Design And Implementation Of Cable Inspection Robot System

As one of the main load-bearing components of the cable-stayed bridge,stay cable is known as the lifeline of the cable-stayed bridge,with the cost of the bridge accounted for 25% to 30%.Timely grasp the service performance of cable stayed cable and extend life expectancy by timely maintenance is of great significance.Cable inspection can be reduced daily routine maintenance costs for cable-stayed bridges,raise the service life of cable for cable-stayed bridge,saving state property and maintain the security of the whole society.This study focus on the large-scale cross-river cable-stayed bridge in Shanghai,analyzing the characteristics of the cable structure,developed a detection robot that can climb steadily along the cable,Through the camera of the robot,Shooting the apparent sickness of cable,sending the signal back to the ground,to determine the defect of the skin epidermis by artificial judgment.This technology can improve the efficiency and safety of cable inspection maintenance,reduce maintenance costs.It can bring huge economic and social benefits.Firstly,this paper analyzes the technical background of cable detection robot.A variety of crawling robot working principle was put forward in recent years.Each principle of the robot has its advantages and disadvantages,needed to be analyzed for specific applications,from which to choose the most suitable for the subject of the wheeled crawling robot.This article then analyzes the design requirements of the subject.Put forward the difficult and innovative points of this subject,and then makes detailed description of the system design and implementation from the aspect of process from the mechanical,hardware and software in three directions.In terms of mechanical structure,this article describes the design of motor selection process,climbing mechanism,adaptive barrier system and Security Recycling Subsystem;In terms of hardware,this paper describes the control subsystem,wireless communication subsystem,image wireless acquisition and transmission system and power module subsystem design;In terms of software,this article describes the software development environment,software design.In order to ensure the ability of obstacle negotiation of the robot,This paper designs an adaptive fuzzy control system of obstacle negotiation.A key mater of the Cable Obstacle for Cable-stayed bridge design is how to ensure that the wheel and the cable between the size can always maintain a suitable clamping force.The implementation of adaptive fuzzy control system has successfully solved the above problems.This paper has carried out indoor model experiment and outdoor field test for the cable detection robot,analyzed the resulting data from the aspect of the speed,image,control accuracy and stability,designed a cable detection robot that meets the needs of the subject by using Self-adaptive fuzzy control successfully.