Novel rope-driven bridge bottom detection device and use method

Abstract

The invention relates to the technical field of bridge detection equipment, in particular to a novel rope-driven bridge bottom detection device and a use method. Comprising a rope, a rectangular suspension type detection platform and a tractor, the rectangular suspension type detection platform is parallel to the bottom surface of a to-be-detected bridge body and scans and detects the bottom surface structure of the to-be-detected bridge body, and four corners of the rectangular suspension type detection platform are respectively connected with one end of a rope; the other end of the rope is wound in the tractor; and the tractor is arranged on the to-be-detected bridge body and moves along the length direction of the to-be-detected bridge body, and the tractor drives the rope to retract and release so as to adjust the position of the rectangular suspension type detection platform. The device is simple in structure and easy to use, the overall structure of the rope driving mechanism is stable, bridge detection can be carried out in any weather, and the influence of weather is small.

Description

Technical Field

[0001] This invention relates to the field of bridge inspection equipment technology, and in particular to a novel rope-driven bridge bottom inspection device and its usage method. Background Technology

[0002] Current mainstream bridge inspection solutions mainly fall into two categories: specialized bridge inspection vehicles and drone inspection. Bridge inspection vehicles are equipped with a contact inspection platform, using a boom-type work platform to transport inspection personnel and equipment to the bottom of the bridge for close-up inspection. Drone inspection, on the other hand, is a non-contact, remote inspection method. Equipped with high-definition cameras, it efficiently acquires image data of the bridge structure's surface during flight scanning, and then performs defect identification and analysis. Currently, both specialized bridge inspection vehicles and drones used for bridge inspection have objective drawbacks. Traditional specialized bridge inspection vehicles, while allowing for close-range, contact-based inspections, are bulky and slow to deploy and move, resulting in low operational efficiency and significant disruption to bridge traffic. Furthermore, the limited boom length and angle of these vehicles create numerous blind spots at the bottom of the bridge, and the method is costly. Drone inspection is highly susceptible to weather conditions such as strong winds and rain, making operation impossible. As a non-contact solution, drones can only perform long-distance visual observation and cannot perform inspections requiring physical contact, limiting the depth and completeness of their inspection capabilities. Therefore, solutions are urgently needed. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a novel rope-driven bridge bottom inspection device and its usage method. The device has a simple structure, is easy to use, and the overall structure of the rope-driven mechanism is stable. It can be used to inspect bridges in any weather and is less affected by the weather.

[0004] To achieve the aforementioned objective, the technical solution of the present invention is implemented as follows: a novel rope-driven bridge bottom inspection device and its method of use, comprising: a rope, a rectangular suspended inspection platform, and a tractor; the rectangular suspended inspection platform is arranged parallel to the bottom surface of the bridge body to be inspected and scans and inspects the bottom structure of the bridge body to be inspected, and each of the four corners of the rectangular suspended inspection platform is connected to one end of the rope; the other end of the rope is wound in the tractor; the tractor is arranged on the bridge body to be inspected and moves along the length direction of the bridge body to be inspected, and the tractor drives the rope to be wound and unwound, adjusting the position of the rectangular suspended inspection platform.

[0005] Preferably, the rectangular suspended inspection platform is equipped with sensors or devices required to perform the inspection task on the bottom of the bridge body to be inspected.

[0006] Preferably, the tractor includes a movable base, a rope drive mechanism, and a cantilever guide mechanism; the movable base is used to move along the surface of the bridge body to be inspected; the rope drive mechanism is mounted on the movable base and is used to retract and extend the rope; the cantilever guide mechanism is used to support and guide the rope, one end of the cantilever guide mechanism is connected to the movable base, the middle part of the cantilever guide mechanism is slidably connected to both sides of the guardrail of the bridge body to be inspected, and the other end of the cantilever guide mechanism is slidably connected to the rope.

