A robot for detecting inclined cables

Abstract

The present invention discloses a cable-stayed inspection robot, which belongs to the technical field of bridge inspection and maintenance, and comprises a cylindrical frame, on the inner wall of which is mounted a climber for slidingly abutting against the cable-stayed cable, and in the circumferential direction of the front end of the cylindrical frame, a stabilizing mechanism and an anemometer are arranged at intervals, the stabilizing mechanism is used to fix the acquisition end of the image acquisition unit, the other end of the image acquisition unit away from the acquisition end is movably connected to the front end of the cylindrical frame, and the anemometer is used to detect the wind speed received by the image acquisition unit in real time; and a control module, wherein the image acquisition unit, the stabilizing mechanism and the anemometer are all connected to the control module through signals, and the control module is used to adjust the clamping / relaxation of the image acquisition unit by the stabilizing mechanism. The inspection robot of the present invention can ensure the stability of image acquisition during operation, avoid image blur or distortion, and ensure timely discovery of possible damage or aging signs of the cable-stayed cable.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge maintenance, and more specifically, to a stay cable detection robot. Background Art

[0002] In modern bridge construction, cable-stayed bridges are widely used due to their large span, strong stability and beautiful appearance. The main load-bearing components of cable-stayed bridges are subjected to high alternating cyclic fatigue loads for a long time, and the damage of the polyethylene protective layer in harsh environments can easily lead to rust and corrosion on the cable surface, which will have an adverse effect on its bearing capacity. In severe cases, it may even cause major accidents such as collapse, resulting in irreparable huge economic losses.

[0003] Traditional cable-stay inspection methods mainly rely on manual inspection or fixed equipment, which has certain limitations when facing long-span, large-area cable-stay inspections, and it is difficult to fully meet the efficiency, safety and economy requirements of bridge cable inspections. With the continuous expansion of the scale of bridges today, there is an urgent need for a more efficient, intelligent, safe and reliable cable-stay inspection solution. The inspection robot can crawl autonomously on the surface of the cable and use a variety of sensors to achieve comprehensive inspection of the cable.

[0004] The cable-stay inspection robot is an automated device specially designed for inspecting the status of cable-stayed bridges. It can record the entire process of crawling and automatically analyze and determine defective parts such as aging and damage of the PE sheath of the cable. It can significantly improve the inspection efficiency and reduce the inspection cost, while reducing secondary damage to the cable.

[0005] However, in the actual application of the cable-stayed cable inspection robot, the shaking of the image acquisition camera usually causes the image to be blurred or distorted, thus affecting the accuracy of the inspection results. This shaking may be caused by multiple factors, such as wind influence, bridge vibration, robot climbing shaking, etc., and the end of the image acquisition camera is fixed to the frame as a whole, which cannot offset the impact of the above factors on image acquisition and will cause its own angle to be unable to adjust. The shaking of the image acquisition camera will cause the surface image of the cable to appear blurred or overlap, thereby reducing the recognition efficiency and accuracy of the image processing algorithm, and thus making it impossible to accurately analyze whether the cable has aged and cracked.

[0006] In order to solve the above defects, a technical solution is now provided. Summary of the invention

[0007] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a cable-stayed cable inspection robot to solve the problems raised in the above-mentioned background technology. To achieve the above-mentioned purpose, the present invention provides the following technical solutions:

[0008] According to one aspect of the present invention, the present invention first provides a cable-stayed inspection robot, comprising a cylindrical frame, a climber for slidingly abutting against the cable-stayed cable is installed on the inner wall of the cylindrical frame, a stabilizing mechanism and an anemometer are arranged at intervals in the circumferential direction of the front end of the cylindrical frame, the stabilizing mechanism is used to fix the acquisition end of the image acquisition unit, the other end of the image acquisition unit away from the acquisition end is movably connected to the front end of the cylindrical frame, and the anemometer is used to detect the real-time wind speed of the image acquisition unit;

[0009] A control module, wherein the image acquisition unit, the stabilizing mechanism and the anemometer are all connected to the control module via signals, and the control module is used to adjust the clamping / relaxation of the image acquisition unit by the stabilizing mechanism.

[0010] According to one embodiment of the present invention, the control module comprises:

[0011] An image analysis unit, the image analysis unit is used to monitor the quality of the image captured by the image acquisition unit in real time.

