Bridge inspection vehicle operation and maintenance system

Abstract

The utility model provides a bridge inspection vehicle operation and maintenance system, and relates to the technical field of bridge inspection. The bridge inspection vehicle operation and maintenance system comprises a vehicle body, a track and a cloud server. The vehicle body comprises a walking mechanism, a main truss, a first image acquisition mechanism and a first position monitoring mechanism; the first image acquisition mechanism is arranged on the main truss, the first position monitoring mechanism is arranged on the walking mechanism, and the first image acquisition mechanism and the first position monitoring mechanism are both in communication connection with the cloud server. According to the utility model, the first image acquisition mechanism acquires image information of the bottom and / or two sides of the bridge; the position change information of the walking mechanism relative to the track is monitored through a first position monitoring mechanism arranged on the walking mechanism; and through the cloud server, the concentration of the collected data is realized, so that corresponding personnel can remotely process the data in a centralized manner to realize the inspection of the disease areas at the bottom and two sides of the bridge, the efficiency is improved, and the corresponding labor cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of bridge inspection, and more particularly to an operation and maintenance system for a bridge inspection vehicle. Background Art

[0002] With the acceleration of the urbanization process and the continuous improvement of the transportation network, the number of bridge constructions has increased significantly. These bridges need to be regularly inspected and maintained to ensure their safety and normal use. Therefore, the demand for bridge inspection vehicles is also continuously increasing.

[0003] Currently, for the inspection of the disease areas at the bottom and on both sides of the bridge, it is usually carried out by maintenance workers standing on the working platforms formed by the bridge inspection vehicle under the bridge or beside the bridge to manually check the location and type of the disease areas, etc. This is time-consuming, laborious, costly and inefficient. Summary of the Utility Model

[0004] The problem solved by the utility model is: how to improve the inspection efficiency of the disease areas at the bottom and on both sides of the bridge and reduce the corresponding labor costs.

[0005] To solve the above problems, the utility model provides an operation and maintenance system for a bridge inspection vehicle, which includes a vehicle body, tracks and a cloud server. The two tracks are respectively arranged on the two lateral sides of the bridge longitudinally; the vehicle body includes a traveling mechanism, a main truss, a first image acquisition mechanism and a first position monitoring mechanism. Each track is respectively connected to the main truss through at least one traveling mechanism. The upper end of the traveling mechanism is movably connected to the track and is used for traveling along the track, and the lower end of the traveling mechanism is connected to the main truss; the first image acquisition mechanism is arranged on the main truss and is used for acquiring images of the bottom surface and / or the side surface of the bridge beam; the first position monitoring mechanism is arranged on the traveling mechanism and is used for monitoring the position change information of the traveling mechanism relative to the track; and both the first image acquisition mechanism and the first position monitoring mechanism are communicatively connected to the cloud server.

[0006] Optionally, the vehicle body further includes a driving mechanism, a second image acquisition mechanism, a second position monitoring mechanism and a sub-truss arranged at at least one end of the main truss. The main truss is slidably connected or rotatably connected to the sub-truss. The driving mechanism is used for driving the sub-truss to slide or rotate relative to the main truss; the second image acquisition mechanism is arranged on the sub-truss and is used for acquiring images of the bottom surface and / or the side surface of the beam; the second position monitoring mechanism is arranged on at least one of the main truss, the driving mechanism and the sub-truss and is used for monitoring the position change information of the sub-truss relative to the main truss; and both the second image acquisition mechanism and the second position monitoring mechanism are communicatively connected to the cloud server.

[0007] Optionally, the traveling mechanism includes a connecting bracket, a traveling motor, and traveling wheels. The traveling wheels are arranged at one end of the connecting bracket facing the track and are rotatably connected to the connecting bracket. One end of the connecting bracket facing the track is in rolling connection with the track through the traveling wheels, and one end of the connecting bracket facing the main truss is connected to the main truss; the traveling motor is arranged on the connecting bracket or the main truss and is used to drive the traveling wheels.

[0008] Optionally, the first position monitoring mechanism is arranged on the traveling motor to monitor the motion output parameters of the traveling motor; or the first position monitoring mechanism is arranged on the traveling wheels to monitor the motion output parameters of the traveling wheels.

[0009] Optionally, the traveling mechanism further includes a motor controller, and the motor controller is used to adjust the motion output parameters of the traveling motor.

[0010] Optionally, the driving mechanism includes a motor, and the second position monitoring mechanism is used to monitor the number of rotation turns and the rotation direction of the motor; or, the driving mechanism includes a hydraulic cylinder, and the second position monitoring mechanism is used to monitor the telescopic length and the telescopic direction of the hydraulic cylinder.

[0011] Optionally, the vehicle body further includes a data processing mechanism and a data transmission mechanism connected by communication. The data transmission mechanism is in communication connection with the cloud server, and both the first image acquisition mechanism and the first position monitoring mechanism are in communication connection with the data processing mechanism.

[0012] Optionally, the bridge inspection vehicle operation and maintenance system further includes an alarm mechanism in communication connection with the cloud server.

[0013] Optionally, the vehicle body further includes an electrical system and a self-checking mechanism arranged on the main truss. The electrical system is used to supply power to the traveling mechanism, the first image acquisition mechanism, the first position monitoring mechanism, and the self-checking mechanism; at least one of the traveling mechanism, the first image acquisition mechanism, the first position monitoring mechanism, and the electrical system is in communication connection with the self-checking mechanism, and the alarm mechanism is in communication connection with the self-checking mechanism.

