Straddle type monorail track beam dynamic characteristic detection robot and detection method thereof

Abstract

The invention discloses a straddle type monorail track beam dynamic characteristic detection robot and a detection method thereof.The straddle type monorail track beam dynamic characteristic detection robot comprises a self-driven robot body and a non-driven robot body, and the self-driven robot body drags the non-driven robot body through a traction device to keep the same distance and synchronously walk and stop detection work; the non-driven robot and the self-driven robot respectively comprise a moving device, a fixing device, a self-adaptive device and a detection device which are the same in structure, a driving device is further mounted on the self-driven robot, and the moving device is used for driving the robot to automatically travel along the track beam; the fixing device is used for enabling the robot to start to rotate and keep a contact connection relation with the track beam in the running process; the self-adaptive device is used for enabling the robot to stably run on track beams with different curvature radiuses; the detection device tests vibration signals transmitted to the robot by the track beam through the sensor and the acquisition system. According to the method, the dynamic characteristics of the bridge can be recognized, and then possible damage to the bridge is recognized.

Description

Technical Field

[0001] The invention relates to the technical field of bridge detection, and in particular to a straddle-type monorail track beam dynamic characteristic detection robot and a detection method thereof. Background Art

[0002] Straddle monorail is widely used in urban rail transit systems, especially in high-density cities and areas with limited space. Due to its small footprint and high space utilization efficiency, straddle monorail has great potential in urban public transportation. Its unique structure makes straddle monorail particularly suitable for environments with complex terrain or obstacles. In addition, with the advancement of the concept of green travel, straddle monorail, as a low-pollution, low-noise means of transportation, has received more and more attention from environmental protection and sustainable development. With the development of intelligent technology, health status detection has become increasingly important in the operation and maintenance of straddle monorail, especially in ensuring safe and efficient operation.

[0003] At present, the health status detection of straddle-type monorail faces several major pain points. First, the accuracy and technical level of monitoring equipment need to be improved. Traditional detection methods often rely on manual inspections and infrastructure inspections, which are not only inefficient but also may have the risk of omissions. Secondly, due to the special structure of the straddle-type monorail system (such as high-altitude tracks and suspended designs), the existing monitoring technology is difficult to directly conduct a comprehensive health assessment of the track and vehicle, resulting in a monitoring blind spot. In addition, fault detection of straddle-type monorails usually requires highly specialized equipment and technology, which makes the detection cost high and it is difficult to resolve the contradiction between maintenance and cost before it is fully popularized. Finally, the level of intelligence is relatively low, and the existing diagnostic system lacks the ability to predict and provide early warning of equipment failures.

[0004] The introduction of robotic inspection technology has brought revolutionary progress in this field. Our robots have great potential for application in the health status inspection of straddle-type monorails. The robot can monitor the health status of tracks, vehicles and other key components in real time through precise sensors and intelligent technology. Using robots for inspection can efficiently cover areas that are difficult to access manually, such as high-altitude tracks and tunnels in complex environments. As the technology matures, robots can not only perform real-time monitoring, but also analyze historical data through artificial intelligence to provide support for fault warnings and detect potential problems in advance, thereby achieving predictive maintenance.

[0005] In addition, with the advancement of smart cities and smart transportation, the operating efficiency and safety of straddle-type monorails will receive greater attention. Robotic detection technology will no longer be just an option, but a core component of urban rail transit systems. It is expected that in the next few years, with the increasing demand for intelligent monitoring, data analysis and remote operation technologies, the market demand for robots in the field of straddle-type monorails will grow rapidly. This will not only help urban rail transit operators reduce maintenance costs, but also significantly improve the safety, reliability and operating efficiency of the system. Summary of the invention

[0006] In view of the defects of the above-mentioned prior art, the present invention proposes a straddle-type monorail track beam dynamic characteristics detection robot and a detection method thereof. Through this method, the bridge detection robot can travel or dock on the straddle-type monorail to collect vibration signals, thereby realizing the identification of the dynamic characteristics of the bridge and further identifying possible damage to the bridge.

[0007] The above purpose is achieved through the following technical solutions:

[0008] The present invention first provides a straddle-type monorail track beam dynamic characteristic detection robot, comprising a self-driving robot and a non-driven robot, wherein the self-driving robot pulls the non-driven robot through a traction device to maintain the same spacing and synchronously stop and go detection operations;

[0009] The driverless robot and the self-driving robot respectively include a moving device, a fixing device, an adaptive device, and a detection device with the same structure. The self-driving robot is also equipped with a driving device, wherein:

[0010] The moving device is used to drive the driven robot / undriven robot to move automatically along the track beam;

[0011] The driving device is used to drive the moving device;

[0012] The fixing device is used to keep the driven robot / undriven robot in contact and connection with the track beam during driving;

[0013] The adaptive device is used to enable the driven robot / driverless robot to travel stably on track beams with different curvature radii;

[0014] The detection device tests the vibration signal transmitted from the track beam to the driven robot / undriven robot through the sensor and the acquisition system.

[0015] Furthermore, the fixing device includes a stabilizing side wheel plate, a side wheel frame, a stabilizing wheel axle, a side pulley, a robot chassis and a universal wheel. The stabilizing side wheel plate is kept vertical to the robot chassis, and the through column rod is connected to the side rotation slot of the robot chassis through the limit hole. The side wheel frame is connected to the circular bolt hole preset on the stabilizing side wheel plate by countersunk bolts. The stabilizing wheel axle is connected to the side pulley by welding and contacts the side of the straddle-type monorail track. The stabilizing wheel axle is hinged to the side wheel frame, and the universal wheel is connected to the bottom of the robot chassis by screws.

[0016] Furthermore, the mobile device includes a driving fixed bearing and a driving shaft, the driving shaft gear is fixedly connected to the driving shaft, the driving fixed bearing adopts a vertical bearing seat, the driving fixed bearing and the driving shaft are hingedly connected to realize the rotation of the driving shaft in the driving fixed bearing, and the driving fixed bearing is connected to a preset circular bolt hole on the robot chassis by screws.

[0017] Furthermore, the driving device includes a power supply, a DC drive motor, a gear transmission chain, a motor gear, a drive shaft gear, the DC drive motor is connected to the robot motor frame by bolts, the motor gear is fixed to the rotor of the DC drive motor, and the gear transmission chain is fixed to the motor gear and the drive shaft gear.

[0018] Furthermore, the adaptive device includes a cylinder, a telescopic rod, a built-in spring, an air pressure sensor, a telescopic fixed bearing, and an air pressure solenoid valve. The telescopic rod and the built-in spring are installed inside the cylinder, the built-in spring is connected to the limiter of the telescopic rod, the air pressure sensor is installed at the internal port of the cylinder, one end of the cylinder is connected to the robot chassis through a rotating shaft, and the other end is connected to the stable side wheel plate through a rotating shaft; the air pressure solenoid valve is connected to the air pressure sensor, and the air pressure solenoid valve is connected to the cylinder through a pipeline for transmitting gas; the telescopic fixed bearing adopts an outer spherical seat bearing, and the telescopic fixed bearing is connected to the stable side wheel plate and the robot chassis by screws in the circular bolt holes preset on the stable side wheel plate and the robot chassis; the telescopic rod is connected to the rotating shaft by screws, and the rotating shaft is embedded in the telescopic fixed bearing through the limit hole.

