Internal inspection method for closed space

Abstract

The invention relates to the technical field of box girder inspection, in particular to an internal inspection method of a closed space, which is suitable for internal inspection of a bridge steel box girder and comprises the following steps: S1, opening a manhole opening; s2, placing an integration module; s3, unmanned aerial vehicle troubleshooting operation; s4, performing subsequent processing operation; s5, after inspection is completed, the manhole opening is closed; the unmanned aerial vehicle enters the confined space, auxiliary inspection integrated devices are placed one by one, and then the unmanned aerial vehicle inspects the internal condition of the confined space step by step; after the operation is completed, the auxiliary inspection integrated devices in the closed space are removed one by one; the device is high in safety and wide in application range during manual operation on the premise that safety is guaranteed, the problem of operation in a closed space is technically solved, safety risks are reduced, occupation of road resources is reduced, and the purpose of inspection work is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection of enclosed spaces, and particularly to an internal inspection method for the enclosed space of a bridge steel box girder Background Art

[0002] In bridge engineering, steel box girder structures are widely used in long-span structures such as highway bridges and railway bridges due to their superior load-bearing performance and anti-deformation ability. The steel box girder structure is a closed structure. With the long-term operation of the bridge, in order to ensure the safety and reliability of the structure, it is necessary to regularly inspect and maintain the enclosed space inside the steel box girder.

[0003] In the prior art, the internal inspection of steel box girders is usually carried out by manual entry. The specific method is as follows: After opening the manhole cover, first ventilate to replace the internal gas, and then the inspection personnel enter the inside of the steel box girder for detection. However, this method has various defects and safety hazards:

[0004] 1. It is impossible to accurately grasp the internal gas situation: Due to the complex internal structure of the steel box girder, there are enclosed and narrow spaces, making it difficult to accurately and real-time grasp the composition and concentration changes of the internal gas. If there are harmful gases inside, it may pose a threat to the personal safety of the operators.

[0005] 2. The safety risk of the operators is relatively high: Entering the steel box girder for operation, the space is narrow, the light is insufficient, and in addition, the environment may contain toxic or flammable gases, which greatly increases the risk of the inspection operation.

[0006] 3. The risk and resistance of occupying the road space are relatively large: Since the steel box girder structure generally spans highways or railways, relevant sections need to be closed during the inspection. Such operations not only interfere with traffic, but also increase the difficulty of construction organization and cause dissatisfaction among the public.

[0007] In summary, the existing internal inspection methods for enclosed spaces have significant limitations and risks. There is an urgent need for a safer and more efficient technical means to solve the above problems, so as to ensure the safety of the operators and reduce the impact on traffic. Summary of the Invention

[0008] In view of the deficiencies in the above prior art, the present invention provides an internal inspection method that solves the problems of enclosed space operation and has high safety.

[0009] The present invention provides an internal inspection method for an enclosed space, which is applicable to the internal inspection of a bridge steel box girder and includes the following steps:

[0010] S1. Open the manhole

[0011] During the window period, the working personnel are sent to the manhole position of the steel box girder by a knuckle boom lift. After the manhole is manually opened, the knuckle boom lift sends the working personnel to the ground;

[0012] S2. Place the integrated module:

[0013] Use a drone to hoist and place multiple auxiliary inspection integrated devices into the steel box girder one by one. The auxiliary inspection integrated device can make the internal compartments of the steel box girder meet the flight working requirements of the drone. The hoisting order of the auxiliary inspection integrated device is placed in each compartment from one end of the steel box girder close to the manhole to the other end of the steel box girder;

[0014] S3. Drone inspection operation:

[0015] After the auxiliary inspection integrated device is placed in the steel box girder, the drone enters the steel box girder from the manhole and takes pictures and videos of each compartment of the steel box girder. The drone transmits the acquired image and video information of each compartment to an external terminal;

[0016] S4. Follow-up processing operation:

[0017] The staff observes the internal situation of the steel box girder through the external terminal. When there is no problem inside the steel box girder, the drone transfers the auxiliary inspection integrated devices from inside the steel box girder to the outside one by one for recovery; when a problem that can be repaired by the drone is found, the drone conducts disposal and repair; when a serious problem is found, the staff enters the steel box girder internally for repair; after the processing is completed, the drone transfers the auxiliary inspection integrated devices from inside the steel box girder to the outside one by one for recovery;

[0018] S5. After the inspection is completed, close the manhole:

[0019] When all the auxiliary inspection integrated devices inside the steel box girder are transferred to the outside and recovered, the knuckle boom lift sends the working personnel to the manhole position of the steel box girder again, and the manhole is manually closed.

