A kind of all-around image acquisition device for box girder bridge disease detection

Abstract

The utility model discloses a kind of all-around image acquisition method and device for box girder bridge disease detection, belong to bridge detection technical field, including base, servo motor, electric push cylinder, electric rotary table, camera, laser displacement sensor, install the device on the slide rail of arm type bridge inspection car, make the guiding slide block of this device movement on slide rail.The base middle part, both sides and second guiding slide block of this device are each equipped with an electric push cylinder, and both sides electric push cylinder are connected with servo motor and electric rotary table.Using electric push cylinder and laser displacement sensor, make camera and box girder bridge wing plate, web and bottom plate keep appropriate distance.Using servo motor, electric rotary table and two laser displacement sensors, make left and right two sides camera and box girder bridge web keep parallel, so that camera is directly opposite to box girder bridge web and carries out shooting.Finally reach the purpose that all cameras are in optimal position work, to improve shooting quality and detection efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of bridge inspection technology, specifically relating to a comprehensive image acquisition method and device for detecting defects in box girder bridges. Background Technology

[0002] As a vital transportation infrastructure, the safety and reliability of bridges are of paramount importance. During use, bridges are affected by passing vehicles and the external environment, which can cause damage such as cracks, honeycombing, and pitting in the bridge structure. Therefore, regular inspections of the bridge's underside are necessary to ensure safe operation, promptly identify structural damage and potential risks, and provide a scientific basis for bridge maintenance and reinforcement.

[0003] Currently, two main inspection methods are used in the field of bridge inspection: manual inspection using bridge inspection vehicles and unmanned bridge inspection vehicles. In manual inspection, workers are typically transported to the bottom of the bridge by the inspection vehicle platform and use handheld flaw detectors to inspect the bridge's underside. However, this method is not only complex and labor-intensive but also inefficient, making it difficult to meet the needs of large-scale bridge inspections. While unmanned bridge inspection vehicles improve automation to some extent, they still have limitations. For example, the cameras on these vehicles are usually evenly mounted on the boom of the boom-type inspection vehicle, and the distance between the camera and the bridge bottom cannot be flexibly adjusted. This makes it difficult to ensure the camera is at the optimal shooting distance, especially when inspecting box girder bridges. It is impossible to ensure the camera simultaneously captures images of both the flanges and the web, resulting in poor image quality at the web position, which is insufficient for bridge defect detection.

[0004] In summary, existing bridge inspection methods are insufficient to meet the inspection requirements of box girder bridges. Therefore, to achieve automated bridge inspection and rapid acquisition of bridge defect images, this invention provides a comprehensive image acquisition method and device for box girder bridge defect detection. Summary of the Invention

[0005] The purpose of this invention is to address the problems of immature existing automated detection methods for box girder bridge defects and the lack of corresponding detection devices, by providing a comprehensive image acquisition device for detecting box girder bridge defects.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A comprehensive image acquisition device for detecting defects in box girder bridges includes a traveling mechanism, a wing plate detection mechanism, a web plate detection mechanism, a bottom plate detection mechanism, and a buffer mechanism. The traveling mechanism consists of first and second guide sliders, both mounted on and moving along the slide rails of a boom-type bridge inspection vehicle. The wing plate detection mechanism, web plate detection mechanism, and buffer mechanism are mounted on the first guide slider via a device base and are used to image the wing plates and web plates of the box girder bridge. The bottom plate detection mechanism is mounted on the second guide slider and is used to image the bottom plate of the box girder bridge.

[0008] Furthermore, the wing plate detection mechanism includes a first electric push cylinder, a worktable I, a camera, a laser displacement sensor, and a supplementary lighting device. The first electric push cylinder is installed in the middle of the base, and the end of the telescopic rod of the first electric push cylinder is connected to the worktable I. The worktable is equipped with a camera, a laser displacement sensor, and two sets of supplementary lighting devices.

[0009] Furthermore, the web plate detection mechanism consists of two symmetrical sets of detection devices, which respectively detect the web plates at the left and right positions of the box girder bridge. It includes a first-stage steering device, a lifting device, and a second-stage steering device. The first-stage steering device includes a servo motor, a diaphragm coupling, a driven shaft, a bearing housing, and a connecting plate. Both the servo motor and the bearing housing are bolted to the base. The output shaft of the servo motor is connected to the driven shaft via a diaphragm coupling. The end of the driven shaft is supported by the bearing housing, and a connecting plate is mounted on the driven shaft.

