A method for detecting municipal bridge status

Abstract

The present invention discloses a method for detecting the status of a municipal bridge, which includes the following steps: S1, preparation; S2, climbing detection: continuously photographing the surface of the bridge pier through a camera module provided on a robot to detect and identify cracks appearing on the bridge pier in real time; S3, rebound detection: performing concrete strength detection on different height positions of the bridge pier through the rebound module; S4, data processing: a data receiving and processing module receives detection data from the rebound module and the camera module in real time; S5, comprehensive evaluation: the data receiving and processing module remotely transmits the evaluation signal to the terminal module; the present invention realizes comprehensive detection of cracks on the surface of the bridge pier and the concrete strength through the camera module and the rebound module equipped with the robot. The camera module can capture fine 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.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge detection, and in particular to a municipal bridge status detection method. Background Art

[0002] With the acceleration of urbanization, municipal bridges, as a vital component of urban transportation systems, bear an ever-increasing traffic load. However, due to their long-term exposure to the elements, bridges are subject to a variety of factors, including vehicle loads, wind, temperature fluctuations, and corrosion, which can gradually deteriorate their structural performance and safety. Without timely inspection and maintenance, aging and damage can pose serious safety risks. Therefore, condition inspection and monitoring of municipal bridges are of great significance.

[0003] This Chinese patent (publication number: CN118332655A) specifically uses finite element simulation and nondestructive testing techniques to obtain stress distribution images of roads and bridges. 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 stress distribution on roads and bridges. This application uses the fusion of different image types to predict road and bridge conditions, helping to quickly detect potential problems, reducing the workload of maintenance personnel and enabling managers to better understand the health of road and bridge structures.

[0004] When inspecting a bridge, the pier, as one of the main supporting components of the bridge, needs to be measured for its quality. However, during the inspection process of the pier, 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 this position still meets the design standards. Therefore, a municipal bridge status inspection method is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a municipal bridge status detection method, which has the advantages of automatically climbing bridge piers and performing detection, reducing the need for manual intervention, improving the automation level of the detection process, and solving the problem of difficulty in measuring the concrete strength of the upper part of the bridge pier.

[0006] To achieve the above object, the present invention provides the following technical solution: a municipal bridge status detection method, comprising the following steps:

[0007] S1. Preparation: Adjust the horizontal spacing between the two climbing components of the robot according to the size of the bridge pier to be inspected, so that the spacing between the two climbing components is compatible with the size of the bridge pier, and ensure that the robot can be firmly supported on the bridge pier;

[0008] S2. Climbing Detection: Two climbing components drive the robot to crawl upward along the bridge pier. The camera module installed on the robot continuously captures the surface of the bridge pier to detect and identify cracks on the pier in real time.

[0009] S3. Rebound test: The robot is equipped with a rebound module for testing the concrete strength of the bridge pier. As the robot crawls upward, the horizontal height of the rebound module is constantly changed, and the rebound module is used to test the concrete strength of the bridge pier at different heights.

[0010] 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 received to comprehensively evaluate the quality of the bridge pier;

[0011] 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.

[0012] Preferably, the data receiving and processing module is electrically connected to the rebound module and the camera module, and the data evaluation process of the data receiving and processing module in S includes the following steps:

[0013] S41, crack analysis: based on processing the received camera signal, determine the location, width and distribution of the crack, and combine the crack severity assessment algorithm to comprehensively assess the severity of the crack;

[0014] S42, Strength Analysis: Process the received rebound signals and analyze the strength data of concrete at different pier heights. Combined with the strength distribution evaluation algorithm, a comprehensive analysis of the structural strength of the piers is performed.

[0015] 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 pier.

[0016] Preferably, the crack severity assessment algorithm is specifically as follows: ,in:

[0017] : represents the width of the i-th crack;

[0018] : represents the length of the i-th crack;

[0019] : represents the weight coefficient of the i-th crack;

[0020] : expressed as the total number of cracks;

[0021] : expressed as crack severity index;

[0022] in, The average width of the crack is used in this formula, The coordinate spacing of the measuring points is used in this formula.