[0020] This technical solution uses a drone to enter the enclosed space inside the steel box girder, places the auxiliary inspection integrated devices one by one, and then uses the drone to gradually inspect the internal situation of the steel box girder structure; after the operation is completed, the auxiliary inspection integrated devices inside the enclosed space of the steel box girder are evacuated one by one. Under the premise of ensuring safety, when working manually, it has high safety performance and wide application range. It solves the problem of working in enclosed spaces from the process, reduces safety risks, and reduces the occupation of road resources, achieving the purpose of inspection work.

[0021] In some embodiments of the present application, the auxiliary inspection integrated device is an integrated module of a wireless signal amplifier, a spotlight, and a gas detection module:

[0022] The wireless signal amplifier can ensure the transmission of the drone, as well as image and video information;

[0023] The spotlight can ensure the lighting environment for the flight and inspection of the drone, and cooperate in the operation;

[0024] The gas detection module can collect the gas conditions in the cabin area where the gas detection module is located, judge whether the gas composition meets the requirements for manual entry into the operation, and at the same time, the wireless signal methoder can ensure the input and output of the signals of the gas detection module.

[0025] In some embodiments of the present application, in step S4, when it is necessary to manually enter the inside of the steel box girder for repair, first use a drone to introduce the ventilation pipe into the inside of the steel box girder. The end of the ventilation pipe located outside the steel box girder is connected to an air compressor. Turn on the air compressor, and air is introduced into the inside of the steel box girder. An air circulation is formed between the internal air pressure and the manhole to ensure normal gas data in the operation area. At the same time, when observing the manual entry into the inside of the steel box girder for processing, the gas data changes detected by the gas detection modules of multiple cabins to be passed through are observed. Until the gas data detected by the corresponding cabin meets the requirements for manual entry into the operation, the operator enters the inside of the steel box girder for operation. During the operation, closely monitor the changes in the gas values output by the gas detection module.

[0026] In some embodiments of the present application, in step S4, when it is necessary to manually enter the inside of the steel box girder for repair, the operator wears a bracelet. The bracelet can monitor the blood oxygen saturation and heart rate of the operator. When the operator enters the inside of the steel box girder to work, the information monitored by the bracelet is transmitted to the external terminal device in real time. The wireless signal amplifier can ensure the input and output of the signals of the bracelet, and the physical state of the operator can be transmitted to the external terminal in real time to ensure the construction safety of the operator.

[0027] In some embodiments of the present application, in step S4, when the operator enters the inside of the steel box girder, the air compressor continuously works to ventilate the inside of the steel box girder, and an air circulation is continuously formed between the internal gas and the external air at the manhole opening to prevent toxic and harmful gases from being generated during the operation from harming the operator.

[0028] In some embodiments of the present application, the steel box girder includes a bottom plate at the bottom, a top plate at the top, and flange plates connecting the two side edges of the top plate and the bottom plate. At least one longitudinal middle partition is provided inside the steel box girder. The longitudinal middle partition divides the internal space of the steel box girder into at least two chambers along its axial direction. A plurality of transverse partitions are evenly distributed in each chamber, and the transverse partitions divide the chamber into a plurality of cabins;

[0029] The manhole opening is provided on the bottom plate, the first manhole is provided at the central position of the longitudinal middle partition board, and the second manhole is provided at the center of the transverse partition board.

[0030] In some embodiments of the present application, in step S2, when using a drone to hoist and place the auxiliary inspection integrated device, the drone carries the auxiliary inspection integrated device through the manhole opening, enters the next compartment from the compartment near the manhole opening through the second manhole of the transverse partition board; when all compartments of one compartment are placed and entering another compartment, it is necessary to pass through the second manhole of the transverse partition board;

[0031] In step S4, when introducing the ventilation duct into the internal part of the steel box girder, the drone carries the ventilation duct and sequentially passes through the manhole opening, the second manhole and / or the first manhole, and enters the compartment to be repaired.