[0010] Furthermore, the lifting device of the web plate detection mechanism includes a second electric push cylinder and a worktable II. The top of the connecting plate is fixed to the second electric push cylinder by bolts, and the end of the telescopic rod of the second electric push cylinder is connected to the worktable II.

[0011] Furthermore, the second-stage steering device of the web plate detection mechanism includes an electric rotary table, a rotating shaft, a rotating platform, a camera, a laser displacement sensor, and a supplementary lighting device. The electric rotary table is installed at both ends of the worktable II, and a rotating platform is mounted on the electric rotary table, which rotates around the rotating shaft. The rotating platform is equipped with a camera, two laser displacement sensors, and two sets of supplementary lighting devices.

[0012] Furthermore, the buffer mechanism includes a buffer block, buffer material, buffer device, push rod mechanism, and buffer seat. The buffer block is fitted onto the second electric push cylinder and is filled with buffer material. The buffer seat is mounted on the base with screws, and the push rod mechanism is bolted onto the buffer seat. The push rod mechanism is connected to the second electric push cylinder through the buffer device.

[0013] Furthermore, the base plate detection mechanism includes a third electric push cylinder, a worktable III, a camera, a laser displacement sensor, and a supplementary lighting device. The third electric push cylinder is bolted to the second guide slider, and the top of the telescopic rod of the third electric push cylinder is connected to the worktable III, on which the camera, laser displacement sensor, and supplementary lighting device are mounted.

[0014] This utility model also provides a comprehensive image acquisition method for detecting defects in box girder bridges, comprising the following steps:

[0015] This device is mounted on the slide rails of a boom-type bridge inspection vehicle. By controlling the movement of the first and second guide sliders on the slide rails, the device is slid to directly beneath the wing plates and bottom plate of the box girder bridge. A laser displacement sensor measures the distance between the camera and the wing plate of the box girder bridge. Based on the measurement results, the extension and retraction of the first electric push cylinder is adjusted to maintain the camera at the optimal shooting distance. By controlling the lifting and lowering of the second electric push cylinder, the rotation of the servo motor and electric rotary table, and using the laser displacement sensor for distance measurement, the camera is kept parallel to the web plate of the box girder bridge and at the optimal shooting distance. The laser displacement sensor measures the distance between the camera and the bottom plate of the box girder bridge. Based on the measurement results, the extension and retraction of the third electric push cylinder is adjusted to maintain the camera at the optimal shooting distance. When the light under the bridge is insufficient, the supplementary lighting devices on each worktable can be turned on to improve the lighting conditions for the camera and enhance the image acquisition quality.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] This invention provides an all-around image acquisition device for detecting defects in box girder bridges. The device has a simple structure and is easy to install and disassemble. Through the lifting of an electric cylinder and the ranging of a laser displacement sensor, the device can precisely control the distance between the camera and the wing plate, bottom plate, and web plate of the box girder bridge. By using a servo motor and an electric rotary table, the angle between the left and right cameras and the web plate can be adjusted, ensuring the cameras are parallel to the web plate for shooting. In cases of insufficient light under the bridge, a supplementary lighting device can be activated. Ultimately, all four cameras are positioned optimally, improving the acquisition quality and work efficiency. Attached Figure Description

[0018] Figure 1 A schematic diagram of the working operation of the detection device provided by this utility model;

[0019] Figure 2 This is an isometric view of the present invention;

[0020] Figure 3 for Figure 2 Enlarged view of position A in the middle;

[0021] Figure 4 for Figure 2 Enlarged view of position B in the middle;

[0022] Figure 5 This is a front view of the present utility model;

[0023] Figure 6 This is a top view of the present invention;

[0024] In the diagram: 1. Slide rail; 2. First guide slider; 3. Base; 4.1-4.2. Bearing seat; 5.1-5.2. Driven shaft; 6.1-6.2. Servo motor; 7.1-7.2. Connecting plate; 8. First electric push cylinder; 9. First electric push cylinder telescopic rod; 10.1-10.2. Second electric push cylinder; 11.1-11.2. Buffer block; 12.1-12.2. Second electric push cylinder telescopic rod; 13.1-13.2. Electric rotary table; 14.1-14.2. Buffer device; 15.1-15.2. Push rod mechanism; I. Worktable I; II.1-II.2. Worktable II; III. Worktable III; I-16. Fill light device; II-16.1. II-16.2, Supplemental lighting device; III-16.3, Supplemental lighting device; I-17, Camera; II-17.1, II-17.2, Camera; III-17.3, Camera; 18, Box girder bridge wing plate; 19, Box girder bridge web plate; 20, Box girder bridge bottom plate; 21, Second guide slider; 22, Third electric push cylinder; 23, Third electric push cylinder telescopic rod; 24.1-24.2, Diaphragm coupling; 25.1-25.2, Rotating shaft; 26.1-26.2, Rotating platform; I-27, Laser displacement sensor; II-27.1, II-27.2, Laser displacement sensor; III-27.3, Laser displacement sensor; 28, Buffer seat; 29, Buffer material. Detailed Implementation