[0023] Preferably, the robot includes a frame supporting the climbing assembly, the climbing assembly includes a side frame arranged on the frame, the side frame includes an integrally formed side extension, a bidirectional screw is fixedly rotated on the frame, the side extensions in the two sets of climbing assemblies are both threadedly connected to the bidirectional screw, and the two sets of climbing assemblies move synchronously toward or away from each other in the horizontal direction;

[0024] Two groups of neutral seats are fixedly connected to the side frames, and a transverse axis is fixedly rotated between the two groups of neutral seats. A group of end swing rods are coaxially fixed at both ends of the transverse axis, and the two groups of end swing rods face opposite directions in the vertical direction. The ends of the two groups of end swing rods away from the transverse axis are fixedly rotated with connecting rods, and the ends of the connecting rods away from the end swing rods are fixedly rotated with longitudinal rods, and the ends of the longitudinal rods away from the side frames are provided with abutment plates that abut against the surface of the pier.

[0025] A guide block is provided on the neutral seat for fixed-axis rotation, and the guide block is slidably sleeved on the connecting rod.

[0026] Preferably, the side frame is provided with a longitudinal slider and a longitudinal slide groove for the longitudinal slider to slide vertically, the longitudinal slide groove is provided with a groove body for the longitudinal rod to slide horizontally, and the longitudinal rod is provided with a receiving groove at one end facing the supporting plate, a pressure rod is slidably connected in the receiving groove, and a pressure spring is provided in the receiving groove, and the two ends of the pressure spring are respectively fixedly connected to the longitudinal rod and the pressure rod.

[0027] Preferably, the intensity distribution evaluation algorithm is specifically: ,in:

[0028] : It is expressed as the average intensity at the j-th height end;

[0029] : represents the height of the j-th height segment;

[0030] : represents the total height of the pier;

[0031] : Expressed as the number of height segments;

[0032] : Expressed as the intensity distribution index.

[0033] Preferably, the rebound module includes a rebound hammer for measuring concrete strength, and the side frame is provided with a displacement component for adjusting the measuring position of the rebound hammer;

[0034] The displacement assembly includes a transverse plate arranged on the side frame, and a transverse slide groove is provided on the side frame for the transverse plate to slide horizontally, a push seat fixedly connected to the rebound tester is provided on the transverse plate, and a rectangular groove is provided on the transverse plate for the push seat to slide horizontally;

[0035] The side frame is fixedly connected to the limit plate, one end of the push seat facing the limit plate is fixedly connected to the limit pin, and the limit plate is provided with a corrugated limit groove for the limit pin to be slidably connected.

[0036] Preferably, the shifting assembly further comprises a positioning disk which is transmission-connected to the transverse shaft and is fixedly rotated on the side frame, the positioning disk is provided with a freely swinging directional swing arm, the middle portion of the directional swing arm is fixedly rotated on the side frame, a directional pin is fixedly connected to a side of the positioning disk facing the directional swing arm, and a directional slot for the directional pin to slide is provided on the directional swing arm;

[0037] One end of the directional rocker arm away from the directional slot is fixedly connected to a sector gear, the sector gear is meshedly connected to a rack, and the rack is fixedly connected to the transverse plate.

[0038] Preferably, 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.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. The present invention achieves comprehensive detection of cracks on the surface of bridge piers and concrete strength through the camera module and rebound module equipped with the robot. The camera module can capture subtle 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.

[0041] 2. The present invention sets a climbing component to drive the robot to automatically climb the bridge piers and conduct inspections, thereby reducing the need for human intervention and improving the automation level of the inspection process. This not only improves the inspection efficiency, but also enables operations in complex and dangerous environments, ensuring the safety of operations.