[0014] Optionally, the bridge inspection vehicle operation and maintenance system further includes a remote display platform in communication connection with the cloud server.

[0015] Compared with the prior art, the utility model has the following beneficial effects: The operation and maintenance system of the bridge inspection vehicle of the utility model realizes the inspection of the disease areas at the bottom and / or on both sides of the bridge through the vehicle body and the track. Specifically, the first image acquisition mechanism arranged on the main truss acquires the image information of the bottom surface of the beam at the bottom of the bridge and / or the side surface of the beam on both sides of the bridge, and through the movement of the traveling mechanism along the track, the first image acquisition mechanism can comprehensively acquire the image information of the bottom surface of the beam at the bottom of the bridge and / or the image information of the side surface of the beam on both sides of the bridge. By setting the first position monitoring mechanism on the traveling mechanism, the position change information of the traveling mechanism relative to the track is monitored, so as to establish the corresponding relationship between the position of the vehicle body and the image information acquired by the first image acquisition mechanism. Thus, after determining the disease area according to the image information, the specific position of the disease area on the bottom surface or the side surface of the beam can be determined according to this corresponding relationship, realizing the accurate determination of the positions of the disease areas at the bottom and on both sides of the bridge. And through the communication connection of both the first image acquisition mechanism and the first position monitoring mechanism with the cloud server, the computing resources of the cloud server can be utilized for data processing, etc. For example, the data collected (or monitored) can be centralized through the cloud server, so that the corresponding personnel can determine the disease areas at the bottom and on both sides of the bridge based on these centralized data, so as to improve the corresponding efficiency, and enable the corresponding personnel to remotely determine the disease areas at the bottom and on both sides of the bridge based on the cloud server, without the corresponding personnel having to determine the disease areas on site, reducing the corresponding labor cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a partial structural schematic diagram of the connection between the operation and maintenance system of the bridge inspection vehicle and the bridge in the embodiment of the utility model;

[0017] Figure 2 is Figure 1 The partial enlarged view of part A in.

[0018] Description of the reference numerals:

[0019] 1, vehicle body; 11, traveling mechanism; 111, connecting bracket; 112, traveling motor; 113, traveling wheels; 12, main truss; 121, walking platform board; 13, first image acquisition mechanism; 14, electrical system; 15, maintenance ladder; 2, track; 3, bridge; 31, bottom surface of the beam; 32, side surface of the beam. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] To make the above objects, features, and advantages of the present utility model more apparent and understandable, the following will provide a detailed description of specific embodiments of the present utility model with reference to the accompanying drawings. Although some embodiments of the present utility model are shown in the drawings, it should be understood that the present utility model can be implemented in various forms and should not be construed as limited to the embodiments described herein. Instead, these embodiments are provided to more thoroughly and completely understand the present utility model. It should be understood that the drawings and embodiments of the present utility model are only for exemplary purposes and are not used to limit the protection scope of the present utility model.

[0021] In the accompanying drawings, the Z-axis represents the vertical direction, that is, the up and down position, and the positive direction of the Z-axis represents the upper side, and the negative direction of the Z-axis represents the lower side; the X-axis in the accompanying drawings represents the horizontal direction, that is, the left and right position, and the positive direction of the X-axis represents the right side, and the negative direction of the X-axis represents the left side. At the same time, it should be noted that the above meanings represented by the Z-axis and the X-axis are only for facilitating the description of the present utility model 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 thus cannot be construed as a limitation to the present utility model.

[0022] The term "including" and its variations used herein are open-ended, that is, "including but not limited to"; the term "based on" is "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first" and "second" mentioned in the present utility model are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependent relationships; and "first" and "second" are only for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0023] It should be noted that the modifications of "one" and "multiple" mentioned in the present utility model are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more". The "connection" mentioned in the present utility model, unless otherwise specifically stated, can refer to direct connection or indirect connection through one or more intermediate components.

[0024] Combined with Figure 1As shown in the figure, an operation and maintenance system for a bridge inspection vehicle provided by an embodiment of the present utility model includes a vehicle body 1, tracks 2, and a cloud server. The two tracks 2 are respectively arranged on the two lateral sides of the bridge 3 longitudinally along the bridge 3; the vehicle body 1 includes a running mechanism 11, a main truss 12, a first image acquisition mechanism 13, and a first position monitoring mechanism. Each track 2 is respectively connected to the main truss 12 through at least one running mechanism 11. The upper end of the running mechanism 11 is movably connected to the track 2 and is used for running along the track 2, and the lower end of the running mechanism 11 is connected to the main truss 12; the first image acquisition mechanism 13 is arranged on the main truss 12 and is used for acquiring images of the bottom surface 31 and / or the side surface 32 of the beam of the bridge 3; the first position monitoring mechanism is arranged on the running mechanism 11 and is used for monitoring the position change information of the running mechanism 11 relative to the track 2; and both the first image acquisition mechanism 13 and the first position monitoring mechanism are communicatively connected to the cloud server.