[0012] A speed monitoring unit, the speed monitoring unit is used to monitor the real-time climbing speed of the climber on the inclined cable;

[0013] A wind speed monitoring unit, the wind speed monitoring unit is used to obtain wind speed data detected by the anemometer and received by the image acquisition unit in real time;

[0014] A data processing unit, wherein the data processing unit performs weighted summation based on the image quality of the image acquired by the image acquisition unit in real time taking the inclined cable, the real-time climbing speed of the climber on the inclined cable acquired by the speed monitoring unit, and the wind speed data received by the image acquisition unit in real time acquired by the wind speed monitoring unit to comprehensively determine when to focus and stabilize the image acquisition unit by controlling the stabilization mechanism;

[0015] A control unit is used to control the start and stop of the stabilizing mechanism according to the analysis result of the data processing unit.

[0016] According to one embodiment of the present invention, the stabilizing mechanism comprises:

[0017] Rotating a rotating shaft connected to the cylindrical frame;

[0018] A driving motor connected to the rotating shaft, wherein the driving motor is connected to the control unit by signal;

[0019] A rotating column fixedly connected to the rotating shaft, wherein two arc-bent grooves are symmetrically provided on the rotating column;

[0020] A fixed block fixedly connected to the front end of the cylindrical frame, a rotation groove is provided on the end surface of the fixed block away from the image acquisition unit, the rotating column is arranged in the rotation groove for rotation, and a through shifting groove is provided at the center of the fixed block;

[0021] Two shift rods are slidably connected in the shift groove, one end of the two shift rods is respectively placed in two arc-bent grooves, and the other end passes through the shift groove and is fixed with a clamping plate, and the clamping plate is used to clamp and fix the image acquisition unit when moving towards each other.

[0022] According to one embodiment of the present invention, the shift rod is an electric telescopic rod.

[0023] According to one embodiment of the present invention, the stabilizing mechanism further includes an adaptive component located between the clamping plate and the image acquisition unit, and the adaptive component includes:

[0024] A groove is provided on the inner surface of the clamping plate, wherein the groove is sequentially filled with a plurality of balls and a plurality of clamping blocks from the inside to the outside, and the outer end surfaces of the plurality of clamping blocks match the outer contour of the acquisition end of the image acquisition unit.

[0025] According to one embodiment of the present invention, the outer end surfaces of the plurality of clamping blocks are preferably arc surfaces.

[0026] According to one embodiment of the present invention, a pressure sensor is provided inside the driving wheel of the climber, and the pressure sensor is used to detect the magnitude of the pressing force of the driving wheel on the inclined cable.

[0027] Compared with the prior art, the beneficial technical effects and advantages of the present invention are as follows:

[0028] 1. After the image acquisition unit, the stabilizing mechanism and the anemometer are connected to the control module through signals, the present invention can analyze and determine in real time when to clamp and fix the image acquisition unit through the stabilizing mechanism according to the comprehensive data obtained, so as to ensure the stability of image acquisition, avoid image blur or distortion, ensure timely detection of possible damage or aging signs of the cable, and ensure the safety of the cable structure.

[0029] 2. In the present invention, the image acquisition unit is clamped and fixed by a stabilizing mechanism, thereby enhancing the stability of the image acquisition unit, which is conducive to the image acquisition unit capturing clear images. At the same time, the adaptive components in the stabilizing mechanism can be adjusted and moved accordingly according to the different sizes and shapes of the image acquisition unit, thereby continuously and stably clamping the image acquisition unit.

[0030] 3. In the present invention, by arranging the pressure sensor inside the driving wheel, it is avoided that the driving wheel presses the inclined cable too little, causing the driving wheel to slip, and it is also avoided that the driving wheel presses the inclined cable too much, causing the driving force to increase and waste electric energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with the accompanying drawings;

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 It is a schematic diagram of the cylindrical frame structure of the present invention;

[0034] Figure 3 It is a schematic diagram of the structure of the stabilizing mechanism of the present invention;

[0035] Figure 4 It is a schematic diagram of the arc bending groove structure of the present invention;

[0036] Figure 5 It is a schematic diagram of the ball structure of the present invention;

[0037] Figure 6 It is a schematic diagram of the control module structure of the present invention;

[0038] Figure 7 It is a method flow chart of the control module of the present invention.