[0032] In some embodiments of the present application, in step S4, after manual processing is completed, first use a drone to remove the ventilation duct from the internal part of the steel box girder, and then the drone sequentially transfers all the auxiliary inspection integrated devices inside the steel box girder to the outside for recovery.

[0033] Based on the above technical solutions, the present invention uses a drone to enter the enclosed space inside the steel box girder, places the auxiliary inspection integrated devices one by one, and then uses the drone to gradually inspect the internal situation of the steel box girder structure; after the operation is completed, the auxiliary inspection integrated devices inside the steel box girder are evacuated one by one. This device has high safety performance and wide application range during manual operation under the premise of ensuring safety. It solves the problem of working in an enclosed space from a technological perspective, reduces safety risks, and reduces the occupation of road resources, achieving the purpose of inspection work;

[0034] The operator wears a bracelet, which can monitor the physical condition of the operator in real time when repairing in the enclosed space of the steel box girder and transmit it to an external terminal to ensure the construction safety of the operator. Description of the Drawings

[0035] The drawings described herein are used to provide a further understanding of the present invention, form a part of the present application, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0036] Figure 1 It is the front view of the steel box girder according to the embodiment of the present invention;

[0037] Figure 2 It is the left view of the steel box girder according to the embodiment of the present invention;

[0038] Figure 3 It is the top view of the steel box girder according to the embodiment of the present invention;

[0039] Figure 4 Schematic diagram of the hoisting sequence of the auxiliary inspection integrated device according to an embodiment of the present invention;

[0040] Figure 5 Schematic diagram of the ventilation pipeline layout according to an embodiment of the present invention;

[0041] Figure 6 Schematic diagram of the ventilation pipeline layout according to another embodiment of the present invention;

[0042] Figure 7 Schematic diagram of the ventilation pipeline layout according to another embodiment of the present invention;

[0043] Among them,

[0044] 10. Steel box girder; 11. Bottom plate; 111. Manhole opening; 12. Top plate; 13. Flange plate; 14. Longitudinal middle partition; 141. Longitudinal middle partition; 15. Left chamber; 16. Right chamber; 17. Diaphragm; 171. Second manhole; 18. Compartment; 20. Auxiliary inspection integrated device; 30. Ventilation pipeline. Specific implementation manners

[0045] Next, the technical solutions in the embodiments will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] In the description of the present invention, it should be understood that the terms "center", "transverse", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0047] The terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third" may explicitly or implicitly include one or more of such features.

[0048] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] The internal inspection method for the enclosed space in this embodiment is applicable to the inspection of the internal enclosed space of a steel box girder. The length of a single steel box girder 10 is 27 m, the beam height is 1.8 m, and the beam width is 12 m. As Figures 1-3 shown, the steel box girder 10 includes a bottom plate 11 at the bottom, a top plate 12 at the top, and flange plates 13 connecting the two side edges of the top plate 12 and the bottom plate 11. The lengths of the top plate 12, the bottom plate 11, and the flange plates 13 are 27 m, and the distance between the top plate 12 and the bottom plate 11 is 1.8 m. A longitudinal middle partition 14 is provided inside the steel box girder 10, and the longitudinal middle partition 14 divides the internal space of the steel box girder 10 into a left chamber 15 and a right chamber 16 along its axial direction on average. As Figure 2 shown, four transverse partitions 17 are evenly distributed in the left chamber 15 and the right chamber 16. The transverse partitions 17 divide the left chamber 15 and the right chamber 16 into five compartments 18 respectively. The distance between two adjacent transverse partitions 17 is 5.4 m. A manhole 111 with a diameter of 0.6 m is provided at one end of the bottom plate 11, and the manhole 111 is located at the bottom of the compartment 18 near the end of the left chamber 15. A first manhole 141 is provided at the central position of the longitudinal middle partition 14. From Figure 3 it can be seen that in this embodiment, the first manhole 141 is between the compartments 18 in the middle of the left chamber 15 and the right chamber 16. A second manhole 171 is provided at the center of the transverse partition 17. The diameters of both the first manhole 141 and the second manhole 171 are 1.0 m. When routinely inspecting the inside of the steel box girder, since the steel box girder is a closed structure, after entering the operation period, if it is necessary to inspect the inside of the steel box girder structure, after opening the manhole 11, the method of first ventilating and then manually entering the inside of the steel box girder is adopted for inspection. Because the internal gas situation cannot be accurately grasped, the safety risk for personnel to enter the inside of the steel box girder is relatively large, and the safety of the operators cannot be effectively guaranteed. The operators need to climb through the second manhole 171 to enter the next compartment, and they also need to climb through the first manhole 141 to enter the right chamber 16 from the left chamber 15. The working environment is relatively harsh and dangerous is likely to occur. Moreover, the steel box girder structure generally spans a road or a railway. Occupying the maintenance for a long time not only interferes with the traffic, but also increases the difficulty of construction organization and causes dissatisfaction among the public.