[0025] In this embodiment, the operation and maintenance system for the bridge inspection vehicle is used to inspect the disease areas at the bottom and / or on both sides of the bridge 3, so as to timely discover the disease areas at the bottom and on both sides of the bridge 3 that are difficult to detect, and maintain them, thereby improving the safety performance and service life of the bridge 3, etc. Specifically, the operation and maintenance system for the bridge inspection vehicle includes a vehicle body 1 and tracks 2. The two tracks 2 are respectively arranged on the side surfaces 32 of the two lateral sides of the bridge 3 longitudinally (i.e., the extending direction or the length direction of the bridge 3) in the transverse direction (i.e., the width direction) of the bridge 3, and are used to provide a movement guide and a running path for the vehicle body 1, and to ensure the stability when the vehicle body 1 is connected to the track 2 through the running mechanism 11, and to ensure the smoothness of the running (or moving, locomotion) of the vehicle body 1 along the track 2. The main truss 12 of the vehicle body 1 is located below the bridge 3 and has a certain distance from the bottom of the bridge 3 (or the bottom surface 31 of the beam) in the vertical direction, so as to acquire images of the bottom of the bridge 3 (or the bottom surface 31 of the beam) and / or both sides of the bridge 3 (or the side surface 32 of the beam) through the first image acquisition mechanism 13 arranged on the main truss 12; wherein, the upper end of the running mechanism 11 is movably connected to the track 2, the lower end of the running mechanism 11 is connected to the main truss 12, and the vehicle body 1 realizes running along the track 2 through the running mechanism 11.

[0026] The main truss 12 extends towards both sides of the bridge 3 at its two ends. If the extension direction of the main truss 12 is parallel to or close to the transverse direction of the bridge 3, it is convenient to be movably connected to the two tracks 2 through the traveling mechanism 11, and it is also convenient for the first image acquisition mechanism 13 arranged on the main truss 12 to comprehensively acquire the image information of the bottom surface 31 of the beam of the bridge 3 and the side surfaces 32 of the beam on both sides of the bridge 3. Among them, each track 2 is respectively connected to the main truss 12 through at least one traveling mechanism 11, that is to say, the connection between any one track 2 and the main truss 12 can be realized through one or more traveling mechanisms 11. Exemplarily, the first image acquisition mechanism 13 is preferably provided with a plurality of them, and the plurality of first image acquisition mechanisms 13 are arranged at intervals on the main truss 12. The first image acquisition mechanisms 13 located at both ends of the main truss 12 can be used to acquire the image information of the side surfaces 32 of the beam on both sides of the bridge 3, and the other first image acquisition mechanisms 13 can be used to acquire the image information of the bottom surface 31 of the beam of the bridge 3. And as the traveling mechanism 11 travels along the track 2, the plurality of first image acquisition mechanisms 13 can comprehensively acquire the image information of the bottom surface 31 and the side surfaces 32 of the beam of the bridge 3, such as comprehensively acquiring the image information of the bottom surface 31 of the beam of the bridge 3 and the side surfaces 32 of the beam on both sides of the bridge 3 between two longitudinally adjacent bridge piers of the bridge 3. The first position monitoring mechanism is arranged on the traveling mechanism 11 and is used to monitor the position change information of the traveling mechanism 11 relative to the track 2 (such as the traveling distance or displacement, etc.). Based on the fact that the spatial position of the track 2 is determined, the position of the vehicle body 1 can be determined according to the position change information of the traveling mechanism 11 relative to the track 2 and the spatial position of the track 2. In this way, the corresponding relationship between the position of the vehicle body 1 and the image information collected by the first image acquisition mechanism 13 can be constructed, so that after determining the disease area according to the image information, the position of the disease area can be determined according to this corresponding relationship (that is, the specific position on the bottom surface 31 or the side surface 32 of the beam), and the accurate determination of the positions of the disease areas at the bottom and on both sides of the bridge 3 can be realized.

[0027] Moreover, both the first image acquisition mechanism 13 and the first position monitoring mechanism are communicatively connected to the cloud server, so that data such as the image information collected by the first image acquisition mechanism 13 and the position change information monitored by the first position monitoring mechanism can be transmitted to the cloud server, so as to utilize the computing resources of the cloud server for data processing, etc. For example, the data collected (or monitored) can be centralized through the cloud server, so that the corresponding personnel can determine the disease areas at the bottom and on both sides of the bridge based on the centralized data, so as to improve the corresponding efficiency, and enable the corresponding personnel to remotely determine the disease areas at the bottom and on both sides of the bridge based on the cloud server, without the corresponding personnel having to determine the disease areas on site, reducing the corresponding labor costs. Moreover, the cloud server can store the transmitted image information and position change information, which is convenient for future traceability and analysis, etc., to support the long-term maintenance and management of the bridge 3. In some embodiments, it can also be the cloud server that identifies the disease area according to the image information and the position change information and determines the position of the disease area, further improving the automation degree and efficiency of the inspection of the disease area at the bottom of the bridge 3.

