Inspection equipment motion control method and system for dynamic disturbance environment

Abstract

The application discloses a kind of movement control method and system of inspection equipment for dynamic disturbance environment, it is related to anticorrosion detection technical field, collection main cable swing and inspection equipment attitude data establish dynamic corresponding relationship, according to this relationship segmented control gravity and real-time adjustment attachment direction form inertia compensation;Inertia compensation result is combined with to implement dynamic rhythm control and establish time misalignment relationship;Synchronous control sensing detection rhythm, unified acquisition window;According to the detection timing dynamic rearrangement sampling order, fusion attitude balance state and time misalignment result form closed detection path.The application is through dynamic perception main cable swing and carries out gravity control and inertia compensation, improves the attitude stability and advancing reliability of inspection equipment under strong gust;While unified detection rhythm and path planning, form continuous closed detection path, guarantee the space-time consistency and long-term stability of anticorrosion detection data.

Description

Technical Field

[0001] This invention relates to the field of corrosion detection technology, specifically to a motion control method and system for inspection equipment in dynamically disturbed environments. Background Technology

[0002] The main cable of a suspension bridge, as the core load-bearing component, is composed of a large number of high-strength steel wire bundles. Connected to the bridge towers and anchorages via an anchoring system, it bears and transmits the entire load of the bridge deck structure, making it the most critical load-bearing foundation in the entire bridge system. To achieve long-term safe operation and corrosion performance evaluation of the main cable, a corrosion inspection robot for suspension bridge main cables has been developed. This type of inspection robot can autonomously move on the surface of the main cable or its outer sheath. It integrates multi-source detection units such as high-precision sensors, camera systems, coating thickness measuring instruments, and electrochemical corrosion detection devices, enabling automated inspection and data collection of the main cable's surface condition, coating integrity, degree of corrosion, and localized damage.

[0003] Planning a corrosion inspection robot for the main cable of a suspension bridge involves systematically designing and optimizing the robot's walking path, inspection points, sensor operating rhythm, data acquisition sequence, and task scheduling process based on the spatial geometric characteristics of the main cable, changes in cable slope, support distribution characteristics, and inspection task requirements. This ensures the comprehensiveness, efficiency, and safety of the inspection operation, and achieves accurate, repeatable, and quantifiable detection of the corrosion status of the main cable.

[0004] The existing technology has the following shortcomings:

[0005] Under strong gusts of wind, the main cable of a suspension bridge is prone to instantaneous lateral displacement, causing passive trajectory deviations in the inspection robot during operation. Since the robot's movement relies on the dynamic balance between the cable's geometry and the direction of gravity, rapid swaying of the main cable can easily lead to instability, a sudden drop in adhesion, or wheel slippage, causing the robot to deviate from its preset path. This trajectory deviation not only disrupts the rhythm of image acquisition and sensor detection but also distorts the timing of electrochemical measurements, resulting in temporal misalignment and spatial overlap between the detection data and the target area. As wind disturbances continue, the dynamic fluctuations in the robot's motion amplify the cumulative error effect, further leading to duplicate or missed detection paths, ultimately resulting in increased spatial mapping deviations in corrosion detection results, decreased data alignment accuracy, and reduced overall detection reliability.

[0006] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0007] The purpose of this invention is to provide a motion control method and system for inspection equipment in dynamic disturbance environments, so as to solve the problems in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a motion control method for inspection equipment in a dynamically disturbed environment, comprising the following steps:

[0009] Step 1: Collect continuous swing trajectory data of the target carrier and attitude change data of the inspection equipment. The target carrier is the main cable of the suspension bridge and the inspection equipment is the inspection robot. A dynamic correspondence between the lateral displacement of the main cable of the suspension bridge and the attitude deviation of the inspection equipment is established through time synchronization markers to provide a real-time data basis for subsequent center of gravity distribution control.

[0010] Step 2: Based on the dynamic correspondence between the lateral displacement of the main cable of the suspension bridge and the attitude deviation of the inspection equipment, the center of gravity distribution of the inspection equipment is controlled in segments. During the instantaneous swing phase of the main cable of the suspension bridge, the attachment direction is adjusted according to real-time data to form an inertial compensation process that is consistent with the movement trend of the main cable of the suspension bridge, thereby maintaining the attitude balance of the inspection equipment.

[0011] Step 3: Based on the output of the inertial compensation process, implement dynamic rhythm control on the advance rate of the inspection equipment's travel path, establish a time misalignment relationship between the swing period of the main cable of the suspension bridge and the travel rhythm, and reduce the accumulation of trajectory deviation in the inspection path while maintaining the attitude balance.

[0012] Step 4: Based on the output state of dynamic rhythm control, the acquisition rhythm of the inspection equipment in the sensing and detection process is synchronously and smoothly adjusted to unify the image acquisition time window and the electrochemical detection time window into the movement rhythm, so as to ensure the continuity and stability of the detection sequence.

[0013] Step 5: Based on the continuous state of the detection sequence, the spatial sampling order of the inspection task is dynamically rearranged, and the output results of the attitude balance state and time misalignment control are fused to form a continuous closed detection path, thereby maintaining the spatial mapping accuracy and data stability of the corrosion detection of the main cable of the suspension bridge in strong gusts of wind.

[0014] Preferably, the process of establishing the dynamic correspondence between the lateral displacement of the main cable of the suspension bridge and the attitude deviation of the inspection equipment includes:

[0015] Based on the shape characteristics and wind environment of the main cable of the suspension bridge, representative test sections were selected for continuous data collection.

[0016] Based on a unified time synchronization identifier, the lateral displacement change of the main cable of the suspension bridge and the attitude deviation change of the inspection equipment are synchronously triggered by the time reference signal, and the corresponding matching is performed on the same time axis to ensure that the lateral displacement data of the main cable of the suspension bridge and the attitude change data of the inspection equipment are synchronized in the time dimension.

[0017] Based on the time-synchronized lateral displacement data of the main cable of the suspension bridge and the attitude change data of the inspection equipment, a dynamic correspondence between the two is established by comparing them point by point over a continuous time period. This is to characterize the impact of the lateral displacement change of the main cable of the suspension bridge on the attitude response state of the inspection equipment and form a dynamic correspondence, which is used for real-time center of gravity adjustment in the subsequent center of gravity distribution control stage.

[0018] Preferably, in the process of establishing the dynamic correspondence between the lateral displacement of the main cable of the suspension bridge and the attitude deviation of the inspection equipment, each sampling point of the lateral displacement of the main cable of the suspension bridge and the sampling point of the attitude change of the inspection equipment form a one-to-one correspondence at the same time node, thereby ensuring that the lateral displacement curve of the main cable of the suspension bridge and the attitude change curve of the inspection equipment maintain a continuous mapping relationship in the time dimension.

[0019] Preferably, the steps of adjusting the attachment direction based on real-time data during the instantaneous swaying phase of the suspension bridge's main cable to form an inertial compensation process consistent with the movement trend of the suspension bridge's main cable include:

[0020] The lateral displacement of the main cable of the suspension bridge is continuously monitored, and real-time data is collected in key areas within the representative detection section. The key areas are the areas of concentrated displacement change determined by the amplitude, rate of change and oscillation period of the lateral displacement of the main cable of the suspension bridge within the representative detection section.

[0021] Based on the amplitude and direction changes of the lateral displacement of the main cable of the suspension bridge, the control process is divided into the initial stage, the transition stage, the peak stage and the recovery stage. At different stages, the center of gravity distribution of the inspection equipment is adjusted according to the swing trend of the main cable of the suspension bridge to maintain attitude balance.

[0022] When the main cable of the suspension bridge is in the instantaneous swing phase, the attachment direction of the inspection equipment is adjusted according to real-time data to keep the attachment direction coordinated with the movement trend of the main cable of the suspension bridge, thereby forming an inertial compensation process consistent with the movement trend of the main cable of the suspension bridge.

[0023] Based on the changes in the lateral displacement trend of the main cable of the suspension bridge, the aforementioned center of gravity distribution and attachment direction adjustment results are dynamically maintained, so that the attitude state of the inspection equipment remains balanced during the swing cycle of the main cable of the suspension bridge and forms a continuous attitude stabilization process.

[0024] Preferably, during the process of adjusting the attachment direction of the inspection equipment based on real-time data when the main cable of the suspension bridge is in the instantaneous oscillation stage, the inspection equipment adjusts the attachment direction to the opposite side of the main cable's movement direction according to the lateral displacement change direction of the main cable, so that the line of action of the adhesion force and the main cable's movement direction form a mutually balanced angle, and synchronously updates the attachment direction when the main cable's movement direction reverses, so as to maintain the stability of the contact state between the inspection equipment and the surface of the main cable of the suspension bridge.