[0050] In other embodiments, according to the different dimensions in the width direction of the steel box girder, the number of longitudinal middle partitions 14 is appropriately increased to maintain the structural stability of the steel box girder in the vertical direction.

[0051] The internal inspection method for the enclosed space of the steel box girder in this embodiment includes the following steps:

[0052] S1. Open the manhole:

[0053] Since the inspection and acceptance work has been carried out during the construction of the bridge steel box girder, according to the maintenance requirements in the later stage, after the bridge structure has been in operation for a period of time, the internal condition of the steel box girder is inspected and evaluated; the steel box girder in this embodiment is a structure spanning a highway. When carrying out inspection operations, it is necessary to report to the traffic police department in advance, take up the road at night, and carry out traffic diversion work on the road.

[0054] Before the internal inspection of the steel box girder, preliminary preparation work is carried out, including preparing an external terminal, an auxiliary inspection integrated device 20, a drone, a boom lift, an air compressor, and a ventilation pipe; when it is necessary for workers to enter the steel box girder for repair, the workers wear a bracelet that can monitor the blood oxygen saturation and heart rate of the workers. When the workers enter the steel box girder to work, the information monitored by the bracelet is transmitted to the external terminal device in real time to ensure the construction safety of the workers.

[0055] The external terminal in this embodiment is a tablet computer or a mobile phone, and the auxiliary inspection integrated device 20 is an integrated module of a wireless signal amplifier, a spotlight, and a gas detection module: the wireless signal amplifier can ensure the transmission of the drone, as well as image and video information, and at the same time can ensure the input and output of the signal of the bracelet worn by the workers. The physical condition of the workers can be transmitted to the external terminal in real time; the spotlight can ensure the bright environment for the flight and inspection of the drone and cooperate with the operation; the gas detection module can collect the gas conditions in the cabin area where the gas detection module is located, judge whether the gas composition meets the requirements for manual entry operations, and at the same time the wireless signal amplifier can ensure the input and output of the signal of the gas detection module.

[0056] The preparation work needs to test the wireless signal amplifier, spotlight, and gas detection module in the auxiliary inspection integrated device 20, and at the same time test the drone, the bracelet worn by the workers, and the external terminal device. Prepare the air compressor and ventilation pipe in advance, ensure good ventilation, and ensure that all equipment can work normally. Install a protective cover on the wing of the drone to prevent it from crashing.

[0057] Within the limited window period, place the boom lift in a safe area, use the boom lift to send the worker to the position of the manhole 111 on the bottom plate 11. After removing the flange bolts at the manhole 111, the boom lift sends the worker together with the flange and bolts to a safe area on the ground, and the road resumes normal traffic.

[0058] S2. Place the integrated module:

[0059] On the ground, operators use a drone to hoist and place ten auxiliary inspection integrated devices 20 one by one into the interior of the steel box girder 10 within the safe area. The hoisting sequence is as follows: Figure 4 As shown by the arrow, the drone first places the first auxiliary inspection integrated device 20 into the first chamber 18 of the left chamber 15 through the manhole 111. At this time, the spotlight of the auxiliary inspection integrated device 20 starts to illuminate, the wireless signal amplifier emits a wireless signal, and the gas detection module starts to detect the gas in the first chamber 18. The first chamber 18 meets the flight working requirements of the drone, and the gas detection module can send the gas detection results to an external terminal. Then the drone returns to the ground to pick up the second auxiliary inspection integrated device 20, passes through the manhole 111 and the second manhole 171 on the first diaphragm 17, enters the second chamber 18, and then places the second auxiliary inspection integrated device 20 into the second chamber 18. The second auxiliary inspection integrated device 20 starts to work. Repeat the above steps until the five chambers 18 of the left chamber 15 are all arranged with auxiliary inspection integrated devices 20;

