Torque detection method and system for main cable strands based on torpedo clamp and gyro angle

Abstract

The application discloses a main cable strand torsion detection method and system based on a torpedo clamp and a gyroscope angle, and the method comprises the following steps: arranging a hardware system required for monitoring, and adjusting the torpedo clamp axis to be parallel to the strand axis; a gyroscope continuously collects an angular velocity signal of strand torsion; and within a set integral step, the current time angular velocity, and angular velocity prediction values of no less than two midpoint times and the next time are collected, and then the sampling points are weighted and calculated to obtain an angle increment; a magnetic encoder hardware triggers a reset signal to form a zero-crossing count, and a functional correction of the gyroscope angle accumulation without an upper limit but with a drift error is completed by integrating the segmented angle increment and the number of turns measurement according to an angle accumulation formula; a measurement error correction is completed through an environment compensation model; and finally, the angle eliminating the influences of temperature drift and construction vibration is output.

Description

Technical Field

[0001] This invention belongs to the field of intelligent monitoring technology for bridge construction, and more specifically, relates to a method and system for detecting the torsion of main cable strands based on the angle of a torpedo clamp and a gyroscope. Background Technology

[0002] As the core load-bearing component of a suspension bridge, the torsional state of the cable strands directly affects the bridge's stress balance and structural stability. Accurately detecting the torsion of the cable strands is crucial for understanding their working condition and developing scientific maintenance plans, and is of great significance for ensuring the construction quality and long-term service safety of suspension bridges. However, current sensors and related technologies used in the industry for detecting cable strand torsion still have many shortcomings that make them difficult to adapt to actual construction needs, and cannot meet the requirements for accurate, continuous, and stable torsion detection during the main cable erection phase of suspension bridges.

[0003] Traditional contact sensors, which require direct contact with the cable strand surface, are prone to wear due to friction in dynamic construction conditions involving continuous cable traction. This not only significantly shortens their lifespan but can also affect detection accuracy, making it difficult to continuously and stably acquire cable strand torsion data. While visual recognition solutions do not require contact with the cable strand, they are significantly affected by the construction environment—random variations in lighting intensity and dust accumulation at the construction site can interfere with image recognition, leading to large fluctuations in measurement accuracy and failing to provide reliable accuracy support for construction decisions.

[0004] Wired transmission solutions require connecting the detection equipment to the data processing terminal via cables. This connection method not only restricts the working space on the construction site and reduces the flexibility of construction operations, but also faces power supply challenges. Under cable power supply mode, the equipment's battery life is severely insufficient, making it difficult to support long-term continuous detection and unable to cover the entire process of cable strand erection. Although contact encoders can achieve angle detection, they require pre-set mechanical limit structures. However, the main cable strands of suspension bridges may rotate infinitely during the erection process. This type of encoder cannot adapt to such working conditions, resulting in a limited detection range and difficulty in fully capturing the torsional state of the cable strands.

[0005] During the erection of the main cable of a suspension bridge, torpedo clamps are indispensable temporary construction fixtures. Their main function is to temporarily restrain, fix, and bundle multiple independent parallel steel wire strands into a near-circular cross-section during the cable strand erection and adjustment phases, especially before cable tightening operations. This creates conditions and provides an operational fulcrum for the cable tightening operation. How to leverage this existing construction tool to overcome the shortcomings of current cable strand torsion detection technology has become an important direction for improving the intelligent monitoring level of suspension bridge main cable erection. Summary of the Invention

[0006] This invention aims to solve the problems in current suspension bridge main cable strand torsion detection, such as the easy wear of traditional contact sensors, the susceptibility of visual recognition to environmental interference, the poor flexibility of wired transmission, and the difficulty of adapting contact encoders to infinite rotation. Utilizing the torpedo clamp, an essential component in suspension bridge construction, as a carrier, this invention integrates a gyroscope angle encoder, improves angle calculation accuracy through an enhanced algorithm, enables infinite rotation measurements, eliminates temperature drift and vibration errors through an environmental compensation model, and ensures continuous operation through dynamic power consumption control. Ultimately, this achieves in-situ, real-time, and accurate detection of cable strand torsion, providing data support for bridge construction safety and structural stability.