[0025] To further illustrate the technical means and effects adopted by this utility model to achieve its intended purpose, the following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a comprehensive image acquisition method and device for detecting defects in box girder bridges based on this utility model.

[0026] The foregoing and other technical contents, features, and effects of this utility model will be clearly presented in the following detailed description of the specific embodiments with reference to the accompanying drawings. Through the description of the specific embodiments, a more in-depth and specific understanding can be gained of the technical means and effects adopted by this utility model to achieve the intended purpose. However, the accompanying drawings are only provided for reference and illustration and are not intended to limit the technical solution of this utility model.

[0027] like Figure 1 , Figure 2 , Figure 5 , Figure 6As shown, an all-around image acquisition device for detecting defects in box girder bridges includes a first guide slider 2 and a second guide slider 21, both mounted on the slide rail 1 of a boom-type bridge inspection vehicle. The first guide slider 2 is equipped with a wing-web plate detection platform, which includes a base 3 and three sets of detection devices. The middle set of detection devices is used to photograph the wing plate 18 of the box girder bridge, while the two sets of detection devices symmetrically arranged on either side are used to photograph both sides of the web plate 19. The second guide slider 21 has a set of detection devices used to photograph the bottom plate 20 of the box girder bridge.

[0028] Combination Figure 1 , Figure 2 The base 3 of the wing-web plate detection platform is connected to the first guide slider 2 by four screws. The first electric push cylinder 8 is installed in the middle of the base 3. The end of the telescopic rod 9 of the first electric push cylinder is connected to the worktable II. The worktable is equipped with a camera I-17, a laser displacement sensor I-27 and two sets of supplementary lighting devices I-16.

[0029] Combination Figure 1 , Figure 2 , Figure 3 The wing-web plate inspection platform base 3 is symmetrically equipped with servo motors 6.1 and 6.2 and bearing seats 4.1 and 4.2 on both sides. The servo motors 6.1 and 6.2 and the bearing seats 4.1 and 4.2 are all connected to the base 3 by bolts. The output shaft of the servo motor is connected to the driven shafts 5.1 and 5.2 by diaphragm couplings 24.1 and 24.2. The ends of the driven shafts 5.1 and 5.2 are supported by bearing seats 4.1 and 4.2. The driven shafts 5.1 and 5.2 are equipped with connecting plates 7.1 and 7.2, and their tops are fixed to the second electric push cylinders 10.1 and 10.2 by bolts.

[0030] Combination Figure 1 , Figure 4 In the wing-web plate inspection platform, each of the second electric push cylinders 10.1 and 10.2 is fitted with a buffer block 11.1 and 11.2, which is filled with buffer material 29. A buffer seat 28 is installed in the middle of the base 3 of the inspection platform by screws. Push rod mechanisms 15.1 and 15.2 are installed on the buffer seat 28 by bolts to help fix the working angle of the second electric push cylinders 10.1 and 10.2. The push rod mechanisms 15.1 and 15.2 are connected to the second electric push cylinders 10.1 and 10.2 through buffer devices 14.1 and 14.2 and buffer blocks 11.1 and 11.2.

[0031] Combination Figure 1 , Figure 2 , Figure 6The upper ends of the second electric cylinder telescopic rods 12.1 and 12.2 are connected to the worktables II II.1 and II.2. The two ends of the worktables are connected to the electric rotary tables 13.1 and 13.2. The electric rotary tables 13.1 and 13.2 are equipped with rotating platforms 26.1 and 26.2, which rotate around the rotating shafts 25.1 and 25.2 to adjust the working angles of the cameras II-17.1 and II-17.2, two laser displacement sensors II-27.1 and II-27.2, and two sets of supplementary lighting devices II-16.1 and II-16.2 located on the rotating platforms 26.1 and 26.2.

