Unmanned inspection device for bridge structure inspection

Abstract

The utility model relates to bridge structure detection technical field provides an unmanned detection equipment for bridge structure detection, and the unmanned detection equipment includes installation carrier, walking subassembly, camera unit and power module, and the bearing main part among walking subassembly is established on installation carrier, first walking unit and second walking unit are opposite and established on the bearing main part, and first walking unit and second walking unit can rotate relative to the bearing main part, are suitable for switching between the unfolded state and the folding state to install first walking unit and second walking unit from the side of track to track or detach from it, camera unit is hung and established on installation carrier, is used for gathering the image information of bridge structure, and power module is established on installation carrier, is used for power supply for first walking unit, second walking unit and camera unit at least one in the unit. The utility model has realized the quick lateral installation and dismounting in the track arbitrary position, has improved the installation deployment efficiency and flexibility.

Description

Technical Field

[0001] This utility model relates to the field of bridge structure inspection technology, and in particular to an unmanned inspection device for bridge structure inspection. Background Technology

[0002] Large and complex bridges, such as steel truss bridges, serve in the natural environment for extended periods, enduring continuous stress from traffic loads, wind and rain erosion, and temperature variations. To ensure the safe operation of these bridges, regular inspections are necessary, particularly of key structural components such as the loosening of high-strength bolts, displacement and cracking of bridge deck supports, and the structural condition of expansion joints.

[0003] For the inspection of the bottom structure of steel truss bridges, the main methods used are basket-type and truss-type inspection vehicles. Basket-type inspection vehicles are relatively lightweight and flexible, but their working platform coverage is limited, allowing only point-matrix inspections on the bottom of the beams, resulting in incomplete inspection coverage and low work efficiency. Truss-type inspection vehicles have better load-bearing capacity and stability, but the travel distance of a single operation is often limited by the cable-stayed structure of the bridge.

[0004] Currently, the common method for inspecting steel truss structures is to use suspended beam-bottom inspection vehicles and lifting platforms mounted on them. However, this method exposes the inspection vehicles to prolonged exposure to strong ultraviolet radiation, wind, rain, and vibration, making them highly susceptible to aging. Furthermore, operators must work inside the vehicle; any malfunctions in the vehicle or its tracks compromise their safety, leading to reluctance among operators to use the inspection vehicles and resulting in low utilization rates. Utility Model Content

[0005] This invention provides an unmanned inspection device for bridge structure inspection, addressing the aforementioned technical deficiencies in existing technologies. It enables rapid lateral installation and disassembly at any position on the track, improving installation and deployment efficiency and flexibility. Furthermore, the track-based movement of the walking components is superior to hovering in the air, effectively resisting environmental interference such as wind, ensuring the stability of the camera unit, and thus obtaining clear, shake-free inspection images, providing high-quality raw data.

[0006] This utility model provides an unmanned inspection device for bridge structure inspection, comprising: Installation carrier; A walking assembly for moving along a track, the walking assembly comprising: The supporting body is mounted on the mounting carrier; The first walking unit and the second walking unit are disposed opposite to each other on the supporting body. Both the first walking unit and the second walking unit can rotate relative to the supporting body and are adapted to switch between an unfolded state and a retracted state, so as to install the first walking unit and the second walking unit from the side of the track onto the track or remove them from it. The camera unit, suspended on the mounting carrier, is used to collect image information of the bridge structure; A power supply module, disposed on the mounting carrier, is used to supply power to at least one of the first walking unit, the second walking unit, and the camera unit.

[0007] According to the unmanned inspection equipment for bridge structure inspection provided by this utility model, the first walking unit and the second walking unit have the same structure, both including: The mounting side plate is rotatably connected to the load-bearing body, and the mounting side plate is made of carbon fiber material; The walking component is mounted on the mounting side plate; In the unfolded state, the mounting side plate is parallel or inclined to the supporting body, and the walking unit can be installed on the track from the side; in the retracted state, the mounting side plate is perpendicular to the supporting body and is locked by a locking device.

[0008] According to the unmanned inspection device for bridge structure inspection provided by this utility model, the walking component includes: A motor mounting bracket is fixedly mounted on the mounting side plate; At least one drive motor is mounted on the motor mounting bracket; At least one traveling wheel is provided, corresponding one-to-one with the number of drive motors, and the traveling wheel is mounted on the output shaft of the drive motor; at least one traveling wheel is provided with an angle sensor, and at least one traveling wheel is provided with a brake.

