Inhaul cable detection robot based on visual identification and inhaul cable detection method

Abstract

The invention discloses an inhaul cable detection robot based on visual identification and an inhaul cable detection method.The inhaul cable detection robot comprises a crawling device, a camera detection device, a control center, a driving device and a connecting piece, a shear fork type mechanism with an elastic structure and a crawler-type advancing mechanism are arranged in the crawling device, and on the premise that an inhaul cable is not damaged, the inhaul cable can be automatically detected through the crawler-type advancing mechanism; the cable is held tightly to climb upwards, the condition of the cable is fed back in real time through the camera detection device, the stress of each device and the visual angle of the camera are balanced according to a cable detection method, and the pressure of the crawling device on the cable can be balanced in real time through the holding device and the visual angle control device of the control center. The device not only can ensure that the pressure of each part of the crawling device is balanced and the inhaul cable is tightly held, but also can prevent the inhaul cable from being damaged and deformed due to the fact that the pressure of a certain part of the crawling device on the inhaul cable is too large, can adapt to detection of different inhaul cables, and the visual angle control device controls the camera detection device in the detection process. According to the method, pictures of different positions of the inhaul cable are obtained in real time, details and potential defects of partial areas are not detected, the accuracy and comprehensiveness of detection are ensured, the efficiency and reliability of detection are improved, and inhaul cable detection work is completed more comprehensively and efficiently.

Description

Technical Field

[0001] The invention belongs to the field of bridge detection, and in particular relates to a cable detection robot and a cable detection method based on visual recognition. Background Art

[0002] With the rapid development of modern bridge construction technology, suspension bridges and cable-stayed bridges, as two main types of long-span bridges, have become important transportation structures across rivers, straits and canyons. Among them, as one of the main load-bearing components connecting the bridge deck and the bridge tower in a long-span bridge, the reliability, durability and adaptability of the cable will directly affect the safe operation and service life of the bridge. Since the cable system is subjected to alternating loads and exposed to the natural environment for a long time, the steel wires in the cable are very susceptible to environmental corrosion, which affects the load-bearing capacity of the cable. In order to ensure the safety of the cable, the cable needs to be inspected regularly.

[0003] Currently, the commonly used methods for cable detection include drones, wheeled pneumatic climbing robots and humanoid pole climbing robots. However, drones have poor environmental adaptability and weak endurance, and are unable to accurately, stably and for a long time detect cables. Wheeled pneumatic climbing robots need to work under a continuous air pressure supply, which will also limit their use in certain environments. In addition, the weight of the wheeled pneumatic climbing robots is significantly increased due to the continuous air pressure supply equipment they carry, which is not conducive to climbing on cables and there is a risk of falling. The air pressure supply equipment also requires regular inspection and maintenance, which increases labor costs. Humanoid pole climbing robots require complex motion planning and control algorithms, and the labor and price costs of manufacturing and maintenance are high, and their work efficiency is low. Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies of the above-mentioned technology and to provide a cable detection robot and a cable detection method based on visual recognition which can be applied to different environments, have a more stable detection screen, a light structure and high working efficiency.

[0005] To achieve the above object, the technical solution of the present invention is:

[0006] A cable detection robot based on visual recognition, comprising a crawling device, a camera detection device, a controller, a driving device and a connecting piece;

[0007] The crawling device is composed of a plurality of crawling units, each of which is composed of a shell, a crawler and a scissor-type mechanism. The shell is a shell that surrounds the cable, and the crawler is used as a traveling mechanism of the crawling unit, and travels closely on the cable. The scissor-type mechanism cooperates to adjust the degree of tightness between the crawler and the cable.

[0008] The shell includes a shell and a hinge. The shell is arc-shaped, with a square hollow in the middle. The shell is fixedly connected to the shells of other crawling units through the hinge. The scissor-type mechanism is fixedly installed on the square hollow of the shell through the connecting piece and installed on the cable. The crawler is connected and fixed to the scissor-type mechanism.

[0009] The camera detection device is composed of a detection camera and a telescopic mechanism. The detection camera provides real-time feedback on the status of the cable, and adjacent detection cameras have interlaced viewing angles.

[0010] The camera detection device is installed on the scissor-type mechanism through a connecting piece, the telescopic mechanism adjusts the distance between the detection camera and the cable, and the detection camera is installed on the telescopic mechanism through the connecting piece;

[0011] The controller controls the working process of the cable detection robot and the distance between the detection camera and the cable;

[0012] The driving device is used to drive the cable detection robot to perform detection work, and can be arranged at any position of the cable detection robot.

[0013] The scissor-type mechanism is first installed in the square hollow of the shell through the connecting piece to form a plurality of the crawling units. The camera detection device is correspondingly fixed above each crawling unit. The plurality of crawling units are fixed to the cable through the hinge to form the cable detection device. The cable size of the bridge needs to be comprehensively considered and selected according to various factors such as different bridge designs, terrains, load-bearing capacity, materials and spans. Its structure is usually columnar, so the shell is set to an arc shape, and by changing the number of the crawling units, different cables can be better adapted. When a crawling unit fails, it can also be replaced and adjusted, with strong scalability and high flexibility. The cable detection robot climbs on the cable through the crawling device, and detects the status of the cable based on the real-time feedback of the image on the cable from the detection camera.