[0019] Further, the traction device comprises a traction hole, a rigid connecting rod and a spring, the traction hole is arranged on the side of the robot chassis end and is in a vertical position with the side of the robot chassis, the spring is connected to the rigid connecting rod through a limiting hole in the connecting rod, and the rigid connecting rod and the traction hole are hinged through a buckle;

[0020] The detection device includes a GPS device, which includes a GPS board and a GPS signal receiving antenna; the GPS board is installed on the upper shell of the robot, and the GPS signal receiving antenna is fixed to the outside of the upper shell of the robot by magnetic attraction; the detection device also includes a control component, which includes a control mainboard and a signal acquisition instrument, the signal acquisition instrument is installed on the limit groove of the robot chassis, the control mainboard is installed on the limit groove of the robot chassis, the control mainboard is connected to the signal acquisition instrument, the control mainboard is powered by the DC drive motor, and the control mainboard is also electrically connected to the pneumatic solenoid valve.

[0021] The present invention also provides a method for detecting the dynamic characteristics of a straddle-type monorail bridge using the above-mentioned straddle-type monorail track beam dynamic characteristics detection robot, the method comprising the following steps:

[0022] S1: Divide the straddle-type monorail track beam to be inspected into N sections in advance, with a total of N+1 nodes. Set the walking distance, driving speed, number of stops and single collection time of the inspection robot according to the number of divided sections. The single walking distance of the robot is the length of each divided section.

[0023] S2: Install a self-driving robot at the front end of the straddle-type monorail beam to be inspected, and install a non-driven robot at the rear end. After installation, fix the self-driving robot and the non-driven robot; then connect the self-driving robot and the non-driven robot through three rigid connecting rods and springs. The interval between the self-driving robot and the non-driven robot is the length of each segment.

[0024] S3: The DC drive motor drives the self-driving robot to travel on the detection straddle-type monorail, and the undriven robot and the self-driving robot run synchronously. During the operation, the self-driving robot and the undriven robot stably travel on the track beams with different curvature radii through the adaptive device;

[0025] S4: The self-driving robot runs to the node before the first segment and stops to collect data, and the undriven robot is towed to the node after the first segment and stops to collect data synchronously;

[0026] S5: After the self-driving robot and the driverless robot complete data collection, they interact and instruct through the control panel to complete the data collection of this section. The DC drive motor drives the self-driving robot to run to the front node of the next section to stop and collect data, and the driverless robot is pulled to the rear node of the next section, that is, the front node of the previous section, to stop and collect synchronously again, forming asynchronous superposition collection of data at the same point;

[0027] S6: The self-driving robot will repeat S1.5 until it reaches the front node of the tail end of the straddle-type monorail division. The undriven robot will pull to the rear node of the tail end to complete the acquisition and will always keep pulling and following each division distance to perform signal acquisition operations during the whole process;

[0028] S7: After all tests are completed, the robot is recovered and the data in the signal collector is extracted;

[0029] S8: A bridge modal estimation method based on detecting the acceleration response of the robot is used to estimate the modal vibration shape of the bridge through short-time frequency domain decomposition and proportional rescaling technology, which specifically includes the following sub-steps:

[0030] S8.1: segment the acceleration response signals collected at each segment of the self-driving robot and the non-driving robot to form a short-term time-varying vector;

[0031] S8.2: Calculate the power spectrum density matrix of each segment of data, and extract the peak of the power spectrum density by singular value decomposition (SVD), which corresponds to the natural frequency of the bridge and the local mode shape of each segment;

[0032] S8.3: Use the rescaling correction formula to stitch the local mode shapes into the global mode shape;

[0033] S8.4: Integrate the piecewise global modal shapes to construct the complete bridge global modal shape.

[0034] Furthermore, the method for fixing the self-driving robot and the non-driving robot after the installation in step S2 specifically comprises the following steps:

[0035] S2-1: Install the self-driving robot and the non-driving robot on the straddle-type monorail to be inspected, so that the robots are parallel to it;

[0036] S2-2: Start the cylinder solenoid valve to let air into the inner cylinder and exhaust air from the outer cylinder, so that the inner cylinder pressure sensor parameter P 1 Added, outer cylinder pressure sensor parameter P 2 Decrease, inner cylinder pressure P 1 Greater than the outer cylinder pressure P 2 , the telescopic rod of the cylinder is shortened, and the side wheel contacts the straddle-type monorail to be tested;

[0037] The method for recycling the robot in step S7 comprises the following steps:

[0038] S7-1: Pause the cylinder solenoid valve to stop the cylinder from transmitting air and keep the parameters of the air pressure sensors on both sides the same P 1 =P 2 , the side wheels are fixed to the straddle-type monorail to be inspected;

[0039] S7-2: Start the cylinder solenoid valve to exhaust the inner cylinder and intake air to the outer cylinder, so that the inner cylinder pressure sensor parameter P 1 Reduce, the outer cylinder pressure sensor parameter P 2 Increase, inner cylinder pressure P 1 Less than the outer cylinder pressure P 2 , the cylinder telescopic rod is stretched, and the side wheel is separated from the straddle-type monorail that has completed the inspection;

[0040] Furthermore, during the operation of step S3, the self-driving robot and the non-driving robot stably travel on the track beams with different curvature radii through the adaptive device, and the specific method is as follows:

[0041] S3-1.1: Based on the visual inspection of the width of the straddle-type monorail to be tested, start the cylinder solenoid valve in advance to exhaust the inner cylinder and intake air to the outer cylinder. The air pressure of the inner cylinder is P′ 1 Less than the outer cylinder pressure P' 2 , the cylinder telescopic rod is stretched to roughly adjust the initial spacing of the robot side wheels;

[0042] S3-1.2: Place the bridge inspection robot steadily on the straddle-type monorail to be inspected;

[0043] S3-2.1: After the bridge robot completes track fixing, it starts to realize stop-go and drive into the curved track;

[0044] S3-2.2: The side wheels are subjected to lateral pressure from the straddle-type monorail, and the side wheel plate module where the traction side wheels are located rotates axially outward;

[0045] S3-3.1: The cylinder telescopic rod is stretched, and the inner cylinder pressure is P′ 1 Greater than the outer cylinder pressure P' 2 The air pressure sensor is derived from the cylinder solenoid valve. When the cylinder solenoid valve is activated, the inner cylinder is exhausted and the outer cylinder is inhaled, so that the parameters of the air pressure sensors on both sides are the same P′ 1 :P′ 2 =P 1 :P 2 ;

[0046] S3-3.2: The air pressure sensor parameters on both sides of the cylinder are the same P′ 1 =P′ 2 The cylinder stops transmitting air, the side wheels on both sides adapt to the curve track interface, and the cylinder has a built-in spring to provide elastic force F 弹 The straddle-type monorail provides side wheel support force F 支 Keep the side wheels fixed on the straddle rail under inspection.