[0009] According to the unmanned inspection equipment for bridge structure inspection provided by this utility model, both the first walking unit and the second walking unit further include: At least one guide wheel assembly, which is mounted on the mounting side plate or the motor mounting base, is used to assist the traveling wheel in crossing the joints or gaps of the track.

[0010] According to the unmanned inspection equipment for bridge structure inspection provided by this utility model, both the first walking unit and the second walking unit include two walking wheels and two guide wheel sets, the two walking wheels are spaced apart, and the two guide wheel sets are located outside the two walking wheels.

[0011] According to the unmanned inspection equipment for bridge structure inspection provided by this utility model, the position of the walking wheels and / or the guide wheel group is adjustable so that the unmanned inspection equipment can be adapted to a track with a width range of 110mm to 138mm.

[0012] According to the unmanned inspection equipment for bridge structure inspection provided by this utility model, the camera unit includes: An electric telescopic pole is installed on the mounting carrier; A camera is mounted on the electric telescopic pole; The electric telescopic rod is used to extend and retract the camera vertically to adjust its detection position.

[0013] The unmanned inspection equipment for bridge structure inspection provided by this utility model also includes a control unit, which includes: A first wireless bridge disposed within the supporting body; A second wireless bridge for communicating with the first wireless bridge; and The host computer operation terminal is used to remotely control each of the walking units and the camera units through the first wireless bridge and the second wireless bridge, and to receive the position information of the walking units and the image information collected by the camera units.

[0014] According to the unmanned inspection equipment for bridge structure inspection provided by this utility model, the mounting carrier includes: The crossbeam is made of aluminum profiles; The column is made of aluminum profile and is arranged perpendicularly to the crossbeam. The supporting body is installed on the top of the column, and the camera unit and the power supply module are fixed on opposite sides of the column to balance the center of gravity of the supporting body.

[0015] This utility model provides an unmanned inspection device for bridge structure inspection. By mounting a walking component, a camera unit, and a power supply module on a carrier, the walking component includes a supporting body, a first walking unit, and a second walking unit. The first and second walking units are positioned opposite each other on the supporting body and can rotate relative to it, allowing for switching between deployed and retracted states. This enables the first and second walking units to be installed onto or removed from the track from the side. This achieves rapid lateral installation and removal at any position on the track, improving installation and deployment efficiency and flexibility. Furthermore, the walking component's movement along the track is superior to hovering in the air, effectively resisting interference from environmental winds and ensuring the stability of the camera unit, thus obtaining clear, shake-free inspection images and providing high-quality raw data. Moreover, the unmanned inspection device is firmly attached to the bridge structure, improving safety compared to manual high-altitude operations or aircraft with fall risks. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a structural schematic diagram of an unmanned inspection device for bridge structure inspection provided in an embodiment of this utility model.

[0018] Figure 2 This is a schematic diagram of the state of the walking component provided in the embodiment of the present utility model, wherein (a) is a schematic diagram of the walking component in the retracted state; (b) is a schematic diagram of the walking component in the partially extended state; and (c) is a schematic diagram of the walking component in the fully extended state.

[0019] Figure 3 This is a schematic diagram of the walking component provided in this utility model.

[0020] Figure 4 This is a partial structural schematic diagram of the walking component provided in an embodiment of the present utility model.

[0021] Figure 5 This is a side view of the walking component provided in an embodiment of the present utility model.

[0022] Figure 6 This is a perspective view of the walking component provided in this embodiment of the utility model (mainly showing the locking component).

[0023] Figure 7This is a front view of the guide wheel assembly provided in an embodiment of this utility model.

[0024] Figure 8 This is a schematic diagram of the guide wheel assembly provided in an embodiment of the present invention.

[0025] Figure 9 This is a control system diagram of an unmanned inspection device for bridge structure inspection provided in an embodiment of this utility model.

