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

Abstract

The application discloses a straddle type monorail track beam dynamic characteristic detection robot and a detection method thereof. The robot comprises a self-driving robot and a non-driving robot. The self-driving robot pulls the non-driving robot through a traction device to keep the same interval and stop synchronously for detection operation. The self-driving robot and the non-driving robot respectively comprise mobile devices, fixing devices, self-adaptive devices and detection devices which have the same structure. The self-driving robot is additionally provided with a driving device. The mobile device is used for driving the robot to automatically travel along the track beam. The fixing device is used for keeping the robot in contact with the track beam during the travel. The self-adaptive device is used for stably driving the robot on the track beam with different curvature radii. The detection device tests the vibration signal transmitted from the track beam to the robot through a sensor and a collection system. The application can realize the identification of the bridge dynamic characteristics and further identify the possible damage of the bridge.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bridge detection, and particularly relates to a deck-type monorail track beam dynamic characteristic detection robot and a detection method thereof. BACKGROUND

[0002] Deck-type monorails are widely used in urban rail transit systems, especially in high-density cities and space-limited areas. Due to its small footprint and high space utilization efficiency, the deck-type monorail has great potential in urban public transportation. Its unique structure makes it particularly suitable for complex terrain or environments with obstacles. In addition, with the promotion of the concept of green travel, the deck-type monorail, as a low-pollution and low-noise transportation tool, is increasingly concerned about environmental protection and sustainable development. With the development of intelligent technology, health status detection becomes increasingly important in the operation and maintenance of deck-type monorails, especially in ensuring safe and efficient operation.

[0003] Currently, the health status detection of deck-type monorails faces several major pain points. First, the precision and technical level of monitoring equipment need to be improved. Traditional detection methods often rely on manual inspection and infrastructure inspection, which is not only inefficient but also may have missed risks. Second, due to the special structure of the deck-type monorail system (such as high-altitude tracks and suspension designs), existing monitoring technologies are difficult to directly conduct comprehensive health assessment of the track and vehicle, resulting in monitoring blind spots. In addition, the fault detection of deck-type monorails usually requires highly specialized equipment and technology, which makes the detection cost higher and makes it difficult to solve the contradiction between maintenance and cost before full popularization. Finally, the level of intelligence is relatively low, and the existing diagnostic system lacks the ability to predict and early warn equipment failures.

[0004] The introduction of robot detection technology has brought revolutionary progress to this field. Our robot has great application potential in the health status detection of deck-type monorails. The robot can monitor the health status of the track, vehicle and other key components in real time through precise sensors and intelligent technology. Using robots for detection can efficiently cover areas that are difficult for humans to access, such as high-altitude tracks and tunnel sections in complex environments. As technology matures, robots not only can perform real-time monitoring, but also can support fault early warning by analyzing historical data through artificial intelligence, discovering potential problems in advance, and thus achieving predictive maintenance.

[0005] In addition, with the advancement of smart cities and intelligent transportation, the operational efficiency and safety of straddle-type monorails will receive more attention. Robotic inspection technology will no longer be an optional item, but a core component of urban rail transit systems. It is expected that in the coming years, as the demand for intelligent monitoring, data analysis, and remote operation technology increases, the market demand for robots in the straddle-type monorail field will grow rapidly. This will not only help urban rail transit operators reduce maintenance costs, but also significantly improve the safety, reliability, and operational efficiency of the system. SUMMARY

[0006] In view of the defects in the prior art, the present application provides a straddle-type monorail track beam dynamic characteristic detection robot and a detection method thereof. Through the method, the bridge detection robot can travel or stop on the straddle-type monorail to collect vibration signals, and can identify the dynamic characteristics of the bridge, and further identify possible damage to the bridge.

[0007] The above-mentioned object is achieved by the following technical solutions:

[0008] The present application first provides a straddle-type monorail track beam dynamic characteristic detection robot, comprising a self-driven robot and a non-driven robot, the self-driven robot pulls the non-driven robot through a traction device to maintain the same spacing and synchronous start-stop detection operation;

[0009] The non-driven robot and the self-driven robot respectively comprise a mobile device, a fixing device, an adaptive device, and a detection device with the same structure, and the self-driven robot further comprises a driving device, wherein:

[0010] The mobile device is used to drive the driven robot / non-driven robot to automatically travel along the track beam;

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

[0012] The fixing device is used to maintain the contact connection relationship between the driven robot / non-driven robot and the track beam during the travel process;

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

[0014] The detection device tests the vibration signals transmitted from the track beam to the driven robot / non-driven robot through a sensor and a collection system.

[0015] Further, the fixing device comprises a stable side wheel plate, a side wheel frame, a stable wheel shaft, a side pulley, a robot chassis and a universal wheel, the stable side wheel plate is perpendicular to the robot chassis, a through column rod is connected to the side rotating clamping groove of the robot chassis through a limiting hole, the side wheel frame is connected to the preset circular bolt hole of the stable side wheel plate through a countersunk bolt, the stable wheel shaft and the side pulley are connected through welding, and the stable wheel shaft is in contact with the side of the straddle-type monorail track, the stable wheel shaft is hinged to the side wheel frame, and the universal wheel is connected to the lower side of the robot chassis through a screw.

[0016] Further, the moving device comprises a driving fixed bearing and a driving shaft, the driving shaft gear is fixed to the driving shaft, the driving fixed bearing adopts a vertical bearing seat, the driving fixed bearing and the driving shaft are connected through a hinge link, the driving shaft rotates in the driving fixed bearing, and the driving fixed bearing is connected to the preset circular bolt hole of the robot chassis through a screw.

[0017] Further, the driving device comprises a power supply, a direct-current driving motor, a gear transmission chain, a motor gear, a driving shaft gear, the direct-current driving motor is connected to the robot motor frame through a bolt, the motor gear is fixed to the rotor of the direct-current driving motor, and the gear transmission chain is fixed to the motor gear and the driving shaft gear.

[0018] Further, the self-adapting device comprises a gas cylinder, an extension rod, an internal spring, a gas pressure sensor, an extension fixed bearing and a gas pressure electromagnetic valve, the extension rod and the internal spring are installed in the gas cylinder, the internal spring is connected to the limiter of the extension rod, the gas pressure sensor is installed in the internal port of the gas cylinder, one end of the gas cylinder is connected to the robot chassis through a rotating shaft, the other end of the gas cylinder is connected to the stable side wheel plate through a rotating shaft, the gas pressure electromagnetic valve is connected to the gas pressure sensor, the gas pressure electromagnetic valve is connected to the gas cylinder through a pipeline for transmitting gas, the extension fixed bearing adopts an outer spherical surface bearing seat, the extension fixed bearing is connected to the preset circular bolt hole of the stable side wheel plate and the robot chassis through a screw, the extension rod is connected to the rotating shaft through a screw, and the rotating shaft is embedded in the extension fixed bearing through a limiting hole.