[0042] 3. The data receiving and processing module of the present invention comprehensively analyzes the crack image and concrete strength data, and uses the crack severity assessment algorithm and the strength distribution assessment algorithm to form a detailed quality assessment report, thereby comprehensively evaluating the overall quality status of the bridge and providing a scientific basis for maintenance and reinforcement. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a flow chart of a municipal bridge status detection method according to the present invention;

[0044] Figure 2 This is a schematic diagram of the robot in use according to the present invention;

[0045] Figure 3 This is a schematic diagram of the components where the side frame of the present invention is located;

[0046] Figure 4 This is a schematic diagram of the components where the stand is located in the present invention;

[0047] Figure 5 For the present invention Figure 3 Enlarged view of point A in the middle;

[0048] Figure 6 For the present invention Figure 4 Enlarged view of point B in the middle;

[0049] Figure 7 This is a schematic diagram of the components where the adjustment plate of the present invention is located;

[0050] Figure 8 This is a schematic diagram of the components of the directional swing arm of the present invention;

[0051] Figure 9 For the present invention Figure 7 Enlarged view of point C in the middle.

[0052] In the figure: 1. frame; 2. side frame; 201. side extension; 3. bidirectional screw; 4. neutral seat; 5. transverse axis; 6. end rocker; 7. connecting rod; 8. guide block; 9. longitudinal rod; 10. accommodating groove; 11. pressure spring; 12. pressure rod; 13. longitudinal slider; 14. longitudinal slide; 15. holding plate; 16. rebound tester; 17. transverse plate; 18. transverse slide; 19. adjustment plate; 20. directional pin; 21. directional rocker; 22. directional groove; 23. sector gear; 24. rack; 25. push seat; 26. limit pin; 27. limit plate; 28. corrugated limit groove. DETAILED DESCRIPTION

[0053] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0054] See also Figures 1 to 9 The present invention provides a technical solution: a municipal bridge status detection method, comprising the following steps:

[0055] S1. Preparation: Adjust the horizontal spacing between the two climbing components of the robot according to the size of the bridge pier to be inspected, so that the spacing between the two climbing components is compatible with the size of the bridge pier, and ensure that the robot can be firmly supported on the bridge pier;

[0056] S2. Climbing Detection: Two climbing components drive the robot to crawl upward along the bridge pier. The camera module installed on the robot continuously captures the surface of the bridge pier to detect and identify cracks on the pier in real time.

[0057] S3. Rebound test: The robot is equipped with a rebound module for testing the concrete strength of the bridge pier. As the robot crawls upward, the horizontal height of the rebound module is constantly changed, and the rebound module is used to test the concrete strength of the bridge pier at different heights.

[0058] 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 received to comprehensively evaluate the quality of the bridge pier;

[0059] 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.

[0060] like Figure 1 and Figure 2 As shown, before the inspection begins, the robot is adjusted according to the size of the bridge pier to be inspected. The robot is equipped with two sets of climbing components, and the horizontal spacing between the two sets of climbing components can be adjusted. By adjusting the horizontal spacing, the two sets of climbing components are adapted to the size of the bridge pier, thereby ensuring that the robot can be firmly supported on the bridge pier. This preparatory step is the basis of the entire inspection process, ensuring that the robot can work smoothly and reliably during the inspection process.

[0061] The robot crawls from bottom to top on the bridge pier, relying on the drive of two sets of climbing components to achieve continuous climbing. During the crawling process, the camera module on the robot continuously photographs the surface of the bridge pier, detecting and identifying cracks on the pier in real time. The camera module can capture subtle cracks and transmit image data in real time to the data receiving and processing module to provide basic data for subsequent analysis.

[0062] The robot is equipped with a rebound module for testing the concrete strength of bridge piers. As the robot crawls, the module automatically adjusts its level according to a pre-programmed procedure, allowing it to test the concrete strength at different heights within the piers. By testing at multiple heights, the module provides a comprehensive understanding of the concrete strength distribution within the piers, providing critical data for overall structural assessment.