[0039] Explanation of the reference numerals in the figure: 100, cylindrical frame; 101, climber; 200, image acquisition unit; 300, stabilizing mechanism; 301, rotating shaft; 302, driving motor; 303, rotating column; 304, fixing block; 305, shifting rod; 306, clamping plate; 307, adaptive component; 303a, arc bending groove; 304a, rotating groove; 304b, shifting groove; 306a, containing groove; 307a, ball; 307b, clamping block; 400, anemometer. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Example 1

[0042] like Figures 1 to 6As shown, an inclined cable detection robot according to an embodiment of the present invention includes a cylindrical frame 100, on which a climber 101 is installed; an image acquisition unit 200 installed at the end of the cylindrical frame 100; a stabilizing mechanism 300 arranged on the cylindrical frame 100, and the stabilizing mechanism 300 is used to keep the image acquisition unit 200 stable in a complex high-altitude environment; an anemometer 400 installed on the cylindrical frame 100, and the anemometer 400 is used to detect the wind speed to which the image acquisition unit 200 is subjected in real time at high altitude; and a control module connected to the stabilizing mechanism 300 by signals, and the stabilizing mechanism 300 adjusts its own state through the control module to focus and stabilize the image acquisition unit 200.

[0043] Specifically, the robot first ascends and descends on the inclined cable through the climber 101. The climber 101 automatically adjusts the traction force and the movement mode according to the characteristics of the target inclined cable to ensure that the robot climbs smoothly on the inclined cable. During this climbing process, the anemometer 400 transmits the wind speed signal detected by the image acquisition unit 200 in real time at high altitude to the control module. The image acquisition unit 200 performs an all-round scan on the surface of the inclined cable and transmits the collected image data signal to the control module. The control module analyzes and determines when to focus and stabilize the image acquisition unit 200 through the stabilization mechanism 300 based on the multiple data obtained, so as to ensure the stability of image acquisition, avoid image blur or distortion, ensure timely detection of possible damage or aging signs of the inclined cable, and ensure the safety of the inclined cable structure.

[0044] Please pay attention to Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the stabilizing mechanism 300 includes: a rotating shaft 301 rotatably connected to the cylindrical frame 100; a driving motor 302 connected to the rotating shaft 301, and the driving motor 302 is controlled by a control unit; a rotating column 303 fixedly connected to the rotating shaft 301, and two arc-bending grooves 303a are symmetrically provided on the rotating column 303; a fixed block 304 fixedly connected to the cylindrical frame 100, and a rotating groove 304a is provided on the fixed block 304, and the rotating column 303 is placed in the rotating groove 304a for rotation, and a shifting groove 304b is provided on the fixed block 304; two shifting rods 305 slidably connected to the shifting groove 304b, and one end of the two shifting rods 305 is respectively placed in the two arc-bending grooves 303a; and a clamping plate 306 fixedly connected to the other end of the two shifting rods 305, and the two clamping plates 306 are used to clamp and fix the image acquisition unit 200 when moving toward each other.

[0045] Specifically, when the image acquisition unit 200 is focused and stabilized, the rotation of the driving motor 302 is controlled, and the shaft 301 drives the rotating column 303 to rotate. When the rotating column 303 rotates, the two arc-bending grooves 303a will rotate accordingly, and the rotation of the arc-bending grooves 303a drives the sliding rod 305 in the shifting groove 304b. When the two shifting rods 305 move closer to each other in the shifting groove 304b, the two clamping plates 306 will also move closer to each other, thereby clamping and fixing the image acquisition unit 200. At this time, as long as the driving motor 302 controls the rotation of the rotating shaft 301 to drive the two clamping plates 306 to clamp and fix the image acquisition unit 200, they will no longer rotate. At this time, the image acquisition unit 200 is clamped and fixed by the stabilizing mechanism 300, thereby enhancing the stability of the image acquisition unit 200, which is conducive to the image acquisition unit 200 to capture clear images, so that the robot can promptly detect possible damage or aging signs of the inclined cable.

[0046] Please pay attention to Figure 3 As shown, the shift rod 305 is an electric telescopic rod, and the shift rod 305 is controlled by a control module. By setting the shift rod 305 as an electric telescopic rod, the length of the electric telescopic rod can be changed, which is conducive to adapting to image acquisition units 200 at different distances and ensuring that the clamping plate 306 is more accurate for the image acquisition unit 200.