[0014] Since the crawling device needs to have the function of crawling on the cable, and the surface of the cable cannot be damaged due to contact with the cable during the crawling process, the scissor-type mechanism includes a square carbon tube and a scissor-type connecting rod, and the square carbon tube also includes a slidable screw, a first servo, a servo fixing, a screw connecting piece, a self-made slide rail, a screw nut fixing piece, and a screw nut. One of the self-made slide rails is installed above and below the square carbon tube, and the first servo is fixedly installed on the self-made slide rail located above through the servo fixing piece, and the slidable screw is fixedly installed below the servo through the screw connecting piece, and is fixed to the self-made slide rail located below through the screw nut. The self-made slide rail provides a predetermined motion track for the self-made slider.

[0015] The slidable screw rod includes a screw rod and a plurality of self-made sliders, which are respectively arranged in the self-made slide rails. The self-made sliders slide in opposite directions on the self-made slide rails to adjust the opening and closing angles of the scissor-type connecting rods. The servo is installed on the servo fixing part to drive the track to retract and clamp the cable.

[0016] Since the scissor-type link requires the two links to move upward and downward respectively to achieve the opening and closing of the angle, the self-made slider slides in opposite directions on the self-made slide rail to adjust the opening and closing angle of the scissor-type link. The scissor-type link also includes a link connector. The upper left end of the scissor-type link is installed above the internal structure of the crawler through the link connector, and the lower left end is installed below the internal structure of the crawler. The crawler needs to maintain a normal traveling state during travel and cannot move with the scissor-type link. If the crawler is in motion, The cable detection robot may be deformed, and the track may malfunction during movement. Therefore, the connecting part of the track and the scissors-type link constitutes the fixed part of the scissors-type link. The scissors-type link is installed and connected to the track, and the degree of clamping between the track and the cable is adjusted by opening and closing the angle of the scissors-type link. The upper left end of the scissors-type link is installed on the upper part of the track through the link connector, and the lower left end is installed on the lower part of the track, constituting the fixed part of the scissors-type link.

[0017] Because the crawling device and the camera detection device have a certain weight, and the crawling movement of the crawling device needs to be driven by a driving device, which will increase the weight of the cable detection robot again and increase the risk of the cable detection robot falling. Therefore, the driving device uses a steering gear, which drives the screw rod through the steering gear to drive the crawler to extend and retract, so that the crawler can move closely on the cable during the crawling process. Compared with the wheeled pneumatic climbing robot driven by a cylinder, the steering gear can significantly reduce the weight of the equipment, and the storage of the cylinder is limited and cannot be used for a long time. The steering gear drive can indirectly control the extension distance of the crawler by controlling the driving time, thereby clamping the cable and crawling upward. Therefore, the steering gear is used for driving, and the steering gear is installed on the steering gear fixing part. The spring and the screw rod connecting part are respectively installed at the upper and lower ends of the steering gear fixing part, and one end of the screw rod is connected to the bottom of the screw rod connecting part.

[0018] The scissor-type connecting rod is installed and connected with the self-made slider. The sliding of the self-made slider drives the scissor-type connecting rod to open and close at different angles. The movement of the self-made slider needs to be carried out within the set track and cannot slide at will, otherwise it will affect the stability and crawling efficiency of the crawling device, and will cause the camera detection device to be unable to normally obtain a clear image of the cable. Therefore, the self-made slide rail is set and installed on the lower end of the screw rod through the screw nut fixing, providing a predetermined motion track for the self-made slider, and the self-made slider is respectively arranged above the servo fixing and near the other end of the screw rod.

[0019] The scissor-type mechanism also includes an elastic structure, which is installed above the steering gear fixing part. The elastic structure includes a limit spring and a support column, which is arranged inside the limit spring to support and fix the limit spring. The limit spring is used to limit the upward displacement of the scissor-type mechanism to prevent the scissor-type mechanism from getting stuck and malfunctioning. By setting the elastic structure, the stability and safety of the cable detection robot can be improved, the scissor-type mechanism will not get stuck or damaged due to excessive rise, and the limit spring can provide buffering force and supporting force, and the movement performance of the scissor-type mechanism is more stable and smooth.

[0020] The detection camera needs to obtain high-definition images of the cable in all directions in real time to understand whether there is any damage on the cable, and the size of the cable also needs to be adjusted according to the specific conditions of the bridge and terrain. Therefore, the detection camera cannot be fixed above the crawling unit. Instead, during the crawling process of the cable detection robot, the detection camera can be extended and retracted in the vertical direction of the cable, so as to adjust the distance between the detection camera and the cable in time according to actual conditions. The detection of different cables, the scaling of the real-time picture and the adjustment of the clarity can be realized. Therefore, the distance between the detection camera and the cable is adjusted by setting the telescopic mechanism, which includes a number of slide rails, an encoder motor, a motor fixing plate, a rack and a gear.

[0021] The slide rail has a slide groove inside, and the several slide rails are installed and connected in sequence through the slide groove. The slide rail can slide and retract perpendicular to the shell, that is, it can move in the direction close to the cable and away from the cable. The detection camera is arranged on one side of the slide rail, and the rack and the gear are installed in the cavity formed by the several slide rails to drive the detection camera and the slide rail to retract and retract. The distance between the detection camera and the cable can be adjusted by retracting and retracting the slide rail. The motor fixing plate is installed on the other side of the slide rail, and the encoder motor is installed on the electric fixing plate to drive the rack to drive the detection camera to retract.

[0022] In order to ensure the stability and safety during the cable detection process, it is necessary to ensure that the cable detection robot holds the cable tightly during the crawling process. The crawling device of the cable detection robot is composed of the several crawling units. It is necessary to ensure that when the cable detection robot holds the cable tightly, the several crawling units need to maintain balance, otherwise the force on the cable is unbalanced. When the crawler tracks move closely against the cable, there is a risk of damaging the cable. Therefore, a holding device is set in the controller. The holding device includes a pressure sensor and a carbon tube fixing. The pressure sensor detects the degree of holding between the crawling device and the cable in real time and balances the force on the several crawling units. The pressure sensor is fixed to the top of the scissor-type mechanism through a carbon tube fixing. The holding device can adapt to the detection needs of cables of different sizes, shapes and positions, flexibly cope with complex and changeable detection environments, and improve the versatility and practicality of the cable detection robot.