[0007] To address the aforementioned deficiencies or improvement needs of existing technologies, as a first aspect of this invention, the present invention provides a method for detecting the torsion of main cable strands based on the angle of a torpedo clamp and a gyroscope, comprising: S1. Complete the hardware system layout required for monitoring; adjust the opening of the double-lobed clamping mechanism of the torpedo clamp according to the actual diameter of the cable strand, and smoothly fasten it to the surface of the cable strand. The spring preload force is used to make it clamp firmly while keeping the axis of the torpedo clamp parallel to the axis of the cable strand. S2. The gyroscope continuously collects the angular velocity signal of the cable twisting. ; and in Within the integral step size, the angular velocity at the current moment and the predicted angular velocity values ​​at no less than two midpoint moments and the next moment are collected, and then the angle increment is obtained by weighted calculation of these sampling points. S3. Hardware trigger via magnetic encoder Reset signal generates zero-crossing count Integrate the segmented angle increments by combining the angle accumulation formula. The rotation count is used to perform functional correction for the gyroscope's unlimited cumulative angle but drift error. S4. Measurement error correction is achieved through an environmental compensation model; the final output is the angle that eliminates the effects of temperature drift and construction vibration. .

[0008] Furthermore, the hardware system in S1 includes: a torpedo clip configured to temporarily constrain, fix, and bundle multiple independent parallel steel wire strands into a near-circular cross section; a gyroscope angle encoder configured for measuring the torsion angle across the entire perimeter without blind spots; a wireless transmission module configured to upload torsion angle data to a cloud platform in real time; and a self-powered system configured to provide power support for the hardware system.

[0009] Furthermore, S1 also includes: after completing the hardware system setup required for monitoring, activating the self-powered system via the start button on the torpedo clip. At this time, the DC-DC converter stably outputs the battery voltage to each module, the MCU initializes and sends a "standby ready" signal to the cloud platform, completing the establishment of the baseline state before detection; the DC-DC converter is a DC-DC converter; the MCU is a microcontroller unit; the initial voltage of the self-powered system is between 3.4V and 3.8V.

[0010] Furthermore, the method for calculating the angle increment in S2 is as follows: , in, The angle increment within a single integration step; The angular velocity at the current moment; The first predicted value at the midpoint; The second predicted value at the midpoint; This is the predicted value for the next moment.

[0011] Furthermore, the angle accumulation formula in S3 is specifically as follows: , in, The total angle of twisting of the cable; The angle increment within a single integration step; For zero-crossing counting of the magnetic encoder; The full-turn angle compensation contributed to the magnetic encoder; This is the cumulative sum of the gyroscope angle increments.

[0012] Furthermore, the environmental compensation model in S4 is specifically as follows: , in, For the angular displacement that needs to be compensated; This represents the temperature change value. It is the vibration acceleration; Temperature sensitivity was calibrated using a gyroscope temperature drift test; Vibration sensitivity was calibrated using a bridge construction vibration table test.

[0013] Furthermore, the angle in S4 The calculation method is as follows: , in, To output the accurate angle in the final result .

[0014] Furthermore, S4 is followed by: The power consumption of each module in the hardware system is monitored in real time by a dynamic power consumption controller. The dynamic power consumption controller is configured to distribute power to each module in real time and adjust the power supply strategy according to the instructions of the MCU.