[0028] In this way, the bridge inspection vehicle operation and maintenance system realizes the inspection of the disease areas at the bottom and / or on both sides of the bridge 3 through the vehicle body 1 and the track 2. Specifically, the first image acquisition mechanism 13 arranged on the main truss 12 collects the image information of the bottom surface 31 of the beam at the bottom of the bridge 3 and / or the side surface 32 of the beam on both sides of the bridge 3, and through the movement of the traveling mechanism 11 along the track 2, the first image acquisition mechanism 13 can comprehensively collect the image information of the bottom surface 31 of the beam at the bottom of the bridge 3 and / or the image information of the side surface 32 of the beam on both sides of the bridge 3. By arranging the first position monitoring mechanism on the traveling mechanism 11 to monitor the position change information of the traveling mechanism 11 relative to the track 2, the corresponding relationship between the position of the vehicle body 1 and the image information collected by the first image acquisition mechanism 13 can be constructed, so that after the disease area is determined according to the image information, the specific position of the disease area on the bottom surface 31 or the side surface 32 of the beam can be determined according to this corresponding relationship, realizing the accurate determination of the positions of the disease areas at the bottom and on both sides of the bridge 3. Moreover, both the first image acquisition mechanism 13 and the first position monitoring mechanism are communicatively connected to the cloud server, so as to utilize the computing resources of the cloud server for data processing, etc. For example, the data collected (or monitored) can be centralized through the cloud server, so that the corresponding personnel can determine the disease areas at the bottom and on both sides of the bridge based on the centralized data, so as to improve the corresponding efficiency, and enable the corresponding personnel to remotely determine the disease areas at the bottom and on both sides of the bridge based on the cloud server, without the corresponding personnel having to determine the disease areas on site, reducing the corresponding labor costs.

[0029] Optionally, it can be determined by corresponding personnel with certain experience based on the corresponding data in the cloud server center for the disease areas at the bottom and on both sides of the bridge, etc.; or the computing resources of the cloud server can be further utilized to identify the disease areas and determine the positions of the disease areas according to the image information and position change information, avoiding the situation that the inspection accuracy depends on the experience level of the corresponding personnel, reducing the errors caused by manual operations, and further improving the accuracy, automation degree and efficiency of the inspection of the disease areas at the bottom and on both sides of the bridge 3. In this way, the inspection of the disease areas at the bottom and on both sides of the bridge 3 can be carried out through the bridge inspection vehicle operation and maintenance system, improving the efficiency of the inspection of the disease areas at the bottom and on both sides of the bridge 3, etc.

[0030] Optionally, the vehicle body 1 further includes a driving mechanism, a second image acquisition mechanism, a second position monitoring mechanism, and a secondary truss provided at at least one end of the main truss 12. The main truss 12 is slidably or rotatably connected to the secondary truss, and the driving mechanism is used to drive the secondary truss to slide or rotate relative to the main truss 12; the second image acquisition mechanism is provided on the secondary truss and is used to acquire images of the bottom surface 31 and / or the side surface 32 of the beam; the second position monitoring mechanism is provided on at least one of the main truss 12, the driving mechanism, and the secondary truss and is used to monitor the position change information of the secondary truss relative to the main truss 12; and both the second image acquisition mechanism and the second position monitoring mechanism are communicatively connected to the cloud server.

[0031] In this embodiment, considering that in some scenarios, all areas of the bottom surface 31 and the side surface 32 of the bridge beam 3 cannot be completely captured only by the first image acquisition mechanism 13 on the main truss 12. For example, for a double-track viaduct (which is two side-by-side viaducts), the two tracks 2 can be arranged on the transverse sides of one of the viaducts. By arranging a secondary truss to extend under the other viaduct and using a second image acquisition mechanism arranged on the secondary truss to capture images of the bottom surface 31 and / or the side surface 32 of the other viaduct, the images of the bottom surface 31 and / or the side surface 32 of the double-track viaduct can be acquired. Among them, one or more secondary trusses can be arranged at any end of the main truss 12 in the transverse direction of the bridge 3. The secondary truss is slidably connected to the main truss 12 to achieve the telescoping of the secondary truss at the corresponding end of the main truss 12; or the secondary truss is rotatably connected to the main truss 12 to achieve the folding of the secondary truss at the corresponding end of the main truss 12. It is also possible to arrange one or more secondary trusses at both ends of the main truss 12 in the transverse direction of the bridge 3. The secondary trusses at the corresponding ends are slidably connected to the main truss 12 to achieve the telescoping of the secondary trusses at the corresponding ends of the main truss 12; or the secondary trusses at the corresponding ends are rotatably connected to the main truss 12 to achieve the folding of the secondary trusses at the corresponding ends of the main truss 12. In this way, by telescoping or folding the secondary truss, the total length of the main truss 12 and the secondary truss in the transverse direction of the bridge 3 is changed. For example, when the total length of the main truss 12 and the secondary truss in the transverse direction of the bridge 3 becomes longer, the second image acquisition mechanism arranged on the secondary truss moves towards both sides of the bridge 3, so that the bridge inspection vehicle operation and maintenance system can comprehensively capture the image information of the bottom surface 31 and the side surface 32 of the corresponding bridge 3 bottom through the first image acquisition mechanism 13 and the second image acquisition mechanism.

[0032] The second position monitoring mechanism is arranged on at least one of the main truss 12, the driving mechanism, and the secondary truss. When there are multiple driving mechanisms and secondary trusses, multiple second position monitoring mechanisms can also be arranged. The second position monitoring mechanism can monitor the movement output parameters of the driving mechanism to realize the monitoring of the position change information of the secondary truss relative to the main truss 12, that is, determine the position change information of the secondary truss relative to the main truss 12 according to the monitored movement output parameters, or directly monitor the position change information of the secondary truss relative to the main truss 12. In this way, the monitoring of the position change of the secondary truss relative to the main truss 12 is realized, and the position change of the second position monitoring mechanism relative to the main truss 12 is determined according to this position change information, which is used to establish the corresponding relationship between the position of the vehicle body 1 and the image information collected by the second image acquisition mechanism. So that after determining the disease area according to the image information collected by the second image acquisition mechanism, the specific position of the disease area on the bottom surface 31 or the side surface 32 of the beam can be determined according to this corresponding relationship, and the accurate determination of the positions of the disease areas at the bottom and on both sides of the bridge 3 is realized.