[0026] Figure label: 10. Installation carrier; 11. Crossbeam; 12. Column; 20. Walking assembly; 21. Load-bearing body; 22. First walking unit; 221. Mounting side plate; 222. Drive motor; 223. Walking wheel; 224. Guide wheel assembly; 2241. Wheel body; 2242. Mounting bracket; 2243. Mounting hole; 225. Brake; 226. Motor mounting base; 227. Keyway; 228. Bushing; 229. Fixing bolt; 230. Locking element; 23. Second walking unit; 30. Camera unit; 31. Electric telescopic pole; 32. Camera; 40. Power supply module. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0028] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0029] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0030] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0031] Existing inspection technologies for the bottom structures of steel truss beams in extra-large bridges generally suffer from low inspection efficiency, poor reliability of unmanned inspection equipment, and high maintenance costs, especially posing serious safety hazards to workers. Therefore, the unmanned inspection equipment for bridge structure inspection provided by this utility model can achieve safe, efficient, low-cost, and unmanned intelligent inspection of extra-large bridge structures. To this end, an embodiment of this utility model provides an unmanned inspection equipment for bridge structure inspection.

[0032] Figure 1 This is a structural schematic diagram of an unmanned inspection device for bridge structure inspection provided in an embodiment of this utility model. Figure 2 This is a schematic diagram of the state of the walking component provided in the embodiment of the present utility model, wherein (a) is a schematic diagram of the walking component in the retracted state; (b) is a schematic diagram of the walking component in the partially extended state; and (c) is a schematic diagram of the walking component in the fully extended state.

[0033] See Figure 1 and Figure 2 This utility model provides an unmanned inspection device for bridge structure inspection, which includes an installation carrier 10, a walking component 20, a camera unit 30, and a power supply module 40.

[0034] The mounting carrier 10 serves as the main frame of the entire unmanned inspection equipment, supporting and connecting all other functional components, such as the walking assembly 20, the camera unit 30, and the power supply module 40, ensuring the integrity and stability of the unmanned inspection equipment structure. In specific implementations, the mounting carrier 10 can be a plate, frame, profile, or any other rigid structure that can effectively integrate the walking assembly 20, the camera unit 30, and the power supply module 40.

[0035] The walking component 20 is the core innovation of this utility model embodiment. The walking component 20 is not a traditional wheeled or tracked structure. The walking component 20 includes a load-bearing body 21, a first walking unit 22, and a second walking unit 23.

[0036] The supporting body 21 serves as the base for the walking assembly 20 and is mounted on the aforementioned mounting carrier 10. The first walking unit 22 and the second walking unit 23 are disposed opposite each other on the supporting body 21. Both the first walking unit 22 and the second walking unit 23 can rotate relative to the supporting body 21, and are suitable for switching between an extended state and a retracted state, so as to install the first walking unit 22 and the second walking unit 23 from the side of the track onto the track or remove them from it.

[0037] Essentially, the first walking unit 22 and the second walking unit 23 are the direct execution components for realizing the walking function. They can be direct-drive walking wheels, robotic arms with drive wheels, or similar structures. The first walking unit 22 and the second walking unit 23 work in pairs, similar to the two arms of a clamp, acting together on the track from opposite directions.

[0038] The first traveling unit 22 and the second traveling unit 23 can be understood as two traveling units that can open (expanded state) and close (retracted state) like jaws. This allows the unmanned inspection equipment to be installed without sliding into the track from the beginning. Instead, it can be positioned at any point on the track by opening the traveling units to embrace or clamp them onto the track, and then retracting them to secure them. This enables the first traveling unit 22 and the second traveling unit 23 to be installed onto or removed from the track from the side, improving the flexibility and efficiency of the unmanned inspection equipment deployment.

[0039] The camera unit 30 is suspended on the mounting carrier 10 and is used to acquire image information of the bridge structure; that is, the camera unit 30 is a functional module for performing bridge structure inspection tasks. When the unmanned inspection equipment travels along the track at the bottom or side of the bridge (such as the lower flange plate of the I-beam), the suspended camera unit 30 can be positioned precisely below or to the side of the bridge surface to be inspected, obtaining the best unobstructed shooting angle. At the same time, the suspension connection can be equipped with a shock-absorbing or stabilizing gimbal to further improve the quality of the image information.