[0015] As a second aspect of the present invention, the present invention provides a main cable strand torsion detection system based on the angle of a torpedo clamp and a gyroscope, comprising: The hardware system layout unit is used to complete the hardware system layout required for monitoring; according to the actual diameter of the cable strand, the opening of the double-lobed clamping mechanism of the torpedo clamp is adjusted to smoothly fasten it to the surface of the cable strand, and the spring preload is used to make it firmly clamped while keeping the axis of the torpedo clamp parallel to the axis of the cable strand. Angle increment calculation unit is used for the gyroscope to continuously acquire the angular velocity signal of the cable strand twist. ; and in Within the integral step size, the angular velocity at the current moment and the predicted angular velocity values ​​at no less than two midpoint moments and the next moment are collected, and then the angle increment is obtained by weighted calculation of these sampling points. The gyroscope error correction unit is used for hardware triggering via a magnetic encoder. Reset signal generates zero-crossing count Integrate the segmented angle increments by combining the angle accumulation formula. The rotation count is used to perform functional correction for the gyroscope's unlimited cumulative angle but drift error. The measurement error correction unit is used to correct measurement errors through an environmental compensation model; the final output is an angle that eliminates the effects of temperature drift and construction vibration. .

[0016] As a third aspect of the invention, the invention provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor of any step of the main cable strand torsion detection method based on torpedo clamp and gyroscope angle.

[0017] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: 1. The present invention relates to a method for detecting the torsion of main cable strands based on torpedo clamps and gyroscope angles. This method uses torpedo clamps, essential for suspension bridge construction, as the carrier of the detection device. The opening of the double-lobed clamping mechanism of the torpedo clamp is adjusted according to the actual diameter of the cable strand. Spring preload ensures a firm fit with the cable strand, maintaining the torpedo clamp axis parallel to the cable strand axis. Simultaneously, a gyroscope angle encoder is integrated into the torpedo clamp. This design eliminates the need for additional installation structures, avoiding interference with the construction process. Furthermore, the high strength of the torpedo clamp provides physical protection for the gyroscope, ensuring stable attachment of the detection device to the cable strand. This allows the gyroscope to synchronously capture the torsion motion of the cable strand, laying the foundation for subsequent accurate detection and solving the problems of complex installation and susceptibility to construction interference associated with traditional sensors.

[0018] 2. The main cable strand torsion detection method based on torpedo clamp and gyroscope angle of the present invention processes the angular velocity signal collected by the gyroscope, collects the angular velocity values ​​at the current moment, two midpoint moments, and the next moment within a set integration step size, and calculates the angle increment by weighting, while combining the hardware triggering of the magnetic encoder. The reset signal generates a zero-crossing count, which is integrated with the segmented angle increment and rotation count through an angle accumulation formula. This technology can effectively improve the accuracy of angle calculation, and overcome the limitation of gyroscopes having no upper limit to angle accumulation but with drift error. It enables accurate measurement of infinite rotations of cable strands, solving the problems of insufficient accuracy and limited measurement range of traditional detection methods.

[0019] 3. The main cable strand torsion detection method based on torpedo clamp and gyroscope angle of the present invention constructs an environmental compensation model, introducing temperature sensitivity calibrated by gyroscope temperature drift experiment and vibration sensitivity calibrated by bridge construction vibration table test, and combines real-time collected temperature change values ​​and vibration acceleration to calculate and offset angle measurement errors caused by temperature drift and construction vibration. This technology can eliminate the interference of environmental factors on the detection results, so that the final output angle data truly reflects the torsion state of the cable strand. At the same time, with the dynamic power consumption controller, power is allocated and the power supply strategy is adjusted in real time to ensure the equipment has a continuous operation of more than 12 hours, solving the problems of traditional detection being greatly affected by environmental interference and insufficient equipment endurance, and improving the stability and continuity of detection. Attached Figure Description

[0020] Figure 1 This is a flowchart of the main cable strand torsion detection method based on the angle of the torpedo clamp and gyroscope according to an embodiment of the present invention; Figure 2 This is a front view of the main structure of the hardware system according to an embodiment of the present invention; Figure 3 This is a top view of the main structure of the hardware system according to an embodiment of the present invention; Figure 4 This is a left view of the main structure of the hardware system according to an embodiment of the present invention; Figure 5 This is a system unit diagram of an embodiment of the present invention.

