Bridge damage detection device

Abstract

The invention relates to a bridge damage detection device, which belongs to the technical field of building detection and comprises an unmanned aerial vehicle main body, a laser radar is arranged at the top end of the unmanned aerial vehicle main body, vehicle arm mounting parts are arranged at corners of the unmanned aerial vehicle main body, motor mounting holes are formed in the vehicle arm mounting parts, and double-shaft extension stepping motors are mounted in the motor mounting holes. Detachable cover plates are mounted at the upper end and the lower end of the motor mounting hole, rotating shafts of the double-shaft-extension stepping motors are connected with the cover plates, machine arms are fixedly arranged between the upper cover plate and the lower cover plate, a camera stabilizer is arranged at the bottom end of the unmanned aerial vehicle body, a high-definition camera and an infrared camera are mounted on the camera stabilizer, and lug plates are fixedly arranged on the two sides of the unmanned aerial vehicle body; walking mechanisms are arranged at the bottom ends of the lug plates. When the bridge damage detection robot is used for detecting the damage of a bridge, the machine arms are controlled to rotate through the double-shaft-extension stepping motor according to the specific condition of the bridge, so that the overall width of the bridge damage detection robot is reduced, and the bridge damage detection robot can conveniently enter the hidden and narrow space of the bridge and walk through the walking mechanism for damage detection.

Description

Technical Field

[0001] The invention relates to a bridge damage detection device, belonging to the technical field of building detection. Background Art

[0002] Bridge inspection refers to the process of regular or irregular inspection, evaluation, and diagnosis of the safety, stability, and durability of road and bridge structures, as well as the analysis, processing, and reporting of inspection results. The purpose of bridge inspection is to ensure the normal operation of bridges, extend their service life, and provide a basis for bridge maintenance, reinforcement, and renovation.

[0003] Bridges can be prone to various damages at various locations. Using manual inspection or tools like binoculars and cameras, various parts of the bridge can be inspected for signs of damage, such as cracks, spalling, rust, and deformation. This method is simple and direct, but highly subjective. Drones can also be used to inspect bridges for various damages, but these methods can also make it difficult to detect damage in hidden areas, especially narrow locations. Summary of the Invention

[0004] The purpose of the present invention is to solve the technical problem in the prior art that damage to hidden parts of bridges, especially narrow parts, is difficult to find and detect, and to provide a bridge damage detection device.

[0005] The present invention is achieved through the following technical solutions: A bridge damage detection device includes a drone body, a laser radar is provided on the top of the drone body, an arm mounting portion is provided at the corner of the drone body, a motor mounting hole is opened on the arm mounting portion, a dual-axis stepper motor is installed in the motor mounting hole, detachable cover plates are installed at the upper and lower ends of the motor mounting hole, the rotating shaft of the dual-axis stepper motor is connected to the cover plates, an arm is fixed between the upper and lower cover plates, and a propeller is provided at the end of the arm; A camera stabilizer is installed at the bottom of the drone body, on which a high-definition camera and an infrared camera are installed; Ear plates are fixed on both sides of the drone body, and a walking mechanism is provided at the bottom of the ear plates.

[0006] The present invention is used to detect damage to a bridge. The operator controls the flight of the invention and uses a laser radar, a high-definition camera, and an infrared camera to detect damage to the appearance of the bridge. Then, according to the specific conditions of the bridge, the dual-axis stepper motor is used to control the rotation of the arm to reduce the overall width of the invention, making it easier to enter the hidden and narrow space of the bridge. The operator relies on the walking mechanism to walk and perform damage detection.

[0007] Further preferably, the travel mechanism includes an articulated slot plate fixedly mounted at the bottom end of the ear plate, two one-way cylinders hingedly mounted within the articulated slot plate, a vertical telescopic cylinder mounted at the bottom end of the articulated slot plate, an articulated seat mounted at the end of the piston rod of the vertical telescopic cylinder, two arms hingedly mounted within the articulated seat, and running wheels mounted at the ends of the arms, the ends of the one-way cylinder piston rods connected to the running wheels. The telescopic movement of the vertical telescopic cylinder drives the articulated seat up and down, and the two arms drive the spacing and height of the running wheels to adapt to different hidden and confined spaces on different bridges.

[0008] Further preferably, a two-way cylinder is provided at the bottom end of the articulated slot plate, and a vertical telescopic cylinder is mounted at the bottom of the two-way cylinder body. Support rods are hingedly provided at both ends of the two-way cylinder, and the bottoms of the support rods are connected to the sides of the articulated seat via connecting ball joints. When the articulated seat is raised or lowered, the two-way cylinders telescope in unison, maintaining the stabilizing effect of the support rods on the travel mechanism.

