Main cable bolt detection method and main cable robot

Abstract

The invention discloses a main cable bolt detection method and a main cable robot, and the detection method comprises the steps: obtaining risk data information collected by a camera module when the main cable robot crawl along a main cable; according to the risk data information, whether the to-be-detected bolt on the cable clamp has the risks of loosening and falling off is judged; if the risk exists, recording the position information and the risk condition of the to-be-detected bolt; and if the risk does not exist, the mechanical arm is controlled to carry the detection module to the position where the to-be-detected bolt is located, and anomaly detection is conducted on the to-be-detected bolt. It can be understood that the to-be-detected bolts with obvious problems can be quickly screened out by using the camera module so as to enter subsequent maintenance processing; and then, the detection module is used for detecting the to-be-detected bolt detected by the camera module, so that the abnormal to-be-detected bolt is screened out, and subsequent maintenance processing is carried out, and therefore, the detection of the to-be-detected bolt can be rapidly completed by utilizing the cooperation of the camera module and the detection module in the detection method.

Description

Technical Field

[0001] The present invention relates to the technical field of main cable robots, and in particular to a main cable bolt detection method and a main cable robot. Background Art

[0002] In the related art, a cable clamp is usually provided on the main cable, and a bolt is usually provided on the cable clamp. After long-term use, the bolt will have problems such as cracks and rust. Usually, when the main cable is inspected regularly by manual labor, the bolt is also inspected, which results in a high workload for the staff. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a main cable bolt detection method and a main cable robot, which facilitates the detection of the bolts to be detected for subsequent maintenance.

[0004] In a first aspect, an embodiment of the present application provides a main cable bolt detection method, which is applied to a main cable robot, wherein the main cable robot is provided with a camera module and a mechanical arm on its body, and the execution end of the mechanical arm is provided with a detection module; wherein the detection method comprises:

[0005] The main cable robot obtains the risk data information collected by the camera module when crawling along the main cable;

[0006] Determine whether the bolt to be inspected on the cable clamp has a risk of loosening or falling off according to the risk data information;

[0007] If there is a risk, record the location information of the bolts to be inspected and the risk situation;

[0008] If there is no risk, the robot arm is controlled to move the detection module to the location of the bolt to be detected, and perform abnormality detection on the bolt to be detected.

[0009] According to some embodiments of the present invention, the camera module includes a detection camera, and accordingly, the risk data information includes image information collected by the detection camera.

[0010] According to some embodiments of the present invention, the camera module includes a detection camera and a depth camera, and accordingly, the risk data information includes image information collected by the detection camera and depth information collected by the depth camera;

[0011] Correspondingly, judging whether there is a risk of loosening or falling off of the bolt to be detected on the cable clamp according to the risk data information includes:

[0012] Fusing the image information with the depth information to obtain fused data;

[0013] It is determined based on the fused data whether the bolt to be inspected on the cable clamp has a risk of loosening or falling off.

[0014] According to some embodiments of the present invention, judging whether there is a risk of loosening or falling off of the bolt to be detected on the cable clamp according to the risk data information includes:

[0015] Calling a first test value pre-stored in a database;

[0016] The risk value of the risk data information is compared with the called first test value to determine whether there is a risk of loosening or falling off of the bolt to be detected on the cable clamp.

[0017] According to some embodiments of the present invention, the camera module includes a depth camera, and accordingly, the risk data information includes depth information collected by the depth camera, and the depth information includes position information of the bolts to be detected and obstacle information in the running direction of the detection module;

[0018] The controlling the mechanical arm to move the detection module to the position where the bolt to be detected is located includes:

[0019] Planning an effective motion path according to the position information and the obstacle information;

[0020] Along the movement path, the mechanical arm is controlled to move the detection module to the position where the bolt to be detected is located.

[0021] According to some embodiments of the present invention, the depth information further includes three-dimensional information of the surface of the bolt to be detected;

[0022] The controlling the mechanical arm to carry the detection module to the position where the bolt to be detected is located also includes:

[0023] According to the three-dimensional information of the surface of the bolt to be inspected, the mechanical arm is controlled to move the inspection module to a preset position relative to the bolt to be inspected.