[0047] S3-4.1: The bridge robot starts to return and drives into the straight track;

[0048] S3-4.2: The telescopic rod of the cylinder is subject to the elastic force F' of the built-in spring of the cylinder 弹 The side wheels are not supported by the straddle-type monorail. 支 =0, the side wheel plate 1 module where the traction side wheel is located rotates inward along the axis;

[0049] S3-4.3: The cylinder telescopic rod is compressed, and the inner cylinder pressure is P'' 1 Less than the pressure P'' of the outer cylinder 17 2 The air pressure sensor is derived from the cylinder solenoid valve. When the cylinder solenoid valve is activated, the inner cylinder is inlet and the outer cylinder is exhausted, so that the parameters of the air pressure sensors on both sides are the same P'' 1 :P'′ 2 =P′ 1 :P′ 2 =P 1 :P 2 ;

[0050] S3-4.4: The air pressure sensor parameters on both sides of the cylinder are the same P'' 1 =P' 2 , cylinder 17 stops transmitting air, the side wheels on both sides adapt to the linear track interface, and the built-in spring in the cylinder provides elastic force F'' 弹 The straddle-type monorail provides side wheel support force F 支 Keep the side wheels 4 fixed on the straddle-type monorail under inspection.

[0051] Furthermore, in step S3, the DC drive motor drives the self-driving robot to travel on the detection straddle-type monorail, including the following steps:

[0052] S3-11: Adjust the control mainboard of the first bridge inspection robot to automatic inspection, input the plane starting coordinates A (0, 0), the ending coordinates B (x, y), the measurement point spacing X (meters), the acquisition time of each section T (seconds), start the countdown S (minutes), and the driving speed V (meters / minute);

[0053] S3-12: In S1, the first bridge inspection robot automatically starts to drive to the end position B after S minutes, and stops to collect data according to the set parameters until the entire inspection process is completed;

[0054] S3-13: During the driving process, the control main board and the detection end continuously receive the real-time plane coordinate position C (x', y') of the first bridge detection robot and the plane coordinate position D (x'', y'') of the second bridge detection robot provided by the GPS module;

[0055] S3-14: In S1, when the measurement point spacing X is set to a length greater than the curve or straight line distance L meters from the plane coordinate position C (x', y') of the first bridge detection robot to the terminal coordinate B, the robot finally travels a distance of L meters and stops at coordinate B for data collection;

[0056] S3-15: The bridge inspection robot S3 will automatically stop at the bridge anti-collision guardrail for T seconds every X meters of driving distance according to the pre-set parameters, and then continue to move to the next inspection point and perform parking data collection; during operation, the DC motor drives the motor gear to rotate at a constant speed, and the gear is connected to the drive shaft gear through a transmission chain. The drive shaft gear is fixed to the drive shaft, and its rotational motion will be directly transmitted to the drive shaft. The drive shaft is also fixed to the drive wheel and embedded in the bearing sleeve. The rotation of the drive shaft will cause the drive wheel to rotate, thereby realizing the movement of the inspection robot on the straddle monorail.

[0057] S3-16: During the driving process of S5, when the bridge inspection robot drives to the curved straddle-type monorail route, the side wheels at the turning point are compressed, the side wheels are fixed to the side wheel plates, the side wheel plates expand outward, the cylinder telescopic rod stretches, and the air pressure sensors P′ at both ends are compressed. 1 ≠P′ 2 The pressure sensor signal is transmitted to the control panel, and the control panel outputs a signal to the DC motor to reduce its speed, so that the driving wheel speed V'< the preset driving speed V, and the bridge inspection robot is slowly driven and turned. 1 =P′ 2 When , the control panel stops outputting signals to the DC motor, and the driving wheel speed V' remains unchanged;

[0058] S3-17: During the driving process of S5, when the bridge inspection robot returns from the curved driving route to the straight straddle-type monorail route, the cylinder telescopic rod is subjected to the spring force F' built into the cylinder. 弹 The side wheels are not supported by the straddle-type monorail. 支 = 0, the cylinder telescopic rod drives the side wheel plate to retract, the cylinder telescopic rod is compressed, and the air pressure sensors at both ends are P′ 1 ≠P′ 2 , the air pressure sensor signal is transmitted to the control panel, the control panel outputs a signal to the original DC motor, increases the speed of the original DC motor, makes the driving wheel speed equal to the preset driving speed V, V'=V, and the control panel stops outputting the signal to the DC motor;

[0059] S3-18: During driving, the universal wheels can finely adjust the robot's driving direction to adapt to straddle-type monorail routes with different curvature radii;

[0060] S3-19: After the robot completes the detection task, it is recovered and the vibration modal data is extracted from the signal acquisition instrument for processing to realize the extraction of the dynamic characteristic information of the straddle-type monorail.

[0061] Beneficial effects:

[0062] The bridge inspection robot involved in the present invention has the ability to operate as a straddle-type monorail, and can identify the dynamic characteristics of the bridge without installing a structural health monitoring system on the bridge. In addition, the robot can detect areas that are difficult to reach with traditional visual inspection methods. When performing inspection tasks, the robot of the present invention does not need to arrange a large number of sensor arrays on the bridge deck, thereby significantly reducing the inspection cost. At the same time, the robot avoids the risk of inspection personnel working near the track, reduces the obstacles to track traffic that may be caused by the use of flying drones for detection, and thus improves the efficiency of inspection operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is a numbered diagram of the external structure of a straddle-type monorail track beam dynamic characteristic detection robot described in the present invention.

[0064] Figure 2 It is a structural schematic diagram of a fixing device of a straddle-type monorail track beam dynamic characteristic detection robot according to the present invention;

[0065] Figure 3 This is a schematic structural diagram of a straddle-type monorail track beam dynamic characteristic detection robot moving device described in the present invention.

[0066] Figure 4 It is a schematic structural diagram of an adaptive device of a straddle-type monorail track beam dynamic characteristic detection robot according to the present invention;

[0067] Figure 5 It is a structural schematic diagram of a detection device of a straddle-type monorail track beam dynamic characteristic detection robot according to the present invention;

[0068] Figure 6 It is a detailed structural schematic diagram of the DC drive motor of the present invention;

[0069] Figure 7 This is a schematic diagram of the structure of the moving device, the detection device, and the adaptive device of the driverless robot of the present invention;

[0070] Figure 8 It is a schematic structural diagram of the fixing device of the driverless robot according to the present invention;

[0071] Fig. 9 It is a schematic diagram of the self-driven bridge inspection robot pulling the non-driven bridge inspection robot on the curved track during the inspection process of the present invention;

[0072] Fig.10 It is a schematic diagram of the self-driven bridge inspection robot pulling the non-driven bridge inspection robot on a straight track during the inspection process of the present invention;

[0073] Fig.11 Construct a plan view for the present invention;

[0074] Fig.12 A side view of the structure of the present invention;

[0075] Fig.13 It is a structural elevation view of the present invention;

[0076] Description of the reference numerals: (Some non-critical parts in the drawings are not marked)

[0077] 1. Stabilizing side wheel plate; 2. Side wheel frame; 3. Stabilizing wheel axle; 4. Side pulley; 5. Robot chassis; 6. Universal wheel; 7. Column; 8. Limiting hole; 9. Rotating card slot; 10. DC drive motor; 11. Gear transmission chain; 12. Motor gear; 13. Drive shaft gear; 14. Drive fixed bearing; 15. Drive shaft; 16. Robot motor frame; 17. Cylinder; 18. Telescopic rod; 19. Built-in spring; 20. Air pressure sensor; 21. Telescopic fixed bearing; 22. Air pressure solenoid valve; 23. Towing hole; 24. Rigid connecting rod; 25. Spring; 26. GPS board; 27. GPS signal receiving antenna; 28. Robot upper shell; 29. ​​Signal acquisition instrument; 30 Control main board. DETAILED DESCRIPTION