[0023] The accuracy of cable detection is related to the service life of cable bridges and the safety of personnel. Therefore, it is necessary to achieve precise control and dynamic adjustment of the detection camera to ensure that the detection camera can provide real-time feedback of high-definition images and can adjust the image content and angle captured by the camera in real time. Therefore, the controller also includes a viewing angle control device, which includes a laser ranging sensor and a viewing angle control servo. The laser ranging sensor is installed between the detection camera and the telescopic mechanism, and the viewing angle control servo is installed on the left and right sides of the detection camera.

[0024] The images captured in real time between the adjacent detection cameras must have an interlaced perspective to ensure that the images of the detection cameras can reflect the entire situation of the cable, and that details and potential defects in some areas will not be left undetected. According to the degree of interlaced perspective, the laser ranging sensor calculates the distance between the detection camera and the cable, and adjusts the distance through the telescopic mechanism. The perspective control servo controls the rotation angle of the detection camera to achieve precise control of the detection camera, ensure the accuracy and comprehensiveness of the detection, and improve the efficiency and reliability of the detection.

[0025] During the inspection process, the cable inspection robot crawls close to the cable. In order to prevent scratches and damage caused by friction between the crawling device and the cable during the inspection process, the track structure is used as the traveling mechanism. On the one hand, the contact area between each crawling unit and the cable can be increased to provide better support and stability. When there are uneven protrusions or depressions on the cable surface, the risk of shaking and falling can be reduced, thereby ensuring the inspection accuracy and safety of the cable inspection robot. On the other hand, the track structure reduces the pressure on the cable surface by dispersing the weight to a larger contact surface, reducing damage to the cable caused by excessive local pressure. In addition, the track structure can be applied to a variety of cable surface conditions and has stronger applicability.

[0026] Therefore, the crawler track includes a crawler chain ring and an internal structure of the crawler track. The crawler chain ring includes a plurality of crawler chains. The plurality of crawlers are spliced ​​to form the crawler chain ring. The outer side of the crawler chain ring is in contact with the cable and moves on the cable. The internal structure of the crawler track includes a driving wheel, a driven wheel, a plurality of walking wheels and a plurality of supporting wheels, which are respectively arranged on the left side, the right side, the lower side and the upper side of the inner side of the crawler chain ring. The driving wheel is the power source of the crawler track, the driven wheel is used to induce and support the crawler track, the walking wheel is close to one side of the cable and is used to climb and move on the cable, and the supporting wheel is used to support the shape of the crawler track and keep the track structure stable.

[0027] During the operation of the cable inspection robot, the equipment fails. When the failure occurs, the track structure is always in a contracted state, causing damage to the track, and the cable inspection robot may fall off the cable. In order to prevent the track from being damaged due to excessive contraction when the equipment fails, a buffer needs to be set to protect the track and the transmission system. Therefore, the internal structure of the track also includes: a number of tension springs, a number of walking wheel connecting rods and a spring tension structure;

[0028] The tension spring is connected to the walking wheel connecting rod, and can provide a reverse pulling force when the equipment fails. The pulling force is equal to or similar to the force of the servo drive screw to contract the track, and can play a good buffering role. The tension spring can also make one side of the track surface fit more closely to the cable during the contraction and expansion of the track, thereby increasing the friction between the track surface and the cable, preventing the cable detection robot from slipping, and improving the stability and climbing ability of the equipment.

[0029] During the movement of the crawler track, in order to prevent the crawler track from being deformed due to uneven force or external impact, the spring force-gathering structure is provided, which can ensure the stability of the crawler track and improve the climbing and shock-absorbing capabilities of the crawler track. The spring force-gathering structure is provided on the left side of the support wheel, and gathers force when the crawler track contacts the cable to prevent the crawler track from being deformed.

[0030] The present invention also provides a cable detection method based on visual recognition, comprising:

[0031] S1. Install the cable detection robot on the cable;

[0032] S2, resetting the cable detection robot by pressing the reset button, and the buzzer emits an alarm sound indicating that the resetting is completed;

[0033] S3, after the resetting is completed, the cable detection robot is used to hold the cable tightly by using the holding button of the cable detection robot, and a buzzer sounds an alarm to indicate that the cable detection robot has held the cable tightly;

[0034] S4. After holding the cable tightly, the cable detection robot crawls on the cable through tracks and detects the condition of the cable in real time through a camera.

[0035] Since the cable detection robot is composed of the plurality of crawling units connected by the hinge installation, it is necessary to adjust the pressure between each crawling unit and the cable when the device holds the cable. If the pressure between the crawling units is unbalanced, it will cause equipment failure and easily damage the cable. Therefore, it is necessary to ensure that when the cable is held, the pressure between the plurality of crawling units is in a balanced state. The cable detection robot in S3 determines whether the cable is held through the pressure value of the pressure sensor. The judgment method is: adjust through the pressure value between the pressure sensors on the crawling units. The difference between the pressure sensors is no more than 20%, and / or the difference between the pressure value of any pressure sensor and the average value is no more than 10%.