[0025] Preferably, the steps of implementing dynamic rhythm control on the travel rate of the inspection equipment, and establishing a time-displacement relationship between the swing period of the main cable of the suspension bridge and the travel rhythm, include:

[0026] Based on the output results of the inertial compensation process, the current attitude balance state of the inspection equipment and the lateral displacement state of the main cable of the suspension bridge are continuously analyzed. The swing period and period variation law of the main cable of the suspension bridge under the action of gusts are recorded. The peak stage and recovery stage of the swing of the main cable of the suspension bridge are determined according to the swing direction and amplitude variation trend of the main cable of the suspension bridge.

[0027] Based on the attitude balance state output by the inertial compensation process, the advancement rate of the inspection equipment is dynamically controlled. During the lateral acceleration swing phase of the main cable of the suspension bridge, the advancement rate is reduced and a uniform slow-moving state is maintained. During the swing phase of the main cable of the suspension bridge, the normal advancement rate is gradually restored until the normal movement state is reached. A time relationship that is staggered with the motion rhythm of the main cable of the suspension bridge is formed in each swing cycle of the main cable of the suspension bridge.

[0028] Based on the time misalignment between the swing period of the main cable of the suspension bridge and the travel rhythm of the inspection equipment, the advance rhythm is continuously fine-tuned and dynamically maintained. When the wind intensity or wind direction changes, the advance rhythm is adjusted to buffer the phase, keeping the time misalignment interval constant, thereby weakening the cumulative effect of trajectory deviation and maintaining the attitude balance of the inspection equipment.

[0029] Preferably, during the continuous fine-tuning and dynamic maintenance of the advancement rhythm based on the time misalignment relationship between the swing period of the main cable of the suspension bridge and the travel rhythm of the inspection equipment, when the swing period of the main cable of the suspension bridge shortens, the inspection equipment extends the duration of the buffer phase of the advancement rhythm according to the trend of the lateral displacement of the main cable of the suspension bridge, so that the time difference between the advancement rhythm and the peak swing period of the main cable of the suspension bridge remains stable; when the swing period of the main cable of the suspension bridge lengthens, the inspection equipment shortens the duration of the buffer phase of the advancement rhythm according to the trend of the lateral displacement of the main cable of the suspension bridge, so as to keep the time misalignment interval constant and maintain the asynchronous state between the advancement rhythm and the swing period of the main cable of the suspension bridge.

[0030] Preferably, the step of unifying the image acquisition time window and the electrochemical detection time window into the running rhythm includes:

[0031] Based on the output state of dynamic rhythm control, the attitude balance and propulsion rhythm of the inspection equipment during the travel phase are continuously monitored. By analyzing the real-time change trends of propulsion rate, attitude angle change, attachment direction state and lateral displacement of the main cable of the suspension bridge, the time period of attitude stability, constant speed and attachment balance is determined, and this time period is used as the candidate time window for detection and data acquisition.

[0032] Based on the current advancement pace of the inspection equipment, the acquisition pace of the sensing detection process is synchronously and smoothly controlled. When the advancement rate of the inspection equipment decreases, the image acquisition trigger frequency is reduced and the electrochemical detection trigger interval is extended. When the advancement rate of the inspection equipment increases, the image acquisition trigger frequency is increased and the electrochemical detection trigger interval is shortened, so that the two types of detection behaviors are synchronized in time and executed within the same time window.

[0033] Based on the real-time output of the inertial compensation process and dynamic rhythm control, the sensing and detection process is dynamically maintained and the time transition is smoothed. When the swing period of the main cable of the suspension bridge changes, the time parameter of the detection trigger interval is adjusted to keep the detection rhythm synchronized with the travel rhythm, thereby ensuring the continuity and stability of the detection sequence.

[0034] Preferably, the steps of dynamically rearranging the spatial sampling order of the inspection task and fusing the attitude balance state with the output results of the time misalignment control to form a continuous closed detection path include:

[0035] Based on the continuous state of the detection time sequence, the spatial sampling point distribution of the inspection equipment in the current detection cycle is recorded and identified. At the same time, the time sequence, spatial coordinate position, attitude angle and attachment direction information of the sampling points to the surface of the main cable of the suspension bridge are recorded to form a detection dataset corresponding to time and space.

[0036] Based on the attitude balance status of the inspection equipment and the output results of the time misalignment control, the spatial sampling sequence of the inspection task is dynamically rearranged. During the inspection process, the spatial offset sampling points caused by the lateral displacement of the main cable of the suspension bridge are reordered, and the sampling point sequence of the entire inspection section is optimized according to the trend of the swing period of the main cable of the suspension bridge.

[0037] The attitude balance state of the inspection equipment is fused with the output results of the time misalignment control. By adjusting the travel direction and attachment angle, a continuous closed relationship of the detection path is formed. Under the output rhythm of the time misalignment control, sampling points in the uncovered area are supplemented, so that the detection path forms a loop in space.

[0038] Based on the real-time data of attitude balance and time misalignment control output, the detection path is dynamically maintained and corrected in real time. By fine-tuning the attachment direction and travel speed, the spatial closure state of the detection path is maintained, thereby maintaining the spatial mapping accuracy and data stability of the detection task in strong gusts of wind.

[0039] The motion control system for inspection equipment in a dynamic disturbance environment includes a data acquisition and synchronization module, a center of gravity adjustment and compensation module, a rhythm control and adjustment module, a detection rhythm unification module, and a path rearrangement and closure module.

[0040] The data acquisition and synchronization module collects continuous swing trajectory data of the main cable of the suspension bridge and attitude change data of the inspection equipment, and establishes a dynamic correspondence between the lateral displacement of the main cable of the suspension bridge and the attitude deviation of the inspection equipment through time synchronization identifier.

[0041] The center of gravity adjustment and compensation module performs segmented control on the center of gravity distribution of the inspection equipment based on the dynamic correspondence between the lateral displacement of the main cable of the suspension bridge and the attitude deviation of the inspection equipment. During the instantaneous swing phase of the main cable of the suspension bridge, the attachment direction is adjusted according to real-time data to form an inertial compensation process consistent with the movement trend of the main cable of the suspension bridge.

[0042] The rhythm control adjustment module, combined with the output results of the inertial compensation process, implements dynamic rhythm control on the advancement rate of the inspection equipment's travel path, and establishes a time misalignment relationship between the swing period of the main cable of the suspension bridge and the travel rhythm.

[0043] The detection rhythm unification module, based on the output state of dynamic rhythm control, synchronously and smoothly regulates the acquisition rhythm of the inspection equipment in the sensor detection process, unifying the image acquisition time window and the electrochemical detection time window into the movement rhythm.

[0044] The path rearrangement closure module dynamically rearranges the spatial sampling order of the inspection task based on the continuous state of the detection timing, and fuses the attitude balance state with the output results of the time misalignment control to form a continuous closed detection path.

[0045] The technical effects and advantages provided by the present invention in the above technical solution are as follows:

[0046] This invention establishes a dynamic correspondence between the lateral displacement of the main cable of a suspension bridge and the attitude deviation of the inspection equipment. Based on this, it introduces a segmented center of gravity control and inertial compensation mechanism, enabling the inspection equipment to maintain a continuously balanced attitude under strong gusts of wind. By incorporating the swaying characteristics of the main cable of the suspension bridge into the planning process, the inspection equipment responds more smoothly to external disturbances during its movement, effectively suppressing trajectory deviation and maintaining a stable attachment state. This effectively reduces the impact of wind-induced swaying on the continuity of inspection operations and improves operational reliability in complex wind environments.

[0047] This invention, based on stable posture and coordinated movement rhythm, holistically plans the detection and acquisition rhythm and spatial sampling sequence, ensuring that the detection timing remains synchronized and continuous with the movement process. By forming a continuous closed detection path, the detection data achieves consistent mapping in both the time and spatial dimensions, avoiding data misalignment and duplication caused by path deviation. This effectively improves the spatial correspondence accuracy and data stability of the corrosion detection results for the main cable of the suspension bridge, providing a continuous and reliable foundation for long-term monitoring and condition assessment. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0049] Figure 1 This is a flowchart of the motion control method for inspection equipment in a dynamically disturbed environment according to the present invention;

[0050] Figure 2 A flowchart illustrating the dynamic correspondence between the lateral displacement of the main cable of a suspension bridge and the attitude deviation of the inspection equipment, as described in this invention.

[0051] Figure 3 This is a flowchart illustrating how the image acquisition time window and the electrochemical detection time window are unified into the movement rhythm in this invention.