[0021] In all the accompanying drawings, the same reference numerals indicate the same technical features, specifically: 1-gyroscope angle encoder, 2-torpedo clip, 3-main cable. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0023] Example 1 Please refer to Figure 1 This embodiment 1 provides a method for detecting the torsion of the main cable strands based on the angle of the torpedo clamp and the gyroscope, including: S1. Complete the hardware system layout required for monitoring; adjust the opening of the double-lobed clamping mechanism of the torpedo clamp according to the actual diameter of the cable strand, and smoothly fasten it to the surface of the cable strand. The spring preload force is used to make it clamp firmly while keeping the axis of the torpedo clamp parallel to the axis of the cable strand. S2. The gyroscope continuously collects the angular velocity signal of the cable twisting. Within the set integration step size, the angular velocity at the current moment and the predicted angular velocity values ​​at no less than two midpoint moments and the next moment are collected, and then the angle increment is obtained by weighted calculation of these sampling points. S3. Hardware trigger via magnetic encoder Reset signal generates zero-crossing count Integrate the segmented angle increments by combining the angle accumulation formula. The rotation count is used to perform functional correction for the gyroscope's unlimited cumulative angle but drift error. S4. Measurement error correction is achieved through an environmental compensation model; the final output is the angle that eliminates the effects of temperature drift and construction vibration. .

[0024] This embodiment 1 further elaborates on the above steps.

[0025] (1) Hardware system layout During the main cable strand erection phase of a suspension bridge, traditional torsion detection methods suffer from problems such as complex installation, susceptibility to environmental interference, and insufficient endurance. However, a hardware system built using the existing construction carrier, the torpedo clip, can specifically address these shortcomings. Its deployment and activation process is as follows: In a preferred embodiment, the hardware system includes: a torpedo clip configured to temporarily constrain, fix, and bundle multiple independent parallel steel wire strands into a near-circular cross section; a gyroscope angle encoder configured for measuring the torsion angle across the entire perimeter without blind spots; a wireless transmission module configured to upload torsion angle data to a cloud platform in real time; and a self-powered system configured to provide power support for the hardware system.

[0026] Specifically, all components are integrated into an IP68-rated protective housing—an IP68-rated 304 stainless steel housing with a silicone sealing layer, which is wear-resistant, impact-resistant, and corrosion-resistant, making it suitable for the harsh environment in bridge construction and avoiding the problem of traditional sensors being easily damaged due to insufficient protection.

[0027] The torpedo clip employs a spring-preloaded double-lobed clamping mechanism with an embedded wear-resistant ceramic layer, enabling it to adapt to various conditions. The cable strand diameter retains its construction function of "temporarily constraining the cable strand to form a circular cross-section" while also providing a stable installation foundation for the inspection components, solving the problem of needing to build additional supports for traditional inspections; the gyroscope angle encoder consists of a three-axis gyroscope and a dynamic compensation algorithm, achieving full-circumference torsional angle measurement without blind spots, overcoming the shortcomings of low accuracy and blind spots in traditional contact encoders; the wireless transmission module has a built-in SIM card slot, pressing... The system uploads data to the cloud in real time, replacing wired transmission and improving construction flexibility; the self-powered system includes a built-in battery and dynamic power consumption controller, supporting... Extended battery life solves the problem of insufficient battery life in traditional wired power supply.

[0028] During setup, first adjust the opening of the torpedo clip's double-lobed clamping mechanism according to the actual diameter of the cable strands to ensure it matches the strand diameter, then smoothly fasten it onto the cable strand surface. Secure clamping is achieved through spring preload. Simultaneously, adjust the torpedo clip's position to ensure its axis is parallel to the cable strand axis, avoiding detection errors caused by axis misalignment. This ensures the gyroscope can synchronously capture the cable strand's torsional motion, laying the foundation for subsequent accurate detection.