[0007] Preferably, the rope drive mechanism includes a rectangular support frame; the rectangular support frame is mounted on a movable base, and a servo motor, a winding and unwinding adjustment assembly, an encoder wheel, a tension idler wheel, and a second guide wheel are installed in the rectangular support frame; the servo motor is used to drive the drum on which the rope is wound to rotate; the winding and unwinding adjustment assembly orderly winds up and unwinds the rope pulled out from the drum; the first guide wheel is used to guide the rope adjusted by the winding and unwinding adjustment assembly; the tension idler wheel is used to press the rope passing through the first guide wheel against the surface of the encoder wheel with a preset pressure, forming an S-shaped wrap angle; the second guide wheel is used to guide the rope passing through the encoder wheel to a cantilevered guide mechanism.

[0008] Preferably, the winding and unwinding adjustment assembly includes a reciprocating lead screw, a transmission belt, and a rope guide installed in a rectangular support frame; the two ends of the transmission belt are respectively connected to the power output shaft of the servo motor and the power input shaft of the reciprocating lead screw; the servo motor drives the reciprocating lead screw to rotate; the rope guide is slidably connected to the rope pulled out from the drum, and the rope guide engages with the body of the reciprocating lead screw, and moves back and forth along the length direction of the reciprocating lead screw during the rotation of the reciprocating lead screw.

[0009] Preferably, the cantilevered guide mechanism includes a U-shaped support frame and an extension bracket; the middle part of the U-shaped support frame is installed on the guardrail, and one end of the U-shaped support frame is connected to a rectangular support frame; the U-shaped support frame is provided with rollers, casters, a first sliding wheel, and a second sliding wheel; the rollers are slidably connected to the top of the guardrail; the first sliding wheel is slidably connected to the outer wall of the guardrail along its length, and the second sliding wheel is slidably connected to the inner wall of the guardrail along its length; the casters are slidably connected to the outer wall of the guardrail; one end of the extension bracket is connected to the other end of the U-shaped support frame; the other end of the extension bracket extends to the bottom surface of the bridge body to be tested, and the end is provided with a third guide wheel for adjusting the direction of rope traction.

[0010] Preferably, the movable base includes a drive motor, a transmission chain, and movable wheels installed in the bottom support frame; the transmission chain is connected to the power shaft of the drive motor and the transmission shaft of the movable wheels.

[0011] Preferably, it also includes a plurality of guide wheels for changing and adjusting the direction of the rope traction, and the plurality of guide wheels are respectively installed at the connection between the U-shaped support frame and the rectangular support frame, and at the top of the U-shaped support frame.

[0012] Preferably, it also includes a controller; the controller is electrically connected to the drive motor, servo motor, encoder wheel and rectangular suspended detection platform. The controller is used to control the servo motor to adjust the length of the rope, and to perform closed-loop feedback control of the rope length through the encoder wheel coupled to the rope, thereby adjusting the position of the rectangular suspended detection platform.

[0013] Preferably, it includes the following steps: S1. When using a longitudinal and transverse decoupling control method to inspect the bridge body, the controller first calculates the coordinate position that the tractor should reach based on the target position of the rectangular suspended inspection platform. As the tractor moves longitudinally along the bridge body, four rope drive mechanisms work together to adjust the rope lengths, ensuring the rectangular suspended inspection platform is precisely positioned laterally. Changes in rope length are monitored and recorded in real time by the encoder wheel to ensure the accuracy of position control. This inspection method is a type of "in-motion inspection," meaning that position feedback and correction are continuously performed during movement, thereby improving the system's response speed and positioning accuracy.

[0014] S2. When using a fully coupled planar motion control method to inspect the bridge body, the controller first determines the boundary of the area to be inspected and fixes the four tractors at the four vertices of that area. Then, the controller calculates the target length of the rope on each tractor according to the inspection point or path that the rectangular suspended inspection platform needs to reach, and coordinates the control through the rope drive mechanism. The encoder wheel continuously monitors the change in rope length during this process to ensure the accurate positioning and path tracking of the rectangular suspended inspection platform in the plane.