[0024] According to some embodiments of the present invention, the detection module includes a first ultrasonic device and a second ultrasonic device;

[0025] The abnormality detection of the bolt to be detected comprises:

[0026] Controlling the first ultrasonic device to detect rust and cracks of the bolt to be inspected;

[0027] The second ultrasonic device is controlled to detect the pre-tightening force of the bolt to be detected.

[0028] According to some embodiments of the present invention, after performing abnormality detection on the bolt to be detected, the method includes:

[0029] If there is an abnormal risk, mark the bolts to be inspected, and record the location information and abnormality type of the bolts.

[0030] According to some embodiments of the present invention, performing abnormality detection on the bolt to be detected includes:

[0031] Acquiring detection data of the detection module;

[0032] Recalling a second test value pre-stored in a database;

[0033] The detection data of the detection module is compared with the called second annotation value to determine whether the bolt to be detected is abnormal.

[0034] In a second aspect, an embodiment of the present application provides a main cable robot for applying the above-mentioned detection method.

[0035] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: when the main cable robot is crawling along the main cable, the camera modules around the main cable robot perform preliminary and rapid detection of the bolts to be detected, thereby detecting the bolts to be detected that are at risk of loosening or falling off, so as to directly enter the subsequent maintenance process. If some of the bolts to be detected pass the detection of the camera module, the robot arm will move the detection module to the position where the bolts to be detected are located, and the detection module will be close to the position of the bolts to be detected, and further detect the bolts to be detected, thereby screening out the bolts to be detected that need subsequent maintenance.

[0036] As can be seen from the above, the camera module cooperates with the detection module, and the camera module is used to quickly screen out the bolts to be detected with obvious problems, so as to enter the subsequent maintenance processing; then, the detection module is used to detect the bolts to be detected that have passed the camera module detection, so as to screen out abnormal bolts to be detected, so as to enter the subsequent maintenance processing. As can be seen from the above, the detection method utilizes the camera module and the detection module to cooperate, so as to quickly complete the detection of the bolts to be detected, so as to fully screen out the bolts to be detected that need maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the detection method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0039] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, upper, lower, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0040] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0041] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0042] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0043] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0044] See also Figure 1 , a main cable bolt detection method provided in an embodiment of the present invention is applied to a main cable robot, wherein the body of the main cable robot is provided with a camera module and a mechanical arm, and the execution end of the mechanical arm is provided with a detection module, and the mechanical arm can control the detection module to move in any direction and place at any angle, so that the detection module can detect the bolt to be detected on the cable clamp.

[0045] Among them, the detection methods include:

[0046] S100. When the main cable robot crawls along the main cable, it obtains the risk data information collected by the camera module.

[0047] Among them, camera modules can be provided on the left and right sides of the front, rear and middle positions of the main cable robot. Therefore, when the main cable robot crawls along the main cable, the main cable robot monitors the main cable in all directions in real time through multiple sets of camera modules.

[0048] Specifically, in order to facilitate the explanation of the solution, the data collected by the camera module is defined as risk data information. Therefore, when the main cable robot crawls along the main cable, the specific crawling method is uncertain, and the camera module continuously transmits the collected risk data information to the central control system of the main cable robot.

[0049] S200: judging whether there is a risk of loosening or falling off of the bolt to be detected on the cable clamp according to the risk data information.

[0050] Specifically, in step S100, after receiving the risk data information, the central control system processes and converts the data, and calculates the risk data information through its own algorithm, and determines whether the bolt to be detected on the cable clamp is at risk of loosening or falling off according to the calculation result, or the central control system compares the acquired risk data information with the normal data information to determine whether the bolt to be detected on the cable clamp is at risk of loosening or falling off. Alternatively, the risk data information can also be remotely transmitted to the display device of the central control system and displayed on the display device, and then the remote staff observes whether the bolt to be detected is at risk of loosening or falling off according to the display device.

[0051] S300: If there is a risk, record the location information of the bolt to be inspected and the risk situation.

[0052] Among them, risk situations include risk types, risk levels, etc. This application does not list them one by one. In actual applications, risk situations are recorded as needed. It is not limited to all risk situations that need to be judged and recorded. Only the necessary ones need to be recorded.