[0029] After deployment, press the start button on the torpedo clip to activate the self-powered system. At this time, the DC-DC converter within the self-powered system starts, stably outputting the initial voltage (3.4V-3.8V) to each module, ensuring stable power supply. Subsequently, the MCU (Microcontroller Unit) initializes, completing parameter configuration and status checks for each module. Once all components are confirmed to be functioning correctly, the MCU sends a "standby ready" signal, which is uploaded to the cloud platform via the wireless transmission module. This marks the establishment of the pre-detection baseline state, and the hardware system officially enters the ready-to-detect state, ready to respond to cable twisting detection needs at any time.

[0030] (2) Calculation of angle increment After the hardware system was deployed and the baseline conditions were established before testing, the real-time detection phase of the cable strand torsion angle officially began. At this time, the gyroscope integrated on the torpedo clip began to continuously collect the angular velocity signal of the cable strand torsion, providing raw data support for subsequent angle calculations.

[0031] To improve the accuracy of angle calculation, in a preferred embodiment, an improved fourth-order Runge-Kutta method is used to integrate the acquired angular velocity signal, with a single integration step size set at 10ms. Within this fixed step size, four key angular velocity sampling points are collected according to specific logic: First, the angular velocity at the current moment is acquired and used as the basic data for the step size calculation; then, through algorithm deduction, angular velocity prediction values ​​at two midpoint moments are generated and acquired, namely the first midpoint prediction value and the second midpoint prediction value, thereby capturing the angular velocity change characteristics in the middle stage of the step size more precisely; finally, the angular velocity prediction value at the next moment is obtained as a state reference at the end of the step size.

[0032] Based on these four sampling points, the angle increment within a single integration step is calculated using a weighted method. In a preferred embodiment, the angle increment is calculated as follows: , in, The angle increment within a single integration step; The angular velocity at the current moment; The first predicted value at the midpoint; The second predicted value at the midpoint; This is the predicted value for the next moment.

[0033] This calculation method can fully utilize angular velocity information at different times, effectively improving the accuracy of angle calculation and controlling the cumulative error per lap within a certain range. Within this range, reliable basic data is provided for subsequent angle accumulation and total angle calculation.

[0034] (3) Gyroscope error correction After calculating the angle increment within each integration step using the improved fourth-order Runge-Kutta method, it is necessary to further address the drift error present during gyroscope angle accumulation and adapt to the infinite rotation conditions that the cable strands may encounter. At this point, the magnetic encoder begins to play its role, complementing the gyroscope.

[0035] The magnetic encoder monitors the strand torsion in real time. When it detects that the strand torsion has reached a certain level... At that time, it will be triggered by hardware. The reset signal counts zero-crossings each time it is triggered. Then increment by 1, and reset the current accumulated segmented angle increment of the gyroscope; if not reached If the gyroscope is twisted, it continues to accumulate the angle increments of each step.

[0036] Based on this, two parts of data are integrated using an angle accumulation formula: one part is the sum of angle increments calculated by the gyroscope within each integration step, and the other part is the data from the magnetic encoder based on zero-crossing counts. The resulting full-circle angle compensation, i.e. and The product of . In a preferred embodiment, the angle accumulation formula is specifically as follows: , in, The total angle of twisting of the cable; The angle increment within a single integration step; For zero-crossing counting of the magnetic encoder; The full-turn angle compensation contributed to the magnetic encoder; This is the cumulative sum of the gyroscope angle increments.

[0037] The combined angle retains the gyroscope's accurate capture of segmented angle changes, while the magnetic encoder's full-turn count corrects the gyroscope's drift error, thus achieving accurate measurement of the infinite number of twists of the cable strand. This solves the problem of excessive cumulative error and inability to adapt to infinite rotation caused by a single gyroscope in long-term testing.

[0038] (4) Measurement error correction After obtaining the total torsion angle of the cable strand by using a magnetic encoder and gyroscope, considering that temperature changes and vibrations in the construction environment may interfere with the measurement results, it is necessary to correct the error using an environmental compensation model.

[0039] The key to the environmental compensation model lies in determining the angular displacement that needs to be compensated. This process relies on two core parameters: temperature sensitivity and vibration sensitivity. Temperature sensitivity is pre-calibrated using a gyroscope temperature drift experiment, while vibration sensitivity is calibrated using a bridge construction vibration table. During real-time monitoring, the system simultaneously collects environmental temperature changes and vibration acceleration generated during construction. Combining these two sensitivity parameters, the system calculates the angle measurement error caused by temperature drift and vibration.