[0019] Further, the traction device comprises a traction hole, a rigid connecting rod and a spring, the traction hole is arranged on the end side of the robot chassis and is perpendicular to the side of the robot chassis, the spring and the rigid connecting rod are connected through a connecting rod limiting hole, and the rigid connecting rod and the traction hole are hinged through a buckle ring.

[0020] The detection device comprises a GPS device, the GPS device comprises a GPS board card and a GPS signal receiving antenna; the GPS board card is installed on the upper shell of the robot, and the GPS signal receiving antenna is fixed on the outside of the upper shell of the robot by magnetic attraction; the detection device further comprises a control assembly, the control assembly comprises a control mainboard and a signal acquisition instrument, the signal acquisition instrument is installed on the limiting groove of the robot chassis, the control mainboard is installed on the limiting groove of the robot chassis, the control mainboard is in communication with the signal acquisition instrument, the control mainboard is powered by the direct-current driving motor, and the control mainboard is electrically connected with the air pressure electromagnetic valve.

[0021] The application also provides a method for detecting the dynamic characteristics of a straddle-type monorail bridge by using the straddle-type monorail track beam dynamic characteristic detection robot.

[0022] S1: the straddle-type monorail track beam to be detected is divided into N segments in advance, and there are N+1 nodes; the detection robot walking distance, driving speed, stopping frequency and single collection time are set according to the number of divided segments, and the single walking distance of the robot is the length of each divided segment;

[0023] S2: a self-driving robot is installed at the front end of the straddle-type monorail track beam to be detected, and a non-driving robot is installed at the rear end; after installation, the self-driving robot and the non-driving robot are fixed; then the self-driving robot and the non-driving robot are connected by three rigid connecting rods and springs, and the interval distance between the self-driving robot and the non-driving robot is the length of each divided segment;

[0024] S3: the direct-current driving motor drives the self-driving robot to drive on the detection straddle-type monorail, and the non-driving robot synchronously runs with the self-driving robot; during the running process, the self-driving robot and the non-driving robot stably run on the track beam with different curvature radii through the self-adaptive device;

[0025] S4: the self-driving robot stops at the front node of the first segment for data collection, and the non-driving robot is towed to the rear node of the first segment for synchronous data collection;

[0026] S5: after the self-driving robot and the non-driving robot complete data collection, the control panel is used for interactive indication to complete data collection of the segment; the direct-current driving motor drives the self-driving robot to stop at the front node of the next segment for collection, and the non-driving robot is towed to the rear node of the next segment, i.e. the front node of the previous segment, for synchronous collection again, so as to form the same-point asynchronous superposition collection of data;

[0027] S6: The self-driving robot repeats S1.5 until it reaches the front node of the end of the straddle-type monorail division, and the non-driving robot is pulled to the end of the rear node to complete the collection and always keep the distance of each division during the process to follow the signal collection work;

[0028] S7: All detection is completed, the robot is recovered, and the data in the signal collection instrument is extracted;

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

[0030] S8.1: The acceleration response signals collected by the self-driving robot and the non-driving robot are segmented to form short-time time-varying vectors;

[0031] S8.2: The power spectral density matrix of each segment of data is calculated, and the peak value of the power spectral density is extracted through singular value decomposition (SVD), corresponding to the natural frequency of the bridge and the local modal shape of each division segment;

[0032] S8.3: The local modal shape is spliced into a global modal shape using a proportional rescaling correction formula;

[0033] S8.4: The segmented global modal shape is integrated to construct a complete bridge global modal shape.

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

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

[0036] S2-2: Start the air cylinder solenoid valve, make the inside air cylinder intake, and the outside air cylinder exhaust, so that the inside air cylinder pressure sensor parameter P1 increases, and the outside air cylinder pressure sensor parameter P2 decreases, the inside air cylinder pressure P1 is greater than the outside air cylinder pressure P2, the air cylinder telescopic rod shortens, and the side wheel contacts the straddle-type monorail to be detected;

[0037] The method for recovering the robot in step S7 includes the following steps:

[0038] S7-1: Suspend the air cylinder solenoid valve, stop the air cylinder from transmitting air, keep the proportion of the two side air pressure sensor parameters the same P1=P2, and fix the side wheel with the straddle-type monorail to be detected;

[0039] S7-2: Start the cylinder solenoid valve, make the inner cylinder exhaust and the outer cylinder intake, make the inner cylinder air pressure sensor parameter P1 decrease and the outer cylinder air pressure sensor parameter P2 increase, the inner cylinder air pressure P1 is less than the outer cylinder air pressure P2, the cylinder telescopic rod is stretched, the side wheel is separated from the completed detection straddle type monorail;

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

[0041] S3-1.1: According to the visual detection of the width of the straddle type monorail to be detected, the cylinder solenoid valve is started in advance to make the inner cylinder exhaust and the outer cylinder intake, the inner cylinder air pressure P'1 is less than the outer cylinder air pressure P'2, the cylinder telescopic rod is stretched, and the initial interval of the robot side wheel is coarsely adjusted;

[0042] S3-1.2: The bridge detection robot is stably placed on the straddle type monorail to be detected;

[0043] S3-2.1: After the bridge robot completes the track fixation, the bridge robot starts to realize walking and stopping and drives into the curved track;

[0044] S3-2.2: The side wheel is subjected to the lateral pressure of the straddle type monorail, and the side wheel plate module where the side wheel is located rotates along the axial outer side;

[0045] S3-3.1: The cylinder telescopic rod is stretched, the inner cylinder air pressure P'1 is greater than the outer cylinder air pressure P'2, the air pressure sensor sends a signal to the cylinder solenoid valve, the cylinder solenoid valve is started, the inner cylinder exhausts and the outer cylinder intakes, and the parameters of the air pressure sensors on both sides are realized to be the same P'1:P'2=P1:P2;

[0046] S3-3.2: The parameters of the air pressure sensors 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 curved track interface, and the built-in spring of the cylinder provides an elastic force F 弹 and the straddle type monorail provides a side wheel supporting force F 支 The side wheel is fixed on the straddle type monorail in the detection.