[0009] Further preferably, two traveling wheels are installed at the end of the piston rod of the one-way cylinder, an axis support cylinder is installed outside the connecting shaft between the two traveling wheels, the one-way cylinder is hinged to the axis support cylinder, and the end of the support arm is fixedly connected to the axis support cylinder.

[0010] Compared with the prior art, the present invention has the following beneficial effects: The present invention is used to detect damage to a bridge. The operator controls the flight of the invention and uses a laser radar, a high-definition camera, and an infrared camera to detect damage to the appearance of the bridge. Then, according to the specific conditions of the bridge, the dual-axis stepper motor is used to control the rotation of the arm to reduce the overall width of the invention, making it easier to enter the hidden and narrow space of the bridge. The operator relies on the walking mechanism to walk and perform damage detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for the description. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0012] Figure 1 It is a schematic diagram of the three-dimensional structure (first perspective) of a specific embodiment of the present invention.

[0013] Figure 2 It is a schematic diagram of the three-dimensional (second perspective) structure of a specific embodiment of the present invention.

[0014] Figure 3 This is a schematic diagram of the three-dimensional (third perspective) structure of a specific embodiment of the present invention.

[0015] Figure 4This is a schematic diagram of the three-dimensional structure (fourth viewing angle) of a specific embodiment of the present invention.

[0016] Figure 5 It is a structural schematic diagram of the walking mechanism in a specific embodiment of the present invention.

[0017] In the figure: 1. UAV body; 2. LiDAR; 3. Arm mounting part; 4. Cover plate; 5. Dual-axis stepper motor; 6. Arm; 7. Motor mounting hole; 8. Stabilizing bracket; 9. Airbag; 10. Camera stabilizer; 11. HD camera; 12. Traveling mechanism; 13. Ear plate; 14. Articulated slot plate; 15. Bidirectional cylinder; 16. Unidirectional cylinder; 17. Vertical telescopic cylinder; 18. Connecting ball head; 19. Support arm; 20. Support rod; 21. Travel wheel; 22. Articulated seat; 23. Axis support cylinder; 24. Infrared camera; 25. Propeller. DETAILED DESCRIPTION

[0018] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0019] like Figures 1 to 5 The bridge damage detection device shown in the figure includes a drone body 1, a laser radar 2 is provided on the top of the drone body 1, an arm mounting portion 3 is provided at the corner of the drone body 1, a motor mounting hole 7 is opened on the arm mounting portion 3, a dual-axis stepper motor 5 is installed in the motor mounting hole 7, and removable cover plates 4 are installed at the upper and lower ends of the motor mounting hole 7. The rotating shaft of the dual-axis stepper motor 5 is connected to the cover plate 4. An arm 6 is fixed between the upper and lower cover plates 4, and a propeller 25 is provided at the end of the arm 6; A camera stabilizer 10 is provided at the bottom of the drone body 1, on which a high-definition camera 11 and an infrared camera 24 are mounted; Ear plates 13 are fixedly provided on both sides of the drone body 1 , and a walking mechanism 12 is provided at the bottom end of the ear plates 13 .

[0020] The present invention is used to detect damage to a bridge. The operator controls the flight of the present invention and detects damage to the appearance of the bridge through the laser radar 2, the high-definition camera 11 and the infrared camera 24. Then, according to the specific conditions of the bridge, the dual-axis stepper motor 5 controls the rotation of the arm 6 to reduce the overall width of the present invention, making it easier to enter the hidden and narrow space of the bridge. The operator relies on the walking mechanism 12 to walk and perform damage detection. The travel mechanism 12 includes an articulated slot plate 14 fixed to the bottom end of the ear plate 13. Two one-way cylinders 16 are hingedly mounted within the articulated slot plate 14. A vertical telescopic cylinder 17 is mounted at the bottom end of the piston rod of the vertical telescopic cylinder 17. An articulated seat 22 is mounted at the end of the piston rod of the vertical telescopic cylinder 17. Two support arms 19 are hingedly mounted within the articulated seat 22. Travel wheels 21 are mounted at the ends of the support arms 19. The piston rod ends of the one-way cylinder 16 are connected to the travel wheels 21. The telescopic movement of the vertical telescopic cylinder 17 drives the articulated seat 22 up and down, and the two support arms 19 drive the spacing and height of the travel wheels 21 to adapt to the hidden and narrow spaces of different bridges.