[0040] In a preferred embodiment, the environmental compensation model is specifically as follows: , in, For the angular displacement that needs to be compensated; This represents the temperature change value. It is the vibration acceleration; Temperature sensitivity was calibrated using a gyroscope temperature drift test; Vibration sensitivity was calibrated using a bridge construction vibration table test.

[0041] Then, by subtracting this compensating angular displacement from the total angle obtained through infinite rotation, the accurate angle that eliminates the effects of temperature drift and construction vibration can be obtained, ensuring that the output data truly reflects the actual torsional state of the cable strands. In a preferred embodiment, the angle... The calculation method is as follows: , in, To output the accurate angle in the final result .

[0042] In a preferred embodiment, after completing the angle correction and outputting the result, the following steps are also included: Real-time monitoring of the power consumption of each hardware module, including the gyroscope, magnetic encoder, and wireless transmission module, using a dynamic power consumption controller. On the one hand, it allocates power according to the real-time power consumption of each module to ensure the stable operation of key components; on the other hand, it receives instructions from the microcontroller unit and adjusts the power supply strategy according to different detection stages (such as standby, high-speed acquisition, data transmission, etc.) to achieve efficient use of power while meeting detection performance requirements, ensuring continuous and stable operation of the equipment.

[0043] In a preferred embodiment, the power supply strategy is specifically as follows: Assume the total power consumption of the hardware system is Due to the power consumption of the gyroscope Magnetic encoder power consumption 4G wireless transmission module power consumption MCU power consumption It consists of four parts, namely: , To overcome the limitations of traditional single-parameter regulation, a comprehensive state coefficient is introduced. , integration of cable twist rate Ambient temperature change rate Construction vibration intensity The weight coefficients of the three core operating parameters are optimized through neural network training. To achieve multi-factor collaborative decision-making: , in, This represents the maximum torsional rate of the cable strand. For the maximum allowable rate of temperature change, The maximum vibration intensity that the equipment can withstand is determined through experiments.

[0044] To address the energy waste caused by inherent vibrations in the construction environment, an innovative vibration energy conversion model is introduced. This model uses piezoelectric elements to convert vibration energy into supplementary electrical energy, thereby extending the operating time. Let the vibration energy conversion coefficient be... Then the electrical energy recovered per unit time is: , in, To recover the total amount of electrical energy; These are the start and end times of the energy recovery calculation, respectively. The vibration acceleration is a function of time; This is a characteristic quantity of vibrational energy during this period; When the recovered electrical energy exceeds the threshold When necessary, the main battery output power is automatically reduced to compensate for energy consumption. , in, The actual output power of the main battery; For the energy recovery calculation cycle, To limit the maximum compensation power, and to avoid the impact of power fluctuations on power supply stability.

[0045] Example 2 Please refer to Figure 5 This embodiment 2 provides a main cable strand torsion detection system based on the angle of the torpedo clamp and gyroscope, including: The hardware system layout unit is used to complete the hardware system layout required for monitoring; according to the actual diameter of the cable strand, the opening of the double-lobed clamping mechanism of the torpedo clamp is adjusted to smoothly fasten it to the surface of the cable strand, and the spring preload is used to make it firmly clamped while keeping the axis of the torpedo clamp parallel to the axis of the cable strand. Angle increment calculation unit is used for the gyroscope to continuously acquire the angular velocity signal of the cable strand twist. Within the set integration step size, the angular velocity at the current moment and the predicted angular velocity values ​​at no less than two midpoint moments and the next moment are collected, and then the angle increment is obtained by weighted calculation of these sampling points. The gyroscope error correction unit is used for hardware triggering via a magnetic encoder. Reset signal generates zero-crossing count Integrate the segmented angle increments by combining the angle accumulation formula. The rotation count is used to perform functional correction for the gyroscope's unlimited cumulative angle but drift error. The measurement error correction unit is used to correct measurement errors through an environmental compensation model; the final output is an angle that eliminates the effects of temperature drift and construction vibration. .