[0052] Figure 4 This is a schematic diagram of the module of the motion control system for inspection equipment in a dynamically disturbed environment according to the present invention. Detailed Implementation

[0053] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the description of this disclosure will be more complete and fully convey the concept of the exemplary embodiments to those skilled in the art.

[0054] This invention provides, for example Figures 1 to 3 The motion control method for inspection equipment in a dynamically disturbed environment, as shown, includes the following steps:

[0055] Step 1: Collect continuous swing trajectory data of the target carrier and attitude change data of the inspection equipment. The target carrier is the main cable of the suspension bridge and the inspection equipment is the inspection robot. A dynamic correspondence between the lateral displacement of the main cable of the suspension bridge and the attitude deviation of the inspection equipment is established through time synchronization markers to provide a real-time data basis for subsequent center of gravity distribution control.

[0056] The dynamic correspondence between the lateral displacement of the main cable of the suspension bridge and the attitude deviation of the inspection equipment is established by using time synchronization identifiers. The specific steps are as follows:

[0057] Before the inspection equipment officially begins anti-corrosion testing along the main cable of the suspension bridge, a representative inspection section is selected as the data collection section based on the cable's shape and wind environment characteristics. Within this section, the spatial swaying state of the main cable is dynamically recorded using a multi-time-period continuous acquisition method. During the acquisition process, to address the lateral displacement, longitudinal bending, and wind-driven vibration characteristics of the main cable under gusts, high-precision displacement measuring devices are continuously arranged along the cable's axis, forming a spatial sampling point array covering the entire section. Each sampling point continuously records data such as the lateral displacement amplitude, direction, and rate of change of the main cable during the inspection, ensuring that the transient motion state of the main cable under wind load is fully captured. Simultaneously, as the inspection equipment travels across the surface of the main cable, its own attitude change parameters are collected in real time by a multi-dimensional attitude sensing unit. The attitude sensing unit continuously records the pitch angle, roll angle, yaw angle, and overall tilt angle generated by the inspection equipment during its movement, and combines this with the angular change trend of the inspection equipment in the direction of travel to form a complete attitude change time series. The lateral displacement data of the main cable of the suspension bridge and the attitude change data of the inspection equipment are recorded synchronously within the same time period, and the data sampling frequency is kept consistent to ensure the temporal continuity between the motion state of the main cable of the suspension bridge and the attitude state of the inspection equipment.

[0058] It should be noted that:

[0059] When determining representative testing sections, the spatial location, geometric curvature, wind direction, and wind speed distribution characteristics of the suspension bridge's main cable are comprehensively considered. Sections that reflect the overall dynamic characteristics of the main cable are selected as the data acquisition targets. Typically, sections of the main cable located in the middle of the span or near the tower transition area are chosen, as these areas are strongly affected by wind and exhibit the most significant vibration response. These sections can reflect the typical lateral displacement characteristics of the main cable under strong gusts within a limited acquisition range. Through a comprehensive evaluation of the main cable length, slope variations, and surrounding structural obstruction, representative continuous sections are ultimately determined as data acquisition sections, providing stable wind-induced response samples for subsequent dynamic characteristic analysis.

[0060] After the data acquisition of the suspension bridge main cable swing trajectory data and the inspection equipment attitude change data are completed, a time synchronization identifier is established for the two sets of data. This process uses a unified time identifier as its core, and through the synchronous triggering of a time reference signal, it precisely maps the lateral displacement change of the suspension bridge main cable and the attitude offset change of the inspection equipment onto the same time axis. During the data acquisition phase, each suspension bridge main cable displacement sampling point and each attitude change sampling point is labeled with a time identifier, which is referenced to a high-precision clock source and remains consistent throughout the data recording process. After acquisition, the suspension bridge main cable lateral displacement data stream and the attitude change data stream are matched according to the time identifier, thus corresponding the two data sequences in the time dimension. During time synchronization, the sampling time points of the suspension bridge main cable lateral displacement data and the sampling time points of the inspection equipment attitude change data correspond one-to-one, ensuring that the lateral displacement value of the suspension bridge main cable and the attitude offset value of the inspection equipment can be obtained simultaneously at the same time node. This time-stamping method ensures strict temporal consistency between the lateral displacement of the suspension bridge's main cable under gusts and the attitude angle changes of the inspection equipment, providing a foundation for the continuity of subsequent dynamic correspondence. After time synchronization, each suspension bridge main cable displacement curve is paired with the corresponding inspection equipment attitude curve. These two data sequences together form a bivariate dynamic dataset on the same time axis, reflecting the synchronicity between the wind-induced motion state of the suspension bridge's main cable and the attitude change state of the inspection equipment.

[0061] After the time synchronization marker is established, a dynamic correspondence is formed between the synchronized lateral displacement data of the main cable of the suspension bridge and the attitude change data of the inspection equipment. This dynamic correspondence is established by comparing data over a continuous time period, linking the lateral displacement value of the main cable of the suspension bridge with the attitude offset value of the inspection equipment at the corresponding moment, in order to clarify the real-time impact of the movement changes of the main cable of the suspension bridge on the attitude state of the inspection equipment. In this process, firstly, continuous data segments in the time series are selected to observe the changing trend of the lateral displacement of the main cable of the suspension bridge under wind load, and the variation law of the lateral displacement direction and amplitude of the main cable of the suspension bridge in different time periods is extracted. Subsequently, combined with the attitude change data of the inspection equipment at the same moment, the dynamic changes of attitude angle, tilt angle and equilibrium state are compared and analyzed. Through this one-to-one time matching relationship, the response characteristics of the attitude change of the inspection equipment when the main cable of the suspension bridge undergoes lateral displacement under gusts can be clearly described. For example, when the main cable of a suspension bridge undergoes lateral displacement outwards within a certain time period, the trend of attitude deviation direction and angle change of the inspection equipment at that moment is consistent with the displacement direction of the main cable, indicating that the inspection equipment passively tilts along with the movement of the main cable during its attachment operation. When the lateral displacement direction of the main cable reverses, the attitude deviation direction of the inspection equipment also changes in the opposite direction, forming a time-synchronized response relationship. By corresponding data over continuous time periods, the influence pattern of the main cable displacement change on the attitude balance of the inspection equipment can be extracted, forming a dynamic correspondence that can be used for real-time analysis. This dynamic correspondence is continuous in time, real-time in value, and reflects the overall coordinated change characteristics of the swaying state of the main cable and the attitude state of the inspection equipment in spatial state. After establishing this dynamic correspondence, the inspection equipment can directly adjust its own center of gravity distribution direction according to the real-time change trend of the lateral displacement of the main cable in the subsequent center of gravity distribution control stage to maintain attitude balance.

[0062] Through the aforementioned sequential implementation steps, a complete dynamic correspondence between the lateral displacement of the suspension bridge's main cable and the attitude deviation of the inspection equipment was established. From the continuous acquisition of the suspension bridge's main cable's motion state to the precise matching of time synchronization markers, and then to the formation of the dynamic correspondence, the entire process achieved coordination and unity in the three dimensions of time, space, and state. This dynamic mapping relationship between the suspension bridge's main cable's swing trajectory data and the inspection equipment's attitude change data not only reflects the real-time response pattern under wind-induced disturbance conditions but also provides a data foundation for subsequent center of gravity distribution control.

[0063] Step 2: Based on the dynamic correspondence between the lateral displacement of the main cable of the suspension bridge and the attitude deviation of the inspection equipment, the center of gravity distribution of the inspection equipment is controlled in segments. During the instantaneous swing phase of the main cable of the suspension bridge, the attachment direction is adjusted according to real-time data to form an inertial compensation process that is consistent with the movement trend of the main cable of the suspension bridge, thereby maintaining the attitude balance of the inspection equipment.

[0064] During the instantaneous swaying phase of the main cable of the suspension bridge, the attachment direction is adjusted based on real-time data to form an inertial compensation process that is consistent with the motion trend of the main cable of the suspension bridge. The specific steps are as follows:

[0065] After obtaining the dynamic correspondence between the lateral displacement of the suspension bridge's main cable and the attitude deviation of the inspection equipment, the lateral displacement state of the main cable is continuously monitored to ensure that the instantaneous motion state of the main cable under gust conditions is captured in real time. During this stage, real-time data is collected from key areas along the length of the main cable. Each sampling point continuously records the direction, amplitude, acceleration, and rate of change of the lateral displacement of the main cable over time, depicting the trajectory of the main cable in gusts through a continuous data stream. Simultaneously, the inspection equipment collects its own attitude change data during its operation, continuously recording the pitch angle, yaw angle, roll angle, and the angle between the equipment and the normal direction of the main cable, forming a sequence of attitude changes that corresponds one-to-one with the motion state of the main cable. Through this real-time synchronous recording, the correspondence between the lateral motion trend of the main cable and the attitude change trend of the inspection equipment can be accurately obtained at any given time point. During the data acquisition process, all information is stored continuously in chronological order to ensure that the correspondence between the lateral displacement of the main cable of the suspension bridge and the attitude deviation of the inspection equipment remains intact throughout the entire monitoring cycle.