[0036] Since the cable is the main supporting component of the cable bridge, it is necessary to ensure that it is in a normal operating state at all times. If the damage on any part of the cable is ignored, an accident of breaking may occur accidentally during the use of the cable bridge, which is likely to cause damage to the bridge body and casualties, and even cause irreversible disasters. The subsequent maintenance and rescue also require a lot of costs and will also affect the subsequent traffic conditions. In order for the cable detection robot to not miss any detailed damage on the cable during the cable detection process and ensure the safe use of the bridge body, the camera cannot have a detection angle of view that is too small when acquiring the cable image, which will inevitably lead to a part of the cable structure not being detected. Therefore, there is an angle of view intersection between the detection angles of the adjacent cameras in S4, and the angle of view intersection of the adjacent cameras is adjusted by the overlap degree of the real-time images acquired by the adjacent cameras. The overlap degree α is the ratio of the overlapping part in the image to the entire image: 1 / 9<α<1 / 3, and / or the difference between the distance d between any of the cameras and the cable and the average value does not exceed 10%, which is used to ensure a comprehensive detection of the cable.

[0037] Beneficial effects of the present invention: The present invention provides a cable detection robot based on visual recognition, wherein a controller is arranged to accurately control the crawling device to hold the cable tightly, and the pressure value between the crawling unit and the cable is fed back through the pressure sensor to ensure that the pressure values ​​between the crawling units are balanced, so that when the crawling device contacts the cable, the cable is prevented from being deformed or damaged due to the pressure imbalance between the crawling units, and when the crawling device holds the cable tightly, the cable detection device is not easy to fall off, thereby improving the safety, applicability and efficiency of the detection;

[0038] The viewing angle control device in the controller controls the viewing angle of the detection camera, so that the detection camera has a staggered viewing angle. The real-time acquired picture can clearly and comprehensively reflect the details of the cable without omissions, thereby improving the detection quality of the cable detection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings are for illustrative purposes only and should not be construed as limitations on the present invention. In order to better illustrate the present invention, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0040] Figure 1 It is a schematic diagram of the overall structure of the cable detection robot based on visual recognition.

[0041] Figure 2 It is a structural schematic diagram of the scissor-type mechanism.

[0042] Figure 3 It is a structural schematic diagram of the camera detection device.

[0043] Figure 4 It is a schematic diagram of the structure of the crawler.

[0044] Figure 5 It is a step diagram of the cable detection method based on visual recognition.

[0045] Figure 6 It is a schematic diagram of the degree of image overlap between the detection cameras.

[0046] Figure 7 It is a schematic diagram of the interlaced viewing angles between the detection cameras.

[0047] The reference numerals in the specification include: crawling device 100, crawling unit 110, housing 120, housing 121, hinge 122, scissor-type mechanism 130, scissor-type connecting rod 131, screw rod 132, self-made slide rail 133, spring 134, first steering gear 135, steering gear fixing part 136, screw rod connecting part 137, screw rod nut fixing part 138, screw rod nut 139, connecting rod connecting part 140, crawler track 150, crawler track chain ring 151, crawler track chain 152, driving wheel 153, driven wheel 154, walking wheel 155, supporting wheel 156, tension spring 157, walking wheel connecting rod 158, spring tension structure 159, camera detection device 200, detection camera 210, telescopic mechanism 220, slide rail 1 221, slide rail 222, slide rail 3 223, slide rail 4 224, encoder motor 225, motor fixing plate 226, rack 227, pressure sensor 310, carbon tube fixing part 320, square carbon tube 321, laser ranging sensor 330, viewing angle control servo 340. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings:

[0049] Example 1: Reference Figure 1

[0050] The present invention provides a cable detection robot based on visual recognition, comprising a crawling device 100, a camera detection device 200, a controller, a driving device and a connecting piece;

[0051] The crawling device 100 is composed of four crawling units 110, each crawling unit 110 is composed of a shell 120, a crawler 150 and a scissor-type mechanism 130. The shell 120 is a shell that surrounds the cable. The crawler 150 is a traveling mechanism of the crawling unit 110 and travels closely on the cable. The scissor-type mechanism 130 cooperates to adjust the degree of tightness between the crawler 150 and the cable.

[0052] The housing 120 includes a housing 121 and a hinge 122. The housing 121 is arc-shaped, with a square hollow in the middle. The housing 121 is fixedly connected to the housings 121 of other crawling units through the hinge 122. The scissor-type mechanism 130 is fixedly installed at the square hollow of the housing 120 through the connecting piece and installed on the cable. The crawler 150 is connected and fixed to the scissor-type mechanism 130.

[0053] The camera detection device 200 is composed of a detection camera 210 and a telescopic mechanism 220. The detection camera 210 provides real-time feedback on the status of the cable. The plurality of detection cameras 210 have interlaced viewing angles.

[0054] The camera detection device 200 is installed on the scissor-type mechanism 130 through a connecting piece, and the telescopic mechanism 220 adjusts the distance between the detection camera 210 and the cable, and the detection camera 210 is installed on the telescopic mechanism 220 through the connecting piece;

[0055] The controller controls the working process of the cable detection robot and the distance between the detection camera 210 and the cable;

[0056] The driving device is used to drive the scissor-type mechanism 130, the crawler 150 and the telescopic mechanism 220 to perform cable detection.

[0057] like Figure 1As shown, the middle column is a cable, and the cable detection robot based on visual recognition is installed on the cable to detect the cable. In this embodiment, four crawling units are used to form the crawling device 100. The scissor-type mechanism 130 is first installed in the square hollow of the shell 121 through the connecting piece to form the crawling unit 110. The camera detection device 200 is fixed on the top of each crawling unit 110. A total of four camera detection devices 200 are installed. The four crawling units 110 are fixed to the cable through the hinge to form the cable detection robot.