[0063] The data receiving and processing module receives detection data from the rebound module and camera module in real time. Specifically, these data include crack images and concrete strength data. The data receiving and processing module analyzes and processes the two sets of data received, and comprehensively evaluates the quality of the bridge pier through image recognition technology and data analysis algorithms. The module can perform a detailed analysis of the size, location and concrete strength of the cracks, and combine these two sets of data to form a comprehensive evaluation report.

[0064] 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 a test report detailing the crack distribution and concrete strength of the piers. Based on the test results, it provides maintenance recommendations. These recommendations enable targeted repair and maintenance of the piers, ensuring the safety and long-term stability of the bridge.

[0065] Furthermore, 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 performs the following steps to evaluate the data:

[0066] S41, crack analysis: based on processing the received camera signal, determine the location, width and distribution of the crack, and combine the crack severity assessment algorithm to comprehensively assess the severity of the crack;

[0067] S42, Strength Analysis: Process the received rebound signals and analyze the strength data of concrete at different pier heights. Combined with the strength distribution evaluation algorithm, a comprehensive analysis of the structural strength of the piers is performed.

[0068] 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 pier.

[0069] like Figure 1 As shown in the figure, when measuring the cracks in bridge piers, the width, length and location of the cracks are comprehensively considered to evaluate the overall impact of the cracks on the bridge structure. By calculating the crack severity index, a quantitative indicator is provided to facilitate the monitoring and comparison of the bridge status.

[0070] When measuring the concrete strength of bridge piers, the strength distribution index is calculated to understand the strength of different height sections of the piers and detect areas with lower strength so that appropriate remedial measures can be taken.

[0071] At the same time, the two important indicators of cracks and strength are combined to comprehensively evaluate the quality of bridge piers. The comprehensive index helps engineers and managers make decisions on repairs and reinforcements. By regularly calculating the comprehensive pier quality index, the long-term health of the bridge can be monitored and safety hazards can be prevented.

[0072] Furthermore, the crack severity assessment algorithm is specifically as follows: ,in:

[0073] : represents the width of the i-th crack. The width of the crack is an important indicator to measure the severity of the crack. The larger the width, the greater the potential damage of the crack.

[0074] : represents the length of the i-th crack. The length of the crack is also an important indicator to measure the severity of the crack. The longer the length, the greater the potential damage of the crack.

[0075] : It is expressed as the weight coefficient of the i-th crack. The location and shape of the crack will affect the impact of the crack on the structure. For example, cracks in key locations are more serious than cracks in secondary locations.

[0076] : expressed as the total number of cracks;

[0077] : expressed as crack severity index;

[0078] in, The average width of the crack is used in this formula, The coordinate spacing of the measuring points is used in this formula.

[0079] In one of the more preferred embodiments, the robot includes a frame 1 supporting a climbing assembly, the climbing assembly includes a side frame 2 provided on the frame 1, the side frame 2 includes an integrally formed side extension 201, a bidirectional screw 3 is fixedly rotated on the frame 1, the side extensions 201 in the two sets of climbing assemblies are both threadedly connected to the bidirectional screw 3, and the two sets of climbing assemblies move synchronously toward or away from each other in the horizontal direction;

[0080] Two sets of neutral seats 4 are fixedly connected to the side frame 2. A transverse axis 5 is fixedly rotated between the two sets of neutral seats 4. A set of end rocker arms 6 are coaxially fixed at each end of the transverse axis 5, and the two sets of end rocker arms 6 face opposite directions in the vertical direction. The ends of the two sets of end rocker arms 6 away from the transverse axis 5 are fixedly rotated with connecting rods 7. The ends of the connecting rods 7 away from the end rocker arms 6 are fixedly rotated with longitudinal rods 9. The ends of the longitudinal rods 9 away from the side frame 2 are provided with abutment plates 15 that abut against the surface of the pier.

[0081] 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 .