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

[0048] S3-4.2: When the cylinder telescopic rod is subjected to the elastic force F' of the built-in spring of the cylinder 弹 and the side wheel does not receive the side wheel supporting force F 支 provided by the straddle type monorail is equal to 0, the side wheel plate 1 module where the side wheel is located rotates along the axis to the inner side;

[0049] S3-4.3: Cylinder telescopic rod compression, inner side cylinder air pressure P' '1 is less than outer side cylinder 17 air pressure P''2, air pressure sensor sends to cylinder electromagnetic valve, cylinder electromagnetic valve starts, inner side cylinder inlet air, outer side cylinder exhaust, realizes both sides air pressure sensor parameter proportion same P''1: P''2 = P'1: P'2 = P1: P2;

[0050] S3-4.4: Cylinder both sides air pressure sensor parameter same P''1 = P''2, cylinder 17 stops transmission air, both sides side wheel self-adapting straight rail interface, cylinder built-in spring provides elastic force F'' 弹 With straddle type monorail provides side wheel support force F 支 Keep side wheel 4 fixed on the detected straddle type monorail.

[0051] Further, the step S3 described direct current drive motor drive self-driving robot drives on the detected straddle type monorail includes the following steps:

[0052] S3-11: In the control mainboard of the first bridge detection robot, adjust to automatic detection, input detection the plane starting coordinate A (0, 0) of the detected straddle type monorail, the terminal coordinate B (x, y), the measurement point spacing X (m), the collection time T (s) of each section, the start countdown S (min), the driving speed V (m / min);

[0053] S3-12: In S1, the first bridge detection robot automatically starts driving to the terminal position B after S minutes, and stops collecting according to the set parameters until the end of the detection process;

[0054] S3-13: In the driving process, the control mainboard and the detection end continuously receive the real-time first bridge detection robot plane coordinate position C (x', y') and the second bridge detection robot plane coordinate position D (x'', y'') 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 first bridge detection robot plane coordinate position C (x', y') to the terminal coordinate B, the final driving distance of the robot is L meters, and the data collection is stopped at the coordinate B;

[0056] S3-15: The bridge inspection robot S3, based on pre-set parameters, will automatically stop at the bridge crash barrier for T seconds every X meters, then continue moving to the next inspection point and performing stop data collection. During operation, a DC motor drives a gear at a constant speed, which is connected to the drive shaft gear via a transmission chain. The drive shaft gear is fixedly connected to the drive shaft, and its rotational motion is directly transmitted to the drive shaft. The drive shaft and drive wheel are also fixedly connected and embedded in a bearing sleeve. The rotation of the drive shaft will cause the drive wheel to rotate, thus enabling the inspection robot to move on the straddle-type monorail.

[0057] S3-16: During the travel of S5, when the bridge inspection robot travels to the curved straddle-type monorail route, the side wheel at the turning point is compressed, the side wheel is fixed to the side wheel plate, the side wheel plate expands outward, the cylinder extension rod is stretched, and the air pressure sensors at both ends P′1≠P′2. The air pressure sensor signals are transmitted to the control panel, and the control panel outputs a signal to the DC motor, reducing its speed so that the drive wheel speed V' < the preset travel speed V, thus realizing the slow driving and turning of the bridge inspection robot. When the air pressure sensors at both ends P′1=P′2, the control panel stops outputting signals to the DC motor, and the drive wheel speed V' remains unchanged.

[0058] S3-17: During the travel of S5, when the bridge inspection robot returns from the curved travel route to the straight straddle-type monorail route, the cylinder extension rod is subjected to the elastic force F' of the cylinder's built-in spring. 弹 The side wheels are not supported by the straddle-type monorail. 支 =0, the cylinder extension rod drives the side wheel plate to retract, the cylinder extension rod is compressed, the air pressure sensors at both ends 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, the original DC motor speed is increased, so that the speed of the drive wheel is equal to the preset driving speed V, V'=V, the control panel pauses the output signal to the DC motor;

[0059] S3-18: During travel, the omnidirectional wheels can make fine adjustments to the robot's direction of travel to adapt to straddle-type monorail routes with different radii of curvature.

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

[0061] Beneficial effects:

[0062] The bridge detection robot relates to a straddle-type monorail straddling operation capability, can realize identification to bridge dynamic characteristics, and does not need to install a structural health monitoring system on the bridge. In addition, the robot can detect areas that are difficult to reach by traditional visual detection methods. When performing the detection task, the robot of the application does not need to arrange a large number of sensor arrays on the bridge deck, thereby significantly reducing the detection cost. At the same time, the robot avoids the risk of detection personnel working near the track, reduces the track passage obstacles that may be caused by using a flying unmanned aerial vehicle to detect, and further improves the efficiency of the detection operation. BRIEF DESCRIPTION OF DRAWINGS

[0063] Figure 1 The external structure number diagram of the straddle-type monorail track beam dynamic characteristic detection robot of the application.

[0064] Figure 2 The structure diagram of the fixing device of the straddle-type monorail track beam dynamic characteristic detection robot of the application.

[0065] Figure 3 The structure diagram of the moving device of the straddle-type monorail track beam dynamic characteristic detection robot of the application.

[0066] Figure 4 The structure diagram of the adaptive device of the straddle-type monorail track beam dynamic characteristic detection robot of the application.

[0067] Figure 5 The structure diagram of the detection device of the straddle-type monorail track beam dynamic characteristic detection robot of the application.

[0068] Figure 6 The detailed structure diagram of the direct current driving motor of the application.

[0069] Figure 7 The structure diagram of the moving device, detection device and adaptive device of the drive-free robot of the application.

[0070] Figure 8 The structure diagram of the fixing device of the drive-free robot of the application.

[0071] Figure 9 The operation diagram of the self-driving bridge detection robot of the application pulling the drive-free bridge detection robot on a curve track during the detection process.

[0072] Figure 10 The operation diagram of the self-driving bridge detection robot of the application pulling the drive-free bridge detection robot on a straight track during the detection process.

[0073] Figure 11 The construction plan view of the application.