[0032] Combination Figure 1 , Figure 2 The bottom of the third electric cylinder 22 is connected to the second guide slider 21 by screws. The worktable IIIIII is connected to the telescopic rod 23 of the third electric cylinder by thread engagement. The worktable IIIIII is equipped with camera III-17.3, laser displacement sensor III-27.3 and two sets of supplementary lighting devices III-16.3.

[0033] A method and apparatus for omnidirectional image acquisition for detecting defects in box girder bridges, the usage of which is as follows (using a cyclic imaging unit consisting of two adjacent flanges, two webs, and a bottom plate as an example):

[0034] When this omnidirectional image acquisition device is in operation, cameras I-17, II-17.1, II-17.2, and III-17.3 respectively capture images of the two wing plates 18, the web plate 19, and the bottom plate 20 of the box girder bridge. After completing the imaging task of this unit, the first guide slider 2 and the second guide slider 21 are controlled to move to the next imaging unit to continue imaging. The following are the specific operating steps of this device within one imaging cycle:

[0035] Step 1: Before starting the bridge inspection, install this device on the slide rail 1 of the boom-type bridge inspection vehicle, and remotely set the speed, direction and stopping conditions of the servo motors 6.1 and 6.2 and the electric rotary tables 13.1 and 13.2 via computer. Then start the bridge inspection vehicle to begin the inspection. By controlling the movement of the first guide slider 2 and the second guide slider 21 on the slide rail 1, slide this device directly under the box girder bridge wing plate 18 and bottom plate 20.

[0036] Step 2: After the first guide slider 2 moves directly below the box girder bridge wing plate 18, the distance from the camera I-17 to the box girder bridge wing plate 18 is measured by the laser displacement sensor I-27. Based on the actual measurement results, the extension and retraction of the first electric push cylinder 8 are adjusted so that the camera I-17 is kept at the optimal shooting distance, and the image acquisition of the box girder bridge wing plate 18 is completed.

[0037] Step 3: Simultaneously with Step 2, start servo motors 6.1 and 6.2 and push rod mechanisms 15.1 and 15.2. Servo motors 6.1 and 6.2 drive driven shafts 5.1 and 5.2, connecting plates 7.1 and 7.2 and second electric push cylinders 10.1 and 10.2 to rotate, thereby adjusting the swing angle of the second electric push cylinders 10.1 and 10.2. Then, through the extension and retraction of the second electric push cylinders 10.1 and 10.2, the left and right cameras II-17.1 and II-17.2 are brought to the initial working position.

[0038] Step 4: Start the electric rotary tables 13.1 and 13.2, and adjust the angles of cameras II-17.1 and II-17.2 so that cameras II-17.1 and II-17.2 are directly facing the box girder bridge web 19. Measure the distance between cameras II-17.1 and II-17.2 and the box girder bridge web 19 using laser displacement sensors II-27.1 and II-27.2. Adjust the electric rotary tables 13.1 and 13.2 according to the measured results until the distances measured by the two laser displacement sensors II-27.1 and II-27.2 on each side are the same. At this point, the lenses of cameras II-17.1 and II-17.2 are parallel to the box girder bridge web 19, and then the image acquisition of the box girder bridge web 19 is completed.

[0039] Step 5: Simultaneously with Steps 2 and 3, the second guide slider 21 slides to directly below the bottom plate 20 of the box girder bridge. The distance between the camera III-17.3 and the bottom plate 20 of the box girder bridge is measured by the laser displacement sensor III-27.3. Based on the actual measurement results, the extension and retraction of the third electric push cylinder 22 are adjusted to keep the camera III-17.3 at the optimal shooting distance and complete the image acquisition of the bottom plate 20 of the box girder bridge.

[0040] When the light under the bridge is insufficient, the supplementary lighting devices I-16, II-16.1, II-16.2, and III-16.3 on each workbench can be turned on to improve the lighting conditions of cameras I-17, II-17.1, II-17.2, and III-17.3, thereby improving the image acquisition quality.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although the utility model has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of this utility model. Any modifications or equivalent substitutions that do not depart from the spirit and scope of this utility model should be covered within the protection scope of the claims of this utility model.

Claims

1. A kind of all-around image acquisition device for box girder bridge disease detection, it is characterized in that, The system includes a walking mechanism, a wing plate detection mechanism, a web plate detection mechanism, a bottom plate detection mechanism, and a buffer mechanism. The walking mechanism consists of a first guide slider (2) and a second guide slider (21), both of which are mounted on the slide rail (1) of the boom-type bridge inspection vehicle and move thereon. The wing plate detection mechanism, the web plate detection mechanism, and the buffer mechanism are mounted on the first guide slider (2) via a device base (3) and are used to photograph the wing plate (18) and web plate (19) of the box girder bridge. The bottom plate detection mechanism is mounted on the second guide slider (21) and is used to photograph the bottom plate (20) of the box girder bridge.