[0082] The side frame 2 is provided with a longitudinal slider 13 and a longitudinal slide groove 14 for the longitudinal slider 13 to slide vertically. 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 facing the supporting plate 15. A pressure rod 12 is slidably connected in the receiving groove 10, and 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.

[0083] like Figure 2-Figure 6 As shown, when measuring the bridge pier, the bidirectional screw 3 is driven by a motor fixed on the frame 1 to rotate freely in the vertical direction, thereby adjusting the horizontal distance between the two groups of side extensions 201, so that the multiple groups of supporting plates 15 in the two groups of climbing components are tightly attached to the surface of the bridge pier.

[0084] At the same time, when the frame 1 is driven to climb on the bridge pier, another motor is used to drive the transverse shaft 5 to rotate freely in the vertical direction, thereby driving the two groups of end rocker arms 6 set at the end to rotate synchronously, wherein the two groups of end rocker arms 6 are in opposite directions. Therefore, when the two groups of end rocker arms 6 rotate with the transverse shaft 5, the connecting rods 7 set thereon swing in opposite directions.

[0085] At the same time, in the initial state, the two groups of supporting 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 then the longitudinal rod 9 moves in the horizontal direction, so that one group of supporting plates 15 is separated 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.

[0086] It should be noted that, by setting up two groups of climbing components, the two groups of supporting plates 15 in each group of climbing components move forward alternately, wherein each group of climbing components has at least one group of supporting plates 15 in close contact with the surface of the pier. At the same time, the supporting plates 15 are fixedly connected to the supporting rod 12, and a supporting spring 11 is provided between the supporting rod 12 and the longitudinal rod 9. When the supporting plates 15 contact the surface of the pier, the supporting spring 11 is in a compressed state, but the distance between the two groups of side frames 2 will not change under the restriction of the bidirectional screw rod 3. Therefore, the compression deformation of the supporting spring 11 enables the supporting plates 15 to apply a certain pressure to the surface of the pier, thereby increasing the friction between the supporting plates 15 and the surface of the pier, so as to ensure the stability of the climbing component when the frame 1 moves during operation.

[0087] Furthermore, the intensity distribution evaluation algorithm is specifically as follows: ,in:

[0088] : It is expressed as the average intensity at the j-th height end. Multiple measurements are performed in each height segment, and the average value is taken as the intensity of the segment;

[0089] : represents the height of the j-th height segment;

[0090] : It is expressed as the total height of the pier, that is, the total height of the pier from the bottom to the top;

[0091] : Expressed as the number of height segments;

[0092] : Expressed as the intensity distribution index.

[0093] In actual use, the concrete of each height section is measured multiple times, and the average value of the multiple measurement results is used as the strength value of the section.

[0094] Based on the embodiment of the climbing assembly, the rebound module includes a rebound hammer 16 for measuring the strength of concrete, and a displacement assembly for adjusting the measuring position of the rebound hammer 16 is provided on the side frame 2;

[0095] The displacement assembly includes a transverse plate 17 provided on the side frame 2, and a transverse slide groove 18 is provided on the side frame 2 for the transverse plate 17 to slide horizontally, a push seat 25 is provided on the transverse plate 17 and fixedly connected to the rebound tester 16, and a rectangular groove is provided on the transverse plate 17 for the push seat 25 to slide horizontally;

[0096] The side frame 2 is fixedly connected to a limit plate 27 , and one end of the push seat 25 facing the limit plate 27 is fixedly connected to a limit pin 26 . The limit plate 27 is provided with a corrugated limit groove 28 for the limit pin 26 to slide in.

[0097] The shifting assembly further includes a positioning disk 19 that is transmission-connected to the transverse shaft 5 and fixedly rotates on the side frame 2. The positioning disk 19 is provided with a freely swinging directional rocker 21. The middle portion of the directional rocker 21 is fixedly rotated on the side frame 2. A directional pin 20 is fixedly connected to the side of the positioning disk 19 facing the directional rocker 21. The directional rocker 21 is provided with a directional slot 22 for the directional pin 20 to slide.