[0021] A two-way cylinder 15 is mounted at the bottom of the articulated slot plate 14, and a vertical telescopic cylinder 17 is mounted at the bottom of the cylinder body of the two-way cylinder 15. Support rods 20 are hingedly mounted at both ends of the two-way cylinder 15. The bottom of the support rod 20 is connected to the side of the articulated seat 22 via a connecting ball 18. When the articulated seat 22 is raised or lowered, the two-way cylinder 15 telescopes and retracts in unison, maintaining the stabilizing effect of the support rod 20 on the traveling mechanism 12.

[0022] Among them, two walking wheels 21 are installed at the end of the piston rod of the one-way cylinder 16, and an axis support cylinder 23 is installed outside the connecting shaft between the two walking wheels 21. The one-way cylinder 16 is hinged to the axis support cylinder 23, and the end of the support arm 19 is fixedly connected to the axis support cylinder 23. The structural design of the walking mechanism 12 is more reasonable and the stability is also higher. A remote-controlled motor is provided inside the axis support cylinder 23 for driving the walking wheels 21 to rotate.

[0023] Among them, a stabilizing bracket 8 is installed at the bottom of the drone body 1. The stabilizing bracket 8 is two plates, and an airbag 9 is provided at each of the four corners between the two plates. When the present invention is walking in a narrow space, it plays a buffering role for the camera stabilizer 10, which helps to improve the accuracy and comprehensiveness of damage detection.

[0024] Working principle: The present invention is used to detect damage to a bridge. The operator controls the flight of the present invention and detects damage to the appearance of the bridge through the laser radar 2, the high-definition camera 11 and the infrared camera 24. Then, according to the specific conditions of the bridge, the dual-axis extended stepper motor 5 is used to control the rotation of the arm 6 to reduce the overall width of the present invention, so as to facilitate entry into the hidden and narrow space of the bridge. The motor is controlled by remote control, and the motor drives the walking wheel 21 to rotate, thereby relying on the walking mechanism 12 to walk for damage detection. The height can also be adjusted according to the environment of different hidden and narrow spaces of the bridge.

[0025] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other.

[0026] The terms "upper," "lower," "outer," "inner," and the like, if used in the present description and claims, and in the accompanying drawings, are used to distinguish relative positions and are not necessarily qualitative. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present invention described herein can be implemented in sequences other than those illustrated or described herein. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions.

[0027] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A bridge damage detection device, comprising an unmanned aerial vehicle (UAV) body (1), characterized in that: A laser radar (2) is provided at the top of the drone body (1), an arm mounting portion (3) is provided at a corner of the drone body (1), a motor mounting hole (7) is provided on the arm mounting portion (3), a dual-axis stepper motor (5) is installed in the motor mounting hole (7), a detachable cover plate (4) is installed at the upper and lower ends of the motor mounting hole (7), a rotating shaft of the dual-axis stepper motor (5) is connected to the cover plate (4), an arm (6) is fixed between the upper and lower cover plates (4), and a propeller (25) is provided at the end of the arm (6); A camera stabilizer (10) is provided at the bottom of the drone body (1), and a high-definition camera (11) and an infrared camera (24) are installed on the camera stabilizer (10); Ear plates (13) are fixedly provided on both sides of the drone body (1), and a walking mechanism (12) is provided at the bottom end of the ear plates (13).

2. A bridge damage detection device according to claim 1, characterized in that: The walking mechanism (12) includes a hinged slot plate (14) fixedly arranged at the bottom end of the ear plate (13), two one-way cylinders (16) are hingedly connected in the hinged slot plate (14), a vertical telescopic cylinder (17) is installed at the bottom end of the hinged slot plate (14), a hinged seat (22) is installed at the end of the piston rod of the vertical telescopic cylinder (17), two support arms (19) are hingedly installed in the hinged seat (22), and a walking wheel (21) is installed at the end of the support arm (19), and the end of the piston rod of the one-way cylinder (16) is connected to the walking wheel (21).

3. The bridge damage detection device according to claim 1, characterized in that: A two-way cylinder (15) is provided at the bottom end of the hinged slot plate (14), and a vertical telescopic cylinder (17) is installed at the bottom of the cylinder body of the two-way cylinder (15). Support rods (20) are hingedly provided at both ends of the two-way cylinder (15), and the bottom of the support rod (20) is connected to the side of the hinge seat (22) through a connecting ball head (18).

4. The bridge damage detection device according to claim 1, characterized in that: Two travel wheels (21) are installed at the end of the piston rod of the one-way cylinder (16), and a shaft support cylinder (23) is installed outside the connecting shaft between the two travel wheels (21). The one-way cylinder (16) is hinged to the shaft support cylinder (23), and the end of the support arm (19) is fixedly connected to the shaft support cylinder (23).

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