[0047] Please pay attention to Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, a groove 306a is provided on the clamping plate 306; the stabilizing mechanism 300 also includes an adaptive component 307, and the adaptive component 307 includes: a plurality of ball bearings 307a placed in the groove 306a; and a plurality of clamping blocks 307b sliding in the groove 306a, one end of the clamping block 307b is placed in the groove 306a, and the other end of the clamping block 307b is placed outside the groove 306a, and the plurality of ball bearings 307a fill the gap between the clamping block 307b and the groove 306a.

[0048] Specifically, the adaptive component 307 can further enhance the clamping stability and adaptability of the stabilizing mechanism 300 to the image acquisition unit 200. Specifically, the adaptive component 307 can dynamically adjust the clamping force and adapt to image acquisition units 200 of different sizes and shapes through the cooperation of the groove 306a, the ball 307a and the clamping block 307b, thereby ensuring that the image acquisition unit 200 remains stable throughout the entire detection process, thereby improving the quality of image acquisition.

[0049] Specifically, when the driving motor 302 controls the rotation of the rotating shaft 301 through the stabilizing mechanism 300 and drives the rotating column 303 to rotate, the two shift rods 305 move and drive the two clamping plates 306 to approach each other to clamp the image acquisition unit 200. During the clamping process, the clamping block 307b slides in the receiving groove 306a, and the ball 307a fills the gap between the clamping block 307b and the receiving groove 306a. As the clamping plate 306 continues to contact the image acquisition unit 200, the ball 307a and the clamping block 307b will adjust and move accordingly according to the different sizes and shapes of the image acquisition unit 200, thereby stably clamping the image acquisition unit 200.

[0050] Please pay attention to Figure 1 , Figure 2 , Figure 4 As shown, the other end of the clamp block 307b is provided with an arc surface, which is conducive to increasing the contact area between the clamp block 307b and the image acquisition unit 200, while preventing the sharp end of the clamp block 307b from damaging the outer shell of the image acquisition unit 200. The adaptive components 307 are provided in multiple groups in the groove 306a. By providing multiple groups of adaptive components 307, it is conducive to adapting to different diameters on the image acquisition unit 200, and the image acquisition unit 200 can be better clamped. A pressure sensor is provided inside the driving wheel of the climber 101, and the pressure sensor is used to detect the size of the pressing force of the driving wheel on the inclined cable. The pressure sensor is used to prevent the driving wheel from slipping due to too small a pressing force on the inclined cable, and to prevent the driving wheel from slipping due to too large a pressing force on the inclined cable, which causes the driving force to increase and waste electric energy.

[0051] Example 2

[0052] Please pay attention to Figure 1 , Figure 2 , Figure 6 , Figure 7As shown, the control module includes: an image analysis unit, which is used to monitor the image quality of the image acquisition unit 200 taking real-time shots of the inclined cable. When the image quality decreases, the image acquisition unit 200 needs to be focused and stabilized; a speed monitoring unit, which is used to monitor the real-time climbing speed of the climber on the inclined cable. When the image quality of the image acquisition unit 200 taking real-time shots of the inclined cable decreases, the real-time climbing speed of the climber 101 on the inclined cable is reduced; a wind speed monitoring unit, which is used to obtain the wind speed data detected by the anemometer 400 that the image acquisition unit 200 is subjected to in real time at high altitude; data A processing unit, wherein the data processing unit determines when to focus and stabilize the image acquisition unit 200 by controlling the stabilizing mechanism 300 according to the image quality of the image acquisition unit 200 taken in real time by the image analysis unit, the real-time climbing speed of the climber 101 on the cable obtained by the speed monitoring unit, and the wind speed data received by the image acquisition unit 200 in real time at high altitudes obtained by the wind speed monitoring unit by performing weighted summation; and a control unit, wherein the control unit controls the start and stop of the stabilizing mechanism 300 according to the result of analysis by the data processing unit, and determines when to start the stabilizing mechanism 300 to focus and stabilize the image acquisition unit 200.

[0053] Specifically, when the control unit controls the stabilizing mechanism 300 to clamp and fix the image acquisition unit 200, the control unit controls the driving motor 302 to rotate. The driving motor 302 rotates to drive the rotating shaft 301 to rotate. The rotating shaft 301 rotates to drive the two moving rods 305 and the clamping plate 306 to move closer to each other, thereby clamping and fixing the image acquisition unit 200.