[0058] Since the size of the bridge cable needs to be comprehensively considered and selected according to various factors such as different bridge designs, terrains, load-bearing capacity, materials, and spans, its structure is usually columnar, so the housing 121 is set to be arc-shaped, and the number of the crawling units 110 can be changed to better adapt to different cables, and the crawling units 110 are all independent structures. When a crawling unit 110 fails, it can also be replaced and adjusted, with strong scalability and high flexibility. The cable detection robot climbs on the cable through the crawling device 100, and detects the state of the cable according to the real-time feedback of the image on the cable by the detection camera.

[0059] Example 2: Reference Figure 2

[0060] Compared with the embodiment 1, the difference is that the scissor-type mechanism 130 includes a square carbon tube 321 and a scissor-type connecting rod 131;

[0061] The square carbon tube 321 further includes a slidable screw, a first steering gear 135, a steering gear fixing piece 136, a screw connecting piece 137, a self-made slide rail 133, a screw nut fixing piece 138, and a screw nut 139. The square carbon tube 321 is provided with a self-made slide rail 133 on the upper and lower parts thereof. The first steering gear 135 is fixedly mounted on the self-made slide rail located above by the steering gear fixing piece. The slidable screw is fixedly mounted below the first steering gear 135 by the screw connecting piece, and is fixed to the self-made slide rail 133 located below by the screw nut 139. The self-made slide rail 133 provides a predetermined motion track for the self-made slider.

[0062] The slidable screw rod includes a screw rod 132 and a plurality of self-made sliders, the self-made sliders are respectively arranged in the self-made slide rails 133, and the self-made sliders slide in opposite directions on the self-made slide rails 133 to adjust the opening and closing angles of the scissor-type connecting rod 131;

[0063] The first steering gear 135 is mounted on the steering gear fixing member 136 and is used to drive the crawler 150 to contract and clamp the cable;

[0064] The scissors-type link 131 includes a link and a link connector 140. Two of the links are crossed to form a scissors-type structure. The fitting distance of the crawling device is adjusted by the opening and closing angle of the scissors-type structure. The right end of the scissors-type link 131 is fixedly connected to the left end of the homemade slide rail 133 through the link connector 140, forming the sliding part of the scissors-type link 131. The upper left end of the scissors-type link 131 is installed on the upper part of the crawler 150 through the link connector 140, and the lower left end is installed on the lower part of the crawler 150, forming the fixed part of the scissors-type link 131.

[0065] The scissor-type mechanism 130 further includes an elastic structure, which is installed above the steering gear fixing member 136;

[0066] The elastic structure includes a limit spring 134 and a support column, wherein the support column is disposed inside the limit spring 134 to support and fix the limit spring 134;

[0067] The limit spring 134 is used to limit the upward displacement of the scissor-type mechanism 130 to prevent the scissor-type mechanism 130 from getting stuck and malfunctioning.

[0068] Because the crawling device 100 and the camera detection device 200 themselves have a certain weight, and the crawling movement of the crawling device 100 requires a driving device to drive it, which will increase the weight of the cable detection robot again and increase the risk of the cable detection robot falling. Therefore, the driving device uses a servo 135, and the servo 135 drives the screw rod 132 to drive the track 150 to retract and retract, so that the track 150 can move closely on the cable during the crawling process. The driving by the servo 135 can significantly reduce the weight of the equipment compared to the wheeled pneumatic climbing robot driven by a cylinder, and the storage of the cylinder gas bottle is limited and cannot be used for a long time. The driving by the servo 135 can indirectly control the extension and retraction distance of the track 150 by controlling the driving time, thereby clamping the cable and crawling upward. Therefore, the servo 135 is used for driving. The servo 135 is installed on the servo fixing part 136, and the spring 134 and the screw rod connecting part 137 are respectively installed at the upper and lower ends of the servo fixing part 136, and one end of the screw rod 132 is connected to the bottom of the screw rod connecting part 137.

[0069] The scissor-type connecting rod 131 is installed and connected with the self-made slider, and the sliding of the self-made slider drives the scissor-type connecting rod 131 to open and close at different angles. The movement of the self-made slider needs to be carried out within the set track and cannot slide at will, otherwise it will affect the stability and crawling efficiency of the crawling device, and will cause the camera detection device 200 to be unable to normally obtain the image information of the cable. Therefore, the self-made slide rail 133 is set, and is installed on the lower end of the screw rod 132 through the screw nut fixing 138 to provide a predetermined motion track for the self-made slider. The self-made slider is respectively arranged above the servo fixing 136 and near the other end of the screw rod 132.

[0070] Since the scissor-type link 131 requires the two links to move upward and downward respectively to achieve the opening and closing of the angle, the self-made slider slides in opposite directions on the self-made slide rail 133 to adjust the opening and closing angle of the scissor-type link 131. The upper left end of the scissor-type link 131 is installed above the internal structure of the crawler 150 through the link connector 140, and the lower left end is installed below the internal structure of the crawler 150. The crawler 150 needs to maintain a normal traveling state during travel. , cannot move together with the scissor-type link 131. If the track 150 is deformed, the cable detection robot may be at risk of falling, and the track 150 may also malfunction during movement. Therefore, the connecting part of the track 150 and the scissor-type link 131 constitutes the fixed part of the scissor-type link 131. The scissor-type link 131 is installed and connected to the track 150. The degree of clamping between the track 150 and the cable is adjusted by opening and closing the angle of the scissor-type link 131.