[0046] Example 3 This embodiment 3 also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement any step of the main cable strand torsion detection method based on the angle of the torpedo clip and the gyroscope.

[0047] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0048] For a description of the computer-readable storage medium provided in this application, please refer to the above method embodiments; further details will not be repeated here.

[0049] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for detecting the torsion of main cable strands based on the angle of a torpedo clamp and a gyroscope, characterized in that, include: S1. Complete the hardware system layout required for monitoring; adjust the opening of the double-lobed clamping mechanism of the torpedo clamp according to the actual diameter of the cable strand, and smoothly fasten it to the surface of the cable strand. The spring preload force is used to make it clamp firmly while keeping the axis of the torpedo clamp parallel to the axis of the cable strand. S2. The gyroscope continuously collects the angular velocity signal of the cable twisting. Within the set integration step size, the angular velocity at the current moment and the predicted angular velocity values ​​at no less than two midpoint moments and the next moment are collected, and then the angle increment is obtained by weighted calculation of these sampling points. S3. Hardware trigger via magnetic encoder Reset signal generates zero-crossing count Integrate the segmented angle increments by combining the angle accumulation formula. The rotation count is used to perform functional correction for the gyroscope's unlimited cumulative angle but drift error. S4. Measurement error correction is achieved through an environmental compensation model; the final output is the angle that eliminates the effects of temperature drift and construction vibration. ; Meanwhile, the power demand of each module of the hardware system is monitored in real time through a dynamic power consumption controller; the dynamic power consumption controller is configured to distribute power to each module in real time, and at the same time accept MCU instructions to adjust the power supply strategy. The power supply strategy is specifically as follows: Assume the total power consumption of the hardware system is Due to the power consumption of the gyroscope Magnetic encoder power consumption 4G wireless transmission module power consumption MCU power consumption It consists of four parts, namely: ， To overcome the limitations of traditional single-parameter regulation, a comprehensive state coefficient is introduced. , integration of cable twist rate Ambient temperature change rate Construction vibration intensity The weight coefficients of the three core operating parameters are optimized through neural network training. To achieve multi-factor collaborative decision-making: ， in, This represents the maximum torsional rate of the cable strand. For the maximum allowable rate of temperature change, The maximum vibration intensity that the equipment can withstand has been determined experimentally. Simultaneously, a vibration energy conversion model is introduced, which converts vibration energy into supplementary electrical energy through piezoelectric elements to extend the driving range: Let the vibration energy conversion coefficient be... The recovered electrical energy is: ,in To recover the total amount of electrical energy These are the start and end times of the energy recovery calculation, respectively. The vibration acceleration is a function of time; This is a characteristic quantity of vibrational energy within this time period; when the recovered electrical energy per unit time exceeds a threshold... When necessary, the main battery output power is automatically reduced to compensate for energy consumption. ,in, Actual output power of main battery For the energy recovery calculation cycle, This represents the upper limit of the maximum compensation power.

2. The method for detecting the torsion of main cable strands based on the angle of the torpedo clamp and gyroscope as described in claim 1, characterized in that, The hardware system in S1 includes: a torpedo clip configured to temporarily constrain, fix and bundle multiple independent parallel steel wire strands into a near-circular cross section; a gyroscope angle encoder configured to measure the torsion angle with no blind spots across the entire perimeter; a wireless transmission module configured to upload torsion angle data to the cloud platform in real time; and a self-powered system configured to provide power support for the hardware system.

3. The method for detecting the torsion of main cable strands based on the angle of the torpedo clamp and gyroscope as described in claim 1, characterized in that, S1 further includes: after completing the hardware system setup required for monitoring, activating the self-powered system via the start button on the torpedo clip. At this time, the DC-DC converter outputs the battery voltage stably to each module, the MCU initializes and sends a "standby ready" signal to the cloud platform, and the baseline state is established before detection. The DC-DC converter is a DC-DC converter; the MCU is a microcontroller unit; and the initial voltage of the self-powered system is between 3.4V and 3.8V.