[0078] The following will clearly and completely describe the installation and composition of the present invention in conjunction with the detailed structural description. Obviously, the detailed structural description described is only a part of the detailed structural description of the present invention, and only describes the construction connection with some feasible parts, rather than the entire detailed structural description. Based on the detailed structural description in the present invention, all other detailed structural descriptions obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0079] like Figures 1 to 11 As shown, the present invention provides a bridge dynamic characteristic detection robot straddling on a straddle-type monorail, comprising a self-driving robot and a non-driven robot, wherein the self-driving robot tows the non-driven robot through a traction device to maintain the same spacing and synchronously stop and go detection operations;

[0080] The driverless robot and the self-driving robot respectively include a moving device, a fixing device, an adaptive device, and a detection device with the same structure. The self-driving robot is also equipped with a driving device, wherein:

[0081] The moving device is used to drive the driven robot / undriven robot to move automatically along the track beam;

[0082] The driving device is used to drive the moving device;

[0083] The fixing device is used to make the driving robot / undriven robot keep in contact with the track beam during driving, so that no deviation will be caused during the implementation process, and the robot and the bridge will achieve resonance during the detection process;

[0084] The adaptive device is used to enable the driven robot / driverless robot to travel stably on track beams with different curvature radii;

[0085] The detection device tests the vibration signal transmitted from the track beam to the driving robot / non-driving robot through the sensor and the acquisition system, and is used to detect the straddle-type monorail to obtain the dynamic characteristics of the straddle-type monorail.

[0086] The bridge inspection robot involved in the present invention has the ability to operate as a straddle-type monorail, and can identify the dynamic characteristics of the bridge without installing a structural health monitoring system on the bridge. In addition, the robot can detect areas that are difficult to reach with traditional visual inspection methods. When performing inspection tasks, the robot of the present invention does not need to arrange a large number of sensor arrays on the bridge deck, thereby significantly reducing the inspection cost. At the same time, the robot avoids the risk of inspection personnel working near the track, reduces the obstacles to track traffic that may be caused by the use of flying drones for detection, and thus improves the efficiency of inspection operations.

[0087] The fixing device includes a stabilizing side wheel plate 1, a side wheel frame 2, a stabilizing wheel axle 3, a side pulley 4, a robot chassis 5 and a universal wheel 6. The stabilizing side wheel plate 1 is kept vertically with the robot chassis 5, and the through column rod 7 is connected to the side rotation slot 9 of the robot chassis 5 through the limit hole 8. The side wheel frame 2 is connected to the circular bolt hole preset on the stabilizing side wheel plate 1 by countersunk bolts. The stabilizing wheel axle 3 and the side pulley 4 are welded and contact the side of the straddle-type monorail track. The stabilizing wheel axle 3 is hinged to the side wheel frame 2, and the universal wheel 6 is connected to the bottom of the robot chassis 5 by screws.

[0088] The mobile device includes a driving fixed bearing 14 and a driving shaft 15. The driving shaft gear 14 is fixedly connected to the driving shaft 15. The driving fixed bearing 14 adopts a vertical bearing seat. The driving fixed bearing 14 and the driving shaft 15 are hingedly connected to realize the rotation of the driving shaft 15 in the driving fixed bearing 14. The driving fixed bearing 14 is connected to the preset circular bolt hole on the robot chassis 5 by screws. Specifically, the mobile device also covers the robot shell, which is made of black plastic material to prevent rain and dust from invading the interior of the robot and to provide protection for the internal structure to resist damage caused by impact of foreign objects. The universal wheel is used to make the bridge inspection robot turn.

[0089] The driving device includes a power supply, a DC drive motor 10, a gear transmission chain 11, a motor gear 12, and a drive shaft gear 13. The DC drive motor 10 is connected to the robot motor frame 16 by bolts, the motor gear 12 is fixed to the rotor of the DC drive motor 10, and the gear transmission chain 11 is fixed to the motor gear 12 and the drive shaft gear 13.

[0090] The adaptive device includes a cylinder 17, a telescopic rod 18, a built-in spring 19, an air pressure sensor 20, a telescopic fixed bearing 21, and an air pressure solenoid valve 22. The telescopic rod 18 and the built-in spring 19 are installed inside the cylinder 17, and the built-in spring 19 is connected to the limiter of the telescopic rod 18. The air pressure sensor 20 is installed at the internal port of the cylinder 17. One end of the cylinder 17 is connected to the robot chassis 5 through a rotating shaft, and the other end is connected to the stable side wheel plate 1 through a rotating shaft; the air pressure solenoid valve 22 is connected to the air pressure sensor 20, and the air pressure solenoid valve 22 is connected to the cylinder 17 through a pipeline for transmitting gas; the telescopic fixed bearing 21 adopts an outer spherical seat bearing, and the telescopic fixed bearing 21 is connected to the stable side wheel plate 1 and the robot chassis 5 through screws in the circular bolt holes preset on the stable side wheel plate 1 and the robot chassis 5; the telescopic rod 18 is connected to the rotating shaft through screws, and the rotating shaft is embedded in the telescopic fixed bearing 21 through a limiting hole. Specifically, the air pressure sensor is used to detect the air pressure parameters of the two air cavities and control the transmission of gas. The telescopic rod is used to push or retract the stable side wheel plate to ensure that the side wheels can fit the side of the straddle-type monorail and ensure that the bridge inspection robot can travel normally on curved tracks with different curvatures. The cylinder is used to push or retract the telescopic rod.

[0091] The traction device includes a traction hole 23, a rigid connecting rod 24 and a spring 25. The traction hole 23 is arranged on the side of the end of the robot chassis 5 and is in a vertical position with the side of the robot chassis 5. The spring 25 is connected to the rigid connecting rod 24 through a limiting hole in the connecting rod. The rigid connecting rod 24 and the traction hole 23 are hinged through a buckle.

[0092] The detection device includes a GPS device, which includes a GPS board 26 and a GPS signal receiving antenna 27; the GPS board 26 is installed on the upper shell 28 of the robot, and the GPS signal receiving antenna 27 is fixed to the outer side of the upper shell 28 of the robot by magnetic attraction; the detection device also includes a control component, which includes a control mainboard 30 and a signal collector 29, and the signal collector 29 is installed on the limit groove of the robot chassis 5, and the control mainboard 30 is installed on the limit groove of the robot chassis 5, and the control mainboard 30 is connected to the signal collector 29, and the control mainboard 30 is powered by the DC drive motor 10, and the control mainboard 30 is also electrically connected to the air pressure solenoid valve 22. Specifically, the vibration signal collected by the vibration acceleration sensor is stored and backed up by the signal collector. The control mainboard determines whether the bridge detection robot is located on the straddle-type monorail to be detected based on the location information provided by the GPS device. If the robot is on the straddle-type monorail to be inspected, the control signal collector starts collecting vibration signals; conversely, if the robot has left the bridge to be inspected, the control signal collector stops collecting. The control mainboard executes the preset program to control the start and stop of the motor, thereby realizing the driving of the bridge inspection robot or positioning at the measuring point of the straddle-type monorail. In addition, the control mainboard adjusts the gas delivery of the cylinder according to the program set by the air pressure sensor to ensure that the bridge inspection robot can be firmly fixed on the straddle-type monorail track and adapt to straight tracks and curved tracks with different curvatures.