[0053] Specifically, if in step S200, the central control system determines that the bolt to be detected has the risk of loosening or falling off, and determines the position and risk of the bolt to be detected based on calculation. In response, in step S300, the central control system records the position and risk of the bolt. Subsequently, the main cable robot can carry a maintenance device to perform maintenance on the bolt according to the records of the central control system; or, the staff can perform maintenance on the bolt according to the records of the central control system.

[0054] It should be noted that when the main cable robot crawls along the main cable, the central control system monitors each bolt on each cable clamp through the camera module to obtain risk data information of each bolt to be detected. At the same time, the central control system also obtains the first annotation on each cable clamp or makes a first annotation on each cable clamp, and makes a second annotation on each bolt to be detected on each cable clamp. The first annotation is combined with the second annotation to characterize the position of the bolt to be detected.

[0055] S400: If there is no risk, control the robot arm to move the detection module to the location of the bolt to be detected, and perform abnormality detection on the bolt to be detected.

[0056] Among them, abnormal detection includes detection of preload, rust, cracks and other problems.

[0057] Specifically, if in step S200, the central control system determines that there is no risk of the bolt to be detected being loose or falling off, the detection module further detects the bolt to be detected. Specifically, after determining that there is no risk of the bolt to be detected being loose or falling off, the robot arm moves the detection module to the location of the bolt to be detected. At this time, the detection module is set close to the bolt to be detected, so that the bolt to be detected can be abnormally detected to determine whether the bolt to be detected needs to be maintained later.

[0058] In summary, in steps S100-S400, when the main cable robot is crawling along the main cable, the camera modules around the main cable robot perform preliminary and rapid inspections on the bolts to be inspected, thereby detecting the bolts to be inspected that are at risk of loosening or falling off, so as to directly enter the subsequent maintenance process. If some of the bolts to be inspected pass the inspection of the camera module, the robot arm will move the inspection module to the location of the bolts to be inspected, and the inspection module will be close to the location of the bolts to be inspected to further inspect the bolts to be inspected, thereby screening out the bolts to be inspected that need to be maintained later.

[0059] As can be seen from the above, the camera module cooperates with the detection module, and the camera module is used to quickly screen out the bolts to be detected with obvious problems, so as to enter the subsequent maintenance processing; then, the detection module is used to detect the bolts to be detected that have passed the camera module detection, so as to screen out abnormal bolts to be detected, so as to enter the subsequent maintenance processing. As can be seen from the above, the detection method utilizes the camera module and the detection module to cooperate, so as to quickly complete the detection of the bolts to be detected, so as to fully screen out the bolts to be detected that need maintenance.

[0060] In one possible embodiment, referring to Figure 1 , the camera module includes a detection camera, and accordingly, the risk data information includes image information collected by the detection camera.

[0061] Specifically, when the main cable robot crawls along the main cable, the detection camera takes a picture of the bolt to be detected to obtain image information of the bolt to be detected; then, the obtained image information is transmitted to the central control system. Therefore, in step S200, the central control system performs calculations based on the image information to determine whether the bolt to be detected has a risk of loosening and falling off.

[0062] In another possible embodiment, the camera module includes a detection camera and a depth camera. Specifically, at least three detection cameras and depth cameras are provided and are respectively distributed at the front, middle and rear positions of the main cable robot. When applied, the information collected by the detection camera is image information, and the information collected by the depth camera is depth information. Therefore, the risk data information includes image information and depth information.

[0063] Specifically, the step S200 of judging whether there is a risk of loosening or falling off of the bolt to be detected on the cable clamp according to the risk data information includes steps S201-S202.

[0064] S201 fuses the image information with the depth information to obtain fused data.

[0065] S202 determines whether the bolt to be inspected on the cable clamp has a risk of loosening or falling off according to the fused data.

