A kind of detection device and detection method of boom disease

Abstract

The invention discloses a detection device and a detection method for diseases of a boom. The detection device comprises a robot skeleton, and the robot skeleton is provided with a main controller, an image acquisition mechanism used for image acquisition on the surface of the boom, and an image acquisition mechanism for image acquisition of the boom surface. A magnetic detection mechanism and a climbing mechanism for detecting the internal magnetic field. The climbing mechanism includes a climbing component and a positioning rolling component. The climbing component includes a plurality of rotors installed on the outside of the robot frame. The main controller can drive the robot frame by controlling the output power of the rotors. The boom crawls up or hovers on the boom, and the positioning rolling component is installed on the inner side of the robot skeleton and abuts against the boom at the corresponding position, so that the positioning rolling component can follow the robot skeleton and roll up along the boom along the set route. The invention can make the detection device always travel on a predetermined route, so as to realize accurate positioning of the diseased position, and at the same time, it can avoid secondary damage to the diseased position of the boom.

Description

technical field [0001] The invention relates to the technical field of civil engineering structure detection, in particular to a detection device and a detection method for diseases of a boom. Background technique [0002] The hanger is the link between the main girder and the main force-bearing components in suspension bridges and middle-bottom arch bridges, and is also the key force-transmitting component. Because the boom is exposed to the external environment for a long time, it is inevitable that the internal steel wire will be corroded and broken, and there will be serious fatigue problems due to the continuous tensile and compressive alternating stress caused by vehicle load or wind load, thus affecting the transmission of the boom. strength and durability, which in turn affects the safety of the entire suspension bridge structure. [0003] At present, the most effective detection methods for the diseases of the boom are the unmanned aerial vehicle detection method a...

AI Technical Summary

Problems solved by technology

In order to enable the detection robot to crawl upwards along the boom, rollers are provided on the detection robot, and the friction between the rollers and the boom is used to realize the effect that the rollers drive the entire detection robot to crawl along the boom. This climbing structure using rollers is used There will be the following problems: 1. The suspender is a cylinder with a curved surface. When the diameter of the suspender changes due to shock absorbing wires, PE sheath bulges, grooves, etc., the rollers will drive the detection robot. When climbing, there will be a phenomenon of deviation, which makes it impossible to climb along the expected route, which will affect the accurate positioning of the location of the disease; 2. The detection robot needs to have a large enough clamping force to detect the damage of the boom. Therefore, the force between the roller and the boom must be large, and the large clamping force itself is a kind of damage to the boom. When the detection robot climbs to the diseased position, it will be damaged. The impact of the clamping force will also cause secondary damage to the diseased part of the suspender

In addition, in the prior art, the magnetic detection equipment carried by the detection robot is mostly fixed on the main structure of the robot and cannot rotate along the circumferential direction of the cable. Therefore, the detection equipment can only detect the damage of the boom along a fixed path, and there are detection blind spots, which affect the detection. precision

Images