[0071] In order to further ensure the stability and safety during the cable detection process, it is necessary to ensure that the cable detection robot holds the cable tightly during the crawling process. The crawling device 100 of the cable detection robot is composed of the four crawling units. It is necessary to ensure that when the cable detection robot holds the cable tightly, the four crawling units 110 need to maintain balance, otherwise the force on the cable is unbalanced. When the crawler 150 moves closely against the cable, there is a risk of damaging the cable. Therefore, a holding device is set in the controller, and the holding device includes a pressure sensor 310 and a carbon tube fixing 320. The pressure sensor 310 detects the holding degree between the crawling device 100 and the cable in real time, and balances the force of the four crawling units 110. The pressure sensor 310 is fixed to the top of the scissor-type mechanism 130 through the carbon tube fixing 320. The holding device can adapt to the detection requirements of cables of different sizes, shapes and positions, flexibly cope with complex and changeable detection environments, and improve the versatility and practicality of the cable detection robot.

[0072] Example 3: Reference Figure 3

[0073] Compared with the above embodiment, the difference is that the telescopic mechanism 220 in the camera detection device 200 includes a slide rail 1 221, a slide rail 222, a slide rail 3 223, a slide rail 4 224, an encoder motor 225, a motor fixing plate 226, a rack 227 and a gear;

[0074] The slide rail has a slide groove inside, and the slide rail 1 221, the slide rail 222, the slide rail 3 223, and the slide rail 4 224 are sequentially installed and connected through the slide groove. The slide rail can slide and retract perpendicular to the housing 120, and the detection camera 210 is arranged above the right side of the slide rail 3 223 and the slide rail 4 224;

[0075] The rack 227 and the gear are installed in the cavity formed by the slide rail, and are used to drive the detection camera 210 and the slide rail to extend and retract;

[0076] The motor fixing plate 226 is installed on the upper left side of the slide rail 221, and the encoder motor 225 is installed on the electric fixing plate 226 to drive the rack 227 to drive the detection camera 210 to retract.

[0077] The detection camera 210 needs to obtain all-round high-definition images of the cable in real time to understand whether there is any damage on the cable, and the size of the cable also needs to be adjusted according to the specific conditions of the bridge and terrain. Therefore, the detection camera 210 cannot be fixed above the crawling unit 110. Instead, during the crawling process of the cable detection robot, the detection camera 210 can be extended and retracted in the vertical direction of the cable, so as to adjust the distance between the detection camera 210 and the cable in time according to the actual situation, thereby realizing the detection of different cables, real-time image scaling and clarity adjustment.

[0078] The accuracy of cable detection is related to the service life of cable bridges and the safety of personnel. Therefore, it is necessary to achieve precise control and dynamic adjustment of the detection camera 210 to ensure that the detection camera 210 can provide real-time feedback of high-definition images and can adjust the image content and angle captured by the detection camera 210 in real time. Therefore, the controller also includes a viewing angle control device, which includes a laser ranging sensor 330 and a viewing angle control servo 340. The laser ranging sensor 330 is installed between the detection camera 210 and the telescopic mechanism 220, and the viewing angle control servo 340 is installed on the left and right sides of the detection camera 210.

[0079] The images captured in real time between the adjacent detection cameras 210 must have an interlaced perspective to ensure that the images of the detection cameras 210 can reflect the entire situation of the cable, and that details and potential defects in some areas will not be left undetected. According to the interlaced degree of the perspective, the laser range finder 330 calculates the distance between the detection camera 210 and the cable, and adjusts the distance through the telescopic mechanism 220. The perspective control servo 340 controls the rotation angle of the detection camera 210 to achieve precise control of the detection camera 210, ensure the accuracy and comprehensiveness of the detection, and improve the efficiency and reliability of the detection.

[0080] Example 4: Reference Figure 4

[0081] Compared with the above embodiment, the difference lies in that the track 150 includes a track chain ring 151 and an internal structure of the track, the track chain ring includes a plurality of track chains 152, and the plurality of track chains 152 are spliced ​​to form the track chain ring 151, the outer side of the track chain ring 151 is in contact with the cable and moves on the cable, and the internal structure of the track includes a driving wheel 153, a driven wheel 154, a plurality of walking wheels 155 and a plurality of supporting wheels 156, which are respectively arranged on the left side, right side, lower side and upper side of the inner side of the track chain ring 151, the driving wheel 153 is the power source of the track 150, the driven wheel 154 is used to induce and support the track 150, the walking wheel 155 is close to one side of the cable and is used to climb and move on the cable, and the supporting wheel 156 is used to support the shape of the track 150 and keep the structure of the track 150 stable.

[0082] During the inspection process, the cable inspection robot crawls close to the cable. In order to prevent scratches and damage caused by the friction between the crawling device 100 and the cable during the inspection process, the track 150 structure is used as the traveling mechanism. On the one hand, the contact area between each crawling unit 110 and the cable can be increased to provide better support and stability. When there are uneven protrusions or depressions on the cable surface, the risk of shaking and falling can be reduced, thereby ensuring the inspection accuracy and safety of the cable inspection robot. On the other hand, the track 150 structure reduces the pressure on the cable surface by dispersing the weight to a larger contact surface, thereby reducing damage to the cable caused by excessive local pressure. In addition, the track 150 structure can be applied to a variety of cable surface conditions and has greater applicability.

