-term health of the bridge can be monitored and potential safety hazards can be prevented.

[0031] Furthermore, the algorithm for assessing the severity of cracks is as follows: ,in: : represents the width of the i-th crack. The width of the crack is an important indicator of the severity of the crack. The larger the width, the greater the potential hazard of the crack. : represents the length of the i-th crack. The length of the crack is also an important indicator of the severity of the crack. The longer the crack, the greater the potential hazard. : Represents the weighting coefficient of the i-th crack. The location and shape of the crack will affect the degree of impact of the crack on the structure. For example, cracks in critical parts are more serious than cracks in minor parts. : Represents the total number of cracks; : Represents the severity index of cracks; in, The formula uses the average width of the crack. The formula uses the coordinate spacing of the measurement points.

[0032] In one preferred embodiment, the robot includes a frame 1 that supports the climbing components. The climbing components include a side frame 2 mounted on the frame 1. The side frame 2 includes an integrally formed side extension 201. A bidirectional lead screw 3 is fixedly rotatable on the frame 1. The side extensions 201 in both sets of climbing components are threadedly connected to the bidirectional lead screw 3, and the two sets of climbing components move synchronously towards or away from each other in the horizontal direction. Two sets of central seats 4 are fixedly connected to the side frame 2. A transverse shaft 5 is fixedly rotatable between the two sets of central seats 4. A set of end swing rods 6 are coaxially fixed at both ends of the transverse shaft 5. The two sets of end swing rods 6 are oriented in opposite directions in the vertical direction. A connecting rod 7 is fixedly rotatable at the end of the two sets of end swing rods 6 away from the transverse shaft 5. A longitudinal rod 9 is fixedly rotatable at the end of the connecting rod 7 away from the end swing rod 6. A support plate 15 that abuts against the surface of the pier is provided at the end of the longitudinal rod 9 away from the side frame 2. The neutral seat 4 has a guide block 8 that rotates on a fixed axis, and the guide block 8 is slidably sleeved on the connecting rod 7.

[0033] The side frame 2 is provided with a longitudinal slider 13 and a longitudinal groove 14 for the longitudinal slider 13 to slide vertically. The longitudinal groove 14 is provided with a groove for the longitudinal rod 9 to slide horizontally. The end of the longitudinal rod 9 facing the abutment plate 15 is provided with a receiving groove 10. A pressing rod 12 is slidably connected in the receiving groove 10, and a pressing spring 11 is provided in the receiving groove 10. The two ends of the pressing spring 11 are fixedly connected to the longitudinal rod 9 and the pressing rod 12 respectively.

[0034] like Figures 2-6 As shown, when measuring the pier, the bidirectional lead screw 3, which is fixedly mounted on the frame 1, is driven by a motor to rotate freely in the vertical direction, thereby adjusting the horizontal distance between the two sets of side extensions 201, so that the multiple sets of abutment plates 15 in the two sets of climbing components are tightly attached to the surface of the pier.

[0035] At the same time, while driving the frame 1 to climb on the pier, another motor drives the transverse shaft 5 to rotate freely in the vertical direction, thereby driving the two sets of end swing rods 6 set at the end to rotate synchronously. The two sets of end swing rods 6 are oriented in opposite directions. Therefore, when the two sets of end swing rods 6 follow the transverse shaft 5 to rotate, the connecting rods 7 set on them swing in opposite directions.

[0036] At the same time, in the initial state, both sets of abutment plates 15 in the climbing assembly are in close contact with the surface of the pier. As the transverse shaft 5 rotates, the connecting rod 7 swings, and the longitudinal rod 9 moves in the horizontal direction, causing one set of abutment plates 15 to detach from the surface of the pier. As the transverse shaft 5 continues to rotate, it can drive the longitudinal slider 13 to slide on the longitudinal slide groove 14 and change the horizontal height of the side frame 2, thereby driving the frame 1 and the side frame 2 to move synchronously in the vertical direction.