4. The method for detecting the torsion of main cable strands based on the angle of the torpedo clamp and gyroscope as described in claim 1, characterized in that, The method for calculating the angle increment in S2 is as follows: ， in, The angle increment within a single integration step; The angular velocity at the current moment; The first predicted value at the midpoint; The second predicted value at the midpoint; This is the predicted value for the next moment.

5. The method for detecting the torsion of main cable strands based on the angle of the torpedo clamp and gyroscope according to claim 1, characterized in that, The angle accumulation formula in S3 is as follows: ， in, The total angle of twisting of the cable; The angle increment within a single integration step; For zero-crossing counting of the magnetic encoder; The full-turn angle compensation contributed to the magnetic encoder; This is the cumulative sum of the gyroscope angle increments.

6. The method for detecting the torsion of main cable strands based on the angle of the torpedo clamp and gyroscope according to claim 1, characterized in that, The environmental compensation model in S4 is specifically as follows: ， in, For the angular displacement that needs to be compensated; This represents the temperature change value. It is the vibration acceleration; Temperature sensitivity was calibrated using a gyroscope temperature drift test; Vibration sensitivity was calibrated using a bridge construction vibration table test.

7. A method for detecting the torsion of main cable strands based on the angle of a torpedo clamp and a gyroscope, as described in claim 5 or 6, characterized in that... The angle in S4 The calculation method is as follows: ， in, To output the accurate angle in the final result .

8. A main cable strand torsion detection system based on the angle of a torpedo clamp and a gyroscope, used to implement the main cable strand torsion detection method based on the angle of a torpedo clamp and a gyroscope as described in claim 1, characterized in that, include: The hardware system layout unit is used to complete the hardware system layout required for monitoring; according to the actual diameter of the cable strand, the opening of the double-lobed clamping mechanism of the torpedo clamp is adjusted to smoothly fasten it to the surface of the cable strand, and the spring preload is used to make it firmly clamped while keeping the axis of the torpedo clamp parallel to the axis of the cable strand. Angle increment calculation unit is used for the gyroscope to continuously acquire the angular velocity signal of the cable strand twist. Within the set integration step size, the angular velocity at the current moment and the predicted angular velocity values ​​at no less than two midpoint moments and the next moment are collected, and then the angle increment is obtained by weighted calculation of these sampling points. The gyroscope error correction unit is used for hardware triggering via a magnetic encoder. Reset signal generates zero-crossing count Integrate the segmented angle increments by combining the angle accumulation formula. The rotation count is used to perform functional correction for the gyroscope's unlimited cumulative angle but drift error. The measurement error correction unit is used to correct measurement errors through an environmental compensation model; the final output is an angle that eliminates the effects of temperature drift and construction vibration. Meanwhile, the power demand of each module of the hardware system is monitored in real time through a dynamic power consumption controller; the dynamic power consumption controller is configured to distribute power to each module in real time, and at the same time accept MCU instructions to adjust the power supply strategy. The power supply strategy is specifically as follows: Assume the total power consumption of the hardware system is Due to the power consumption of the gyroscope Magnetic encoder power consumption 4G wireless transmission module power consumption MCU power consumption It consists of four parts, namely: ， To overcome the limitations of traditional single-parameter regulation, a comprehensive state coefficient is introduced. , integration of cable twist rate Ambient temperature change rate Construction vibration intensity The weight coefficients of the three core operating parameters are optimized through neural network training. To achieve multi-factor collaborative decision-making: ， in, This represents the maximum torsional rate of the cable strand. For the maximum allowable rate of temperature change, The maximum vibration intensity that the equipment can withstand is determined through experiments.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program is executed by a processor using the main cable strand torsion detection method based on the angle of the torpedo clamp and gyroscope as described in any one of claims 1-7.

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