[0060] The drone hoists and places the auxiliary inspection integrated device 20 into each chamber 18 of the right chamber 16. The drone carries the auxiliary inspection integrated device 20 through the manhole 111, and then passes through the two second manholes 171 in the left chamber 15 in sequence to enter the third chamber 18, and then enters the third chamber 18 of the right chamber 16 through the first manhole 141 on the longitudinal middle diaphragm 14 to place the auxiliary inspection integrated device 20, and then the drone returns the same way. After the drone carries the auxiliary inspection integrated device 20 into the third chamber 18 of the right chamber 16 again, the drone turns left or right first to arrange the auxiliary inspection integrated device 20 in the two chambers to the left or right of the third chamber 18 of the right chamber 16, and then arranges the two chambers in the opposite direction in the reverse direction to the right or left until all five chambers 18 are arranged with auxiliary inspection integrated devices 20. At this time, all chambers 18 inside the steel box girder can meet the working requirements of the drone.

[0061] S3. Drone inspection operation:

[0062] After all chambers 18 in the steel box girder are arranged with auxiliary inspection integrated devices 20, the drone enters the interior of the steel box girder through the manhole 111. With the assistance of the spotlight and signal amplifier of the auxiliary inspection integrated device 20, the drone first takes pictures and videos of each area inside the five chambers 18 of the left chamber 15 in the order from front to back. The side close to the manhole 11 is the front. Then the drone returns to the third chamber 18 in the middle position of the left chamber 15, passes through the first manhole 141, enters the right chamber 16, and takes pictures and videos of the first entered third chamber 18 in the order from the middle to both ends. Then continue to turn left or right to take pictures and videos of the chambers 18 at both ends. The drone transmits the image and video information of each chamber 18 obtained to an external terminal;

[0063] S4. Subsequent processing operation:

[0064] The staff observes the images and videos of each compartment 18 inside the steel box girder 10 transmitted back by the drone through a tablet computer. When there is no problem inside each compartment, the drone transfers the auxiliary inspection integration device 20 to the outside of the steel box girder in the order from the end to the middle. First, it starts from the compartment at the left or right end of the right chamber 16 and transfers the auxiliary inspection integration device 20 to the outside of the steel box girder, and then transfers the auxiliary inspection integration device 20 at the middle position out; for the left chamber 15, in the order from the back to the front, it first transfers the auxiliary inspection integration device 20 at the back out, and then sequentially transfers the auxiliary inspection integration device 20 in front out. The position far from the manhole 11 is the back;

[0065] When problems that can be repaired by the drone are found, such as simple rust problems, the drone performs anti-corrosion treatment, and after the treatment, it transfers them out one by one in the above-mentioned transfer order of the auxiliary inspection integration device 20;

[0066] When serious problems are found, such as severe rust, manual entry into the steel box girder 10 is required for repair. In this embodiment, as Figure 5 shown, when the compartment 18 at the rearmost end of the left chamber 15 needs manual repair, first use the drone to introduce the ventilation pipe 30 into the steel box girder through the manhole 111, and then sequentially pass through the second manholes 171 of the four diaphragms 17 in the left chamber 15 and enter the rearmost compartment to be repaired. A number of air outlets are evenly distributed on the ventilation pipe, so that gas replacement can be carried out in each compartment 18 passed by the ventilation pipe; the end of the ventilation pipe 30 located outside the steel box girder 10 is connected to an air compressor. Open the air compressor, and compressed air enters the steel box girder through the ventilation pipe 30, forming an air circulation between the internal air pressure and the manhole 111 to ensure normal gas data in the operation area. When the gas data detected by the gas detection modules in the five compartments 18 of the left chamber 15 passed by when the staff enters the steel box girder meets the requirements for manual entry operation, the operators enter the steel box girder for operation. During the operation, the air compressor continuously works to ventilate the inside of the steel box girder 20, and the internal gas and the external air at the manhole continuously form an air circulation to prevent toxic and harmful gases from being generated during the operation and causing harm to the operators. The ground staff closely monitors the changes in the gas values output by the gas detection modules and whether the information such as blood oxygen saturation and heart rate detected by the bracelet is normal. If abnormal values appear, the operators should evacuate in time and continue the operation after returning to normal until the operation is completed;

[0067] In another embodiment of the present application, as Figure 6As shown in the figure, the position to be repaired is in the chamber at the rearmost end of the right chamber. The UAV introduces the ventilation pipeline from the manhole 111, passes through the three chambers of the left chamber 15 and the first manhole 141 in sequence, and then flies backward through the two second manholes 171 at the rear end of the right chamber to enter the chamber to be repaired.

