Circular Vision Scanning Robot System For Bridge Pier Disease Climbing Detection

As an important part of the bridge,the pier plays a vital role in the stability of the bridge structure.With the rapid development of China ’s transportation industry,the service time and load pressure of the bridge increase.The bridge structure inevitably suffers from damage and the bearing capacity decreases.In particular,the damage of the pier will have a serious impact on the integrity and safety of the entire bridge,and even lead to collapse accidents,causing great harm to people ’s lives and property.In order to detect and repair bridge pier damage in time,this paper presents a robot system suitable for high-precision detection of bridge pier surface diseases.The system is convenient to realize the disease evolution record and accident traceability of bridge piers through regular detection,and provides data support for bridge maintenance and management.By analyzing and researching the structural characteristics and surface disease detection requirements of bridge piers,a multi-mode disease detection method based on circular frame robots is proposed.In this paper,the structure,dynamic model,kinematic attitude solution and multi-association simultaneous motion control of ring-frame robot are studied.At the same time,the development of multi-mode disease image acquisition system is completed,and the two are combined to develop a non-contact,global and efficient detection of bridge pier disease climbing detection ring visual scanning robot system,which has important practical value for the detection of bridge pier disease.In this paper,the overall scheme of the system is studied first.On this basis,the design of the mechanical body of the system is realized,including the reconfigurable ring frame robot body and the related mechanical structure of the multi-mode disease image acquisition system,and the dynamic model of the ring frame robot in different operating states is analyzed.Secondly,the control system of the robot is studied,including the working mode,communication mode and hardware design of the system.Combined with the structural characteristics of the robot,the multi-legged cooperative motion control algorithm and the calculation method of the robot ’s running attitude are proposed.On this basis,the fuzzy PID algorithm is realized by FPGA(Field Programmable Gate Array),and the real-time speed regulation of each crawling mechanism of the robot is realized to ensure the smooth climbing of the robot.In addition,according to the detection requirements of bridge pier diseases,the research on multi-mode disease image acquisition technology is carried out,and the visual scanning imaging mechanism is introduced into the field of visual detection of large-scale infrastructure structural damage.The disease image acquisition unit that can meet the requirements of fast real-time,high-precision real-time and fast high-precision detection is designed to improve the flexibility of the system.Finally,the detection prototype was built,and the field experiments were carried out on the Guangyun Bridge in Xi ’an and the Shouchun Huaihe Bridge in Anhui.The climbing stability,motion control accuracy and disease image acquisition of the robot were verified respectively,which confirmed the reliability of the system.