[0040] A power supply module 40 is mounted on the mounting carrier 10 and supplies power to at least one of the first walking unit 22, the second walking unit 23, and the camera unit 30. That is, the power supply module 40 can provide power to the entire unmanned inspection device, especially the motors driving the walking units and the camera unit 30. The power supply module 40 is typically a rechargeable battery pack to enable unmanned and wireless operation of the unmanned inspection device. Alternatively, multiple power supply modules 40 can be provided. One power supply module 40, mounted on the supporting body 21, supplies power to the motors driving the walking units. Another power supply module 40 provides power to the camera unit 30 to improve the battery life of the unmanned inspection device.

[0041] Therefore, the working process of the unmanned inspection equipment for bridge structure inspection provided in this embodiment can be divided into three stages: Installation Phase: The operator transports the unmanned inspection equipment to the track (such as the flange of an H-beam) to be inspected under the bridge. The first and second traveling units 22 and 23 of the traveling assembly 20 are rotated to their extended positions, creating a sufficiently large opening. This opening is aligned with the track, and the unmanned inspection equipment is pushed onto the track, allowing the track to pass between the two traveling units. Then, the first and second traveling units 22 and 23 are rotated to their retracted positions, ensuring they are firmly clamped or supported on the track, completing the installation. The entire process does not require starting from the track end hundreds of meters or even kilometers away, saving preparation time.

[0042] During the inspection phase: After the walking assembly 20 is installed and stabilized, the power supply module 40 provides power to the walking assembly 20, driving the first walking unit 22 and the second walking unit 23 (e.g., the drive wheels integrated on them) to move along the track. Simultaneously, the suspended camera unit 30 begins operation, acquiring real-time image information of the bridge structure and wirelessly transmitting the data to the rear control terminal. Because the unmanned inspection equipment moves smoothly along a fixed track, higher quality and more stable image information can be obtained.

[0043] Disassembly Phase: After completing the inspection of a section, the operator can stop the unmanned inspection equipment at any time. By rotating each traveling unit back to its extended position and releasing the clamps on the rails, the unmanned inspection equipment can be easily removed from the side and moved to the next inspection point or to complete the work.

[0044] It is understood that the unmanned inspection equipment for bridge structure inspection provided in this embodiment of the present invention, by setting a walking component 20, a camera unit 30, and a power supply module 40 on the mounting carrier 10, and making the walking component 20 include a supporting body 21, a first walking unit 22, and a second walking unit 23, the first walking unit 22 and the second walking unit 23 are disposed opposite to each other on the supporting body 21, and both the first walking unit 22 and the second walking unit 23 can rotate relative to the supporting body 21, which is suitable for switching between an extended state and a retracted state, so as to install the first walking unit 22 and the second walking unit 23 from the side of the track onto the track or remove them from it. This realizes rapid lateral installation and removal at any position on the track, improving the installation and deployment efficiency and flexibility. Moreover, the way the walking component 20 travels along the track is better than hovering in the air, which can effectively resist interference from environmental wind and other factors, ensuring the stability of the camera unit 30, thereby obtaining clear, shake-free inspection images and providing high-quality raw data. In addition, the unmanned inspection equipment is firmly attached to the bridge structure, which can improve safety compared to manual high-altitude operations or aircraft with the risk of falling.

[0045] Figure 3 This is a schematic diagram of the walking component provided in this utility model. Figure 4 This is a partial structural schematic diagram of the walking component provided in an embodiment of the present utility model. Figure 5 This is a side view of the walking component provided in an embodiment of the present utility model. Figure 6 This is a perspective view of the walking component provided in this embodiment of the utility model (mainly showing the locking component).

[0046] See Figures 3 to 6 In some embodiments of this utility model, the first walking unit 22 and the second walking unit 23 have the same structure, both including a mounting side plate 221 and walking components. The mounting side plate 221 is rotatably connected to the supporting body 21. The mounting side plate 221 is made of carbon fiber material, which reduces the weight of the moving parts and energy consumption while ensuring sufficient strength, and also makes the overall center of gravity easier to control.

[0047] In the deployed state, the mounting side plate 221 is parallel or inclined to the supporting body 21. At this time, the jaws are fully open, allowing the unmanned inspection equipment to laterally embrace the track from any position, and the traveling unit can be mounted onto the track from the side. In the retracted state, the mounting side plate 221 rotates 90 degrees, becoming perpendicular to the supporting body 21. At this time, the jaws close, firmly securing the unmanned inspection equipment to the track. It is then locked by the locking element 230 to ensure the rigidity and safety of the connection during operation and prevent accidental opening.

