Design And Development Of A Bridge Cable Detection Robot

Cable-stayed bridge is the main style of long-span bridges.It has been widely used in the world because of its good ornamental performance,strong bearing capacity,large span capacity and high wind stability.With the increase of the number of cable-stayed bridges,the management and detection departments of cable-stayed bridges instead of traditional manual need a safe,efficient and low-cost detection method urgently.Therefore,developing a cable detection robot that replace of human beings by using modern electromechanical and network technology,which can produce good market prospects and social benefits.In this paper,a new type of detection robot system for bridge cable was designed to realize the steel cable automatic detection of cable-stayed bridge,the robot system is light in weight,operated by the battery system.The functions of ascending,descending and hovering are drove by wireless control,and the system realizes the appearance disease detection and internal damage detection of the bridge cable by loading detection equipment.The main design contents of the system are as follows:1.The structure of the detection robot body.This paper studies the research results at home and abroad,and compared their advantages and disadvantages;put forward a structure based on "suspension-drive separation" technology combining with engineering practice.By using the gravity vector distribution technology of the robot body itself and the suspension wheels arranged in "V-shape",the robot could run stably,safely and economically.At the same time,the "gravity-driving force" balance technology can truly achieve the functions of micro-motion,controlled hover,automatic cruise.2.An apparent defect detection system for cables was designed.By using video detection technology and video processing technology,the whole process control of cable appearance defects from acquisition,transmission,analysis,processing to output was realized.Video processing is based on the computer depth learning principle,using neural network convolution method to process,using convolution neural network image convolution pooling and other operations to extract features,to judge the cable appearance diseases.3.A nondestructive flaw detection system for cables was designed.The automatic,quantitative,high reliable and high efficiency detection of internal cable was realized by the principle of magnetic flux leakage detection.The coaxial coil technology is applied originally in the NDT system to realize low power,uniformity,linearization of excitation signal and self-shielding function with interference,thus realizes the battery power supply including the excitation signal.The innovative technology of the robot design includes "suspension-driving separation" technology,"gravity-driving force" balance technology,disease identification technology based on convolution neural network,coaxial coil magnetization technology and other key technologies,and the expected goal of the project is achieved.The design scheme has passed the verification of the system and the application of the actual detection cases,and has realized the integrated detection system with lightweight,low power consumption,automatic and intelligent detection function and battery power supply capability.