[0068] As the third embodiment of the present application, as Figure 7 shown in the figure, the position to be repaired is in the chamber at the foremost end of the right chamber. The UAV introduces the ventilation pipeline from the manhole 111, passes through the three chambers of the left chamber 15 and the first manhole 141 in sequence, and then flies forward through the two second manholes 171 at the rear end of the right chamber to enter the chamber at the front end to be repaired. Figures 5-7 The shaded part in the figure is the area where the gas of the ventilation pipeline diffuses.

[0069] After the repair is completed, the operators withdraw. The UAV first transfers the ventilation pipeline 30 out, and then transfers the auxiliary inspection integrated device 20 out one by one according to the above transfer sequence for recovery.

[0070] S5. After the inspection is completed, close the manhole:

[0071] When all the auxiliary inspection integrated devices 20 inside the steel box girder are transferred to the outside and recovered, the articulated boom machine sends the operators to the manhole 11 position of the steel box girder again, reinstalls the flange, seals it with a sealing gasket in the middle, and applies butter anti-corrosion to the bolts to prevent external humid gas from entering the inside of the box body and causing corrosion inside the box body.

[0072] In this technical solution, the UAV enters the inside of the steel box girder, places the auxiliary inspection integrated devices one by one, and then uses the UAV to gradually inspect the internal situation of the steel box girder structure; after the operation is completed, the equipment and facilities inside the steel box girder are withdrawn one by one. On the premise of ensuring safety, when the device is manually operated, it has high safety performance and wide application range. It solves the problem of working in confined spaces from the process, reduces the safety risk, and reduces the occupation of road resources, achieving the purpose of inspection work.

[0073] In the present invention, the UAV enters the inside of the steel box girder, places the auxiliary inspection integrated devices one by one, and then uses the UAV to gradually inspect the internal situation of the steel box girder structure; after the operation is completed, the auxiliary inspection integrated devices 20 inside the steel box girder are withdrawn one by one. On the premise of ensuring safety, when the device is manually operated, it has high safety performance and wide application range. It solves the problem of working in confined spaces from the process, reduces the safety risk, and reduces the occupation of road resources, achieving the purpose of inspection work; the operators wear bracelets, which can monitor their physical conditions in real time when repairing inside the steel box girder and transmit them to the external terminal to ensure the construction safety of the operators.

[0074] Finally, it should be noted that the embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0075] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that it is still possible to modify the specific implementation manners of the present invention or make equivalent replacements for some technical features. Without departing from the spirit of the technical solutions of the present invention, they should all be covered within the scope of the technical solutions claimed by the present invention.

Claims

1. A method for internal inspection of a confined space, characterized in that: Applicable to the internal inspection of bridge steel box girders, including the following steps: S1. Open the manhole: During the window period, the operator is sent to the manhole of the steel box girder by a crankshaft crane. After the manhole is opened manually, the crankshaft crane sends the operator to the ground. S2. Place the integrated module: Use a drone to hoist multiple auxiliary inspection integrated devices one by one into the interior of the steel box girder, wherein the auxiliary inspection integrated devices can make the interior cabin of the steel box girder meet the flight work requirements of the drone, and the auxiliary inspection integrated devices are hoisted in a sequence from one end of the steel box girder close to the manhole to each cabin at the other end of the steel box girder; S3. Drone inspection operation: After the auxiliary inspection integrated device is placed on the steel box girder, the drone enters the interior of the steel box girder from the manhole, takes photos and videos of each cabin of the steel box girder, and the drone transmits the acquired image and video information of each cabin to an external terminal; S4. Subsequent processing operations: The staff observes the internal conditions of the steel box girder through the external terminal. When there is no problem inside the steel box girder, the drone transfers the auxiliary inspection integrated devices from the inside of the steel box girder to the outside for recycling one by one; when a problem that can be repaired by the drone is found, the drone will handle and repair it; when a serious problem is found, the staff will manually enter the steel box girder to repair it; after the treatment is completed, the drone will transfer the auxiliary inspection integrated devices from the inside of the steel box girder to the outside for recycling one by one; S5. After the inspection is completed, close the manhole: When all the auxiliary inspection integrated devices inside the steel box girder are transferred to the outside for recycling, the articulated boom crane sends the operator to the manhole position of the steel box girder again to manually close the manhole.