[0066] It should be noted that:

[0067] The key area is a region of concentrated displacement change within a representative testing section, determined by the amplitude, rate, and oscillation period of the suspension bridge's main cable's lateral displacement. This region is used for focused data collection on the dynamic response of the suspension bridge's main cable. The concentrated displacement change region can be determined through time-series analysis of continuous monitoring data on the lateral displacement of the suspension bridge's main cable. Within the representative testing section, areas with large variations in lateral displacement amplitude, frequent fluctuations in displacement rate, and significant changes in oscillation period are selected as the concentrated displacement change region. This region reflects the main dynamic response characteristics of the suspension bridge's main cable under gusts of wind, thus providing a basis for key data collection and attitude control.

[0068] After mastering the dynamic correspondence data between the lateral displacement of the main cable of the suspension bridge and the attitude deviation of the inspection equipment, the center of gravity distribution of the inspection equipment is controlled in segments to cope with the dynamic changes of the main cable under different wind-induced swaying stages. The segmented control process is divided into an initial stage, a transition stage, a peak stage, and a recovery stage according to the changes in the amplitude and direction of the lateral displacement of the main cable. In the initial stage, when the amplitude of the lateral displacement of the main cable is lower than the set first amplitude threshold and the rate of change is lower than the change threshold, the inspection equipment makes subtle adjustments to the direction of gravity to keep the overall center of gravity position near the geometric center of the inspection equipment, thus maintaining stable balance. In the transition stage, when the amplitude of the lateral displacement of the main cable reaches the first amplitude threshold and the swaying direction continuously exceeds the direction switching threshold, the inspection equipment adjusts the internal gravity distribution according to the changes in the movement trend of the main cable and real-time monitoring data, causing the center of gravity position to move in the opposite direction of the lateral displacement of the main cable, thus providing feedforward compensation for the inertial deviation of the main cable. When the main cable of the suspension bridge enters the peak phase, and the lateral displacement exceeds the second amplitude threshold and the acceleration reaches the acceleration response threshold, the inspection equipment adjusts its center of gravity to the extreme equilibrium position in the opposite direction. This center of gravity shift counteracts the overturning moment caused by the main cable's swaying, maintaining stable attachment. Subsequently, during the recovery phase, when the lateral displacement of the main cable decreases below the first amplitude threshold, the inspection equipment restores the center of gravity to the central position according to the cable's swing direction, redistributing the overall center of gravity evenly and preparing for the next cycle of wind load disturbance. Through this segmented control, the inspection equipment can flexibly adjust the center of gravity distribution at different swaying stages, ensuring dynamic continuity of attitude balance throughout the entire wind field disturbance process.

[0069] It should be noted that the first amplitude threshold is smaller than the second amplitude threshold. The direction switching threshold is a critical parameter used to determine whether the swing direction of the main cable of the suspension bridge has reversed during the lateral swing process. When the direction of change of the lateral displacement of the main cable of the suspension bridge continuously exceeds the angle or displacement increment range set by the direction switching threshold, it is determined that the movement direction of the main cable of the suspension bridge has switched from the original direction to the opposite direction, thereby triggering the inspection equipment to enter the corresponding center of gravity control stage to realize the direction update of attitude adjustment and inertia compensation.

[0070] The acceleration response threshold can be set based on historical acceleration data during the lateral displacement change of the main cable of the suspension bridge. By continuously statistically analyzing the acceleration change curve of the main cable of the suspension bridge under gusts in a representative detection section, the critical acceleration value that reflects the transition of the main cable of the suspension bridge from steady swaying to violent swaying is selected as the acceleration response threshold. When the lateral displacement acceleration of the main cable of the suspension bridge reaches this threshold, it can accurately characterize that the main cable of the suspension bridge has entered a high dynamic swaying stage, thereby triggering the inspection equipment to perform corresponding center of gravity distribution control.

[0071] After completing the segmented control of the center of gravity distribution, when the main cable of the suspension bridge is in the instantaneous oscillation phase, the inspection equipment adjusts the attachment direction based on real-time data to form an inertial compensation process consistent with the movement trend of the main cable. During this phase, the inspection equipment continuously receives real-time updates of the lateral displacement change data and its own attitude change data of the main cable. By instantly judging the movement direction of the main cable, it fine-tunes the force direction on the attachment surface. Specifically, when the main cable swings rapidly in a certain direction due to gusts of wind, the inspection equipment adjusts the attachment direction to the opposite side of the main cable's movement direction based on the current center of gravity distribution, so that the line of action of the adhesion force forms a balanced angle with the main cable's movement direction, thereby offsetting the uneven force on the attachment surface caused by changes in the main cable's acceleration. When the main cable's oscillation direction reverses, the inspection equipment immediately updates the attachment direction to re-coordinate with the main cable's movement direction, ensuring stable contact between the inspection equipment and the main cable surface. Throughout the inertial compensation process, the inspection equipment continuously adjusts the adhesion direction to ensure that the force direction remains synchronized with the movement trend of the main cable of the suspension bridge, thus maintaining balance even when the main cable of the suspension bridge is swaying most violently. This process forms a dynamic adhesion redistribution mechanism, which, by continuously responding to the movement trend of the main cable of the suspension bridge, achieves forward compensation for wind-induced inertia, thereby preventing further amplification of attitude deviation.

[0072] After the inertial compensation process is completed, to maintain the attitude balance of the inspection equipment, the results of the aforementioned adjustments to the center of gravity distribution and attachment direction are continuously and dynamically maintained. During this stage, the inspection equipment continuously monitors the lateral displacement trend of the suspension bridge's main cable and its own attitude angle changes, continuously matching the center of gravity distribution state formed in the previous stage with the current motion state of the suspension bridge's main cable. As the lateral displacement direction of the suspension bridge's main cable gradually decreases, the inspection equipment, following the trend of the suspension bridge's main cable's swing, gradually adjusts its center of gravity from the reverse offset position back to the geometric center position, while simultaneously restoring the attachment direction from the inertial compensation direction to the normal direction of the suspension bridge's main cable surface, forming a new attitude balance state. When the suspension bridge's main cable's swing completely subsides, the inspection equipment's center of gravity returns to a symmetrical distribution, and the attachment direction remains consistent with the geometric center of the suspension bridge's main cable, thus providing an initial balance state for attitude control under the next wind load disturbance. The entire maintenance process, through continuous attitude angle monitoring and suspension bridge main cable motion trend tracking, ensures that the inspection equipment's attitude adjustment remains continuous and smooth under different wind field conditions, preventing sudden responses from causing adhesion loss or path deviation. Through this dynamic maintenance phase, the inspection equipment can maintain its posture stability under long-term wind-induced vibration conditions, ensuring the continuity of operation and the accuracy of inspection along the main cable of the suspension bridge during the corrosion inspection process.

[0073] Through the continuous implementation of the above steps, the inspection equipment achieves a complete process, from real-time perception of the dynamic correspondence between the lateral displacement and attitude deviation of the main cable of the suspension bridge, to segmented control of the center of gravity distribution, to real-time adjustment of the attachment direction, and finally, maintenance of attitude balance. Each stage is sequential in time and provides feedback to each other in terms of data and actions, forming a dynamic inertial compensation balance system. This enables the inspection equipment to maintain an attitude consistent with the movement trend of the main cable of the suspension bridge even under strong gusts of wind, preventing attitude instability, sudden drop in adhesion, or deviation in movement, thereby ensuring the continuous execution of corrosion inspection tasks and the stability of inspection data acquisition.

[0074] To facilitate understanding of the above solution, the following example further explains the specific implementation process of this step:

[0075] For example, during the inspection of the main cable of a suspension bridge, a representative inspection section of 120m in length in the middle of the bridge span was selected as the data collection area, and the inspection was carried out in an environment with gusts of wind speed of approximately 18m / s. After obtaining the dynamic correspondence between the lateral displacement data of the main cable of the suspension bridge and the attitude change data of the inspection equipment through continuous monitoring, the phase of segmented control of the center of gravity distribution was initiated.

[0076] In the initial stage, the lateral displacement amplitude of the main cable of the suspension bridge is within ±8mm, and the displacement change rate is about 2mm / s, which is lower than the set change threshold (5mm / s). At this time, the pitch angle of the inspection equipment is maintained within ±1.5°, the center of gravity is kept near the geometric center, the attachment direction is consistent with the normal direction of the main cable of the suspension bridge, and the whole is in a stable equilibrium state.