[0074] Figure 12 Construct side view for the present application;

[0075] Figure 13 Construct elevation for the present application;

[0076] Reference signs: (some non-key parts in the drawings are not marked)

[0077] 1, stable side wheel plate; 2, side wheel frame; 3, stable wheel shaft; 4, side pulley; 5, robot chassis; 6, universal wheel; 7, column rod; 8, limiting hole; 9, rotating clamping groove; 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, air cylinder; 18, telescopic rod; 19, built-in spring; 20, air pressure sensor; 21, telescopic fixed bearing; 22, air pressure electromagnetic valve; 23, traction hole; 24, rigid connecting rod; 25, spring; 26, GPS board card; 27, GPS signal receiving antenna; 28, robot upper shell; 29, signal acquisition instrument; 30 control mainboard. DETAILED DESCRIPTION

[0078] The installation and composition of the present application will be described clearly and completely in combination with the detailed construction description. Obviously, the described detailed construction description is part of the detailed construction description of the present application, and only some feasible parts are connected to describe the construction, rather than all the detailed construction description. Based on the detailed construction description in the present application, all other detailed construction descriptions obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0079] As Figures 1 to 11 shown, the present application provides a bridge dynamic characteristic detection robot straddling a straddle-type monorail, which comprises a self-driving robot and a non-driving robot, the self-driving robot pulls the non-driving robot through a traction device to keep the same interval and stop detection operation synchronously;

[0080] The non-driving robot and the self-driving robot respectively comprise a moving device, a fixing device, an adaptive device and a detection device with the same structure, and the self-driving robot is further provided with a driving device, wherein:

[0081] The moving device is used to drive the driving robot / non-driving robot to automatically travel along the track beam;

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

[0083] The fixing device is used for keeping the driving robot / undriven robot in contact with the track beam during driving, so as to avoid deviation during implementation and keep the robot and the bridge in resonance during detection.

[0084] The adaptive device is used for stabilizing the driving robot / undriven robot to travel on track beams with different radii of curvature.

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

[0086] The bridge detection robot has the straddle-type monorail riding capability, can identify the dynamic characteristics of the bridge, and does not need to install a structural health monitoring system on the bridge. In addition, the robot can detect areas that are difficult to reach by traditional visual detection methods. When performing the detection task, the robot does not need to arrange a large number of sensor arrays on the bridge deck, thereby significantly reducing the detection cost. At the same time, the robot avoids the risk of detection personnel working near the track, reduces the track passage obstacles that may be caused by using a flying unmanned aerial vehicle for detection, and further improves the efficiency of the detection operation.

[0087] The fixing device comprises a stable side wheel plate 1, a side wheel frame 2, a stable wheel shaft 3, a side pulley 4, a robot chassis 5 and a universal wheel 6. The stable side wheel plate 1 is perpendicular to the robot chassis 5, a through column 7 is connected to a limiting hole 8 in a side rotating clamping groove 9 of the robot chassis 5, the side wheel frame 2 is connected to a preset circular bolt hole in the stable side wheel plate 1 through a countersunk bolt, the stable wheel shaft 3 and the side pulley 4 are connected by welding and are in contact with the side of the straddle-type monorail track, the stable wheel shaft 3 is hinged to the side wheel frame 2, and the universal wheel 6 is connected to the lower side of the robot chassis 5 through a screw.

[0088] The moving device comprises a driving fixed bearing 14 and a driving shaft 15. The driving fixed bearing 14 is fixed 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 through a hinge, the driving shaft 15 rotates in the driving fixed bearing 14, and the driving fixed bearing 14 is connected to a preset circular bolt hole in the robot chassis 5 through a screw. Specifically, the moving device also comprises a robot shell made of black plastic material, which is used to prevent rainwater and dust from entering the robot and to protect the internal structure from damage caused by external object impact. The universal wheel is used for steering the bridge detection robot.

[0089] The driving device comprises a power supply, a direct current driving motor 10, a gear transmission chain 11, a motor gear 12, a driving shaft gear 13, the direct current driving motor 10 is bolted on the robot motor frame 16, the motor gear 12 is fixed on the rotor of the direct current driving motor 10, and the gear transmission chain 11 is fixed on the motor gear 12 and the driving shaft gear 13.

[0090] The self-adapting device comprises a cylinder 17, an extension rod 18, an internal spring 19, a gas pressure sensor 20, an extension fixed bearing 21, and a gas pressure electromagnetic valve 22, the extension rod 18 and the internal spring 19 are installed inside the cylinder 17, the internal spring 19 is connected with the limiter of the extension rod 18, the gas pressure sensor 20 is installed at the inner port of the cylinder 17, one end of the cylinder 17 is connected with the robot chassis 5 through a rotating shaft, and the other end is connected with the stable side wheel plate 1 through a rotating shaft; the gas pressure electromagnetic valve 22 is connected with the gas pressure sensor 20, the gas pressure electromagnetic valve 22 is connected with the cylinder 17 through a pipeline for transmitting gas; the extension fixed bearing 21 is an outer spherical surface bearing with a seat, the extension fixed bearing 21 is screwed in the preset circular bolt hole of the stable side wheel plate 1 and the robot chassis 5; the extension rod 18 is connected with the rotating shaft through a screw, and the rotating shaft is embedded in the extension fixed bearing 21 through a limiting hole. Specifically, the gas pressure sensor is used for detecting the gas pressure parameters of two gas cavities, controlling the transmission of gas, the extension rod is used for pushing or recovering the stable side wheel plate to ensure that the side wheel can be attached to the straddle-type monorail side, and to ensure that the bridge detection robot can normally travel on the curve track with different curvatures, and the cylinder is used for pushing or recovering the extension rod.

[0091] 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 end side of the robot chassis 5 and is perpendicular to the side of the robot chassis 5, the spring 25 and the rigid connecting rod 24 are connected through the connecting rod inner limiting hole, and the rigid connecting rod 24 and the traction hole 23 are hinged through a clasp.