[0066] Specifically, in step S100, when the main cable robot crawls along the main cable, the detection camera collects image information of the bolts to be detected and transmits it to the main control system; and the depth camera collects depth information of the bolts to be detected and transmits it to the main control system. In step S200, after receiving the image information and depth information, the main control system uses its pre-implanted algorithm to fuse the image information and the depth information to obtain the fused data. Then, the main control system compares the value of the fused data with the pre-set normal value to determine whether there is a risk of loosening or falling off of the bolts to be detected on the cable clamp. It can be understood that the central control system uses image information and depth information to accurately determine whether there is a risk of loosening or falling off of the bolts to be detected on the cable clamp, so as to avoid the bolts to be detected that obviously do not meet the requirements from entering the next detection stage, thereby reducing the work tasks of the detection module, and thus ensuring the detection efficiency of the main cable robot.

[0067] In order to quickly complete the first stage of the determination of the bolt to be detected, in some embodiments, refer to Figure 1 Step S200 determines whether there is a risk of loosening or falling off of the bolt to be detected on the cable clamp according to the risk data information, including steps S210-S220.

[0068] S210 calls a first test value pre-stored in a database.

[0069] S210 compares the risk value of the risk data information with the called first test value to determine whether there is a risk of loosening or falling off of the bolt to be detected on the cable clamp.

[0070] Among them, in the database, each bolt to be detected is set with a corresponding first test value. Therefore, the risk value of each bolt to be detected is compared with its corresponding first test value to determine whether there is a risk of loosening or falling off of the bolt to be detected on the cable clamp; or, each bolt to be detected uniformly adopts a first test value. Therefore, the risk value of each bolt to be detected is compared with the unified first test value to determine whether there is a risk of loosening or falling off of the bolt to be detected on the cable clamp. The above two methods are set according to actual needs.

[0071] To further specify, after receiving the risk data information, the central control system calculates the risk value of the risk data information; at the same time, the central control system retrieves the first test value from the database, and compares the first test value with the risk value, so as to quickly determine whether there is a risk of loosening or falling off of the bolt to be inspected on the cable clamp, thereby ensuring the working efficiency of the central cable robot.

[0072] In order to enable the robotic arm to effectively move the detection module to the position of the bolt to be detected, in some embodiments, the camera module includes a depth camera, and accordingly, the risk data information includes depth information collected by the depth camera, and the depth information includes the position information of the bolt to be detected and obstacle information in the running direction of the detection module.

[0073] Specifically, step S400 controls the robot arm to move the detection module to the location where the bolt to be detected is located, including the following steps S401-S402.

[0074] S401 plans an effective movement path according to the position information and the obstacle information.

[0075] S402 controls the robot arm to move the detection module to the position where the bolt to be detected is located along the movement path.

[0076] In the specific application process, before the detection module detects the bolt to be detected, the central control system can effectively detect the distance between the detection module and the bolt to be detected based on the depth information collected by the depth camera, and also effectively detect the obstacle information on the path from the detection module to the bolt to be detected. Therefore, the main control system can effectively plan the movement path based on the distance information and obstacle information. Then, under the control of the central control system, along the planned movement path, the robotic arm moves the detection module toward the bolt to be detected, and the detection module can effectively move to a position close to the bolt to be detected, so as to perform abnormal detection on the bolt to be detected.

[0077] Furthermore, the depth information also includes three-dimensional information of the surface of the bolt to be detected.

[0078] Specifically, controlling the robotic arm to move the detection module to the position of the bolt along the motion path includes: controlling the robotic arm to move the detection module to a preset position relative to the bolt to be detected based on the three-dimensional information of the surface of the bolt to be detected.

[0079] It should be noted that the detection module is located at a preset position relative to the bolt to be detected. At this position, the detection module can better detect the bolt to be detected.

[0080] Specifically, after receiving the depth information from the depth camera, the central control system calculates the three-dimensional information of the surface of the bolt to be detected based on the depth information. Then, based on the three-dimensional information of the surface of the bolt to be detected, the robot arm, under the control of the central control system, moves the detection module to a preset position relative to the bolt to be detected, so that the detection module can better detect the bolt to be detected.

[0081] In some embodiments, reference Figure 1 The detection module includes a first ultrasonic device and a second ultrasonic device. The first ultrasonic device is used to detect rust and cracks of the bolt to be detected, and the second ultrasonic device is used to detect the pre-tightening force of the bolt to be detected.