[0054] The data processing unit determines when to clamp and fix the image acquisition unit 200 through the stabilizing mechanism 300, which is mainly related to three factors, such as Figure 7 As shown, an image analysis unit obtains the image quality of the image acquisition unit 200 taking real-time photos of the cable, a speed monitoring unit obtains the real-time climbing speed of the climber on the cable, and a wind speed monitoring unit obtains the real-time wind speed data received by the image acquisition unit 200 at high altitude. The data processing unit performs weighted summation to comprehensively determine when to adjust the stabilizing mechanism 300 to clamp and fix the image acquisition unit 200 based on the image quality data of the cable taken real-time by the image acquisition unit 200, the real-time climbing speed of the climber on the cable, and the real-time wind speed data received by the image acquisition unit 200 at high altitude, thereby ensuring the stability of image acquisition, avoiding image blur or distortion, ensuring timely detection of possible damage or aging signs of the cable, and ensuring the safety of the cable structure.

[0055] In order to combine the image quality data of the cable taken by the image acquisition unit 200 in real time, the real-time climbing speed of the climber 101 on the cable, and the real-time wind speed data received by the image acquisition unit 200 in the air through weighted summation, we have marked them as Z, , and C, and introduce three weights , ,as well as to indicate their importance in the weighted sum.

[0056] The weighted summation expression can be: E = ×Z+ × + ×C;

[0057] Wherein: Z represents the image quality of the image acquisition unit 200 taking real-time photos of the stay cable;

[0058] Represents the real-time climbing speed of the climber 101 on the inclined cable;

[0059] C represents the wind speed data received by the image acquisition unit 200 in real time at high altitude;

[0060] The weight coefficient of the image quality data representing the real-time shooting of the stay cable by the image acquisition unit 200;

[0061] A weight coefficient representing the real-time climbing speed of the climber 101 on the inclined cable;

[0062] The weight coefficient representing the wind speed data received by the image acquisition unit 200 in real time at high altitude.

[0063] The result of the weighted summation (comprehensive evaluation value) E can be used to set a threshold value T to determine when to clamp and fix the image acquisition unit 200 by controlling the stabilization mechanism 300, thereby ensuring the stability of image acquisition, avoiding image blur or distortion, ensuring timely detection of possible damage or aging signs of the cable, and ensuring the safety of the cable structure.

[0064] Wherein: T is a preset threshold value, which is set according to actual conditions, indicating that when the comprehensive evaluation result E exceeds the threshold value T, it means that it is necessary to control the stabilizing mechanism 300 to clamp and fix the image acquisition unit 200, otherwise it is not necessary.

[0065] Control and stabilize the mechanism 300= ;

[0066] In practical applications, the weight , ,as well as The choice of should be based on the specific application scenario and requirements, ensuring that they can accurately reflect the relative importance in the scenario. At the same time, the sum of these three weights should usually be equal to 1 (or 100%, if expressed in percentage form) to indicate that they together constitute the total weight of the entire weighted sum.

[0067] The image acquisition unit 200 captures the picture quality data Z of the cable in real time, and the range of Z is 0 to 1, which represents the image quality. When Z is 0, it indicates the worst quality, and when Z is 1, it indicates the best quality.

[0068] Among them, when the image quality is reduced, Z is small, the image acquisition unit 200 may need to perform focus stabilization processing and reduce the climbing speed of the climber 101 to reduce the impact on the image quality. The faster the speed of the climber 101, the image acquisition unit 200 may cause image quality to deteriorate due to vibration or angle change. Therefore, when the climbing speed of the climber 101 is high, the image acquisition unit 200 may need to be focused and stabilized. When the wind speed is high, the impact of wind on the stability of the image acquisition unit 200 will be more significant. Therefore, the image acquisition unit 200 needs to increase the stabilization force, and at the same time reduce the speed of the climber 101 to reduce the impact of the wind.