[0033] Both the second image acquisition mechanism and the second position monitoring mechanism are communicatively connected to the cloud server, so that the image information acquired by the second image acquisition mechanism and the position change information monitored by the second position monitoring mechanism are transmitted to the cloud server. Through the cloud server, the collected (or monitored) data is centralized, so that the corresponding personnel can determine the disease areas at the bottom and on both sides of the bridge based on these centralized data, so as to improve the corresponding efficiency. And it enables the corresponding personnel to remotely determine the disease areas at the bottom and on both sides of the bridge based on the cloud server, without the corresponding personnel having to determine the disease areas on-site, reducing the corresponding labor costs. In some embodiments, the computing resources of the cloud server can be further utilized to identify the disease areas and determine the positions of the disease areas according to the corresponding image information and the corresponding position change information, avoiding the situation where the inspection accuracy depends on the experience level of corresponding personnel such as maintenance workers, reducing the errors caused by human operations, and further improving the automation degree and efficiency of the inspection of the disease areas at the bottom and on both sides of the bridge 3, etc.

[0034] Optionally, in combination with Figure 1 As shown, a walking board 121 for pedestrians is provided on the main truss 12 and the secondary truss; the first image acquisition mechanism 13 is arranged in the edge area of the main truss 12 (such as the side, end, etc.), and the second image acquisition mechanism is arranged in the edge area of the secondary truss, so as not to interfere with the corresponding personnel walking on the walking board 121. When the total length of the main truss 12 and the secondary truss in the transverse direction of the bridge 3 extends to the corresponding length, the first image acquisition mechanism 13 and the second image acquisition mechanism can be used to acquire images of the bottom and both sides of the bridge 3.

[0035] Optionally, in combination with Figure 1 、 Figure 2 As shown, the traveling mechanism 11 includes a connecting bracket 111, a traveling motor 112 and traveling wheels 113. The traveling wheels 113 are arranged at one end of the connecting bracket 111 facing the track 2 and are rotatably connected to the connecting bracket 111. One end of the connecting bracket 111 facing the track 2 is in rolling connection with the track 2 through the traveling wheels 113. One end of the connecting bracket 111 facing the main truss 12 is connected to the main truss 12; the traveling motor 112 is arranged on the connecting bracket 111 or the main truss 12 and is used to drive the traveling wheels 113.

[0036] In this embodiment, the lower end of the connecting bracket 111 of the traveling mechanism 11 is connected to the main truss 12, and the upper end of the connecting bracket 111 is in rolling connection with the track 2 through the traveling wheels 113, realizing the movable connection between the traveling mechanism 11 and the track 2; the traveling motor 112 is arranged on the connecting bracket 111 or the main truss 12, and drives the traveling wheels 113 to roll on the track 2 through the corresponding transmission mechanism, realizing the traveling of the traveling mechanism 11 on the track 2. Among them, the upper end of the connecting bracket 111 is rotationally connected to the wheel to ensure the smoothness and fluency of the relative rotation of the wheel with respect to the connecting bracket 111; the track 2 provides an upward supporting force to the wheel, so as to suspend the main truss 12, etc. below the track 2 through the connecting bracket 111, facilitating the first image acquisition mechanism 13 and the second image acquisition mechanism to comprehensively acquire the image information of the bottom and both sides of the bridge 3 below the track 2.

[0037] Optionally, the first position monitoring mechanism is arranged on the traveling motor 112 for monitoring the motion output parameters of the traveling motor 112; or the first position monitoring mechanism is arranged on the traveling wheels 113 for monitoring the motion output parameters of the traveling wheels 113.

[0038] In this embodiment, based on the fact that the diameter (or radius) of the traveling wheels 113 is determined, the motion output parameters of the traveling wheels 113 (such as the number of rotation cycles and rotation direction of the traveling wheels 113, etc.) can be monitored through the first position monitoring mechanism arranged on the traveling wheels 113, so as to determine the traveling distance of the traveling wheels 113 on the track 2. Or the motion output parameters of the traveling motor 112 are monitored through the first position monitoring mechanism arranged on the traveling motor 112. According to the motion output parameters of the traveling motor 112 (such as the number of rotation cycles and rotation direction of the traveling motor 112, etc.), the transmission ratio of the transmission mechanism that transmits and connects the traveling motor 112 and the traveling wheels 113, and the diameter (or radius) of the traveling wheels 113, the traveling distance of the traveling wheels 113 on the track 2 can be determined; in some embodiments, a speed reduction mechanism is further arranged between the traveling motor 112 and the traveling wheels 113, and the traveling motor 112 drives the traveling wheels 113 through the speed reduction mechanism and the transmission mechanism. When determining the traveling distance of the traveling wheels 113 on the track 2, the speed reduction ratio of the speed reduction mechanism also needs to be considered simultaneously.

[0039] Optionally, the first position monitoring mechanism includes a rotation encoder, a speed sensor, etc., which are monitoring mechanisms for directly or indirectly monitoring the rotational speed, rotation direction, etc. of the traveling motor 112 or the traveling wheels 113.