[0093] The side pulley in this embodiment adopts PU dynamic side pulley (outer diameter 120mm, thickness 20mm, inner hole 50mm); the stable side wheel plate and the robot base plate are connected to the limiter through a rotating shaft to form a hinge; the driving fixed bearing adopts a vertical P-type bearing seat P6907ZZ; the driving fixed bearing and the robot base plate are connected to the circular bolt hole preset on the robot base plate through M10 screws; the telescopic fixed bearing adopts an outer spherical seat bearing UCP206, and the telescopic fixed bearing is connected to the stable side wheel plate and the robot base plate The plate is connected to the circular bolt holes preset on the stable side wheel plate and the robot base plate by M10 screws; the universal wheel is connected to the 4 circular bolt holes preset on the robot base plate by M6 screws; the cylinder telescopic rod is connected to the rotating shaft (D=50mm) by screws (d=10mm), and the rotating shaft is embedded in the telescopic fixed bearing through a limiting hole; the driving wheel and the driving shaft (D=50mm) are welded and embedded in the driving fixed bearing through a limiting hole; the upper shell of the robot is connected to the robot base plate by M10 countersunk bolts.

[0094] The present invention also provides a method for detecting the dynamic characteristics of a straddle-type monorail bridge using the above-mentioned straddle-type monorail track beam dynamic characteristics detection robot, the method comprising the following steps:

[0095] S1: Divide the straddle-type monorail track beam to be inspected into N sections in advance, with a total of N+1 nodes. Set the walking distance, driving speed, number of stops and single collection time of the inspection robot according to the number of divided sections. The single walking distance of the robot is the length of each divided section.

[0096] S2: Install a self-driving robot at the front end of the straddle-type monorail track beam to be inspected, and install a non-driven robot at the rear end, and fix the self-driving robot and the non-driven robot after installation; then connect the self-driving robot and the non-driven robot through three rigid connecting rods 24 and springs 25, and the interval between the self-driving robot and the non-driven robot is the length of each segment; the method for fixing the self-driving robot and the non-driven robot after installation specifically includes the following steps:

[0097] S2-1: Install the self-driving robot and the non-driving robot on the straddle-type monorail to be inspected, so that the robots are parallel to it;

[0098] S2-2: Start the cylinder solenoid valve 22 to allow air to enter the inner cylinder 17 and exhaust the outer cylinder 17, so that the parameter P of the inner cylinder air pressure sensor 20 1 Added, outer cylinder pressure sensor 20 parameter P 2 Reduce, the inner cylinder 17 pressure P 1 Greater than the pressure P of the outer cylinder 17 2 , the cylinder telescopic rod 18 is shortened, and the side wheel contacts the straddle-type monorail to be tested.

[0099] S3: The DC drive motor 10 drives the self-driving robot to travel on the detection straddle-type monorail, and the undriven robot and the self-driving robot run synchronously. During the operation, the self-driving robot and the undriven robot stably travel on the track beams with different curvature radii through the adaptive device; during the operation, the self-driving robot and the undriven robot stably travel on the track beams with different curvature radii through the adaptive device, and the specific method is as follows:

[0100] S3-1.1: Based on the visual inspection of the width of the straddle-type monorail to be tested, the cylinder solenoid valve 22 is pre-activated to exhaust the inner cylinder 17 and intake air to the outer cylinder 17. The air pressure of the inner cylinder 17 is P′ 1 Less than the pressure P' of the outer cylinder 17 2 , the cylinder telescopic rod 18 is stretched to roughly adjust the initial spacing of the robot side wheels;

[0101] S3-1.2: Place the bridge inspection robot steadily on the straddle-type monorail to be inspected;

[0102] S3-2.1: After the bridge robot completes track fixing, it starts to realize stop-go and drive into the curved track;

[0103] S3-2.2: The side wheel is subjected to lateral pressure from the straddle-type monorail, and the side wheel plate 1 module where the traction side wheel 4 is located rotates axially outward;

[0104] S3-3.1: The cylinder telescopic rod 18 is stretched, and the air pressure of the inner cylinder 17 is P′ 1 Greater than the pressure P' of the outer cylinder 17 2 The air pressure sensor 20 is generated from the cylinder solenoid valve 22. The cylinder solenoid valve 22 is activated to exhaust the inner cylinder 17 and intake the outer cylinder 17, so that the parameters of the air pressure sensors 20 on both sides are the same P′ 1 :P′ 2 =P 1 :P 2 ;

[0105] S3-3.2: The parameters of the air pressure sensors 20 on both sides of the cylinder are the same P′ 1 =P′ 2 The cylinder 17 stops transmitting air, the side wheels 4 on both sides adapt to the curve track interface, and the spring 19 built into the cylinder provides elastic force F 弹 The straddle-type monorail provides 4 side wheels with a support force F 支 Keep the side wheels 4 fixed on the straddle-type monorail under inspection.

[0106] S3-4.1: The bridge robot starts to return and drives into the straight track;

[0107] S3-4.2: The cylinder telescopic rod 18 is subject to the elastic force 19F' of the cylinder's built-in spring 弹 , the side wheel 4 is not supported by the side wheel support force F provided by the straddle type monorail 支 = 0, the side wheel plate 1 module where the traction side wheel 4 is located rotates inward along the axis;

[0108] S3-4.3: The cylinder telescopic rod 18 is compressed, and the air pressure P of the inner cylinder 17 1 '' is less than the pressure P of the outer cylinder 17 2 '', the air pressure sensor 20 is generated from the cylinder solenoid valve 22, and the cylinder solenoid valve 22 is activated to make the inner cylinder 17 take in air and the outer cylinder 17 exhaust air, so that the parameters of the air pressure sensors 20 on both sides are the same P 1 '':P 2 '′=P′ 1 :P′ 2 =P 1 :P 2 ;

[0109] S3-4.4: The parameters of the air pressure sensors 20 on both sides of the cylinder are the same P 1 ''=P 2'', the cylinder 17 stops transmitting air, the side wheels 4 on both sides adapt to the linear track interface, and the spring 19 built into the cylinder provides elastic force F'' 弹 The straddle-type monorail provides 4 side wheels with a support force F 支 Keep the side wheels 4 fixed on the straddle-type monorail under inspection.

[0110] Step S3: the DC drive motor 10 drives the self-driving robot to travel on the detection straddle-type monorail, including the following steps:

[0111] S3-11: The control mainboard 30 of the first bridge inspection robot is adjusted to automatic inspection, and the plane starting coordinates A (0, 0), the ending coordinates B (x, y), the measuring point spacing X (meters), and the collection time of each section T (seconds) of the straddle-type monorail to be inspected are input, and the countdown S (minutes) and the driving speed V (meters / minute) are started;

[0112] S3-12: In S1, the first bridge inspection robot automatically starts to drive to the end position B after S minutes, and stops to collect data according to the set parameters until the entire inspection process is completed;

[0113] S3-13: During the driving process, the control main board 30 and the detection end continuously receive the real-time plane coordinate position C (x', y') of the first bridge detection robot and the plane coordinate position D (x'', y'') of the second bridge detection robot provided by the GPS module;

[0114] S3-14: In S1, when the measurement point spacing X is set to a length greater than the curve or straight line distance L meters from the plane coordinate position C (x', y') of the first bridge detection robot to the terminal coordinate B, the robot finally travels a distance of L meters and stops at coordinate B for data collection;

[0115] S3-15: The bridge inspection robot S3 will automatically stop at the bridge anti-collision guardrail for T seconds every X meters of driving distance according to the pre-set parameters, and then continue to move to the next inspection point and perform parking data collection; during operation, the DC motor 10 drives the motor gear 12 to rotate at a constant speed, and the gear 12 is connected to the drive shaft gear 13 through the transmission chain 11. The drive shaft gear 13 is fixed to the drive shaft 15, and its rotational movement will be directly transmitted to the drive shaft 15. The drive shaft 15 is also fixed to the drive wheel and embedded in the bearing sleeve. The rotation of the drive shaft 15 will cause the drive wheel to rotate, thereby realizing the movement of the inspection robot on the straddle-type monorail.