[0069] The image quality of the image captured by the image acquisition unit 200 in real time in the inclined cable is obtained through the image analysis unit, and the clarity of the image quality is evaluated. When the image quality is reduced, the image acquisition unit 200 needs to be focused and stabilized, and then the clarity evaluation data is transmitted to the data processing unit. The speed monitoring unit transmits the real-time climbing speed data of the climber on the inclined cable to the data processing unit. When the quality of the image captured by the image acquisition unit 200 in real time in the inclined cable is reduced, the real-time climbing speed of the climber 101 on the inclined cable is reduced. The wind speed monitoring unit transmits the wind speed data to the data processing unit. The wind speed data detected by the speed meter 400 on the image acquisition unit 200 in the high altitude in real time is transmitted to the data processing unit. The data processing unit performs weighted summation based on the image quality of the image acquisition unit 200 taking real-time photos of the inclined cable obtained by the image analysis unit, the real-time climbing speed of the climber on the inclined cable obtained by the speed monitoring unit, and the wind speed data on the image acquisition unit 200 in the high altitude obtained by the wind speed monitoring unit to comprehensively determine when to focus and stabilize the image acquisition unit 200 by controlling the stabilizing mechanism 300. At T, it is necessary to control the stabilizing mechanism 300 to clamp and fix the image acquisition unit 200, thereby ensuring the stability of image acquisition, avoiding image blur or distortion, ensuring timely detection of possible damage or aging signs of the inclined cable, and ensuring the safety of the inclined cable structure. There is no need to control the stabilizing mechanism 300 to clamp and fix the image acquisition unit 200. At this time, the image acquired by the image acquisition unit 200 is also clear, and the robot can also promptly detect possible damage or aging signs of the cable to ensure the safety of the cable structure.

[0070] Example 3

[0071] In another embodiment, the comprehensive evaluation value Calculated by the following formula: ;

[0072] The influence coefficient of the image quality of the image acquisition unit 200 taking real-time photos of the cable is set to For the image quality of the image captured by the image acquisition unit 200 in real time, some key measurement indicators are determined by the image analysis unit, such as image blur (which can be measured by quantitative indicators such as image sharpness), image integrity (whether there is occlusion, which can be quantified by proportion), etc. The thresholds of blur in the image quality of the image captured by the image acquisition unit 200 in real time are respectively set. and the completeness threshold wait.

[0073] When the blur exceeds or less complete than When such a situation occurs, a corresponding degradation score is assigned to the image quality of the image acquisition unit 200 taking real-time photos of the cable according to the degree of deviation. (The range may be 0 to 1, 0 indicates that the image quality of the image captured by the image acquisition unit 200 in real time when the inclined cable is taken is the worst, and 1 indicates that the image quality of the image captured by the image acquisition unit 200 in real time when the inclined cable is taken is the best).

[0074] The influence coefficient of the real-time climbing speed of the climber 101 on the inclined cable is set to According to the characteristics of the inclined cable and previous experience, a suitable normal range of the real-time climbing speed of the climber 101 on the inclined cable is set, and its upper limit is , the lower limit is .

[0075] The real-time climbing speed of the real-time climber 101 on the inclined cable is ,like , calculate the proportion outside the normal range ,like , calculate the proportion below the normal range , then according to or The value of is used to assign an impact score related to the real-time climbing speed of a climber 101 on the inclined cable. (The range is also 0 to 1, 0 is the least favorable for stability, and 1 is the most favorable for stability). For example, if the percentage exceeds or falls below the normal range, The smaller the value.

[0076] The influence coefficient of the wind speed that the image acquisition unit 200 is subjected to in real time at high altitude is set to The critical wind speed value is set according to the stability characteristics of the image acquisition unit 200 at high altitude and the data of past wind tunnel tests. .

[0077] The real-time wind speed is , calculate the ratio of wind speed to critical wind speed ,according to The value of is assigned a wind speed-dependent impact score (The value range is 0 to 1, 0 means that the wind speed has a great influence on the stability of the image acquisition unit 200, and 1 means that there is almost no influence). hour, ;when hour, ; The values ​​in the middle are assigned according to linear or nonlinear relationships.

[0078] Set a comprehensive assessment threshold (value range 0 to 1), when When , it means that the current factors combined indicate that the working state of the image acquisition unit is relatively unstable, and it is necessary to control the stabilizing mechanism 300 to start focusing and stabilizing the image acquisition unit 200; when , it is determined that the image acquisition unit 200 is relatively stable in the current state, and the stabilizing mechanism 300 does not need to be started. , , And the threshold It needs to be continuously optimized and adjusted based on a large amount of actual test and operation data to adapt to the precise requirements for stable control of the image acquisition unit under different working conditions.