[0048] The locking component 230 is a hand-tightening screw, a multi-purpose fastener that can be manually tightened and loosened without the need for screwdrivers or wrenches, making installation easier. The locking component 230 is used to secure the support frame and enclosure of the load-bearing body, thus restricting the position of the traveling unit. Alternatively, the locking component 230 can also be a pin or a pivot pin.

[0049] See Figures 3 to 6 In some embodiments of this utility model, the walking component includes an alloy motor mounting base 226, at least one drive motor 222, and at least one walking wheel 223, with the at least one drive motor 222 mounted on the motor mounting base 226. Essentially, each walking unit is equipped with a drive motor 222 and a walking wheel 223, providing propulsion for the unmanned inspection equipment.

[0050] At least one walking wheel 223 corresponds one-to-one with the number of drive motors 222. The walking wheel 223 is mounted on the output shaft of the drive motor 222. At least one walking wheel 223 is equipped with an angle sensor and at least one walking wheel 223 is equipped with a brake 225.

[0051] This embodiment of the invention incorporates an angle sensor, enabling the control unit to obtain the rotation angle of the traveling wheel 223 in real time, thereby accurately calculating the position information of the unmanned inspection equipment on the track. The inclusion of a brake 225 provides active braking capability, ensuring the unmanned inspection equipment can be stopped as needed, thus guaranteeing operational safety.

[0052] Specifically, a fixing bolt 229 is provided on the supporting body 21. The fixing bolt 229 has a thread near one end and a smooth rod near the other end. The fixing bolt 229 is fixedly connected to the supporting body 21 through the thread. A keyway 227 is provided at the bottom of the motor mounting base 226. The fixing bolt 229 is inserted into the keyway 227 to realize the rotation of the walking unit relative to the supporting body.

[0053] Continue reading Figure 2 ,as well as Figure 3 and Figure 4 In some embodiments of this utility model, the first walking unit 22 and the second walking unit 23 both further include at least one guide wheel group 224, which is mounted on the mounting side plate 221 and is used to assist the walking wheel 223 in crossing the joints or gaps of the track.

[0054] This embodiment of the utility model adds a guide wheel group 224 to assist the walking wheel 223 in crossing the joints or uneven gaps of the track, thereby enhancing the adaptability of the unmanned inspection equipment to the track.

[0055] The first traveling unit 22 and the second traveling unit 23 each include two traveling wheels 223 and two guide wheel sets 224. The two traveling wheels 223 are spaced apart, and the two guide wheel sets 224 are located outside the two traveling wheels 223. The arrangement of the two traveling wheels 223 sandwiching each other in the middle and the two guide wheel sets 224 assisting on the outside forms a stable four-point support guiding system, ensuring smoothness when passing through seams.

[0056] Figure 7 This is a front view of the guide wheel assembly provided in an embodiment of this utility model. Figure 8 This is a schematic diagram of the guide wheel assembly provided in an embodiment of the present invention.

[0057] Furthermore, the positions of the traveling wheels 223 and / or the guide wheel assembly 224 are adjustable to enable the unmanned inspection equipment to adapt to tracks with a width range of 110mm to 138mm.

[0058] By making the positions of the traveling wheels 223 and / or guide wheel sets 224 adjustable, the unmanned inspection equipment can be adapted to various tracks with widths ranging from 110mm to 138mm. This expands the applicability of the unmanned inspection equipment, enabling it to be used on bridges of different specifications and improving its versatility.

[0059] See Figure 7 and Figure 8 Specifically, the guide wheel assembly 224 includes a wheel body 2241 and a mounting bracket 2242. The mounting bracket 2242 has multiple mounting holes 2243. By fixing the wheel body 2241 in different mounting holes 2243, the position of the guide wheel assembly 224 can be adjusted.

[0060] Continue reading Figure 4 and Figure 5 A bushing 228 is fitted on the mounting shaft of the walking wheel 223. The bushing 228 has multiple lengths, and different bushing 228s can be selected according to the position of the walking wheel 223, thereby making the position of the walking wheel 223 adjustable.