[0092] The detection device comprises a GPS device, the GPS device comprises a GPS board card 26 and a GPS signal receiving antenna 27, the GPS board card 26 is installed on a robot upper housing 28, and the GPS signal receiving antenna 27 is fixed on the outside of the robot upper housing 28 in a magnetic attraction mode; the detection device further comprises a control assembly, the control assembly comprises a control mainboard 30 and a signal acquisition instrument 29, the signal acquisition instrument 29 is installed on a limiting groove of the robot chassis 5, the control mainboard 30 is installed on the limiting groove of the robot chassis 5, the control mainboard 30 is in communication with the signal acquisition instrument 29, the control mainboard 30 is powered by the direct-current driving motor 10, and the control mainboard 30 is further electrically connected with the gas pressure electromagnetic valve 22. Specifically, the vibration signal collected by the vibration acceleration sensor is stored and backed up by the signal acquisition instrument. The control mainboard judges whether the bridge detection robot is located on the to-be-detected straddle type monorail according to the position information provided by the GPS device. If the robot is on the to-be-detected straddle type monorail, the control signal acquisition instrument starts the collection work of the vibration signal; otherwise, if the robot has left the to-be-detected bridge, the control signal acquisition instrument terminates the collection. The control mainboard executes a preset program to control the start and stop of the motor, so that the driving or positioning of the bridge detection robot on the measurement point of the straddle type monorail is realized. In addition, the control mainboard adjusts the gas delivery of the cylinder according to the program set by the gas pressure sensor, so as to ensure that the bridge detection robot can be stably fixed on the straddle type monorail track and adapt to the straight track and the curve track with different curvatures.

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

[0094] The application further provides a straddle type monorail bridge dynamic characteristic detection method using the straddle type monorail track beam dynamic characteristic detection robot. The method comprises the following steps:

[0095] S1: The monorail beam to be detected is segmented into N segments, and N+1 nodes are obtained. The detection robot walking distance, driving speed, stopping frequency and single collection time are set according to the number of segments, and the single walking distance of the robot is the length of each segment;

[0096] S2: A self-driving robot is installed at the front end of the monorail beam to be detected, and a non-driving robot is installed at the rear end. After installation, the self-driving robot and the non-driving robot are fixed. Then the self-driving robot and the non-driving robot are connected by three rigid connecting rods 24 and springs 25, and the interval distance between the self-driving robot and the non-driving robot is the length of each segment. The method for fixing the self-driving robot and the non-driving robot after installation specifically includes the following steps:

[0097] S2-1: Install the self-driving robot and the non-driving robot on the monorail to be detected, so that the robot is parallel to it;

[0098] S2-2: Start the air cylinder solenoid valve 22 to make the inner side cylinder 17 intake air and the outer side cylinder 17 exhaust air, so that the inner side cylinder air pressure sensor 20 parameter P1 increases and the outer side cylinder air pressure sensor 20 parameter P2 decreases. The inner side cylinder 17 air pressure P1 is greater than the outer side cylinder 17 air pressure P2, the cylinder telescopic rod 18 is shortened, and the side wheel is in contact with the monorail to be detected.

[0099] S3: The self-driving robot is driven by the DC driving motor 10 to drive on the monorail to be detected, and the non-driving robot is synchronized with the self-driving robot. During the operation, the self-driving robot and the non-driving robot stably drive on the track beam with different curvature radii through the self-adaptive device. The specific method is as follows:

[0100] S3-1.1: According to the visual width of the monorail to be detected, the inner side cylinder 17 is exhausted and the outer side cylinder 17 is intaken by pre-starting the air cylinder solenoid valve 22, so that the inner side cylinder 17 air pressure P'1 is less than the outer side cylinder 17 air pressure P'2, the cylinder telescopic rod 18 is stretched, and the initial interval of the robot side wheel is coarsely adjusted;

[0101] S3-1.2: The bridge detection robot is stably placed on the monorail to be detected;

[0102] S3-2.1: After the bridge robot completes the track fixation, it starts to realize walking and stopping and drives into the curve 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 side wheel 4 is located rotates along the axial outside;

[0104] S3-3.1: The cylinder telescopic rod 18 is stretched, the inner side cylinder 17 air pressure P'1 is greater than the outer side cylinder 17 air pressure P'2, the air pressure sensor 20 sends a signal to the cylinder electromagnetic valve 22, the cylinder electromagnetic valve 22 is started, the inner side cylinder 17 exhausts, the outer side cylinder 17 inhales, and the parameters of the two sides of the air pressure sensor 20 are proportional to each other P'1:P'2=P1:P2;

[0105] S3-3.2: The parameters of the two sides of the air pressure sensor 20 are the same P'1=P'2, the cylinder 17 stops transmitting air, the two sides of the wheel 4 adapt to the curve track interface, and the cylinder built-in spring 19 provides a spring force F 弹 The support force F of the straddle-type monorail is provided to the side wheel 4 支 The side wheel 4 is fixed on the straddle-type monorail in the detection.

[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 stretched, the inner side cylinder 17 air pressure P'1 is greater than the outer side cylinder 17 air pressure P'2, the air pressure sensor 20 sends a signal to the cylinder electromagnetic valve 22, the cylinder electromagnetic valve 22 is started, the inner side cylinder 17 exhausts, the outer side cylinder 17 inhales, and the parameters of the two sides of the air pressure sensor 20 are proportional to each other P'1:P'2=P1:P2; 弹 The support force F of the straddle-type monorail is provided to the side wheel 4 支 When the side wheel 4 is not provided with the support force F of the straddle-type monorail, the side wheel plate 1 module on which the side wheel 4 is located rotates inward along the shaft

[0108] S3-4.3: The cylinder telescopic rod 18 is compressed, the inner side cylinder 17 air pressure P1'' is less than the outer side cylinder 17 air pressure P2'', the air pressure sensor 20 sends a signal to the cylinder electromagnetic valve 22, the cylinder electromagnetic valve 22 is started, the inner side cylinder 17 inhales, the outer side cylinder 17 exhausts, and the parameters of the two sides of the air pressure sensor 20 are proportional to each other P1'':P2''=P'1:P'2=P1:P2;

[0109] S3-4.4: The parameters of the two sides of the air pressure sensor 20 are the same P1''=P2'', the cylinder 17 stops transmitting air, the two sides of the wheel 4 adapt to the straight track interface, and the cylinder built-in spring 19 provides a spring force F'' 弹 The support force F of the straddle-type monorail is provided to the side wheel 4 支 The side wheel 4 is fixed on the straddle-type monorail in the detection.