[0082] The abnormality detection of the bolt to be inspected includes the following steps A01-A02.

[0083] A01 controls the first ultrasonic device to detect rust and cracks of the bolts to be inspected;

[0084] A02 controls the second ultrasonic device to detect the pre-tightening force of the bolt to be detected.

[0085] The present application does not limit step A01 to be completed before step A02, and step A01 may also be completed after step A02. Also, after the previous step is completed, if the bolt to be inspected fails the inspection, the next step of inspection does not need to be performed, and the subsequent replacement and repair can be performed directly.

[0086] In a specific implementation, the robot arm, under the control of the central control system, brings the first ultrasonic device close to the bolt to be detected, and the first ultrasonic device detects the rust and crack conditions of the bolt to be detected; and the robot arm, under the control of the central control system, brings the second ultrasonic device close to the bolt to be detected, and the second ultrasonic device detects the preload force of the bolt to be detected. At the same time, the central control system receives the information collected by the first ultrasonic device and the information collected by the second ultrasonic device, thereby calculating the abnormal conditions such as rust, cracks and preload force of the bolt to be detected, and records them, so as to perform maintenance processing according to the abnormal conditions later.

[0087] In some embodiments, after performing abnormal detection on the bolt to be detected, the method includes:

[0088] If there is an abnormal risk, S500 will mark the bolt to be inspected and record the location information and abnormal type of the bolt.

[0089] Among them, the position information of the bolt can be understood as a combination of a first marking value and a second marking value, wherein the first marking value refers to the number of the cable clamp on the main cable, and the first marking value may be pre-set, and the main cable robot scans the number of the cable clamp during the detection process; or, the first marking value may also be the number marked by the main control system during the detection process of the main cable robot, and the second marking value refers to the number of each bolt to be detected on the cable clamp, and the second marking value may be the number marked by the main control system during the detection process of the main cable robot.

[0090] Specifically, if the detection module detects that there is an abnormal risk in the bolt to be detected, the central control system marks the bolt to be detected, that is, marks the second marking value, and the first marking value of the cable clamp is combined with the second marking value to represent the position information of the bolt to be detected. Then, the central control system records and stores the position information of the bolt to be detected and the abnormal problem detected by the detection module. In subsequent maintenance, the staff or maintenance equipment locks the position of the bolt to be detected according to the position information of the bolt to be detected, and performs maintenance on the bolt to be detected according to the abnormal problem.

[0091] In some embodiments, reference Figure 1 The abnormality detection of the bolt to be inspected includes steps B01-B03.

[0092] B01 obtains the detection data of the detection module.

[0093] B02 calls the second test value pre-stored in the database.

[0094] B03 compares the detection data of the detection module with the called second annotation value to determine whether the bolt to be detected is abnormal.

[0095] Among them, in the database, each bolt to be detected is set with a corresponding second test value. Therefore, the abnormal value of each bolt to be detected is compared with its corresponding second test value to determine whether there is an abnormal risk of the bolt to be detected on the cable clamp; or, each bolt to be detected uniformly adopts a second test value. Therefore, the abnormal values ​​of each bolt to be detected are compared with the unified second test value to determine whether there is an abnormal problem with the bolt to be detected on the cable clamp. The above two implementation methods can be set according to actual needs.

[0096] To further specify, after receiving the data information detected by the detection module, the central control system calculates the abnormal value of the data information; at the same time, the central control system retrieves a second test value from the database, and compares the second test value with the abnormal value, so as to quickly determine whether there is an abnormal risk in the bolt to be detected on the cable clamp, thereby ensuring the detection efficiency of the central cable robot.

[0097] The present application also discloses a main cable robot, referring to Figure 1 , used to apply the above-mentioned detection method.

[0098] When the main cable robot crawls along the main cable, the camera modules around the main cable robot conduct preliminary and rapid inspections on the bolts to be inspected, thereby detecting the bolts to be inspected that are at risk of loosening or falling off, so that they can directly enter the subsequent maintenance process. If some of the bolts to be inspected pass the inspection of the camera module, the robot arm will move the inspection module to the location of the bolts to be inspected, and the inspection module will be close to the location of the bolts to be inspected to further inspect the bolts to be inspected, thereby screening out the bolts to be inspected that need subsequent maintenance.