[0077] As the gusts intensified, the lateral displacement amplitude of the main cable of the suspension bridge gradually increased to ±18mm, and the displacement change rate reached 6mm / s, exceeding the first amplitude threshold (15mm) and the change threshold, entering the transition phase. At this time, the main cable of the suspension bridge shifted outward. Based on the dynamic correspondence, the inspection equipment shifted its center of gravity about 20mm in the opposite direction of the lateral displacement of the main cable, adjusting the direction of the attachment force inward by about 5°, thereby counteracting the tilting tendency caused by the lateral sway of the main cable.

[0078] When the gusts reach their peak, the lateral displacement amplitude of the main cable of the suspension bridge increases to ±35mm, and the lateral acceleration reaches 0.45m / s², exceeding the second amplitude threshold (30mm) and the acceleration response threshold (0.4m / s²), entering the peak stage. At this time, the inspection equipment further adjusts its center of gravity to the extreme equilibrium position about 45mm in the opposite direction, while adjusting its attachment direction to form an angle of about 12° with the direction of movement of the main cable of the suspension bridge. This force angle counteracts the overturning moment generated by the swing of the main cable of the suspension bridge, keeping the roll angle of the inspection equipment within ±3° and maintaining stable attachment.

[0079] Subsequently, the main cable of the suspension bridge entered the recovery phase. The lateral displacement amplitude gradually decreased to below ±10mm, and the acceleration dropped to 0.1m / s². According to the swing direction of the main cable of the suspension bridge, the inspection equipment gradually returned the center of gravity from the offset position to the geometric center position. The return process lasted for about 3 seconds. At the same time, the attachment direction was gradually restored from the compensation angle to be consistent with the normal direction of the main cable of the suspension bridge, so that the attitude angle gradually returned to within ±1°.

[0080] Throughout the instantaneous swing, the inspection equipment continuously receives lateral displacement data of the main cable of the suspension bridge at a sampling frequency of 50Hz, along with its own attitude data at a sampling frequency of 50Hz. When it detects that the swing direction of the main cable of the suspension bridge has reversed, that is, when the swing direction continuously exceeds the direction switching threshold of 15°, the attachment direction is synchronously adjusted in the opposite direction to ensure that the force direction is always coordinated with the movement trend of the main cable of the suspension bridge.

[0081] Through the above process, the inspection equipment completes the entire process from center of gravity distribution adjustment, attachment direction adjustment to attitude recovery within a complete swing cycle (about 6 seconds). This ensures that the inspection equipment can still operate stably with the main cable of the suspension bridge at its maximum swing amplitude, and the trajectory deviation is controlled within ±10mm, thereby ensuring the continuity of corrosion detection operations and the stability of data acquisition.

[0082] Step 3: Based on the output of the inertial compensation process, implement dynamic rhythm control on the advance rate of the inspection equipment's travel path, establish a time misalignment relationship between the swing period of the main cable of the suspension bridge and the travel rhythm, and reduce the accumulation of trajectory deviation in the inspection path while maintaining the attitude balance.

[0083] Dynamic rhythm control is implemented on the advance rate of the inspection equipment's travel path, establishing a time-staggered relationship between the swing period of the main cable of the suspension bridge and the travel rhythm. The specific steps are as follows:

[0084] After the inertial compensation process is completed, the current attitude balance state of the inspection equipment and the lateral displacement state of the main cable of the suspension bridge are continuously analyzed based on the output results of the inertial compensation process. This allows for the acquisition of the swaying period and period variation law of the main cable under gusts. During this stage, by recording the lateral displacement of the main cable in real time, each reciprocating sway of the main cable in gusts is divided into a complete cycle, and key nodes are clearly identified on the time axis, including the critical point where the swaying direction begins to change, the peak point where the sway amplitude reaches its maximum value, and the recovery segment where the main cable returns to the neutral position from the peak. Simultaneously, the inspection equipment continuously records data such as its travel propulsion rate, attitude angle changes, center of gravity position changes, and attachment direction changes based on its own inertial compensation output, forming a continuous dataset reflecting the travel characteristics of the inspection equipment under different main cable motion states. By comparing the swaying period of the main cable with the propulsion state of the inspection equipment, the synchronization relationship between the two on the time axis can be identified. When the oscillation period of the suspension bridge's main cable completely coincides with the travel period of the inspection equipment, the equipment's advance coincides with the peak of the cable's oscillation. This causes the equipment's attitude to change frequently with the cable's oscillation, resulting in continuous fluctuations in the adhesion direction and accumulated trajectory deviation. However, when the two are time-displaced, the peak of the cable's oscillation is separated from the equipment's advance, reducing adhesion disturbances and stabilizing the trajectory. Therefore, through this continuous analysis and comparison, the temporal relationship between the suspension bridge's main cable's oscillation period and the inspection equipment's travel rhythm can be clearly defined, providing a basis for subsequent advance rate control.

[0085] After determining the time correspondence between the swaying period of the suspension bridge's main cable and the travel rhythm of the inspection equipment, the advancing rate of the inspection equipment is dynamically controlled based on the attitude balance state output by the inertial compensation process, ensuring a stable time misalignment between the travel rhythm and the swaying period of the suspension bridge's main cable. This stage uses the attitude balance state maintained during inertial compensation as a reference, continuously monitoring the real-time lateral displacement amplitude and direction of the suspension bridge's main cable to control the advancing rate of the inspection equipment along the cable's surface. When the main cable is in the lateral acceleration swaying phase, the inspection equipment gradually reduces its advancing rate, maintaining a brief period of uniform slow movement to delay the entry into the phase of maximum sway amplitude, thus avoiding attitude imbalance at the moment of maximum cable movement. As the cable's displacement amplitude gradually decreases, the inspection equipment gradually resumes its normal advancing rate until it reaches normal travel status, and adjusts its center of gravity distribution and attachment direction in advance based on changes in the cable's sway direction, ensuring the inspection equipment's advancing rhythm aligns with the cable's swaying trend. Before the main cable of the suspension bridge enters the next phase of oscillation acceleration, the inspection equipment uses a short-term rhythm buffer to create a time lag between its advancement rhythm and the next peak phase of the main cable's oscillation. This ensures that each advancement rhythm avoids the peak phase of the main cable's oscillation. Through this dynamic rhythm control, the inspection equipment's speed varies periodically within the oscillation cycle of the main cable, creating a time relationship that is staggered with the cable's motion rhythm. This allows the inspection equipment to maintain a stable attachment state at the cable's vibration frequency. During this time, the equipment's attitude balance is continuously maintained by the inertial compensation output, and the center of gravity distribution adjustment is synchronized with the changes in the advancement rhythm, ensuring the smoothness of the entire journey.

[0086] After completing dynamic rhythm control, to mitigate the accumulation of trajectory deviations along the inspection path, the advancement rhythm is continuously fine-tuned and dynamically maintained based on the time misalignment between the swaying period of the suspension bridge's main cable and the travel rhythm of the inspection equipment. The focus of this stage is to ensure that the inspection equipment maintains a state of asynchrony between its advancement rhythm and the swaying period of the suspension bridge's main cable during long-term operation, preventing the accumulation of trajectory deviations due to changes in wind speed or alterations in the suspension bridge's main cable's motion patterns. When the inspection equipment advances a long distance along the suspension bridge's main cable, wind intensity, wind direction, and airflow disturbances on the bridge deck may change over time, causing variations in the swaying period of the main cable at different times. At this point, the inspection equipment, based on the output information from the inertial compensation process, acquires its own attitude change trend in real time and, combined with the current lateral displacement data of the suspension bridge's main cable, dynamically corrects the time misalignment interval between the advancement rate and the swaying period of the main cable. When the oscillation period of the suspension bridge's main cable is detected to be shortening, the inspection equipment extends the duration of the buffer phase of the propulsion rhythm based on the trend of the lateral displacement of the main cable, keeping the time difference between the new propulsion rhythm and the peak vibration of the main cable constant. Conversely, when the oscillation period of the main cable is detected to be lengthening, the inspection equipment shortens the duration of the buffer phase of the propulsion rhythm accordingly, re-establishing a time misalignment between the two. Through this real-time rhythm adjustment, the travel rhythm of the inspection equipment remains misaligned with the oscillation period of the main cable under different wind conditions, avoiding entering the propulsion action during the period of maximum oscillation amplitude of the main cable, thereby reducing the cumulative effect of trajectory deviation. Throughout this process, the inspection equipment remains in a balanced posture state with inertial compensation output, and the adjustment of the center of gravity distribution and attachment direction remains dynamically consistent with the propulsion rhythm, ensuring that the posture of the inspection equipment remains stable as the propulsion speed changes.