2. According to the internal inspection method of a confined space according to claim 1, the auxiliary inspection integrated device is an integrated module of a wireless signal amplifier, a spotlight, and a gas detection module: The wireless signal amplifier can ensure the transmission of the drone, image and video information; The spotlight can ensure the bright environment for UAV flight and inspection, and coordinate the operation; The gas detection module can collect the gas conditions in the cabin area where the gas detection module is located, and determine whether the gas composition meets the requirements for manual entry operations. At the same time, the wireless signal method device can ensure the input and output of the gas detection module signal.

3. The internal inspection method for a confined space according to claim 2, in step S4, when it is necessary to manually enter the interior of the steel box girder for repair treatment, first use a drone to introduce the ventilation duct into the interior of the steel box girder, and connect the end of the ventilation duct located outside the steel box girder to an air compressor. Turn on the air compressor, and air is introduced into the interior of the steel box girder to form an air circulation between the internal air pressure and the manhole to ensure that the gas data in the operating area is normal. At the same time, observe the changes in gas data detected by the gas detection modules of the multiple cabins that need to be passed when manually entering the interior of the steel box girder for processing, until the gas data detected in the corresponding cabin meets the requirements for manual entry operations, and then the operating personnel enter the interior of the steel box girder for operation. During the operation, pay close attention to the changes in the gas values ​​output by the gas detection module.

4. The method for internal inspection of a confined space according to claim 2, characterized in that: In step S4, when it is necessary to manually enter the steel box girder for repair, the operator wears a wristband, which can monitor the operator's blood oxygen saturation and heart rate. When the operator enters the steel box girder to work, the information monitored by the wristband is transmitted to the external terminal device in real time. The wireless signal amplifier can ensure the input and output of the wristband's signal, and the operator's physical condition can be transmitted to the external terminal in real time to ensure the operator's construction safety.

5. The method for inspecting the interior of a confined space according to claim 3, characterized in that: In step S4, when the operator enters the steel box girder, the air compressor continues to work to ventilate the interior of the steel box girder, and the internal gas and the external air at the manhole form an uninterrupted air circulation to prevent the generation of toxic and harmful gases during the operation from causing harm to the operator.

6. The method for internal inspection of a confined space according to claim 1, characterized in that: The steel box girder comprises a bottom plate at the bottom, a top plate at the top, and flange plates connecting the top plate and the bottom plate at both sides. At least one longitudinal middle partition is arranged inside the steel box girder, and the longitudinal middle partition divides the internal space of the steel box girder into at least two chambers along its axial direction. A plurality of transverse partitions are evenly distributed in each of the chambers, and the transverse partitions divide the chamber into a plurality of compartments. The bottom plate is provided with the manhole opening, the center position of the longitudinal middle partition is provided with a first manhole, and the center of the transverse partition is provided with a second manhole.

7. The method for internal inspection of a confined space according to claim 6, characterized in that: In step S2, when the auxiliary inspection integrated device is suspended by a drone, the drone carrying the auxiliary inspection integrated device passes through the manhole, and enters the next cabin from the cabin near the manhole through the second manhole of the diaphragm; when all cabins of one chamber are placed with the second manhole through the diaphragm to enter another chamber; In step S4, when the ventilation duct is introduced into the interior of the steel box girder, the drone carrying the ventilation duct passes through the manhole opening, the second manhole and / or the first manhole in sequence to enter the cabin to be repaired.

8. The method for internal inspection of a confined space according to claim 5, characterized in that: In step S4, after the manual processing is completed, the ventilation duct is first moved out of the steel box girder using a drone, and then the drone sequentially transfers all the auxiliary inspection integrated devices inside the steel box girder to the outside for recycling.

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