[0037] It should be noted that by setting two sets of climbing components, the two sets of abutment plates 15 in each set of climbing components move forward alternately. At least one set of abutment plates 15 in each set of climbing components is in close contact with the surface of the pier. At the same time, the abutment plates 15 are fixedly connected to the pressure rod 12, and a pressure spring 11 is provided between the pressure rod 12 and the longitudinal rod 9. When the abutment plate 15 contacts the surface of the pier, the pressure spring 11 is in a compressed state. However, the distance between the two sets of side frames 2 will not change under the restriction of the bidirectional screw 3. Therefore, the compression deformation of the pressure spring 11 enables the abutment plate 15 to apply a certain pressure to the surface of the pier, thereby increasing the friction between the abutment plate 15 and the surface of the pier, so as to ensure the stability of the climbing component when the frame 1 moves during operation.

[0038] Furthermore, the intensity distribution evaluation algorithm is specifically as follows: ,in: : This represents the average strength at the j-th height end. Multiple measurements are taken at each height segment, and the average value is taken as the strength of that segment. : Represents the height of the j-th height segment; : This represents the total height of the bridge pier, that is, the total height of the bridge pier from bottom to top; : Indicates the number of height segments; : Represents the intensity distribution index.

[0039] In practical use, the concrete at each height section is measured multiple times, and the average value of the multiple measurements is taken as the strength value of that section.

[0040] Based on the climbing component embodiment, the rebound module includes a rebound hammer 16 for measuring concrete strength, and a displacement component for adjusting the measuring position of the rebound hammer 16 is provided on the side frame 2. The displacement assembly includes a transverse sliding plate 17 disposed on the side frame 2, and a transverse sliding groove 18 is provided on the side frame 2 for the transverse sliding plate 17 to slide horizontally. The transverse sliding plate 17 is provided with a push seat 25 fixedly connected to the rebound device 16, and a rectangular groove is provided on the transverse sliding plate 17 for the push seat 25 to slide horizontally. A limiting plate 27 is fixedly connected to the side frame 2, and a limiting pin 26 is fixedly connected to one end of the push seat 25 facing the limiting plate 27. A wave-shaped limiting groove 28 is provided on the limiting plate 27 for the limiting pin 26 to slide.

[0041] The displacement assembly also includes an adjustment disk 19 that is connected to the transverse shaft 5 and rotates on the side frame 2. The adjustment disk 19 is provided with a freely swinging directional rocker arm 21. The middle part of the directional rocker arm 21 rotates on the side frame 2. A directional pin 20 is fixedly connected to one side of the adjustment disk 19 facing the directional rocker arm 21, and a directional groove 22 is provided on the directional rocker arm 21 for the directional pin 20 to slide. The directional rocker arm 21 is fixedly connected to a sector gear 23 at the end away from the directional groove 22. The sector gear 23 is meshed with a rack 24, which is fixedly connected to the transverse plate 17.

[0042] like Figure 1 , Figure 7 , Figure 8 and Figure 9 As shown, when the adjustment plate 19 rotates freely in the vertical direction, it can drive the directional pin 20 fixed on it to rotate synchronously. The directional pin 20 is slidably connected to the directional swing rod 21 through the directional groove 22, and the directional pin 20 rotates on the side frame 2 with a fixed axis. When the directional pin 20 rotates, its horizontal position changes constantly. Therefore, when the directional pin 20 rotates in a circle, it can drive the directional swing rod 21 to swing back and forth in the vertical direction.

[0043] Meanwhile, a sector gear 23 is fixedly provided at the end of the directional swing arm 21, and the sector gear 23 is meshed with the rack 24 fixedly provided on the transverse plate 17. Therefore, when the directional swing arm 21 swings, the rack 24 and the transverse plate 17 can be driven to move freely in the horizontal direction through the sector gear 23.

[0044] Furthermore, a pusher 25 is slidably mounted on the transverse plate 17, and the pusher 25 is fixedly connected to the rebound device 16. Therefore, when the adjustment plate 19 swings, the pusher 25 moves synchronously in the horizontal direction along with the transverse plate 17. A limit pin 26 is fixedly mounted in the horizontal longitudinal position of the pusher 25, and the limit pin 26 is slidably connected to the limit plate 27 through the wave-shaped limit groove 28. The limit plate 27 is fixedly mounted on the side frame 2, so its position will not change. Thus, when the horizontal transverse position of the transverse plate 17 changes, the limit pin 26 can be driven to slide in the wave-shaped limit groove 28, thereby driving the pusher 25 to reciprocate in the horizontal longitudinal direction.