[0040] Optionally, the first image acquisition mechanism 13 and the second image acquisition mechanism include a camera, etc., which are image acquisition mechanisms for acquiring images of the bottom surface 31 and / or the side surface 32 of the beam.

[0041] Optionally, the traveling mechanism 11 further includes a motor controller for adjusting the motion output parameters of the traveling motor 112.

[0042] In this embodiment, the motor controller changes the input parameters (such as power supply frequency and voltage) of the traveling motor 112 to change the motion output parameters (such as the rotation speed, torque, and rotation direction of the traveling motor 112) of the traveling motor 112. Thus, by setting the motor controller to adjust the motion output parameters of the traveling motor 112, the speed of the vehicle body traveling (or moving) on the track 2 can be adjusted, and then the inspection speed of the disease area on the bottom surface 31 and / or the side surface 32 of the beam by the bridge inspection vehicle operation and maintenance system can be adjusted. In some embodiments, when adjusting the motion output parameters of the traveling motor 112, the motor controller needs to consider the image acquisition speed of the corresponding image acquisition mechanism (such as the first image acquisition mechanism 13, the second image acquisition mechanism) and the processing speed of the cloud server for the corresponding data (such as the corresponding image information, position change information, etc.). In some embodiments, the motor controller includes an inverter, and the input parameters of the traveling motor 112 are adjusted through the inverter to adjust the motion output parameters of the traveling motor 112.

[0043] Optionally, the driving mechanism includes a motor, and the second position monitoring mechanism is used to monitor the number of rotations and rotation direction of the motor; or, the driving mechanism includes a hydraulic cylinder, and the second position monitoring mechanism is used to monitor the telescopic length and telescopic direction of the hydraulic cylinder.

[0044] In this embodiment, the driving mechanism can be a motor or a hydraulic cylinder, etc., to drive the secondary truss to slide relative to the main truss 12, realize the telescopic movement of the secondary truss at the corresponding end of the main truss 12, or drive the secondary truss to rotate relative to the main truss 12 to realize the folding of the secondary truss at the corresponding end of the main truss 12. When the driving mechanism uses a motor, the second position monitoring mechanism can use a rotary encoder, etc., to monitor the number of rotations and rotation direction of the motor, so as to determine the position change information of the secondary truss relative to the main truss 12 according to the number of rotations and rotation direction of the motor; when the driving mechanism uses a hydraulic cylinder, the second position monitoring mechanism can use a displacement sensor, a travel switch, etc., to monitor the telescopic length and telescopic direction (such as the extending direction and the retracting direction) of the piston rod of the hydraulic cylinder, so as to determine the position change information of the secondary truss relative to the main truss 12 according to the telescopic length and telescopic direction of the piston rod of the hydraulic cylinder. Different from the above-mentioned second position monitoring mechanism that determines the position change information of the secondary truss relative to the main truss 12 based on the monitored motion output parameters, in some embodiments, the second position monitoring mechanism can also be directly used to monitor the position change information of the secondary truss relative to the main truss 12, such as detecting the position change of the secondary truss relative to the main truss 12 through monitoring mechanisms such as distance sensors and displacement sensors.

[0045] Optionally, the vehicle body 1 further includes a data processing mechanism and a data transmission mechanism that are communicatively connected. The data transmission mechanism is communicatively connected to a cloud server, and both the first image acquisition mechanism 13 and the first position monitoring mechanism are communicatively connected to the data processing mechanism.

[0046] In this embodiment, the first image acquisition mechanism 13 and the first position monitoring mechanism achieve a communication connection with the cloud server through the data processing mechanism and the data transmission mechanism. For the image information collected by the first image acquisition mechanism 13 and the position change information monitored by the first position monitoring mechanism, after being correspondingly processed by the data processing mechanism, they are transmitted to the data transmission mechanism and then transmitted to the cloud server through the data transmission mechanism. Specifically, considering that the industrial protocols adopted by different monitoring mechanisms and other mechanisms may be different, and for the smooth and timely transmission of data, therefore, after the first image acquisition mechanism 13 and the first position monitoring mechanism collect the corresponding information, they are correspondingly processed by the data processing mechanism, such as format conversion, fusion and verification, compression and optimization, storage and caching, and encryption, etc., to ensure the integrity, accuracy, and security of the data; then, the processed data is transmitted to the cloud server through the data transmission mechanism using an appropriate network protocol, thereby achieving a communication connection with the cloud server. Among them, the data transmission mechanism is responsible for network connection management and real-time data transmission to ensure that information can be delivered to the cloud server in a timely and smooth manner. In some embodiments, the data transmission mechanism can be transmitted to a 5G network device using a network switch.

[0047] Optionally, the vehicle body 1 further includes a programmable controller for communicatively connecting with the running mechanism 11, the first image acquisition mechanism 13, and the first position monitoring mechanism.

[0048] In this embodiment, a programmable controller (such as a PLC) can be used to analyze and process the data collected by each acquisition mechanism (such as the first image acquisition mechanism 13, the second image acquisition mechanism) and detection mechanism (such as the first position monitoring mechanism, the second position monitoring mechanism), and at the same time control the vehicle body 1 to perform corresponding actions.