[0098] One end of the directional rocker 21 away from the directional slot 22 is fixedly connected to a sector gear 23 , and the sector gear 23 is meshedly connected to a rack 24 , which is fixedly connected to the transverse plate 17 .

[0099] like Figure 1 、 Figure 7 、 Figure 8 and Figure 9 As shown, when the adjustment disk 19 rotates freely in the vertical direction, it can drive the directional pin 20 fixed thereon to rotate synchronously, wherein the directional pin 20 is slidably connected to the directional rocker 21 through the directional slot 22, and the directional pin 20 rotates on the side frame 2. When the directional pin 20 rotates, its horizontal position changes all the time. Therefore, when the directional pin 20 rotates in a circle, it can drive the directional rocker 21 to swing back and forth in the vertical direction.

[0100] At the same time, a fan-shaped gear 23 is fixedly provided at the end of the directional rocker arm 21, and the fan-shaped gear 23 is meshedly connected with a rack 24 fixedly provided on the transverse plate 17. Therefore, when the directional rocker arm 21 swings, the fan-shaped gear 23 can drive the rack 24 and the transverse plate 17 to move freely in the horizontal direction.

[0101] In addition, a push seat 25 is slidably provided on the transverse plate 17, and the push seat 25 is fixedly connected to the rebound tester 16. Therefore, when the adjustment disk 19 swings, the push seat 25 moves synchronously in the horizontal lateral direction following the transverse plate 17, and a limit pin 26 is fixedly provided at the horizontal longitudinal position of the push seat 25, and the limit pin 26 is slidably connected to the limit plate 27 through the corrugated limit groove 28, and the limit plate 27 is fixedly provided on the side frame 2, so its position will not change. When the horizontal lateral position of the transverse plate 17 changes, the limit pin 26 can be driven to slide on the corrugated limit groove 28, thereby driving the push seat 25 to reciprocate in the horizontal longitudinal direction.

[0102] Among them, the contact in the rebound tester 16 is perpendicular to the surface of the bridge pier. When the push seat 25 reciprocates in the horizontal longitudinal direction, it can drive the rebound tester 16 to press perpendicularly to the surface of the bridge pier. Through the horizontal lateral movement of the transverse plate 17 and the reciprocating pressing of the rebound tester 16, the concrete strength measurement process of the bridge pier at the same height end can be carried out multiple times.

[0103] It should be noted that the transverse shaft 5 and the adjustment disk 19 are driven by the same motor and are connected in transmission, and the transverse shaft 5 and the longitudinal rod 9 operate alternately. In actual use, the two can be driven to operate alternately through the meshing between the incomplete gear and the complete gear, and the transmission direction of the output shaft can be changed through the meshing relationship between multiple sets of bevel gears to ensure that the transmission process between the two will not be affected by motion interference.

[0104] Furthermore, the comprehensive quality assessment algorithm is specifically as follows: ,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.

[0105] in, and When determining the bridge, factors such as the design type, service life, environmental conditions, and historical inspection data need to be considered. Potential problems and risks of cracks and strength of the bridge need to be evaluated. At the same time, it is necessary to understand the requirements for crack and strength inspection in the relevant bridge inspection standards and specifications. For example, the weight coefficient of crack inspection is 60% and the weight coefficient of strength inspection is 40%. is 0.6, is 0.4, and after substituting it into the comprehensive quality assessment algorithm, it becomes: Then, the crack severity evaluation algorithm and strength distribution evaluation algorithm are substituted into the obtained data value to obtain the required Numeric value.