[0116] S3-16: During the driving process of S5, when the bridge inspection robot drives to the curved straddle-type monorail route, the side wheel 4 at the turning point is compressed, the side wheel 4 is fixed to the side wheel plate 1, the side wheel plate 1 expands outward, the cylinder telescopic rod 18 is stretched, and the air pressure sensors 20P′ at both ends are compressed.1 ≠P′ 2 The pressure sensor 20 transmits the signal to the control panel 30, and the control panel 30 outputs the signal to the DC motor 10 to reduce its rotation speed, so that the driving wheel speed V'< the preset driving speed V, so that the bridge inspection robot can be slowly driven and turned. 1 =P′ 2 When , the control panel stops outputting signals to the DC motor 10, and the driving wheel speed V' remains unchanged;

[0117] S3-17: During the driving process of S5, when the bridge inspection robot returns from the curved driving route to the straight straddle-type monorail route, the cylinder telescopic rod 18 is subjected to the elastic force F' of the cylinder built-in spring 19. 弹 The side wheels are not supported by the straddle-type monorail. 支 = 0, the cylinder telescopic rod 18 drives the side wheel plate 1 to retract, the cylinder telescopic rod 18 is compressed, and the air pressure sensors 20P' at both ends 1 ≠P′ 2 , the air pressure sensor signal is transmitted to the control panel 30, the control panel 30 outputs a signal to the original DC motor 10, increases the speed of the original DC motor, makes the driving wheel speed equal to the preset driving speed V, V'=V, and the control panel 30 stops outputting the signal to the DC motor 10;

[0118] S3-18: During the driving process, the universal wheel 6 can finely adjust the driving direction of the robot to adapt to the straddle-type monorail route with different curvature radii;

[0119] S3-19: After the robot completes the detection task, it is recovered and the vibration modal data is extracted from the signal acquisition device 29 for processing to realize the extraction of the dynamic characteristic information of the straddle-type monorail.

[0120] S4: The self-driving robot runs to the node before the first segment and stops to collect data, and the undriven robot is towed to the node after the first segment and stops to collect data synchronously;

[0121] S5: After the self-driving robot and the driverless robot complete data collection, they interact and instruct through the control panel 30 to complete the data collection of this section, the DC drive motor 10 drives the self-driving robot to run to the front node of the next section to stop and collect, and the driverless robot is pulled to the rear node of the next section, that is, the front node of the previous section, to stop and collect synchronously again, forming asynchronous superposition collection of data at the same point;

[0122] S6: The self-driving robot will repeat S1.5 until it reaches the front node of the tail end of the straddle-type monorail division. The undriven robot will pull to the rear node of the tail end to complete the acquisition and will always keep pulling and following each division distance to perform signal acquisition operations during the whole process;

[0123] S7: After all the tests are completed, the robot is recovered and the data in the signal collector 29 is extracted; the method for recovering the robot in step S7 comprises the following steps:

[0124] S7-1: Pause the cylinder solenoid valve to stop the cylinder from transmitting air and keep the parameters of the air pressure sensors on both sides the same P 1 =P 2 , the side wheels are fixed to the straddle-type monorail to be inspected;

[0125] S7-2: Start the cylinder solenoid valve 22 to exhaust the inner cylinder 17 and intake air to the outer cylinder 17, so that the parameter P of the inner cylinder air pressure sensor 20 is 1 Reduce, outer cylinder pressure sensor 20 parameter P 2 Increase, the inner cylinder 17 air pressure P i Less than the pressure P of the outer cylinder 17 2 , the cylinder telescopic rod 18 is stretched, and the side wheel is separated from the straddle-type monorail that has completed the inspection.

[0126] S8: A bridge modal estimation method based on detecting the acceleration response of the robot is used to estimate the modal vibration shape of the bridge through short-time frequency domain decomposition and proportional rescaling technology, which specifically includes the following sub-steps:

[0127] S8.1: segment the acceleration response signals collected at each segment of the self-driving robot and the non-driving robot to form a short-term time-varying vector;

[0128] S8.2: Calculate the power spectral density matrix G for each segment of data yy (ω i ), through singular value decomposition (SVD), the peak of the power spectrum density is extracted, which corresponds to the natural frequency of the bridge and the local mode shape of each segment

[0129]

[0130] Where [U] i is the matrix containing the local mode shapes corresponding to the eigenvectors, [R] i is the matrix containing the natural frequencies corresponding to the eigenvalues, for [U] i The complex conjugate of a matrix.

[0131] S8.3: Use the rescaling correction formula to stitch the local mode shapes into a global mode shape:

[0132]

[0133] Among them, U j+1 and U jdenote the global mode shapes of segments j+1 and j, respectively, and u j+1,j+1 ,u j,j is a local modal element;

[0134] S8.4: Integrate the piecewise global modal shapes to construct the complete bridge global modal shape

[0135]

[0136] in, Represents the global mode shape of the bridge.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A straddle-type monorail track beam dynamic characteristics detection robot, characterized in that: It includes a self-driving robot and a non-driven robot, wherein the self-driving robot pulls the non-driven robot through a traction device to maintain the same spacing and synchronously stop and go detection operations; The driverless robot and the self-driving robot respectively include a moving device, a fixing device, an adaptive device, and a detection device with the same structure. The self-driving robot is also equipped with a driving device, wherein: The moving device is used to drive the driven robot / undriven robot to move automatically along the track beam; The driving device is used to drive the moving device; The fixing device is used to keep the driven robot / undriven robot in contact and connection with the track beam during driving; The adaptive device is used to enable the driven robot / driverless robot to travel stably on track beams with different curvature radii; The detection device tests the vibration signal transmitted from the track beam to the driven robot / undriven robot through the sensor and the acquisition system.

2. The straddle-type monorail track beam dynamic characteristics detection robot according to claim 1, characterized in that: The fixing device comprises a stabilizing side wheel plate (1), a side wheel frame (2), a stabilizing wheel axle (3), a side pulley (4), a robot chassis (5) and a universal wheel (6); the stabilizing side wheel plate (1) and the robot chassis (5) are kept vertical; a through column rod (7) is connected to a side rotation slot (9) of the robot chassis (5) through a limit hole (8); the side wheel frame (2) is connected to a circular bolt hole preset on the stabilizing side wheel plate (1) by a countersunk bolt; the stabilizing wheel axle (3) and the side pulley (4) are connected by welding and contact the side surface of the straddle-type monorail track; the stabilizing wheel axle (3) and the side wheel frame (2) are hinged; and the universal wheel (6) is connected to the bottom of the robot chassis (5) by a screw.