[0049] Optionally, the second image acquisition mechanism, the second position monitoring mechanism, etc. of the vehicle body 1 are also communicatively connected to the data processing mechanism.

[0050] Optionally, as shown in combination with Figure 1 the vehicle body further includes a maintenance ladder 15 that is movably connected to the main truss 12 and / or the auxiliary truss.

[0051] In this embodiment, the maintenance ladder 15 can be used by corresponding personnel such as maintenance workers to maintain the vehicle body and the like. The maintenance ladder 15 is movably connected to the main truss 12 and / or the auxiliary truss, so that the position of the maintenance ladder 15 can be adjusted, thereby facilitating corresponding personnel such as maintenance workers to deal with faults and other situations at different positions of the vehicle body. Among them, the maintenance ladder 15 can be movably connected only to the main truss 12 (such as a sliding connection); it can also be movably connected only to the auxiliary truss; or it can be movably connected to both the main truss 12 and the auxiliary truss, that is, the maintenance ladder 15 can move freely on the main truss 12 and the auxiliary truss. In some embodiments, a limiting structure is provided on the maintenance ladder 15 to limit the position of the maintenance ladder 15 when it is necessary to fix the position of the maintenance ladder 15, so as to ensure the safety of corresponding personnel such as maintenance workers when using the maintenance ladder 15. In some embodiments, the maintenance ladder 15 can also be used to assist corresponding personnel such as maintenance workers to maintain the bottom surface 31 and both sides of the bridge 3 beam.

[0052] Optionally, the bridge inspection vehicle operation and maintenance system further includes an alarm mechanism communicatively connected to the cloud server.

[0053] In this embodiment, the alarm mechanism is communicatively connected to the cloud server and can be used to alarm the disease areas on the bottom surface 31 and both sides of the bridge 3, so as to prompt corresponding operation and maintenance personnel or corresponding personnel such as maintenance workers of alarm contents such as the existence of disease areas at corresponding positions on the bottom surface 31 and both sides of the bridge 3, facilitating the operation and maintenance personnel or maintenance workers to timely discover problems of the bridge 3 and handle them, and improving the safety and reliability of the bridge inspection vehicle operation and maintenance system. The alarm mechanism can adopt forms such as sound and light alarm for warning (or alarming).

[0054] Optionally, the vehicle body 1 further includes an electrical system 14 and a self-inspection mechanism provided on the main truss 12. The electrical system 14 is used to supply power to the traveling mechanism 11, the first image acquisition mechanism 13, the first position monitoring mechanism and the self-inspection mechanism; at least one of the traveling mechanism 11, the first image acquisition mechanism 13, the first position monitoring mechanism and the electrical system 14 is communicatively connected to the self-inspection mechanism, and the alarm mechanism is communicatively connected to the self-inspection mechanism.

[0055] In this embodiment, the electrical system 14 of the vehicle body 1 is arranged on the main truss 12 and is used to supply power to components such as the running mechanism 11, the first image acquisition mechanism 13, the first position monitoring mechanism, and the self-check mechanism, so as to ensure the normal operation of components such as the running mechanism 11, the first image acquisition mechanism 13, the first position monitoring mechanism, and the self-check mechanism. The self-check mechanism is communicatively connected to at least one of the running mechanism 11, the first image acquisition mechanism 13, the first position monitoring mechanism, and the electrical system 14, and is used to perform self-check (or abnormal detection) on at least one of the running mechanism 11, the first image acquisition mechanism 13, the first position monitoring mechanism, and the electrical system 14, so as to timely detect the operation failures of the corresponding components. When the operation failures of the corresponding components are detected, an alarm is given through the alarm mechanism communicatively connected to the self-check mechanism, so as to prompt corresponding personnel such as the corresponding operation and maintenance personnel or maintenance workers of the alarm content that there are operation failures in the corresponding components of the vehicle body 1, facilitating the corresponding personnel such as the operation and maintenance personnel or maintenance workers to timely discover and handle the corresponding problems, and improving the safety and reliability of the bridge inspection vehicle operation and maintenance system. Exemplarily, for the running mechanism 11 that uses the running motor 112 to drive the running wheels 113, the self-check mechanism is used to monitor relevant parameters such as the running current, voltage, and temperature of the running motor 112, so as to determine the running condition of the running motor 112 based on these parameters.

[0056] Optionally, the bridge inspection vehicle operation and maintenance system further includes a remote display platform, and the remote display platform is communicatively connected to the cloud server.

[0057] In this embodiment, the remote display platform is used to display (or show) the data processed by the cloud server. For example, the remote display platform includes a display device, and the remote display platform uses the display device to display data to corresponding personnel such as operation and maintenance personnel, repair workers, or other users, so that the corresponding personnel can remotely and intuitively understand the inspection situation of the bridge 3, and it is convenient for the corresponding personnel to determine the location of the disease area of the bridge 3 based on the displayed data, etc.; alternatively, when directly determining the location of the disease area of the bridge 3 through the cloud server, the remote display platform can display the inspection results of the cloud server (i.e., the determined disease area of the bridge 3), etc. In some embodiments, the self-inspection mechanism is communicatively connected to the cloud server, and the remote display platform is also used to display the operating status of the corresponding components detected by the self-inspection mechanism, so that the corresponding personnel can remotely and intuitively understand the operating conditions of the vehicle body 1, etc. In some embodiments, the remote display platform includes a mobile terminal, that is, the mobile terminal of the corresponding personnel can be used as the remote display platform, so that the corresponding personnel can timely understand and master the operating status of the vehicle body 1 and the disease situation of the bridge 3; when the cloud server identifies the disease area of the bridge 3, the corresponding personnel can be prompted to process it through the remote display platform. In other embodiments, the remote display platform can also be used as the remote control end of the vehicle body 1 to provide an interaction and management interface for the corresponding personnel, so as to facilitate the corresponding personnel to remotely control the operation of the corresponding components of the vehicle body 1, such as controlling the movement of the running mechanism 11, etc.