[0106] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention 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: Adjust the horizontal spacing between the two climbing components of the robot according to the size of the bridge pier to be inspected, so that the spacing between the two climbing components is compatible with the size of the bridge pier, and ensure that the robot can be firmly supported on the bridge pier; S2. Climbing Detection: Two climbing components drive the robot to crawl upward along the bridge pier. The camera module installed on the robot continuously captures the surface of the bridge pier to detect and identify cracks on the pier in real time. S3. Rebound test: The robot is equipped with a rebound module for testing the concrete strength of the bridge pier. As the robot crawls upward, the horizontal height of the rebound module is constantly changed, and the rebound module is used to test the concrete strength of the bridge pier at different heights. 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 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 proposes corresponding maintenance recommendations. The robot comprises a frame (1) supporting a climbing assembly, the climbing assembly comprises a side frame (2) arranged on the frame (1), the side frame (2) comprises an integrally formed side extension portion (201), a bidirectional screw rod (3) is provided on the frame (1) for fixed axis rotation, the side extension portions (201) in the two sets of climbing assemblies are both threadedly connected to the bidirectional screw rod (3), and the two sets of climbing assemblies move synchronously towards or away from each other in the horizontal direction; Two groups of neutral seats (4) are fixedly connected to the side frame (2), and 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 on both ends of the transverse axis (5), and the two groups of end swing rods (6) face opposite directions in the vertical direction. The ends of the two groups of end swing rods (6) away from the transverse axis (5) are fixedly rotated with a connecting rod (7), and the ends of the connecting rods (7) away from the end swing rods (6) are fixedly rotated with a longitudinal rod (9), and the end of the longitudinal rod (9) away from the side frame (2) is provided with a supporting plate (15) that abuts against the surface of the pier. The side frame (2) is provided with a longitudinal slider (13) and a longitudinal slide groove (14) for the longitudinal slider (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), and a pressure spring (11) is provided in the receiving groove (10). The two ends of the pressure spring (11) are fixedly connected to the longitudinal rod (9) and the pressure rod (12), respectively.

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 combine the crack severity assessment algorithm to comprehensively assess the severity of the crack; S42, Strength Analysis: Process the received rebound signals and analyze the strength data of concrete at different pier heights. Combined with the strength distribution evaluation algorithm, a comprehensive analysis of the structural strength of the piers is performed. 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 pier.

3. A municipal bridge status detection method according to claim 2, characterized in that: The crack severity assessment algorithm is specifically 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; : 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: 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).

5. A municipal bridge status detection method according to claim 4, characterized in that: The intensity distribution evaluation algorithm is specifically as follows: ,in: : It is expressed as the average intensity at the j-th height end; : represents the height of the j-th height segment; : represents the total height of the pier; : Expressed as the number of height segments; : Expressed as the intensity distribution index.

6. A municipal bridge status detection method according to claim 5, characterized in that: The rebound module includes a rebound tester (16) for measuring the strength of concrete, and a displacement component for adjusting the measuring position of the rebound tester (16) is provided on the side frame (2); The displacement assembly includes a transverse plate (17) arranged on the side frame (2), and a transverse slide groove (18) is provided on the side frame (2) for the transverse plate (17) to slide horizontally, a push seat (25) is provided on the transverse plate (17) and is fixedly connected to the rebound tester (16), and a rectangular groove is provided on the transverse plate (17) 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 sliding connection of the limit pin (26).

7. A municipal bridge status detection method according to claim 6, characterized in that: The shifting assembly further comprises a positioning disk (19) which is in transmission connection with the transverse shaft (5) and is fixedly rotated on the side frame (2); a freely swinging directional swing rod (21) is provided on the positioning disk (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 disk (19) facing the directional swing rod (21); and a directional slot (22) for the directional pin (20) to slide is provided on the directional swing rod (21); One end of the directional rocker (21) away from the directional slot (22) is fixedly connected to a sector gear (23), the sector gear (23) is meshedly connected to a rack (24), and the rack (24) is fixedly connected to the transverse plate (17).

8. A municipal bridge status detection method according to claim 7, characterized in that: The comprehensive quality assessment algorithm is specifically as follows: ,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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