[0110] The driving of the self-driving robot on the detection straddle-type monorail by the direct current driving motor 10 in step S3 includes the following steps:

[0111] S3-11: In the first bridge detection robot control mainboard 30, automatic detection is adjusted, the plane starting coordinates A(0, 0) and ending coordinates B(x, y) of the detection straddle-type monorail to be detected, the measurement point spacing X(meters), the acquisition time T(seconds) of each section, the start countdown S(minutes), and the driving speed V(meters / minute) are inputted;

[0112] S3-12: In S1, the first bridge detection robot automatically starts driving to the end position B after S minutes, and stops collecting according to the set parameters until the end of the entire detection process;

[0113] S3-13: During driving, the control panel 30 and the detection end continuously receive the real-time first bridge detection robot plane coordinate position C(x', y') and the second bridge detection robot plane coordinate position D(x'', y'') 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 first bridge detection robot plane coordinate position C(x', y') to the end coordinate B, the robot's final driving distance is L meters, and it stops at coordinate B for data collection;

[0115] S3-15: The bridge detection robot S3 will automatically stop at the bridge crash barrier for T seconds every X meters of driving distance according to the pre-set parameters, and then continue to move to the next detection point and perform stop data collection. During operation, the DC motor 10 drives the motor gear 12 to rotate at a constant speed, which 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 rotary motion is 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 detection robot on the straddle-type monorail.

[0116] S3-16: During the driving process of S5, when the bridge detection robot drives to the curve straddle-type monorail route, the side wheel 4 is pressed, the side wheel 4 is fixed to the side wheel plate 1, the side wheel plate 1 expands outward, the gas cylinder extension rod 18 stretches, the two-end gas pressure sensor 20P'1≠P'2, the gas pressure sensor 20 signal transmission control panel 30, the control panel 30 outputs signal to the DC motor 10, reduces its speed, makes the drive wheel speed V'< the preset driving speed V, realizes the slow driving of the bridge detection robot. When the two-end gas pressure sensor 20P'1=P'2, the control panel suspends the output signal to the DC motor 10, and the drive wheel speed V' remains unchanged;

[0117] S3-17: During the driving process of S5, when the bridge detection robot returns to the straight line straddle-type monorail route from the curve driving route, the gas cylinder extension rod 18 is pressed by the gas cylinder built-in spring 19 弹 , the side wheel is not supported by the straddle-type monorail support force F 支= 0, the cylinder telescopic rod 18 drives, the side wheel plate 1 is retracted, the cylinder telescopic rod 18 is compressed, the two end air pressure sensors 20P'1≠P'2, the air pressure sensor signal transmission control panel 30, the control panel 30 outputs signal to the original direct current motor 10, the original direct current motor speed is lifted, the driving wheel speed is equal to the preset driving speed V, V'=V, the control panel 30 suspends the output signal to the direct current motor 10;

[0118] S3-18: In the process of driving, 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 recycled, and the vibration modal data is extracted from the signal collector 29 for processing to realize the extraction of the straddle type monorail power characteristic information.

[0120] S4: The self-driving robot runs to the first section front node to stop for data collection, and the non-driving robot is towed to the first section rear node to stop for synchronous data collection;

[0121] S5: After the self-driving robot and the non-driving robot complete data collection, they interact through the control panel 30 to indicate the completion of data collection for this section, the direct current drive motor 10 drives the self-driving robot to run to the front node of the next section to stop for collection, and the non-driving robot is towed to the rear node of the next section, i.e. the front node of the previous section, to stop again for synchronous collection, forming the same point asynchronous superposition collection of data;

[0122] S6: The self-driving robot repeats S1.5 until it reaches the tail end front node of the straddle type monorail division, and the non-driving robot is towed to the tail end rear node to complete the collection and always maintains the distance of each division for signal collection during the whole process;

[0123] S7: All detection is completed, and the robot is recycled and the data in the signal collector 29 is extracted; the method for recycling the robot in step S7 includes the following steps:

[0124] S7-1: Suspend the air cylinder solenoid valve to stop the air cylinder from transmitting air, keep the two side air pressure sensor parameters proportional, P1=P2, and the side wheel is fixed with the straddle type monorail to be detected;

[0125] S7-2: Start the air cylinder solenoid valve 22 to make the inner side air cylinder 17 exhaust and the outer side air cylinder 17 intake, so that the inner side air cylinder air pressure sensor 20 parameter P1 decreases and the outer side air cylinder air pressure sensor 20 parameter P2 increases, the inner side air cylinder 17 air pressure P i is less than the outer side air cylinder 17 air pressure P2, the cylinder telescopic rod 18 is stretched, and the side wheel is separated from the straddle type monorail that has completed detection.

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

[0127] S8.1: Segment the acceleration response signal collected by the self-driven robot and the non-driven robot for each segment to form a short-time time-varying vector;

[0128] S8.2: Calculate the power spectral density matrix G yy (ω i ) of each segment of data, extract the peak value of the power spectral density through singular value decomposition (SVD), and correspond to the natural frequency of the bridge and the local modal shape of each division segment

[0129]

[0130] Where [U] i is a matrix containing the characteristic vector corresponding to the local modal shape, [R] i is a matrix containing the characteristic value corresponding to the natural frequency, is the complex conjugate matrix of the [U] i matrix.

[0131] S8.3: Use the proportional rescaling correction formula to splice the local modal shape into the global modal shape:

[0132]

[0133] Where U j+1 and U j represent the global modal shape of segments j+1 and j respectively, u j+1,j+1 , u j,j are local modal elements;

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

[0135]

[0136] Where, represents the bridge global modal vibration mode.