[0099] It can be understood that the camera module is coordinated with the detection module, and the camera module is used to quickly screen out the bolts to be detected with obvious problems so as to enter the subsequent maintenance processing; then, the detection module is used to detect the bolts to be detected that have passed the camera module detection to screen out abnormal bolts to be detected so as to enter the subsequent maintenance processing. From the above, it can be seen that the detection method utilizes the camera module and the detection module to cooperate, so as to quickly complete the detection of the bolts to be detected, so as to fully screen out the bolts to be detected that need maintenance.

[0100] The technical means disclosed in the scheme of the present invention are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical schemes composed of any combination of the above-mentioned technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims

1. A method for detecting main cable bolts, characterized in that: Applied to a main cable robot, the main cable robot is provided with a camera module and a mechanical arm on its body, and a detection module is provided at the execution end of the mechanical arm; wherein the detection method comprises: The main cable robot obtains the risk data information collected by the camera module when crawling along the main cable; Determine whether the bolt to be inspected on the cable clamp has a risk of loosening or falling off according to the risk data information; If there is a risk, record the location information of the bolts to be inspected and the risk situation; If there is no risk, the robot arm is controlled to move the detection module to the location of the bolt to be detected, and perform abnormality detection on the bolt to be detected.

2. The detection method according to claim 1, characterized in that: The camera module includes a detection camera, and accordingly, the risk data information includes image information collected by the detection camera.

3. The detection method according to claim 1, characterized in that: The camera module includes a detection camera and a depth camera. Accordingly, the risk data information includes image information collected by the detection camera and depth information collected by the depth camera. Correspondingly, judging whether there is a risk of loosening or falling off of the bolt to be detected on the cable clamp according to the risk data information includes: Fusing the image information with the depth information to obtain fused data; It is determined based on the fused data whether the bolt to be inspected on the cable clamp has a risk of loosening or falling off.

4. The detection method according to claim 1, characterized in that: The step of judging whether the bolt to be detected on the cable clamp has a risk of loosening or falling off according to the risk data information includes: Calling a first test value pre-stored in a database; The risk value of the risk data information is compared with the called first test value to determine whether there is a risk of loosening or falling off of the bolt to be detected on the cable clamp.

5. The detection method according to claim 1, characterized in that: The camera module includes a depth camera, and accordingly, the risk data information includes depth information collected by the depth camera, and the depth information includes position information of the bolts to be detected and obstacle information in the running direction of the detection module; The controlling the mechanical arm to move the detection module to the position where the bolt to be detected is located includes: Planning an effective motion path according to the position information and the obstacle information; Along the movement path, the mechanical arm is controlled to move the detection module to the position where the bolt to be detected is located.

6. The detection method according to claim 5, characterized in that: The depth information also includes three-dimensional information of the surface of the bolt to be detected; The controlling the mechanical arm to carry the detection module to the position where the bolt to be detected is located also includes: According to the three-dimensional information of the surface of the bolt to be inspected, the mechanical arm is controlled to move the inspection module to a preset position relative to the bolt to be inspected.

7. The detection method according to claim 1, characterized in that: The detection module includes a first ultrasonic device and a second ultrasonic device; The abnormality detection of the bolt to be detected comprises: Controlling the first ultrasonic device to detect rust and cracks of the bolt to be inspected; The second ultrasonic device is controlled to detect the pre-tightening force of the bolt to be detected.

8. The detection method according to claim 1, characterized in that: After the abnormality detection of the bolt to be detected is performed, the method includes: If there is an abnormal risk, mark the bolts to be inspected, and record the location information and abnormality type of the bolts.

9. The detection method according to claim 1, characterized in that: The abnormality detection of the bolt to be detected comprises: Acquiring detection data of the detection module; Recalling a second test value pre-stored in a database; The detection data of the detection module is compared with the called second annotation value to determine whether the bolt to be detected is abnormal.

10. A main cable robot, characterized in that: Used for applying the detection method according to any one of claims 1 to 9.

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