3. The straddle-type monorail track beam dynamic characteristics detection robot according to claim 1 or 2, characterized in that: The mobile device comprises a driving fixed bearing (14) and a driving shaft (15); the driving shaft gear (14) is fixedly connected to the driving shaft (15); the driving fixed bearing (14) adopts a vertical bearing seat; the driving fixed bearing (14) and the driving shaft (15) are connected by a hinge to realize the rotation of the driving shaft (15) in the driving fixed bearing (14); the driving fixed bearing (14) is connected to a circular bolt hole preset on the robot chassis (5) by screws.

4. The straddle-type monorail track beam dynamic characteristics detection robot according to claim 3, characterized in that: The driving device comprises a power supply, a DC driving motor (10), a gear transmission chain (11), a motor gear (12), and a driving shaft gear (13); the DC driving motor (10) is connected to a robot motor frame (16) by bolts; the motor gear (12) is fixedly connected to a rotor of the DC driving motor (10); and the gear transmission chain (11) is fixedly connected to the motor gear (12) and the driving shaft gear (13).

5. The track beam dynamic characteristics detection robot according to claim 1, 2 or 4, characterized in that: The adaptive device comprises a cylinder (17), a telescopic rod (18), an internal spring (19), an air pressure sensor (20), a telescopic fixed bearing (21), and an air pressure solenoid valve (22). The telescopic rod (18) and the internal spring (19) are installed inside the cylinder (17). The internal spring (19) is connected to the limiter of the telescopic rod (18). The air pressure sensor (20) is installed at the internal port of the cylinder (17). One end of the cylinder (17) is connected to the robot chassis (5) through a rotating shaft, and the other end is connected to the stabilizing side wheel plate (1) through a rotating shaft. The air pressure solenoid valve (22) is connected to the air pressure sensor (20), and the air pressure solenoid valve (22) is connected to the cylinder (17) through a pipeline for transmitting gas; the telescopic fixed bearing (21) adopts an outer spherical seat bearing, and the telescopic fixed bearing (21) is connected to the stable side wheel plate (1) and the robot chassis (5) through screws in the circular bolt holes preset on the stable side wheel plate (1) and the robot chassis (5); the telescopic rod (18) is connected to the rotating shaft through screws, and the rotating shaft is embedded in the telescopic fixed bearing (21) through a limit hole.

6. The straddle-type monorail track beam dynamic characteristics detection robot according to claim 1, 2 or 4, characterized in that: The traction device comprises a traction hole (23), a rigid connecting rod (24) and a spring (25); the traction hole (23) is arranged on the side of the end of the robot chassis (5) and is in a vertical position with respect to the side of the robot chassis (5); the spring (25) and the rigid connecting rod (24) are connected via a limiting hole in the connecting rod; the rigid connecting rod (24) and the traction hole (23) are hinged via a buckle; The detection device comprises a GPS device, and the GPS device comprises a GPS board (26) and a GPS signal receiving antenna (27); the GPS board (26) is mounted on the upper shell (28) of the robot, and the GPS signal receiving antenna (27) is fixed to the outer side of the upper shell (28) of the robot by magnetic attraction; the detection device also comprises a control component, and the control component comprises a control main board (30) and a signal acquisition instrument (29), and the signal acquisition instrument (29) is mounted on the limit groove of the robot chassis (5), and the control main board (30) is mounted on the limit groove of the robot chassis (5), and the control main board (30) is connected with the signal acquisition instrument (29), and the control main board (30) is powered by the DC drive motor (10), and the control main board (30) is also electrically connected to the air pressure solenoid valve (22).

7. A method for detecting the dynamic characteristics of a straddle-type monorail bridge using the straddle-type monorail track beam dynamic characteristics detection robot according to any one of claims 1 to 6, characterized in that: The method comprises the following steps: S1: Divide the straddle-type monorail track beam to be inspected into N sections in advance, with a total of N+1 nodes. Set the walking distance, driving speed, number of stops and single collection time of the inspection robot according to the number of divided sections. The single walking distance of the robot is the length of each divided section. S2: Install a self-driving robot at the front end of the straddle-type monorail beam to be inspected, and install a non-driven robot at the rear end. After installation, fix the self-driving robot and the non-driven robot; then connect the self-driving robot and the non-driven robot through three rigid connecting rods (24) and springs (25), and the interval between the self-driving robot and the non-driven robot is the length of each segment; S3: The DC drive motor (10) drives the self-driving robot to travel on the detection straddle-type monorail, and the undriven robot and the self-driving robot run synchronously. During the operation, the self-driving robot and the undriven robot stably travel on the track beams with different curvature radii through the adaptive device; S4: The self-driving robot runs to the node before the first segment and stops to collect data, and the undriven robot is towed to the node after the first segment and stops to collect data synchronously; S5: After the self-driving robot and the driverless robot complete data collection, they interact and instruct through the control panel (30) to complete the data collection of this section, the DC drive motor (10) drives the self-driving robot to run to the front node of the next section to stop and collect data, and the driverless robot is pulled to the rear node of the next section, that is, the front node of the previous section, to stop and collect synchronously again, so as to form asynchronous superposition collection of data at the same point; S6: The self-driving robot will repeat S1.5 until it reaches the front node of the tail end of the straddle-type monorail division. The undriven robot will pull to the rear node of the tail end to complete the acquisition and will always keep pulling and following each division distance to perform signal acquisition operations during the whole process; S7: After all tests are completed, the robot is recovered and the data in the signal acquisition device (29) is extracted; S8: A bridge modal estimation method based on detecting the acceleration response of the robot is used to estimate the modal vibration shape of the bridge through short-time frequency domain decomposition and proportional rescaling technology, which specifically includes the following sub-steps: S8.1: segment the acceleration response signals collected at each segment of the self-driving robot and the non-driving robot to form a short-term time-varying vector; S8.2: Calculate the power spectrum density matrix of each segment of data, and extract the peak of the power spectrum density by singular value decomposition (SVD), which corresponds to the natural frequency of the bridge and the local mode shape of each segment; S8.3: Use the rescaling correction formula to stitch the local mode shapes into the global mode shape; S8.4: Integrate the piecewise global modal shapes to construct the complete bridge global modal shape.

8. The method for detecting dynamic characteristics of a straddle-type monorail bridge according to claim 7, characterized in that: The method for fixing the self-driving robot and the non-driving robot after installation in step S2 specifically comprises the following steps: S2-1: Install the self-driving robot and the non-driving robot on the straddle-type monorail to be inspected, so that the robots are parallel to it; S2-2: Start the cylinder solenoid valve (22), so that the inner cylinder (17) takes in air and the outer cylinder (17) exhausts air, so that the parameter P1 of the inner cylinder air pressure sensor (20) increases and the parameter P2 of the outer cylinder air pressure sensor (20) decreases, the air pressure P1 of the inner cylinder (17) is greater than the air pressure P2 of the outer cylinder (17), the cylinder telescopic rod (18) shortens, and the side wheel contacts the straddle-type monorail to be detected; The method for recycling the robot in step S7 comprises the following steps: S7-1: Pause the cylinder solenoid valve to stop the cylinder from transmitting air, keep the parameter ratio of the air pressure sensors on both sides the same P1=P2, and fix the side wheel to the straddle-type monorail to be tested; S7-2: Start the cylinder solenoid valve (22), exhaust the inner cylinder (17) and allow air to enter the outer cylinder (17), so that the parameter P1 of the inner cylinder pressure sensor (20) decreases and the parameter P2 of the outer cylinder pressure sensor (20) increases. The air pressure P1 of the inner cylinder (17) is less than the air pressure P2 of the outer cylinder (17), the cylinder telescopic rod (18) is stretched, and the side wheel is separated from the straddle-type monorail that has completed the inspection.