[0137] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for detecting the dynamic characteristics of a straddle-type monorail bridge using a straddle-type monorail rail beam dynamic characteristic detection robot, characterized by, The straddle-type monorail track beam dynamic characteristic detection robot comprises a self-driving robot and a non-driving robot, the self-driving robot pulls the non-driving robot to keep the same interval, and the detection operation is synchronously started and stopped; The non-driving robot and the self-driving robot comprise mobile devices, fixing devices, adaptive devices and detection devices which are the same in structure, and the self-driving robot is additionally provided with a driving device, wherein: The mobile device is used for driving the driving robot / non-driving robot to automatically travel along the track beam; The driving device is used for driving the mobile device; The fixing device is used for keeping the driving robot / non-driving robot in contact connection with the track beam during the travel; The adaptive device is used for stably traveling the driving robot / non-driving robot on the track beam with different curvature radii; The detection device tests the vibration signal transmitted from the track beam to the driving robot / non-driving robot through a sensor and a collection system; The method comprises the following steps: S1: The straddle-type monorail track beam to be detected is divided into N segments in advance, and there are N+1 nodes, the detection robot travel distance, travel speed, stopping times and single collection time are set according to the number of divided segments, and the single travel distance of the robot is the length of each divided segment; S2: The self-driving robot is installed at the front end of the straddle-type monorail track beam to be detected, and the non-driving robot is installed at the rear end, and then the self-driving robot and the non-driving robot are fixed after installation; then the self-driving robot and the non-driving robot are connected through three rigid connecting rods (24) and springs (25), and the interval distance between the self-driving robot and the non-driving robot is the length of each divided segment; S3: The self-driving robot travels on the detection straddle-type monorail under the driving of the direct current driving motor (10), and the non-driving robot synchronously runs with the self-driving robot, and the self-driving robot and the non-driving robot stably travel on the track beam with different curvature radii through the adaptive device during the running; S4: The self-driving robot stops at the front node of the first segment for data collection, and the non-driving robot is pulled to stop at the rear node of the first segment for synchronous data collection; S5: After the self-driving robot and the non-driving robot complete the data collection, the control panel (30) is used for interactive indication to complete the data collection of the segment, the direct current driving motor (10) drives the self-driving robot to stop at the front node of the next segment for collection, and the non-driving robot is pulled to stop at the rear node of the next segment, i.e. the front node of the previous segment, for synchronous collection again, so as to form the same point asynchronous superposition collection of data; S6: The self-driving robot repeats steps S1-S5 until the front node of the tail end of the divided straddle-type monorail is reached, and the non-driving robot is pulled to the rear node of the tail end to complete the collection and keep the interval distance of each divided segment during the whole process to pull and follow for signal collection operation; S7: After all the detection is completed, the robot is recovered, and the data in the signal collection instrument (29) is extracted. S8: using a bridge modal estimation method based on detecting robot acceleration response, through short time frequency domain decomposition and proportional rescaling technology, the estimation of bridge modal vibration shape is realized, specifically including the following sub-steps: S8.1: segmenting the acceleration response signal collected by the self-driven robot and the non-driven robot, forming a short time varying vector; S8.2: calculate the power spectrum density matrix of each segment data, extract the peak value of power spectrum density through singular value decomposition (SVD), corresponding to the natural frequency of the bridge and the local modal shape of each division segment; S8.3: using proportional rescaling correction formula, the local modal shape is spliced into global modal shape; S8.4: integrate the segmented global modal shape to construct the complete bridge global modal shape.

2. The method of claim 1, wherein, The fixing device includes a stable side wheel plate (1), a side wheel frame (2), a stable wheel shaft (3), a side pulley (4), a robot chassis (5) and a universal wheel (6), the stable side wheel plate (1) and the robot chassis (5) are perpendicular, the through column rod (7) passes through the limiting hole (8) and is connected in the side rotating clamping groove (9) of the robot chassis (5), the side wheel frame (2) is connected in the preset circular bolt hole of the stable side wheel plate (1) through a countersunk head bolt, the stable wheel shaft (3) and the side pulley (4) are connected by welding and contact with the side of the straddle-type monorail track, the stable wheel shaft (3) is hinged with the side wheel frame (2), and the universal wheel (6) is connected below the robot chassis (5) through a screw.

3. The method of claim 2, wherein The moving device includes a driving fixed bearing (14) and a driving shaft (15), the driving fixed bearing (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 through a hinge link, so that the driving shaft (15) rotates in the driving fixed bearing (14), and the driving fixed bearing (14) is connected in the preset circular bolt hole of the robot chassis (5) through a screw.

4. The method of claim 3, wherein, The driving device includes a power supply, a direct current driving motor (10), a gear transmission chain (11), a motor gear (12), a driving shaft gear (13), the direct current driving motor (10) is connected to the robot motor frame (16) through a bolt, the motor gear (12) is fixedly connected to the rotor of the direct current 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 method of claim 4, wherein, The adaptive device comprises a cylinder (17), a telescopic rod (18), an internal spring (19), a gas pressure sensor (20), a telescopic fixed bearing (21), a gas pressure electromagnetic valve (22), the telescopic rod (18) and the internal spring (19) are installed inside the cylinder (17), the internal spring (19) is connected with the stopper of the telescopic rod (18), the gas pressure sensor (20) is installed at the inner port of the cylinder (17), one end of the cylinder (17) is connected with the robot chassis (5) through a rotating shaft, and the other end is connected with the stable side wheel plate (1) through a rotating shaft; the gas pressure electromagnetic valve (22) is connected with the gas pressure sensor (20), the gas pressure electromagnetic valve (22) is connected with the cylinder (17) through a pipeline for transmitting gas; the telescopic fixed bearing (21) is an outer spherical surface bearing with a seat, the telescopic fixed bearing (21) is screwed into the preset circular bolt hole of the stable side wheel plate (1) and the robot chassis (5) through screws; the telescopic rod (18) is connected with the rotating shaft through screws, and the rotating shaft is embedded into the telescopic fixed bearing (21) through a limiting hole.

6. The method of claim 5, wherein, 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 end side of the robot chassis (5) and is perpendicular to the side of the robot chassis (5), the spring (25) is connected with the rigid connecting rod (24) through a connecting rod limiting hole, and the rigid connecting rod (24) is hinged with the traction hole (23) through a clasp; The detection device comprises a GPS device, the GPS device comprises a GPS board card (26) and a GPS signal receiving antenna (27), the GPS board card (26) is installed on the robot upper shell (28), and the GPS signal receiving antenna (27) is fixed outside the robot upper shell (28) in a magnetic attraction mode; the detection device further comprises a control assembly, the control assembly comprises a control panel (30) and a signal acquisition instrument (29), the signal acquisition instrument (29) is installed on the limiting groove of the robot chassis (5), the control panel (30) is installed on the limiting groove of the robot chassis (5), the control panel (30) is in communication with the signal acquisition instrument (29), the control panel (30) is powered by the direct-current driving motor (10), and the control panel (30) is electrically connected with the gas pressure electromagnetic valve (22).

7. The method of claim 6, wherein 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 to-be-detected straddle-type monorail so that the robot is parallel to the to-be-detected straddle-type monorail; S2-2: start the air pressure solenoid valve (22), make the inner side cylinder (17) intake, the outer side cylinder (17) exhaust, make the inner side cylinder air pressure sensor (20) parameter increase, the outer side cylinder air pressure sensor (20) parameter decrease, the inner side cylinder (17) air pressure greater than the outer side cylinder (17) air pressure , the cylinder telescopic rod (18) shortens, and the side wheel contacts with 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 electromagnetic valve, make the cylinder stop transmitting air, keep the same proportion of the two side air pressure sensor parameters = , the side wheel is fixed with the to-be-detected straddle type monorail S7-2: start the air pressure solenoid valve (22), make the inner side cylinder (17) exhaust, the outer side cylinder (17) intake, make the inner side cylinder air pressure sensor (20) parameter decrease, the outer side cylinder air pressure sensor (20) parameter increase, the inner side cylinder (17) air pressure less than the outer side cylinder (17) air pressure , the cylinder telescopic rod (18) stretch, the side wheel and the completed detection straddle type monorail separate.