[0083] During the operation of the cable inspection robot, the equipment fails. When the failure occurs, the crawler 150 structure is always in a contracted state, causing damage to the crawler 150, and the cable inspection robot may fall off the cable. In order to prevent the crawler 150 from being damaged due to excessive contraction when the equipment fails, a buffer needs to be set to protect the crawler 150 and the transmission system. Therefore, the internal structure of the crawler also includes: a plurality of tension springs 157, a plurality of walking wheel connecting rods 158 and a spring tension structure 159;

[0084] The tension spring 157 is connected to the walking wheel connecting rod 158, and can provide a reverse pulling force when the equipment fails. The pulling force is equal to or similar to the force of the servo 135 driving the screw rod 132 to contract the track 150, and can play a good buffering role. The tension spring 157 can also make one side of the surface of the track 150 fit more closely to the cable during the contraction and expansion of the track 150, thereby increasing the friction between the surface of the track 150 and the cable, preventing the cable detection robot from slipping, and improving the stability and climbing ability of the equipment.

[0085] During the movement of the track 150, in order to prevent the track 150 from being deformed due to uneven force or external impact, the spring force-gathering structure 159 is provided to ensure the stability of the track 150 and improve the climbing and shock-absorbing capabilities of the track 150. The spring force-gathering structure 159 is provided on the left side of the support wheel 156, and gathers force when the track 150 contacts the cable to prevent the track 150 from being deformed.

[0086] Example 5: Reference Figure 5

[0087] Compared with the above embodiment, the present invention further provides a cable detection method based on visual recognition, comprising:

[0088] S1. Install the cable detection robot on the cable;

[0089] S2, resetting the cable detection robot by pressing the reset button, and the buzzer emits an alarm sound indicating that the resetting is completed;

[0090] S3, after the resetting is completed, the cable detection robot is used to hold the cable tightly by using the holding button of the cable detection robot, and a buzzer sounds an alarm to indicate that the cable detection robot has held the cable tightly;

[0091] S4, after holding the cable tightly, the cable detection robot crawls on the cable through tracks and detects the condition of the cable in real time through a camera;

[0092] S5. When the camera detects rust and scratches on the cable, a buzzer alarm is sounded.

[0093] In the cable clamping described in S3, since the cable detection robot is composed of the several crawling units connected by the hinge installation, it is necessary to adjust the pressure between each crawling unit and the cable when the equipment clamps the cable. If the pressure between the crawling units is unbalanced, it will cause equipment failure and easily damage the cable. Therefore, it is necessary to ensure that when the cable is clamped, the pressure between the several crawling units is in a balanced state. The cable detection robot in S3 determines whether the cable is clamped through the pressure value of the pressure sensor. The judgment method is: adjust through the pressure value between the pressure sensors on the crawling units, the difference between the pressure sensors is not more than 20%, and / or the difference between the pressure value of any pressure sensor and the average value is not more than 10%.

[0094] Example 6: Reference Figure 6 and Figure 7

[0095] Since the cable is the main supporting component of the cable-type bridge, it is necessary to keep it in normal operation at all times. If the damage on any part of the cable is ignored, an accident of breakage may occur during the use of the cable-type bridge, which is likely to cause damage to the bridge and casualties, and even cause an irreversible disaster. The subsequent maintenance and rescue will also require a lot of costs and will also affect the subsequent traffic conditions. In order for the cable detection robot to not miss any detailed damage on the cable during the cable detection process and ensure the safe use of the bridge, the camera cannot have a detection angle of view that is too small when acquiring the cable image, which will inevitably result in a part of the cable structure not being detected. Therefore, there is an angle of view intersection between the detection angles of the adjacent cameras in S4, and the angle of view intersection of the adjacent cameras is adjusted by the degree of overlap of the real-time images acquired by the adjacent cameras, such as Figure 6 As shown, the overlap degree α is the ratio of the overlapped part in the picture to the entire picture: 1 / 9<α<1 / 3, such as Figure 7 As shown, and / or the difference between the distance d between any of the cameras and the cable and the average value does not exceed 10%, which is used to ensure a comprehensive detection of the cable.

Claims

1. A cable detection robot based on visual recognition, characterized in that: It includes a crawling device, a camera detection device, a controller, a driving device and a connecting piece; The crawling device is composed of a plurality of crawling units, each of which is composed of a shell, a crawler and a scissor-type mechanism. The shell is a shell that surrounds the cable, and the crawler is used as a traveling mechanism of the crawling unit, and travels closely on the cable. The scissor-type mechanism cooperates to adjust the degree of tightness between the crawler and the cable. The shell includes a shell and a hinge. The shell is arc-shaped, with a square hollow in the middle. The shell is fixedly connected to the shells of other crawling units through the hinge. The scissor-type mechanism is fixedly installed on the square hollow of the shell through the connecting piece and installed on the cable. The crawler is connected and fixed to the scissor-type mechanism. The camera detection device is composed of a detection camera and a telescopic mechanism. The detection camera provides real-time feedback on the status of the cable, and adjacent detection cameras have interlaced viewing angles. The camera detection device is installed on the scissor-type mechanism through a connecting piece, the telescopic mechanism adjusts the distance between the detection camera and the cable, and the detection camera is installed on the telescopic mechanism through the connecting piece; The controller controls the working process of the cable detection robot and the distance between the detection camera and the cable; The driving device is used to drive the scissor-type mechanism, the crawler belt and the telescopic mechanism to perform cable detection work.