[0087] Through the above steps, the inspection equipment can maintain stable and reliable operation even in strong gusts of wind. With the help of dynamic rhythm control, the inspection equipment continuously maintains its posture balance in the complex wind field where the main cable of the suspension bridge frequently sways, the deviation of its travel path is constantly reduced, and the continuity and accuracy of the inspection trajectory are effectively guaranteed, thus ensuring that corrosion inspection work can be carried out smoothly under wind-induced disturbance conditions.

[0088] Step 4: Based on the output state of dynamic rhythm control, the acquisition rhythm of the inspection equipment in the sensing and detection process is synchronously and smoothly adjusted to unify the image acquisition time window and the electrochemical detection time window into the movement rhythm, so as to ensure the continuity and stability of the detection sequence.

[0089] To align the image acquisition time window and the electrochemical detection time window with the workflow, the specific steps are as follows:

[0090] After completing dynamic rhythm control, the inspection equipment's attitude balance and propulsion rhythm are continuously monitored based on the output state of dynamic rhythm control to identify suitable data acquisition periods for sensor detection. During this phase, the inspection equipment continuously acquires real-time trends in its propulsion rate, attitude angle changes, attachment direction, and the lateral displacement of the suspension bridge's main cable, based on inertial compensation and the output information of dynamic rhythm control. Continuous analysis of this real-time data determines the time periods during which the inspection equipment maintains stable attitude, constant speed, and balanced attachment. In practice, the inspection equipment divides the entire travel cycle into multiple time segments, each corresponding to a specific attitude state, using time as a reference axis. When the inspection equipment's attitude angle fluctuation reaches its minimum, the change in attachment direction is at its minimum, and the change in the lateral sway rate of the suspension bridge's main cable reaches its minimum, this time segment is identified as a candidate time window suitable for performing detection and data acquisition operations. The length of the candidate time window is determined based on the misalignment between the inspection equipment's propulsion rate and the sway period of the suspension bridge's main cable, ensuring that the detection process avoids the peak phase of the suspension bridge's main cable's sway. Through this process, the inspection equipment can accurately locate the most suitable time period for image acquisition and electrochemical detection in each advancement cycle, so that the detection process and the movement state are naturally connected in time, laying the foundation for subsequent synchronous control.

[0091] After identifying candidate time windows, the acquisition rhythm of the sensing and detection process is synchronously and smoothly adjusted according to the current advancement pace of the inspection equipment, unifying the image acquisition time window and the electrochemical detection time window in the advancing rhythm. This stage involves continuously adjusting the triggering sequence of image acquisition and electrochemical detection to ensure that both detection behaviors are consistent with the advancement pace of the inspection equipment. When the inspection equipment is in a slow-advance phase, its advancement rate is slow and the change in travel distance is small. At this time, the triggering frequency of image acquisition is correspondingly reduced, and the acquisition interval is extended to ensure that each frame of image covers an independent detection area without spatial overlap. Simultaneously, the triggering time of electrochemical detection is also extended according to the same pattern to maintain a time correspondence with image acquisition. When the inspection equipment enters an accelerated advancement phase, its advancing speed increases, and the detection coverage area on the inspection path expands accordingly. At this time, the triggering frequency of image acquisition increases, and the acquisition interval is shortened, ensuring that each frame of image continuously covers the surface area of ​​the main cable of the suspension bridge. The triggering time of electrochemical detection is also shortened, maintaining synchronous start and end with the triggering time of image acquisition. Throughout this process, the inspection equipment consistently uses the output state of dynamic rhythm control as a reference to ensure that both types of detection activities are synchronized with the travel rhythm at different advance rates. When the inspection equipment is in a state of equilibrium and the swaying amplitude of the suspension bridge's main cable is moderate, image acquisition and electrochemical detection are performed simultaneously within the same time window, ensuring that the surface image of the suspension bridge's main cable at the same location corresponds consistently with the electrochemical signal data. In terms of time, the detection rhythm coincides with the advance rhythm; in terms of space, the sampling points are continuously connected to the travel path, forming a complete data acquisition chain.

[0092] After achieving synchronized and smooth control of the acquisition rhythm, to ensure the continuity and stability of the detection sequence, the sensing and detection process is dynamically maintained and smoothly transitioned over time, allowing the detection rhythm to remain coordinated under different wind field environments. During this stage, the inspection equipment continuously updates its propulsion rhythm and attitude balance based on the real-time output of the inertial compensation process and dynamic rhythm control. When the external wind field intensity changes and the swaying period of the suspension bridge's main cable fluctuates, the inspection equipment automatically adjusts the time parameter of the detection trigger interval by continuously monitoring the lateral displacement trend of the main cable and the trend of its own propulsion rate. When the swaying period of the main cable shortens and the vibration frequency increases, the inspection equipment correspondingly shortens the trigger interval for image acquisition and electrochemical detection, maintaining a time misalignment between the detection cycle and the vibration cycle of the main cable, thus ensuring that the detection process continues during the attitude stability phase. When the swaying period of the main cable lengthens and the wind disturbance weakens, the inspection equipment correspondingly lengthens the detection trigger interval, allowing the detection cycle to expand synchronously with the travel rhythm. During the transition phase of the detection rhythm, the inspection equipment smoothly adjusts the trigger interval to avoid abrupt changes in detection frequency that could cause breakpoints or overlaps in the acquired data, thus maintaining the continuity of the detection data in the time series. In each travel cycle, the inspection equipment adjusts the time windows for image acquisition and electrochemical detection to the center of the attitude equilibrium range, ensuring that both types of detection activities are performed within the same stable time period, thereby guaranteeing the continuity of the data acquisition process. Throughout the entire detection task, image data and electrochemical detection data are synchronized in time and matched in space, with the detection activities coordinated with the travel status, and data acquisition is not interrupted by changes in the sway frequency of the suspension bridge's main cable or wind disturbances.

[0093] Through the implementation of the above steps, the inspection equipment can achieve synchronous coordination between the sensor detection and acquisition rhythm and the travel rhythm under strong wind conditions, based on the output state of dynamic rhythm control. By identifying the detection window, smoothly adjusting the acquisition rhythm, and dynamically maintaining the detection sequence, the inspection equipment achieves temporal unification between the image acquisition time window and the electrochemical detection time window, ensuring consistency between the detection behavior and the travel state. The entire process is executed continuously on the time axis, maintains stability in attitude control, and achieves smooth connection at the data level, thereby ensuring the continuity and stability of the detection sequence. In this way, the inspection equipment can continuously acquire corrosion detection data in complex wind field environments, maintaining spatial consistency and temporal synchronization between image acquisition and electrochemical detection, providing continuous, accurate, and stable data support for the corrosion detection of the main cable of the suspension bridge.

[0094] Step 5: Based on the continuous state of the detection time sequence, the spatial sampling order of the inspection task is dynamically rearranged, and the output results of the attitude balance state and the time misalignment control are fused to form a continuous closed detection path, thereby maintaining the spatial mapping accuracy and data stability of the main cable corrosion detection of the suspension bridge in strong gusts of wind.

[0095] The spatial sampling order of the inspection task is dynamically rearranged, and the output results of the attitude balance state and the time misalignment control are fused. The specific steps are as follows:

[0096] After the data acquisition phase is completed, the spatial distribution of sampling points of the inspection equipment within the current inspection cycle is comprehensively recorded and identified based on the continuous state of the inspection sequence. During this phase, as the inspection equipment performs corrosion inspection along the main cable of the suspension bridge, image acquisition and electrochemical detection are both performed within a unified time window, with each inspection corresponding to a precise time node and spatial location. The inspection equipment continuously records the time sequence, spatial coordinates, attitude angle, and adhesion direction of the sampling points to the surface of the main cable during its movement. The lateral displacement of the main cable and the trajectory data of the inspection equipment are simultaneously recorded to reflect the relationship between the swaying period of the main cable under gusts of wind and the spatial changes of the sampling points. To ensure the accuracy of spatial sampling, the inspection equipment continuously performs correlation analysis on the time interval, spatial distance, and attitude balance state between adjacent sampling points while maintaining a continuous inspection sequence. This establishes a continuous foundation for the inspection task in the time dimension and establishes an initial sorting relationship for the sampling points in the spatial dimension. This process enables the inspection equipment to grasp the synchronization status of the inspection task in time and space at the data level, providing continuous data support for the dynamic rearrangement of the subsequent spatial sampling sequence.