[0061] Continue reading Figure 1 In some embodiments of this utility model, the camera unit 30 includes an electric telescopic rod 31 and a camera 32. The electric telescopic rod 31 is mounted on the mounting carrier 10; the camera 32 is mounted on the electric telescopic rod 31. The electric telescopic rod 31 is used to drive the camera 32 to extend and retract vertically to adjust its detection position.

[0062] By mounting the camera unit 30 on an electrically operated telescopic pole 31, the operator can remotely control the camera 32 to extend and retract vertically, thereby flexibly adjusting the detection distance. For example, it can be used to observe tiny cracks up close or to zoom out to capture a wider structural overview, achieving multi-dimensional detection capabilities.

[0063] Figure 9 This is a control system diagram of an unmanned inspection device for bridge structure inspection provided in an embodiment of this utility model.

[0064] See Figure 9 In some embodiments of this utility model, the unmanned inspection equipment for bridge structure inspection also includes a control unit. The control unit includes a first wireless bridge arranged in the bearing body 21, a second wireless bridge for communicating with the first wireless bridge, and a host computer operation terminal. The host computer operation terminal is used to remotely control each walking unit and camera unit 30 through the first wireless bridge and the second wireless bridge, and to receive the position information of the walking unit and the image information collected by the camera unit 30.

[0065] Essentially, the unmanned inspection equipment achieves unmanned operation through a complete wireless remote control system. A first wireless bridge is installed on the unmanned inspection equipment itself, and a remote host computer establishes communication with it through a second wireless bridge. Operators can remotely control the movement and braking of the walking unit, adjust the extension and retraction of the camera unit 30, and receive real-time position information from the walking unit and high-definition image information captured by the camera 32, from a safe location on the ground or in a control room.

[0066] Based on the above technical features, the workflow of the unmanned inspection equipment for bridge structure inspection provided in this embodiment of the present invention is as follows: Installation Phase: The operator transports the unmanned inspection equipment to the track (such as the flange of an H-beam) to be inspected under the bridge. The first and second traveling units 22 and 23 of the traveling assembly 20 are rotated to their extended positions, creating a sufficiently large opening. This opening is aligned with the track, and the unmanned inspection equipment is pushed onto the track, allowing the track to pass between the two traveling units. Then, the first and second traveling units 22 and 23 are rotated to their retracted positions, ensuring they are firmly clamped or supported on the track, completing the installation.

[0067] During the inspection phase: The operator remotely drives motor 222 and wheels 223 via a host computer, and the unmanned inspection equipment begins to move smoothly along the track. Angle sensors transmit precise position data back. If track joints are encountered during movement, guide wheel assembly 224 will function to ensure smooth passage. Based on the real-time transmitted images, the operator can adjust the height of camera 32 at any time via electric telescopic rod 31 to obtain the best inspection view. All images and position data are recorded in real time.

[0068] Disassembly Phase: After completing the inspection of a section, the operator can stop the unmanned inspection equipment at any time. By rotating each traveling unit back to its extended position and releasing the clamps on the rails, the unmanned inspection equipment can be easily removed from the side and moved to the next inspection point or to complete the work.

[0069] The track-based travel method provided in this embodiment is more stable than aerial photography. The guide wheel assembly 224 overcomes the defects of the track, and the electric telescopic rod 31 ensures the best shooting angle, together guaranteeing the acquisition of high-quality, high-value detection data; unmanned remote operation keeps personnel away from the risks of high altitude, and the locking component 230 and active brake 225 provide dual mechanical and control safety guarantees.

[0070] Continue reading Figure 1 In some embodiments of this utility model, the mounting carrier 10 includes a crossbeam 11 and a column 12. The crossbeam 11 is made of aluminum profile; the column 12 is also made of aluminum profile. The choice of aluminum profile balances lightweight and structural strength, facilitating handling and ensuring the rigidity of the unmanned inspection equipment. The vertical arrangement of the column 12 and the crossbeam 11 constitutes the main frame of the unmanned inspection equipment.

[0071] The walking component 20, as a whole, such as the supporting body 21, is mounted on top of the column 12. The camera unit 30 and the power supply module 40 are respectively fixed on opposite sides of the column 12 to balance the center of gravity of the supporting body 21.

[0072] Since the walking component 20 is located at the highest point, it is one of the main weights of the unmanned inspection equipment. Placing the camera unit 30 and the power supply module 40, which are also heavy components, on both sides of the column 12 can effectively offset and balance the instability caused by the top load, prevent the unmanned inspection equipment from tipping over when moving or stationary, and ensure the stable operation of the unmanned inspection equipment on the slender track.