[0045] The contact in the rebound hammer 16 is perpendicular to the surface of the pier. When the pusher 25 reciprocates in the horizontal longitudinal direction, it can drive the rebound hammer 16 to press perpendicularly to the surface of the pier. Through the horizontal lateral movement of the transverse plate 17 and the reciprocating pressing of the rebound hammer 16, the concrete strength of the pier at the same height end can be measured multiple times.

[0046] It should be noted that the transverse shaft 5 and the adjusting plate 19 are driven by the same motor and are connected by transmission. The transverse shaft 5 and the vertical rod 9 run alternately. In actual use, they can be driven to run alternately by the meshing between the incomplete gear and the complete gear. The transmission direction of the output shaft can be changed by the meshing relationship between multiple sets of bevel gears to ensure that the transmission process between them is not affected by motion interference.

[0047] Furthermore, the comprehensive quality assessment algorithm is specifically as follows: ,in, and These are the crack weighting coefficient and the strength weighting coefficient, respectively, set according to bridge inspection standards. This is represented as the comprehensive quality index of bridge piers.

[0048] in, and When determining the appropriate measures, factors such as the bridge's design type, service life, environmental conditions, and historical testing data need to be considered. Furthermore, potential problems and risks related to cracking and strength must be assessed. Additionally, it's necessary to understand the requirements for crack and strength testing in relevant bridge testing standards and specifications. For example, using a weighting factor of 60% for crack testing and 40% for strength testing, the following points should be considered: It is 0.6. The value is 0.4. After substituting it into the comprehensive quality assessment algorithm, the result is: Then, by substituting the obtained data values ​​into the crack severity assessment algorithm and the intensity distribution assessment algorithm, the required results can be obtained. Numerical value.

[0049] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A municipal bridge status detection method, characterized in that: The following steps are involved: S1. Preparation: According to the size of the bridge pier to be inspected, adjust the horizontal spacing between the two sets of climbing components in the robot so that the spacing between the two sets of climbing components matches the size of the bridge pier, and ensure that the robot can be stably supported on the bridge pier; S2, climbing detection: The robot is driven to crawl along the bridge pier from bottom to top through two sets of climbing components, and the camera module installed on the robot continuously photographs the surface of the bridge pier to detect and identify cracks on the bridge pier in real time; S3, rebound detection: The robot is provided with a rebound module for detecting the strength of the concrete of the bridge pier. When the robot crawls from bottom to top, the horizontal height of the rebound module is constantly changed, and the concrete strength of the bridge pier is detected at different height positions through the rebound module; S4, data processing: the data receiving and processing module receives the detection data of the rebound module and the camera module in real time, including crack images and concrete strength data, and analyzes and processes the two sets of data received to comprehensively evaluate the quality of the bridge pier; S5. Comprehensive evaluation: The data receiving and processing module remotely transmits the evaluation signal to the terminal module. The terminal module generates a test report based on the evaluation signal and puts forward corresponding maintenance suggestions.

2. A municipal bridge status detection method according to claim 1, characterized in that: The data receiving and processing module is electrically connected to the rebound module and the camera module. In S4, the data receiving and processing module evaluates the data, including the following steps: S41, crack analysis: based on processing the received camera signal, determine the location, width and distribution of the crack, and comprehensively evaluate the severity of the crack in combination with the crack severity evaluation algorithm; S42, strength analysis: processing the received rebound signal, analyzing the strength data of the concrete of the piers at different heights, and combining the strength distribution evaluation algorithm to comprehensively analyze the structural strength of the piers; S43, Quality Analysis: Comprehensively analyze the crack data and strength data, and combine them with the comprehensive quality assessment algorithm to determine whether there are quality problems with the bridge piers.

3. A municipal bridge status detection method according to claim 2, characterized in that: The crack severity assessment algorithm is specifically: ,in: : represents the width of the i-th crack; : represents the length of the i-th crack; : represents the weight coefficient of the i-th crack; : Expressed as the total number of cracks; : Expressed as crack severity index; in, The average width of the crack is used in this formula, The coordinate spacing of the measuring points is used in this formula.