[0097] After obtaining the continuous temporal data for the inspection task, the spatial sampling sequence of the inspection task is dynamically rearranged based on the attitude balance state of the inspection equipment and the output results of the time misalignment control. The core of this stage is to adjust the temporally continuous inspection sequence into a spatially coherent sampling path, enabling the inspection task to maintain spatial continuity under wind-induced vibrations of the suspension bridge's main cable. Under strong gusts of wind, the surface of the suspension bridge's main cable experiences instantaneous lateral displacement, causing some sampling points to shift in spatial position. Based on the real-time data output from the attitude balance state, the inspection equipment determines its relative attitude change to the surface of the suspension bridge's main cable, thus determining the actual position of the sampling points on the cable's surface. When some sampling points are found to have deviated from their original path due to the suspension bridge's main cable swaying during the inspection process, the inspection equipment reorders these sampling points according to the output results of the time misalignment control, ensuring continuous connection with the preceding and following sampling points in their new spatial positions. Simultaneously, the inspection equipment optimizes the sorting of sampling points throughout the entire inspection section based on the real-time changing trend of the suspension bridge's main cable's swaying period, ensuring a continuous distribution of the inspection path on the surface of the suspension bridge's main cable. Through this dynamic rearrangement method, the detection task achieves adaptive matching with the actual deformation of the main cable of the suspension bridge in space, thereby ensuring the integrity and continuity of the detection path under gust conditions.

[0098] After the dynamic rearrangement of the inspection task, the attitude balance state of the inspection equipment and the output results of the time misalignment control are fused to form a continuous closed loop of the inspection path. The goal of this stage is to couple the data in the time and spatial dimensions, so that the inspection path forms a closed loop structure in space. During the inspection process, the inspection equipment continuously acquires attitude balance state parameters, including the direction of the center of gravity distribution, the attachment angle, and the magnitude of attitude angle changes, while simultaneously acquiring the advancement rhythm and inspection cycle parameters output by the time misalignment control. By fusing the two types of data, the inspection equipment compares the trajectory of the completed inspection path to determine the spatial distance between the end position of the inspection path and the starting position of the next inspection cycle. When a spatial offset is detected, the travel direction and attachment angle are adjusted according to the attitude balance state data to realign the inspection path with the geometric center of the suspension bridge's main cable. During the path closure process, the inspection equipment gradually supplements the sampling points in the uncovered areas according to the output rhythm of the time misalignment control, so that the inspection path forms a continuous loop in space. In this way, after the inspection equipment completes a full inspection along the main cable of the suspension bridge, the inspection path can be seamlessly connected in space, ensuring that there are no missed or overlapping points on the surface of the main cable, thus guaranteeing uniform coverage of inspection data and continuous path distribution. The continuous maintenance of attitude balance ensures that the inspection equipment remains stably attached during path closure, and the output of time-displacement control ensures that the inspection cycle remains decoupled from the oscillation cycle of the main cable. The fusion of these two aspects allows the continuity of the inspection path to be completed simultaneously in time and space.

[0099] After the detection path forms a continuous closed loop, to ensure the spatial mapping accuracy and data stability of the detection task under strong gusts of wind, the detection path is dynamically maintained and corrected in real time. This stage involves continuous monitoring of the inspection equipment's attitude balance, the lateral displacement trend of the suspension bridge's main cable, and the detection time series to ensure the detection path remains consistent throughout the long-term detection process. When the inspection equipment travels a long distance along the suspension bridge's main cable, wind speed, wind direction, and the stress state of the main cable change over time. The amplitude and direction of lateral displacement in local areas of the main cable's surface also change continuously, potentially causing slight spatial shifts in the detection path. The inspection equipment uses real-time output data of its attitude balance to determine its attitude changes on the suspension bridge's main cable surface and adjusts the detection sampling sequence based on the output results of time misalignment control, thus realigning the detection path spatially with the centerline of the main cable. When a shift in the detection path occurs, the inspection equipment fine-tunes its attachment direction and travel speed to restore the detection path to a closed state. Through this dynamic maintenance method, the inspection equipment can continuously maintain the integrity of the detection path and the consistency of the data under different wind field intensities and suspension bridge main cable swing conditions.

[0100] Through the continuous implementation of the above steps, the inspection equipment can stably perform anti-corrosion inspection tasks in strong gusts of wind. The inspection path can be continuously closed in space, and the inspection data can remain consistent in time, thereby ensuring the spatial mapping accuracy of the anti-corrosion inspection of the main cable of the suspension bridge and the overall stability of the inspection data, making the entire inspection process highly consistent.

[0101] This invention establishes a dynamic correspondence between the lateral displacement of the main cable of a suspension bridge and the attitude deviation of the inspection equipment. Based on this, it introduces a segmented center of gravity control and inertial compensation mechanism, enabling the inspection equipment to maintain a continuously balanced attitude under strong gusts of wind. By incorporating the swaying characteristics of the main cable of the suspension bridge into the planning process, the inspection equipment responds more smoothly to external disturbances during its movement, effectively suppressing trajectory deviation and maintaining a stable attachment state. This reduces the impact of wind-induced swaying on the continuity of inspection operations and improves operational reliability in complex wind environments.

[0102] This invention, based on stable posture and coordinated movement rhythm, holistically plans the detection and acquisition rhythm and spatial sampling sequence, ensuring that the detection timing remains synchronized and continuous with the movement process. By forming a continuous closed detection path, the detection data achieves consistent mapping in both the time and spatial dimensions, avoiding data misalignment and duplication caused by path deviation. This effectively improves the spatial correspondence accuracy and data stability of the corrosion detection results for the main cable of the suspension bridge, providing a continuous and reliable foundation for long-term monitoring and condition assessment.

[0103] This invention provides, for example Figure 4 The motion control system for inspection equipment in a dynamic disturbance environment shown includes a data acquisition and synchronization module, a center of gravity adjustment and compensation module, a rhythm control and adjustment module, a detection rhythm unification module, and a path rearrangement and closure module.

[0104] The data acquisition and synchronization module collects continuous swing trajectory data of the main cable of the suspension bridge and attitude change data of the inspection equipment, and establishes a dynamic correspondence between the lateral displacement of the main cable of the suspension bridge and the attitude deviation of the inspection equipment through time synchronization identifier.

[0105] The center of gravity adjustment and compensation module performs segmented control on the center of gravity distribution of the inspection equipment based on the dynamic correspondence between the lateral displacement of the main cable of the suspension bridge and the attitude deviation of the inspection equipment. During the instantaneous swing phase of the main cable of the suspension bridge, the attachment direction is adjusted according to real-time data to form an inertial compensation process consistent with the movement trend of the main cable of the suspension bridge.

[0106] The rhythm control adjustment module, combined with the output results of the inertial compensation process, implements dynamic rhythm control on the advancement rate of the inspection equipment's travel path, and establishes a time misalignment relationship between the swing period of the main cable of the suspension bridge and the travel rhythm.

[0107] The detection rhythm unification module, based on the output state of dynamic rhythm control, synchronously and smoothly regulates the acquisition rhythm of the inspection equipment in the sensor detection process, unifying the image acquisition time window and the electrochemical detection time window into the movement rhythm.

[0108] The path rearrangement closure module dynamically rearranges the spatial sampling order of the inspection task based on the continuous state of the detection timing, and fuses the attitude balance state with the output results of the time misalignment control to form a continuous closed detection path.

[0109] The motion control method for inspection equipment in a dynamic disturbance environment provided in this embodiment of the invention is implemented through the above-described motion control system for inspection equipment in a dynamic disturbance environment. For details of the specific methods and processes of the motion control system for inspection equipment in a dynamic disturbance environment, please refer to the embodiments of the motion control method for inspection equipment in a dynamic disturbance environment described above, which will not be repeated here.