[0079] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0080] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0081] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0082] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0083] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0084] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A cable-stayed cable detection robot, comprising a cylindrical frame (100) and an image acquisition unit (200), characterized in that: A climber (101) for slidingly contacting the inclined cable is installed on the inner wall of the cylindrical frame (100); a stabilizing mechanism (300) and an anemometer (400) are arranged at intervals in the circumferential direction of the front end of the cylindrical frame (100); the stabilizing mechanism (300) is used to fix the acquisition end of the image acquisition unit (200); the other end of the image acquisition unit (200) away from the acquisition end is movably connected to the front end of the cylindrical frame (100); and the anemometer (400) is used to detect the wind speed to which the image acquisition unit (200) is subjected in real time; The cable-stayed inspection robot further comprises a control module, the image acquisition unit (200), the stabilizing mechanism (300) and the anemometer (400) are all connected to the control module via signals, and the control module is used to adjust the clamping / relaxation of the image acquisition unit (200) by the stabilizing mechanism (300); The control module comprises: An image analysis unit, the image analysis unit being used to monitor the quality of an image captured by the image acquisition unit (200) in real time when the cable is being stayed; A speed monitoring unit, the speed monitoring unit being used to monitor the real-time climbing speed of the climber (101) on the inclined cable; A wind speed monitoring unit, the wind speed monitoring unit being used to obtain wind speed data received by the image acquisition unit (200) in real time and detected by the anemometer (400); a data processing unit, the data processing unit determining when to focus and stabilize the image acquisition unit (200) by controlling the stabilization mechanism (300) based on a weighted sum of the image quality of the image acquired by the image acquisition unit (200) in real time taking the inclined cable, acquired by the image analysis unit, the real-time climbing speed of the climber (101) on the inclined cable acquired by the speed monitoring unit, and the wind speed magnitude data received by the image acquisition unit (200) in real time acquired by the wind speed monitoring unit; A control unit, the control unit is used to control the start and stop of the stabilizing mechanism (300) according to the analysis result of the data processing unit.

2. A stay cable detection robot according to claim 1, characterized in that: The stabilizing mechanism (300) comprises: Rotating a rotating shaft (301) connected to the cylindrical frame (100); A drive motor (302) connected to the rotating shaft (301), the drive motor (302) being signal-connected to the control unit; A rotating column (303) fixedly connected to the rotating shaft (301), wherein two arc-bent grooves (303a) are symmetrically formed on the rotating column (303); a fixed block (304) fixedly connected to the front end of the cylindrical frame (100); a rotation groove (304a) is provided on the end surface of the fixed block (304) facing away from the image acquisition unit (200); the rotating column (303) is arranged in the rotation groove (304a) for rotation; and a through shifting groove (304b) is provided at the center of the fixed block (304); Two shift rods (305) are slidably connected in the shift groove (304b), one end of the two shift rods (305) is respectively placed in the two arc-bent grooves (303a), and the other end passes through the shift groove (304b) and is fixed with a clamping plate (306), and the clamping plate (306) is used to clamp and fix the image acquisition unit (200) when the two shift rods (305) move towards each other.

3. The cable-stayed cable detection robot according to claim 2, characterized in that: The shifting rod (305) is an electric telescopic rod.

4. A stay cable detection robot according to claim 2 or 3, characterized in that: The stabilizing mechanism (300) further comprises an adaptive component (307) located between the clamping plate (306) and the image acquisition unit (200), wherein the adaptive component (307) comprises: A containing groove (306a) is provided on the inner surface of the clamping plate (306), wherein the containing groove (306a) is filled with a plurality of rolling balls (307a) and a plurality of clamping blocks (307b) in sequence from the inside to the outside, and the outer end surfaces of the plurality of clamping blocks (307b) match the outer contour of the collecting end of the image collecting unit (200).

5. The stay cable detection robot according to claim 4, characterized in that: The outer end surfaces of the multiple clamping blocks (307b) are arc surfaces.

6. The cable-stayed cable detection robot according to claim 1, characterized in that: A pressure sensor is arranged inside the driving wheel of the climber (101), and the pressure sensor is used to detect the magnitude of the pressing force of the driving wheel on the inclined cable.

Images