9. The method for detecting dynamic characteristics of a straddle-type monorail bridge according to claim 7, characterized in that: During the operation of step S3, the self-driving robot and the non-driving robot stably travel on the track beams with different curvature radii through the adaptive device, and the specific method is as follows: S3-1.1: Based on the visual inspection of the width of the straddle-type monorail to be inspected, the cylinder solenoid valve (22) is pre-activated to exhaust the inner cylinder (17) and allow air to enter the outer cylinder (17). The air pressure P′1 of the inner cylinder (17) is less than the air pressure P′2 of the outer cylinder (17). The cylinder telescopic rod (18) is stretched to roughly adjust the initial spacing of the robot side wheels. S3-1.2: Place the bridge inspection robot steadily on the straddle-type monorail to be inspected; S3-2.1: After the bridge robot completes track fixing, it starts to realize stop-go and drive into the curved track; S3-2.2: The side wheels are subjected to lateral pressure from the straddle-type monorail, and the side wheel plate (1) module where the traction side wheels (4) are located rotates axially outward; S3-3.1: The cylinder telescopic rod (18) is stretched, the air pressure P′1 of the inner cylinder (17) is greater than the air pressure P′2 of the outer cylinder (17), the air pressure sensor (20) is triggered by the cylinder solenoid valve (22), the cylinder solenoid valve (22) is activated, the inner cylinder (17) is exhausted and the outer cylinder (17) is inhaled, so that the parameters of the air pressure sensors (20) on both sides are the same ratio P′1:P′2=P1:P2; S3-3.2: The parameters of the air pressure sensors (20) on both sides of the cylinder are the same, P′1=P′2, the cylinder (17) stops transmitting air, the side wheels (4) on both sides adapt to the curved track interface, and the spring (19) built into the cylinder provides elastic force F 弹 The straddle-type monorail provides the side wheels (4) with a support force F 支 Keep the side wheels (4) fixed on the straddle-type monorail under inspection. S3-4.1: The bridge robot starts to return and drives into the straight track; S3-4.2: The cylinder telescopic rod (18) is subject to the elastic force F' of the cylinder built-in spring (19) 弹 The side wheel (4) is not supported by the straddle-type monorail. 支 = 0, the side wheel plate 1 module where the traction side wheel (4) is located rotates inward along the axis; S3-4.3: The cylinder telescopic rod (18) is compressed, and the air pressure P''1 of the inner cylinder (17) is less than the air pressure P''2 of the outer cylinder (17). The air pressure sensor (20) is triggered by the cylinder solenoid valve (22). The cylinder solenoid valve (22) is activated, so that the inner cylinder (17) is inlet and the outer cylinder (17) is exhausted, so that the parameters of the air pressure sensors (20) on both sides are the same, P''1: P''2 = P'1: P'2 = P1: P2; S3-4.4: The parameters of the air pressure sensors (20) on both sides of the cylinder are the same P''1=P''2, the cylinder (17) stops transmitting air, the side wheels (4) on both sides adapt to the linear track interface, and the spring (19) built into the cylinder provides the elastic force F'' 弹 The straddle-type monorail provides the side wheels (4) with a support force F 支 Keep the side wheels (4) fixed on the straddle-type monorail under inspection.

10. The method for detecting dynamic characteristics of a straddle-type monorail bridge according to claim 7, characterized in that Step S3 wherein the DC drive motor (10) drives the self-driving robot to travel on the detection straddle-type monorail comprises the following steps: S3-11: The control mainboard (30) of the first bridge inspection robot is adjusted to automatic inspection, and the plane starting coordinates A (0, 0), the ending coordinates B (x, y), the distance between measuring points X (meters), the collection time of each section T (seconds) of the straddle-type monorail to be inspected are input, and the countdown S (minutes) and the driving speed V (meters / minute) are started; S3-12: In S1, the first bridge inspection robot automatically starts to drive to the end position B after S minutes, and stops to collect data according to the set parameters until the entire inspection process is completed; S3-13: During the driving process, the control main board (30) and the detection end continuously receive the real-time plane coordinate position C (x', y') of the first bridge detection robot and the plane coordinate position D (x'', y'') of the second bridge detection robot provided by the GPS module; S3-14: In S1, when the measurement point spacing X is set to a length greater than the curve or straight line distance L meters from the plane coordinate position C (x', y') of the first bridge detection robot to the terminal coordinate B, the robot finally travels a distance of L meters and stops at coordinate B for data collection; S3-15: The bridge inspection robot S3 will automatically stop at the bridge anti-collision guardrail for T seconds every X meters of travel distance according to the pre-set parameters, and then continue to move to the next inspection point and perform parking data collection; during the operation, the DC motor (10) drives the motor gear (12) to rotate at a constant speed, and the gear (12) is connected to the drive shaft gear (13) through the transmission chain (11). The drive shaft gear (13) and the drive shaft (15) are in a fixed state, and its rotational movement will be directly transmitted to the drive shaft (15). The drive shaft (15) and the drive wheel are also fixed and embedded in the bearing sleeve. The rotation of the drive shaft (15) will cause the drive wheel to rotate, thereby realizing the movement of the inspection robot on the straddle-type monorail. S3-16: During the driving process of S5, when the bridge inspection robot drives to the curved straddle-type monorail route, the side wheel (4) at the turning point is compressed, the side wheel (4) is fixedly connected to the side wheel plate (1), the side wheel plate (1) expands outward, the cylinder telescopic rod (18) is stretched, the air pressure sensors 20P′1≠P′2 at both ends, the air pressure sensor (20) transmits the signal to the control panel (30), and the control panel (30) outputs a signal to the DC motor 10, reducing its rotation speed so that the driving wheel speed V'<the preset driving speed V, so that the bridge inspection robot can be slowly driven and turned. When the air pressure sensors 20P′1=P′2 at both ends, the control panel stops outputting signals to the DC motor (10), and the driving wheel speed V' remains unchanged; S3-17: During the driving process of S5, when the bridge inspection robot returns from the curved driving route to the straight straddle-type monorail route, the cylinder telescopic rod (18) is subjected to the elastic force F' of the cylinder built-in spring (19). 弹 The side wheels are not supported by the straddle-type monorail. 支 =0, the cylinder telescopic rod (18) drives the side wheel plate (1) to retract, the cylinder telescopic rod (18) is compressed, the air pressure sensors 20 at both ends P′1≠P′2, the air pressure sensor signals are transmitted to the control panel (30), the control panel (30) outputs a signal to the original DC motor (10), increases the original DC motor speed, makes the driving wheel speed equal to the preset driving speed V, V′=V, the control panel (30) stops outputting signals to the DC motor (10); S3-18: During the driving process, the universal wheel (6) can finely adjust the driving direction of the robot to adapt to the straddle-type monorail route with different curvature radii; S3-19: After the robot completes the detection task, it is recovered and vibration modal data is extracted from the signal acquisition device (29) for processing to achieve the extraction of dynamic characteristic information of the straddle-type monorail.

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