4. A municipal bridge status detection method according to claim 3, characterized in that: The robot comprises a frame (1) supporting a climbing assembly, the climbing assembly comprising a side frame (2) arranged on the frame (1), the side frame (2) comprising an integrally formed side extension portion (201), a bidirectional screw rod (3) rotating on a fixed axis on the frame (1), the side extension portions (201) in two sets of climbing assemblies being threadedly connected to the bidirectional screw rod (3), and the two sets of climbing assemblies moving synchronously towards or away from each other in a horizontal direction; Two groups of neutral seats (4) are fixedly connected to the side frame (2), a transverse axis (5) is fixedly rotated between the two groups of neutral seats (4), a group of end swing rods (6) are coaxially fixed at both ends of the transverse axis (5), and the two groups of end swing rods (6) face opposite directions in the vertical direction, and the ends of the two groups of end swing rods (6) away from the transverse axis (5) are fixedly rotated with connecting rods (7), and the ends of the connecting rods (7) away from the end swing rods (6) are fixedly rotated with longitudinal rods (9), and the ends of the longitudinal rods (9) away from the side frame (2) are provided with a supporting plate (15) that abuts against the surface of the bridge pier; The side frame (2) is provided with a longitudinal slide block (13) and a longitudinal slide groove (14) for the longitudinal slide block (13) to slide in a vertical direction. The longitudinal slide groove (14) is provided with a groove body for the longitudinal rod (9) to slide horizontally. The longitudinal rod (9) is provided with a receiving groove (10) at one end thereof facing the supporting plate (15). A pressure rod (12) is slidably connected in the receiving groove (10). A pressure spring (11) is provided in the receiving groove (10). The two ends of the pressure spring (11) are respectively fixedly connected to the longitudinal rod (9) and the pressure rod (12).

5. A municipal bridge status detection method according to claim 4, characterized in that: A guide block (8) is provided on the neutral seat (4) for fixed axis rotation, and the guide block (8) is slidably sleeved on the connecting rod (7).

6. A municipal bridge status detection method according to claim 5, characterized in that: The intensity distribution evaluation algorithm is specifically: ,in: : It is expressed as the average intensity at the j-th height end; : represents the height of the j-th height segment; : It is the total height of the pier; : Expressed as the number of height segments; : Expressed as intensity distribution index.

7. A municipal bridge status detection method according to claim 6, characterized in that: The rebound module comprises a rebound tester (16) for measuring concrete strength, and a displacement component for adjusting the measuring position of the rebound tester (16) is provided on the side frame (2); The displacement assembly comprises a transverse plate (17) arranged on the side frame (2), and the side frame (2) is provided with a transverse slide groove (18) for the transverse plate (17) to slide horizontally, the transverse plate (17) is provided with a push seat (25) fixedly connected to the rebound tester (16), and the transverse plate (17) is provided with a rectangular groove for the push seat (25) to slide horizontally; The side frame (2) is fixedly connected to a limit plate (27), one end of the push seat (25) facing the limit plate (27) is fixedly connected to a limit pin (26), and the limit plate (27) is provided with a corrugated limit groove (28) for the limit pin (26) to be slidably connected.

8. A municipal bridge status detection method according to claim 7, characterized in that: The displacement assembly further comprises a positioning plate (19) which is transmission-connected to the transverse shaft (5) and is fixedly rotated on the side frame (2); a freely swingable directional swing rod (21) is provided on the positioning plate (19); a middle portion of the directional swing rod (21) is fixedly rotated on the side frame (2); a directional pin (20) is fixedly connected to a side of the positioning plate (19) facing the directional swing rod (21); and a directional groove (22) is provided on the directional swing rod (21) for the directional pin (20) to slide; One end of the directional swing arm (21) away from the directional slot (22) is fixedly connected to a sector gear (23), the sector gear (23) is meshingly connected to a rack (24), and the rack (24) is fixedly connected to the transverse plate (17).

9. A municipal bridge status detection method according to claim 8, characterized in that: The comprehensive quality assessment algorithm is specifically: ,in, and are the crack weight coefficient and strength weight coefficient set according to the bridge inspection standard. Expressed as a comprehensive index of pier quality.

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