[0073] This utility model embodiment also provides a detection method for an unmanned detection device for bridge structure inspection based on any one of the above. Based on a thorough description of the unmanned detection device, this utility model is further defined from the perspective of its usage method. The detection method for the unmanned detection device for bridge structure inspection includes the following steps: Step S100: Deploy the first walking unit 22 and the second walking unit 23 relative to the supporting body 21, and place the first walking unit 22 and the second walking unit 23 on the track from the side of the track, so that the first walking unit 22 and the second walking unit 23 are retracted and locked relative to the supporting body 21.

[0074] This step describes the installation process of the unmanned inspection equipment on the bridge track. It consists of three consecutive actions: Deployment: The operator rotates the mounting side plate 221 of the traveling unit to an deployed state parallel to the supporting body 21. At this time, a sufficiently large opening is formed between the two traveling units.

[0075] Placement: Align this opening with the bridge track (such as the lower flange of an H-beam) and hook or hang the unmanned inspection equipment onto the track from the side. This is the core advantage that distinguishes it from all unmanned inspection equipment that needs to be inserted from the end of the track.

[0076] Retract and lock: Rotate the mounting side plate 221 again to the retracted state perpendicular to the supporting body 21, so that the traveling wheels 223 or guide wheel assembly 224 tightly fit or clamp the track. Finally, the locking member 230 locks this state to ensure that the unmanned inspection equipment forms a rigid connection with the track and will not accidentally fall off in subsequent operations.

[0077] This step is entirely based on the aforementioned openable and closable walking component 20. It solves the fundamental problems of time-consuming, dangerous, and inflexible installation of traditional unmanned track inspection equipment, making rapid and safe deployment possible at any location on the bridge.

[0078] Step S200: Control the first walking unit 22 and the second walking unit 23 to travel along the track to the target detection position.

[0079] Understandably, after the unmanned inspection equipment is securely locked onto the track, the operator starts the drive motor 222 in the walking component via the wireless control unit. The drive motor 222 drives the walking wheels 223 to rotate, and the unmanned inspection equipment begins to move smoothly along the track.

[0080] This step enables stable and controllable long-distance movement. The supports, beams, trusses, and pipelines beneath the bridge create an extremely complex flight environment. Existing drone technologies require maneuvering within confined spaces, posing a high risk of propeller collisions with obstacles. Furthermore, the reinforced concrete structure of the bridge completely blocks GPS satellite signals, preventing the drone from using GPS for precise positioning and stable hovering. The extensive steel structure and reinforcement of the bridge severely interfere with, reflect, and obstruct the drone's remote control and image transmission signals, leading to operational delays, image lag, and even loss of connection.

[0081] Compared to the unmanned detection equipment provided in this utility model embodiment, even in the absence of wind and with GPS, drones experience slight positional fluctuations and body vibrations. Therefore, this utility model embodiment is superior to hovering in the air, effectively resisting interference from environmental winds and other factors, ensuring the stability of the camera unit, thereby obtaining clear, shake-free detection images and providing high-quality raw data.

[0082] Step S300: Control the electric telescopic rod 31 of the camera unit 30 to extend, so that the camera 32 of the camera unit 30 approaches the structural component to be inspected, and complete the inspection by adjusting the angle and focal length of the camera 32.

[0083] Understandably, once the unmanned inspection equipment reaches the target location (such as directly below a suspected crack), it enters the precise inspection phase. The operator controls the extension of the electric telescopic boom 31, causing the camera 32 to descend vertically and actively approach the bridge structure surface that needs to be closely observed. Subsequently, the pan-tilt-zoom angle and lens focal length of the camera 32 can be remotely adjusted to take close-up photos of the target.

[0084] The camera unit 30 does not passively capture images from a fixed distance, but rather achieves rapid movement and precise close-up. This telescopic capability enables the unmanned inspection equipment to perform both rapid patrols and close-up inspections of suspicious points, improving both inspection accuracy and flexibility.

[0085] Step S400: If the inspection is completed, control the electric telescopic pole 31 to retract so as to proceed to the next movement or end the inspection.