[0058] Although the present disclosure of the utility model is disclosed as above, the protection scope of the present disclosure of the utility model is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure of the utility model, and these changes and modifications will all fall within the protection scope of the present utility model.

Claims

1. A bridge inspection vehicle operation and maintenance system, characterized in that: The invention comprises a vehicle body (1), a track (2) and a cloud server, wherein two tracks (2) are respectively arranged on both sides of the bridge (3) in the longitudinal direction; the vehicle body (1) comprises a running mechanism (11), a main truss (12), a first image acquisition mechanism (13) and a first position monitoring mechanism, each track (2) is connected to the main truss (12) through at least one running mechanism (11), and the upper end of the running mechanism (11) is movably connected to the track (2) and is used to run along the track (2). The lower end of the running mechanism (11) is connected to the main truss (12); the first image acquisition mechanism (13) is arranged on the main truss (12) for acquiring images of the bottom surface (31) and / or the side surface (32) of the beam of the bridge (3); the first position monitoring mechanism is arranged on the running mechanism (11) for monitoring the position change information of the running mechanism (11) relative to the track (2); and the first image acquisition mechanism (13) and the first position monitoring mechanism are both connected to the cloud server for communication.

2. The bridge inspection vehicle operation and maintenance system according to claim 1, characterized in that: The vehicle body (1) further comprises a driving mechanism, a second image acquisition mechanism, a second position monitoring mechanism and a secondary truss arranged at at least one end of the main truss (12); the main truss (12) is slidably connected or rotatably connected to the secondary truss, and the driving mechanism is used to drive the secondary truss to slide or rotate relative to the main truss (12); the second image acquisition mechanism is arranged on the secondary truss, and is used to acquire images of the bottom surface (31) of the beam and / or the side surface (32) of the beam; the second position monitoring mechanism is arranged on at least one of the main truss (12), the driving mechanism and the secondary truss, and is used to monitor position change information of the secondary truss relative to the main truss (12); and the second image acquisition mechanism and the second position monitoring mechanism are both communicatively connected to the cloud server.

3. The bridge inspection vehicle operation and maintenance system according to claim 1 or 2, characterized in that: The running mechanism (11) comprises a connecting bracket (111), a running motor (112) and a running wheel (113); the running wheel (113) is arranged at one end of the connecting bracket (111) facing the track (2) and is rotationally connected to the connecting bracket (111); the end of the connecting bracket (111) facing the track (2) is rollingly connected to the track (2) through the running wheel (113); the end of the connecting bracket (111) facing the main truss (12) is connected to the main truss (12); the running motor (112) is arranged on the connecting bracket (111) or the main truss (12) and is used to drive the running wheel (113).

4. The bridge inspection vehicle operation and maintenance system according to claim 3, characterized in that: The first position monitoring mechanism is arranged on the running motor (112) for monitoring the motion output parameters of the running motor (112); or the first position monitoring mechanism is arranged on the running wheel (113) for monitoring the motion output parameters of the running wheel (113).

5. The bridge inspection vehicle operation and maintenance system according to claim 3, characterized in that: The running mechanism (11) further comprises a motor controller, and the motor controller is used to adjust the motion output parameters of the running motor (112).

6. The bridge inspection vehicle operation and maintenance system according to claim 2, characterized in that: The driving mechanism includes a motor, and the second position monitoring mechanism is used to monitor the number of rotations and the rotation direction of the motor; or, the driving mechanism includes a hydraulic cylinder, and the second position monitoring mechanism is used to monitor the telescopic length and telescopic direction of the hydraulic cylinder.

7. The bridge inspection vehicle operation and maintenance system according to claim 1 or 2, characterized in that: The vehicle body (1) further comprises a data processing mechanism and a data transmission mechanism which are in communication connection, the data transmission mechanism being in communication connection with the cloud server, and the first image acquisition mechanism (13) and the first position monitoring mechanism being both in communication connection with the data processing mechanism.

8. The bridge inspection vehicle operation and maintenance system according to claim 1 or 2, characterized in that: It also includes an alarm mechanism that is communicatively connected to the cloud server.

9. The bridge inspection vehicle operation and maintenance system according to claim 8, characterized in that: The vehicle body (1) further comprises an electrical system (14) and a self-checking mechanism arranged on the main truss (12); the electrical system (14) is used to supply power to the running mechanism (11), the first image acquisition mechanism (13), the first position monitoring mechanism and the self-checking mechanism; at least one of the running mechanism (11), the first image acquisition mechanism (13), the first position monitoring mechanism and the electrical system (14) is communicatively connected to the self-checking mechanism, and the alarm mechanism is communicatively connected to the self-checking mechanism.

10. The bridge inspection vehicle operation and maintenance system according to claim 1 or 2, characterized in that: It also includes a remote display platform, which is communicatively connected to the cloud server.

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