[0110] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A method for motion control of a patrol device in a dynamic disturbance environment, characterized by, Includes the following steps: Step 1: Collect continuous swing trajectory data of the target carrier and attitude change data of the inspection equipment, and establish a dynamic correspondence between the lateral displacement of the target carrier and the attitude deviation of the inspection equipment through time synchronization markers. Step 2: Based on the dynamic correspondence between the lateral displacement of the target carrier and the attitude deviation of the inspection equipment, the center of gravity distribution of the inspection equipment is controlled in segments. During the instantaneous swing phase of the target carrier, the attachment direction is adjusted according to real-time data to form an inertial compensation process consistent with the motion trend of the target carrier. Step 3: Based on the output results of the inertial compensation process, implement dynamic rhythm control on the advancement rate of the inspection equipment's travel path, and establish a time misalignment relationship between the target carrier's swing period and the travel rhythm. The steps for implementing dynamic rhythm control on the travel speed of the inspection equipment, and establishing a time-displacement relationship between the target carrier's oscillation period and its travel rhythm, include: Based on the output results of the inertial compensation process, the current attitude balance state of the inspection equipment and the lateral displacement state of the target carrier are continuously analyzed. The swing period and period variation law of the target carrier under the action of gusts are recorded. The peak stage and recovery stage of the target carrier swing are determined according to the swing direction and amplitude variation trend of the target carrier. Based on the attitude balance state output by the inertial compensation process, the propulsion rate of the inspection equipment is dynamically controlled. During the lateral acceleration and swing phase of the target carrier, the propulsion rate is gradually reduced and kept at a constant speed. During the swing phase of the target carrier, the propulsion rate is gradually restored according to the decreasing trend of the displacement amplitude of the target carrier until the normal travel state is reached. A time relationship that is staggered with the motion rhythm of the target carrier is formed in each swing cycle of the target carrier. The propulsion rhythm is continuously adjusted based on the time misalignment between the target carrier's oscillation period and the inspection equipment's travel rhythm. When the wind intensity or direction changes, the propulsion rhythm is adjusted to buffer the phase, maintaining a constant time misalignment interval. During the continuous adjustment of the propulsion rhythm, when the swing period of the target carrier becomes shorter, the inspection equipment extends the duration of the propulsion rhythm buffer phase according to the trend of the lateral displacement of the target carrier; when the swing period of the target carrier becomes longer, the inspection equipment shortens the duration of the propulsion rhythm buffer phase according to the trend of the lateral displacement of the target carrier, thus forming a time misalignment relationship and maintaining an asynchronous state. Step 4: Based on the output state of dynamic rhythm control, the acquisition rhythm of the inspection equipment in the sensing and detection process is synchronously and smoothly adjusted to unify the image acquisition time window and the electrochemical detection time window into the movement rhythm. Step 5: Based on the continuous state of the detection time sequence, the spatial sampling order of the inspection task is dynamically rearranged, and the output results of the attitude balance state and the time misalignment control are fused to form a continuous closed detection path.

2. The motion control method for inspection equipment in a dynamically disturbed environment according to claim 1, characterized in that, The process of establishing the dynamic correspondence between the lateral displacement of the target carrier and the attitude deviation of the inspection equipment includes: Based on the shape characteristics and wind environment features of the target carrier, representative detection sections were selected for continuous data collection; Based on a unified time synchronization identifier, the target carrier's lateral displacement change and the inspection equipment's attitude offset change are synchronously triggered by a time reference signal, and the corresponding matching is performed on the same time axis. Based on the target carrier's lateral displacement data and the inspection equipment's attitude change data after time synchronization, a dynamic correspondence between the target carrier's lateral displacement and the inspection equipment's attitude deviation is established through point-by-point comparison over continuous time periods.

3. The motion control method for inspection equipment in a dynamically disturbed environment according to claim 2, characterized in that, In the process of establishing the dynamic correspondence between the lateral displacement of the target carrier and the attitude deviation of the inspection equipment, each lateral displacement sampling point of the target carrier and the attitude change sampling point of the inspection equipment form a one-to-one correspondence at the same time node.

4. The motion control method for inspection equipment in a dynamically disturbed environment according to claim 2, characterized in that, The steps involved in adjusting the attachment direction based on real-time data during the instantaneous oscillation phase of the target carrier to form an inertial compensation process consistent with the motion trend of the target carrier include: The lateral displacement state of the target carrier is continuously monitored, and real-time data is collected along the key areas within the representative detection section. The key areas are the concentrated areas of displacement change determined by the amplitude, rate of change and oscillation period of the lateral displacement of the target carrier within the representative detection section. Based on the amplitude and direction of the target carrier's lateral displacement, the control process is divided into an initial stage, a transition stage, a peak stage, and a recovery stage. The center of gravity distribution of the inspection equipment is adjusted according to the swing trend of the target carrier at different stages. When the target carrier is in the instantaneous oscillation phase, the attachment direction of the inspection equipment is adjusted according to real-time data to form an inertial compensation process that is consistent with the movement trend of the target carrier. Based on the changes in the lateral displacement trend of the target carrier, the results of the adjustment of the center of gravity distribution and attachment direction are dynamically maintained, so that the attitude state of the inspection equipment remains balanced during the swing cycle of the target carrier.

5. The motion control method for inspection equipment in a dynamically disturbed environment according to claim 4, characterized in that, During the process of adjusting the attachment direction of the inspection equipment based on real-time data when the target carrier is in the instantaneous swing phase, the inspection equipment adjusts the attachment direction to the opposite side of the target carrier's movement direction according to the lateral displacement change direction of the target carrier, so that the line of action of the adhesion force and the target carrier's movement direction form a mutually balanced angle, and the attachment direction is updated synchronously when the target carrier's movement direction reverses.

6. The motion control method for inspection equipment in a dynamically disturbed environment according to claim 1, characterized in that, The steps to unify the image acquisition time window and the electrochemical detection time window into the workflow include: Based on the output state of dynamic rhythm control, the attitude balance and propulsion rhythm of the inspection equipment during the movement phase are continuously monitored. By analyzing the real-time change trends of propulsion rate, attitude angle change, attachment direction state and target carrier lateral displacement, the time periods of attitude stability, constant speed and attachment balance are determined, and the corresponding time periods are used as candidate time windows for detection and acquisition. Based on the current advancement pace of the inspection equipment, the acquisition pace of the sensing and detection process is synchronously and smoothly controlled. When the advancement rate of the inspection equipment decreases, the image acquisition trigger frequency is reduced and the electrochemical detection trigger interval is extended. When the advancement rate of the inspection equipment increases, the image acquisition trigger frequency is increased and the electrochemical detection trigger interval is shortened. Based on the real-time output of the inertial compensation process and dynamic rhythm control, the sensing and detection process is dynamically maintained and the time transition is smoothed. When the target carrier swings period changes, the detection rhythm is kept in sync with the movement rhythm by adjusting the time parameter of the detection trigger interval.

7. The motion control method for inspection equipment in a dynamically disturbed environment according to claim 6, characterized in that, The steps for dynamically rearranging the spatial sampling order of the inspection task and fusing the attitude balance state with the output of time misalignment control to form a continuous closed detection path include: Based on the continuous state of the detection time sequence, the spatial sampling point distribution of the inspection equipment in the current detection cycle is recorded and identified, and the time sequence, spatial coordinate position, attitude angle and attachment direction information of the sampling points with the target carrier surface are recorded at the same time to form a detection dataset corresponding to time and space. Based on the output results of the attitude balance state and time misalignment control of the inspection equipment, the spatial sampling sequence of the inspection task is dynamically rearranged. During the detection process, the spatial offset sampling points caused by the lateral displacement of the target carrier are reordered, and the sampling point sequence of the entire detection section is optimized according to the trend of the target carrier's swing cycle. The attitude balance state of the inspection equipment is fused with the output results of the time misalignment control. By adjusting the travel direction and attachment angle, a continuous closed relationship of the detection path is formed, and sampling points in the uncovered area are supplemented under the output rhythm of the time misalignment control. Based on the real-time data of attitude balance and time misalignment control output, the detection path is dynamically maintained and corrected in real time. The spatial closure of the detection path is maintained by adjusting the attachment direction and travel speed.

8. A motion control system for inspection equipment in a dynamically disturbed environment, used to implement the motion control method for inspection equipment in a dynamically disturbed environment as described in any one of claims 1-7, characterized in that, It includes a data acquisition and synchronization module, a center of gravity adjustment and compensation module, a rhythm control and adjustment module, a detection rhythm unification module, and a path rearrangement and closure module; The data acquisition and synchronization module collects continuous swing trajectory data of the target carrier and attitude change data of the inspection equipment, and establishes a dynamic correspondence between the lateral displacement of the target carrier and the attitude deviation of the inspection equipment through time synchronization identifier. The center of gravity control and compensation module performs segmented control on the center of gravity distribution of the inspection equipment based on the dynamic correspondence between the lateral displacement of the target carrier and the attitude deviation of the inspection equipment. During the instantaneous swing phase of the target carrier, the attachment direction is adjusted according to real-time data to form an inertial compensation process consistent with the motion trend of the target carrier. The rhythm control adjustment module, combined with the output results of the inertial compensation process, implements dynamic rhythm control on the advancement rate of the inspection equipment's travel path, and establishes a time misalignment relationship between the target carrier's swing period and the travel rhythm. The detection rhythm unification module, based on the output state of dynamic rhythm control, synchronously and smoothly regulates the acquisition rhythm of the inspection equipment in the sensor detection process, unifying the image acquisition time window and the electrochemical detection time window into the movement rhythm. The path rearrangement closure module dynamically rearranges the spatial sampling order of the inspection task based on the continuous state of the detection timing, and fuses the attitude balance state with the output results of the time misalignment control to form a continuous closed detection path.

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