2. A cable detection robot based on visual recognition according to claim 1, characterized in that: The scissor-type mechanism comprises a square carbon tube and a scissor-type connecting rod; The square carbon tube further includes a slidable screw, a first steering gear, a steering gear fixing part, a screw connecting part, a self-made slide rail, a screw nut fixing part, and a screw nut. The square carbon tube is respectively installed with one self-made slide rail on the upper side and the lower side. The first steering gear is fixedly installed on the self-made slide rail located on the upper side through the steering gear fixing part. The slidable screw is fixedly installed under the steering gear through the screw connecting part and is fixed to the self-made slide rail located on the lower side through the screw nut. The self-made slide rail provides a predetermined motion track for the self-made slider. The slidable screw rod comprises a screw rod and a plurality of self-made sliders, the self-made sliders are respectively arranged in the self-made slide rails, and the self-made sliders slide in opposite directions on the self-made slide rails to adjust the opening and closing angles of the scissor-type connecting rods; The steering gear is mounted on the steering gear fixing member and is used to drive the crawler track to retract and clamp the cable; The scissors-type link includes a link and a link connector. Two of the links are crossed to form a scissors-type structure. The fitting distance of the crawling device is adjusted by the opening and closing angle of the scissors-type structure. The right end of the scissors-type link is fixedly connected to the left end of the homemade slide rail through the link connector, forming the sliding part of the scissors-type link. The upper left end of the scissors-type link is installed on the upper part of the crawler through the link connector, and the lower left end is installed on the lower part of the crawler, forming the fixed part of the scissors-type link.

3. A cable detection robot based on visual recognition according to claim 2, characterized in that: The scissor-type mechanism further comprises an elastic structure, and the elastic structure is installed above the steering gear fixing member; The elastic structure includes a limit spring and a support column, wherein the support column is arranged inside the limit spring to support and fix the limit spring; The limit spring is used to limit the upward displacement of the scissor-type mechanism to prevent the scissor-type mechanism from getting stuck and malfunctioning.

4. The cable detection robot based on visual recognition according to claim 1, characterized in that: The telescopic mechanism includes a plurality of slide rails, an encoder motor, a motor fixing plate, a rack and a gear; The slide rail has a slide groove inside, and the plurality of slide rails are sequentially installed and connected through the slide groove. The slide rail can slide and retract perpendicularly to the housing, and the detection camera is arranged on one side of the slide rail; The rack and the gear are installed in the cavity formed by the plurality of slide rails, and are used to drive the detection camera and the slide rails to extend and retract; The motor fixing plate is installed on the other side of the slide rail, and the encoder motor is installed on the electric fixing plate to drive the rack to drive the detection camera to retract.

5. The cable detection robot based on visual recognition according to claim 1, characterized in that: The controller includes a holding device and a viewing angle control device; The clamping device includes a pressure sensor and a carbon tube fixing piece. The pressure sensor detects the clamping degree between the crawling device and the cable in real time to balance the forces of the crawling units. The pressure sensor is fixed to the top of the scissor-type mechanism through the carbon tube fixing piece. The viewing angle control device comprises a laser distance measuring sensor and a viewing angle control steering gear, wherein the laser distance measuring sensor is installed between the detection camera and the telescopic mechanism, and the viewing angle control steering gear is installed on the left and right sides of the detection camera; According to the degree of the interlaced viewing angles, the laser ranging sensor calculates the distance between the detection camera and the cable, and the distance is adjusted through the telescopic mechanism. The steering gear controls the rotation angle of the detection camera.

6. The cable detection robot based on visual recognition according to claim 1, characterized in that: The crawler track includes crawler chain links and crawler internal structure; The crawler chain ring includes a plurality of crawler chains, and the crawler chains are spliced ​​to form the crawler chain ring. The outer side of the crawler chain ring contacts with the cable and travels on the cable. The crawler internal structure includes a driving wheel, a driven wheel, a plurality of traveling wheels and a plurality of supporting wheels, which are respectively arranged on the left side, the right side, the lower side and the upper side of the inner side of the crawler chain ring; The driving wheel is the power source of the crawler track, the driven wheel is used to induce and support the crawler track, the walking wheel is close to one side of the cable and is used to climb and move on the cable, and the supporting wheel is used to support the shape of the crawler track and keep the crawler track structure stable.

7. The cable detection robot based on visual recognition according to claim 6, characterized in that: The crawler internal structure also includes: a plurality of tension springs, a plurality of walking wheel connecting rods and a spring tension structure; The tension spring is connected to the walking wheel connecting rod and is used for buffering when the equipment fails and ensuring that the crawler chain ring and the cable are fully fitted; The spring force-gathering structure is arranged on the left side of the supporting wheel, and gathers force when the crawler track contacts the cable to prevent the crawler track from being deformed.

8. A cable detection method based on visual recognition, characterized in that: S1. Install the cable detection robot on the cable; S2, resetting the cable detection robot by pressing the reset button, and the buzzer emits an alarm sound indicating that the resetting is completed; S3, after the resetting is completed, the cable detection robot is used to hold the cable tightly by using the holding button of the cable detection robot, and a buzzer sounds an alarm to indicate that the cable detection robot has held the cable tightly; S4. After holding the cable tightly, the cable detection robot crawls on the cable through tracks and detects the condition of the cable in real time through a camera.

9. The cable detection method based on visual recognition according to claim 8, characterized in that: The cable detection robot in S3 determines whether the cable is held tightly by the pressure value of the pressure sensor; The difference between the pressure values ​​of the pressure sensors does not exceed 20%, and / or the difference between the pressure value of any pressure sensor and the average pressure value does not exceed 10%.

10. The cable detection method based on visual recognition according to claim 8, characterized in that: The detection viewing angles of adjacent cameras described in S4 are interlaced to ensure comprehensive detection of the cable; The viewing angles of the adjacent cameras are interleaved by adjusting the degree of overlap of the real-time images acquired by the adjacent cameras, wherein the degree of overlap α is the ratio of the overlapping portion of the image to the entire image: 1 / 9<α<1 / 3, and / or the difference between the distance d between any of the cameras and the cable and the average value does not exceed 10%.

Images