[0086] Understandably, after completing a detailed inspection of a point, the operator retracts the electric telescopic pole 31, restoring the camera 32 to a higher, safer position. The purpose of retraction is to prevent the camera 32 from colliding with other structures on the bridge during the next movement.

[0087] After being retrieved, the operator can choose one of two operations: Proceed to the next step: Repeat steps S200 and S300 to move to the next target point for detection.

[0088] Once all testing tasks are completed, preparations can be made for the disassembly of the unmanned testing equipment.

[0089] This step ensures the safety and efficiency of the testing process. The entire process is remotely controlled wirelessly by an operator on the ground, completely eliminating the risks associated with personnel working at heights. The locking mechanism, brake 225, and balance design of the unmanned testing equipment itself also ensure its operational safety.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An unmanned inspection device for bridge structure inspection, characterized in that, include: Installation carrier; A walking assembly for moving along a track, the walking assembly comprising: The supporting body is mounted on the mounting carrier; The first walking unit and the second walking unit are disposed opposite to each other on the supporting body. Both the first walking unit and the second walking unit can rotate relative to the supporting body and are adapted to switch between an unfolded state and a retracted state, so as to install the first walking unit and the second walking unit from the side of the track onto the track or remove them from it. The camera unit, suspended on the mounting carrier, is used to collect image information of the bridge structure; A power supply module, disposed on the mounting carrier, is used to supply power to at least one of the first walking unit, the second walking unit, and the camera unit.

2. The unmanned inspection equipment for bridge structure inspection according to claim 1, characterized in that, The first walking unit and the second walking unit have the same structure, both including: The mounting side plate is rotatably connected to the load-bearing body, and the mounting side plate is made of carbon fiber material; The walking component is mounted on the mounting side plate; And locking components; In the unfolded state, the mounting side plate is parallel or inclined to the supporting body, and the walking unit can be installed on the track from the side; in the retracted state, the mounting side plate is perpendicular to the supporting body and is locked by the locking member.

3. The unmanned inspection equipment for bridge structure inspection according to claim 2, characterized in that, The walking component includes: A motor mounting bracket is fixedly mounted on the mounting side plate; At least one drive motor is mounted on the motor mounting bracket; At least one traveling wheel is provided, corresponding one-to-one with the number of drive motors, and the traveling wheel is mounted on the output shaft of the drive motor; at least one traveling wheel is provided with an angle sensor, and at least one traveling wheel is provided with a brake.

4. The unmanned inspection equipment for bridge structure inspection according to claim 3, characterized in that, Both the first walking unit and the second walking unit further include: At least one guide wheel assembly, which is mounted on the mounting side plate or the motor mounting base, is used to assist the traveling wheel in crossing the joints or gaps of the track.

5. The unmanned inspection equipment for bridge structure inspection according to claim 4, characterized in that, Both the first walking unit and the second walking unit include two walking wheels and two guide wheel sets. The two walking wheels are spaced apart, and the two guide wheel sets are located outside the two walking wheels.

6. The unmanned inspection equipment for bridge structure inspection according to claim 4, characterized in that, The position of the walking wheels and / or the guide wheel assembly is adjustable so that the unmanned detection equipment can adapt to tracks with a width range of 110mm to 138mm.

7. The unmanned inspection equipment for bridge structure inspection according to claim 1, characterized in that, The camera unit includes: An electric telescopic pole is installed on the mounting carrier; A camera is mounted on the electric telescopic pole; The electric telescopic rod is used to extend and retract the camera vertically to adjust its detection position.

8. The unmanned inspection equipment for bridge structure inspection according to claim 1, characterized in that, It also includes a control unit, which includes: A first wireless bridge disposed within the supporting body; A second wireless bridge for communicating with the first wireless bridge; and The host computer operation terminal is used to remotely control each of the walking units and the camera units through the first wireless bridge and the second wireless bridge, and to receive the position information of the walking units and the image information collected by the camera units.

9. The unmanned inspection equipment for bridge structure inspection according to any one of claims 1 to 8, characterized in that, The mounting carrier includes: The crossbeam is made of aluminum profiles; The column is made of aluminum profile and is arranged perpendicularly to the crossbeam. The supporting body is installed on the top of the column, and the camera unit and the power supply module are fixed on opposite sides of the column to balance the center of gravity of the supporting body.

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