8. The method of claim 7, wherein, In the running process, the self-driving robot and the non-driving robot stably run on the track beams with different radii of curvature through the adaptive device, and the specific method is as follows: S3-1.1: According to the width of the straddle-type monorail to be detected by visual inspection, the air pressure solenoid valve (22) is started in advance to exhaust the inner cylinder (17) and intake the outer cylinder (17), the air pressure of the inner cylinder (17) is less than that of the outer cylinder (17) , the cylinder telescopic rod (18) is stretched, and the initial spacing of the robot side wheels is coarsely adjusted; S3-1.2: place the bridge detection robot stably on the to-be-detected straddle-type monorail; S3-2.1: After the bridge robot completes the track fixation, it starts to realize the walking and stopping and drives into the curve track; S3-2.2: The side wheel is pressed by the straddle-type monorail, and the stable side wheel plate (1) module of the traction side pulley (4) rotates outward along the axial direction; S3-3.1: Cylinder telescopic rod (18) stretch, inside cylinder (17) air pressure Greater than outside cylinder (17) air pressure , Air pressure sensor (20) send to air pressure solenoid valve (22), air pressure solenoid valve (22) start, inside cylinder (17) exhaust, outside cylinder (17) intake, realize both sides air pressure sensor (20) parameter proportion same : = : ; S3-3.2: The parameters of the air pressure sensor (20) on both sides of the cylinder are the same = The cylinder (17) stops transmitting air, and the side pulley (4) adapts to the curve track interface. The spring (19) built-in the cylinder provides elastic force Provide support for the side pulley (4) with a straddle-type monorail Keep the side pulley (4) fixed on the straddle-type monorail being detected S3-4.1: The bridge robot starts to return and drive into the straight track; S3-4.2: Cylinder telescopic rod (18) is under the elastic force of cylinder built-in spring (19) Side pulley (4) is not supported by the side wheel of straddle-type monorail When = 0, the stable side wheel plate (1) module where the traction side pulley (4) is located rotates along the shaft to the inner side. S3-4.3: Cylinder telescopic rod (18) compression, inside cylinder (17) air pressure Less than the outside cylinder (17) air pressure , air pressure sensor (20) from the air pressure solenoid valve (22), air pressure solenoid valve (22) start, inside cylinder (17) intake, outside cylinder (17) exhaust, realize both sides air pressure sensor (20) parameter ratio same : = : = : ; S3-4.4: The parameters of the air pressure sensor (20) on both sides of the cylinder are the same The cylinder (17) stops transmitting air, and the side pulley (4) is self-adaptive to the linear rail interface. The spring (19) built in the cylinder provides elastic force Provide support for the side pulley (4) of the straddle-type monorail Keep the side pulley (4) fixed on the straddle-type monorail being detected 9. The method of claim 8, wherein The step S3 of the direct current driving motor (10) driving the self-driving robot to drive on the detected straddle-type monorail includes the following steps: S3-11: In the control panel (30) of the first bridge detection robot, adjust to automatic detection, input the plane starting coordinates A (0, 0), ending coordinates B (x, y) of the detected straddle-type monorail, the measurement point spacing X in meters, the collection time T in seconds, start the countdown S in minutes, the driving speed V in meters / minute; S3-12: In S1, the first bridge detection robot automatically starts driving to the end position B after S minutes, and stops collecting according to the set parameters until the end of the detection process; S3-13: During the driving process, the control panel (30) and the detection end continuously receive the real-time first bridge detection robot plane coordinate position C ( ) and the second bridge detection robot plane coordinate position D ( ) provided by the GPS module. S3-14: In S1, when the measurement point spacing X sets the length greater than the first bridge detection robot plane coordinate position C ( ) to the curve or straight line distance L meters of the terminal coordinate B, the robot final driving distance is L meters, and stops at coordinate B for data collection; S3-15: The bridge detection robot S3 will automatically stop at the bridge crash barrier for T seconds every X meters of driving distance according to the pre-set parameters, and then continue to move to the next detection point and perform stop data collection; In the running process, the direct current driving motor (10) drives the motor gear (12) to rotate at a constant speed, the motor gear (12) is connected with the driving shaft gear (13) through the gear transmission chain (11); The driving shaft gear (13) and the driving shaft (15) are in a fixed connection state, and the rotary motion will be directly transmitted to the driving shaft (15); The driving shaft (15) and the driving wheel are also in a fixed connection, and are embedded in the bearing sleeve, the rotation of the driving shaft (15) will cause the rotation of the driving wheel, and then realize the movement of the detection robot on the straddle-type monorail; S3-16: in the process of driving in S5, when the bridge detection robot drives to the curve overpass monorail route, the steering side pulley (4) is pressed, the side pulley (4) is fixed with the stable side wheel plate (1), the stable side wheel plate (1) expands outward, the cylinder extension rod (18) is stretched, and the two end air pressure sensors (20) , the air pressure sensor (20) transmits the signal to the control panel (30), the control panel (30) outputs the signal to the direct current driving motor (10), reduces the rotating speed, and makes the driving wheel speed <the preset driving speed V, realizes the slow driving of the bridge detection robot to turn; when the two end air pressure sensors (20) , the control panel temporarily outputs the signal to the direct current driving motor (10), and the driving wheel speed remains unchanged; S3-17: In the process of driving in S5, when the bridge detection robot returns to the straight line from the curved driving route, the cylinder telescopic rod (18) is pulled by the spring (19) inside the cylinder , the side wheel is not supported by the side wheel support force provided by the straddle type monorail =0, the cylinder telescopic rod (18) drives the stable side wheel plate (1) to retract, the cylinder telescopic rod (18) is compressed, and the two-end air pressure sensor (20) , the air pressure sensor signal is transmitted to the control panel (30), the control panel (30) outputs a signal to the original DC driving motor (10), the speed of the original DC motor is increased, and the driving wheel speed is equal to the preset driving speed V, = , the control panel (30) suspends the output signal to the DC driving 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 recycled, and the vibration modal data is extracted from the signal collector (29) for processing to realize the extraction of the dynamic characteristic information of the straddle-type monorail.

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