2. The omnidirectional image acquisition device for box girder bridge disease detection according to claim 1, characterized in that, The wing plate detection mechanism includes a first electric push cylinder (8), a worktable I (I), a camera (I-17), a laser displacement sensor (I-27), and a supplementary lighting device (I-16). The first electric push cylinder (8) is installed in the middle of the base (3), and the end of the telescopic rod (9) of the first electric push cylinder is connected to the worktable I (I). The worktable is equipped with a camera (I-17), a laser displacement sensor (I-27), and two sets of supplementary lighting devices (I-16).

3. The omnidirectional image acquisition device for box girder bridge disease detection according to claim 1, characterized in that, The web plate detection mechanism consists of two sets of symmetrical detection devices, which respectively detect the web plates at the left and right positions of the box girder bridge. It includes a first-stage steering device, a lifting device, and a second-stage steering device. The first-stage steering device includes servo motors (6.1, 6.2), diaphragm couplings (24.1, 24.2), driven shafts (5.1, 5.2), bearing seats (4.1, 4.2), and connecting plates (7.1, 7.2). The servo motors (6.1, 6.2) and bearing seats (4.1, 4.2) are all connected to the base (3) by bolts. The output shaft of the servo motors (6.1, 6.2) is connected to the driven shafts (5.1, 5.2) through diaphragm couplings (24.1, 24.2). The end of the driven shafts (5.1, 5.2) is supported by bearing seats (4.1, 4.2), and the driven shafts (5.1, 5.2) are equipped with connecting plates (7.1, 7.2).

4. The omnidirectional image acquisition device for box girder bridge disease detection according to claim 3, characterized in that, The lifting device of the web plate testing mechanism includes a second electric push cylinder (10.1, 10.2) and a worktable II (II.1, II.2). The top of the connecting plate (7.1, 7.2) is fixed to the second electric push cylinder (10.1, 10.2) by bolts, and the end of the telescopic rod (12.1, 12.2) of the second electric push cylinder is connected to the worktable II (II.1, II.2).

5. The omnidirectional image acquisition device for box girder bridge disease detection according to claim 3, characterized in that, The second-stage steering device of the web plate detection mechanism includes an electric rotary table (13.1, 13.2), a rotating shaft (25.1, 25.2), a rotating platform (26.1, 26.2), a camera (II-17.1, II-17.2), a laser displacement sensor (II-27.1, II-27.2), and a supplementary lighting device (II-16.1, II-16.2). The electric rotary table (13.1, 13.2) is mounted on workbench I. At both ends of I (II.1, II.2), the electric rotary tables (13.1, 13.2) are equipped with rotating platforms (26.1, 26.2), which rotate around the rotating axis (25.1, 25.2). The rotating platforms (26.1, 26.2) are equipped with cameras (II-17.1, II-17.2), two laser displacement sensors (II-27.1, II-27.2), and two sets of supplementary lighting devices (II-16.1, II-16.2).

6. The omnidirectional image acquisition device for box girder bridge disease detection according to claim 1, characterized in that, The buffer mechanism includes buffer blocks (11.1, 11.2), buffer material (29), buffer device (14.1, 14.2), push rod mechanism (15.1, 15.2), and buffer seat (28). The buffer blocks (11.1, 11.2) are fitted onto the second electric push cylinder (10.1, 10.2) and are filled with buffer material (29). The buffer seat (28) is mounted on the base (3) by screws. The push rod mechanism (15.1, 15.2) is mounted on the buffer seat (28) by bolts. The push rod mechanism (15.1, 15.2) is connected to the second electric push cylinder (10.1, 10.2) through the buffer device (14.1, 14.2).

7. The omnidirectional image acquisition device for box girder bridge disease detection according to claim 1, characterized in that, The base plate detection mechanism includes a third electric push cylinder (22), a worktable III (III), a camera (III-17.3), a laser displacement sensor (III-27.3), and a supplementary lighting device (III-16.3). The third electric push cylinder (22) is bolted to the second guide slider (21). The top of the telescopic rod (23) of the third electric push cylinder is connected to the worktable III (III). The worktable III (III) is equipped with a camera (III-17.3), a laser displacement sensor (III-27.3), and a supplementary lighting device (III-16.3).

Images