[0015] The beneficial effects of this invention are reflected in: (1) The device provided by the present invention achieves large-area detection by controlling four ropes, which makes up for the shortcomings of the traditional special vehicle detection method with a small detection area; and the mobile trolley is small in size and will not obstruct bridge traffic; the overall structure of the rope drive mechanism is stable and can be used for bridge detection in any weather, with little impact from the weather.

[0016] (2) The motion detection type of the device and method provided by the present invention is diverse, and different choices can be made to deal with different situations, thus solving the problem that many influencing factors can hinder bridge inspection work. (3) The device provided by this invention enables the end effector to achieve high-precision positioning and path tracking in a two-dimensional plane by flexibly selecting control strategies. The longitudinal and transverse decoupling strategy is suitable for scenarios with high response speed requirements, while the fully coupled strategy has advantages in terms of stability and accuracy. The real-time feedback mechanism of the encoder provides a reliable guarantee for the closed-loop control of the system, and the overall system has good scalability and engineering application prospects. Attached Figure Description

[0017] Figure 1 This is a top view of the structure used in the device of the present invention; Figure 2 This is a bottom view of the structure used in the device of the present invention; Figure 3 This is a front view of the structure used in the device of the present invention; Figure 4 This is a partial structural schematic diagram of the device of the present invention; Figure 5 This is a side view of the device of the present invention; Figure 6 This is a schematic diagram of the cantilevered guide mechanism of the present invention; Figure 7 This is a schematic diagram of the rope drive mechanism of the present invention.

[0018] Figure labels and descriptions: A1. Bridge body to be inspected; A2. Guardrail; 10. Movable base; 11. Drive motor; 12. Transmission chain; 13. Moving wheel; 20. Rope drive mechanism; 21. Rectangular support frame; 22. Servo motor; 23. Drum; 24. Reciprocating screw; 25. First guide wheel; 26. Transmission belt; 27. Rope guide; 281. Encoding wheel; 282. Tension idler wheel; 29. ​​Second guide wheel; 30. Cantilever guide mechanism; 31. U-shaped support frame; 32. Roller; 33. Universal wheel; 34. First sliding wheel; 35. Second sliding wheel; 36. Extension bracket; 361. Third guide wheel; 40. Rope; 50. Rectangular suspended inspection platform. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example See Figure 1-7As shown: The present invention provides a novel rope-driven bridge bottom detection device and its usage method, including a rope 40, a rectangular suspended detection platform 50 and a tractor.

[0021] The rectangular suspended inspection platform 50 is equipped with sensors or devices required to perform the inspection of the bottom of the bridge body A1. The sensors or devices are generally industrial high-precision cameras and high-intensity LED supplementary light arrays, used to capture clear images of the bottom of the bridge body A1, and to identify and detect surface defects such as concrete cracks, steel corrosion, surface peeling and water seepage at the bottom of the bridge body through the YOLOv8 algorithm.

[0022] In practical applications, there are at least four ropes 40 and four towing vehicles. A rectangular suspended inspection platform 50 is arranged parallel to the bottom surface of the bridge body A1 to be inspected, and scans and inspects the bottom structure of the bridge body A1. Each of the four corners of the rectangular suspended inspection platform 50 is connected to one end of a rope 40. The other end of the rope 40 is wound up in the towing vehicle. The towing vehicle is positioned on the bridge body A1 to be inspected and moves along the length of the bridge body A1. The towing vehicle is relatively small, generally occupying only one lane of the bridge body A1, and will not significantly affect traffic on the bridge body A1. The towing vehicle moves the ropes 40 in and out, adjusting the position of the rectangular suspended inspection platform 50.

[0023] By controlling the release and retraction of the four ropes, the rectangular suspended inspection platform 50 can move below the bottom surface of the bridge body A1 to be inspected, thereby enabling large-area inspection of the bottom surface of the bridge body A1 to be inspected, thus overcoming the drawback of the small inspection area of ​​traditional special vehicle inspection methods.

[0024] The tractor mainly consists of a movable base 10, a rope drive mechanism 20, and a cantilever guide mechanism 30. The movable base 10 is used to move along the surface of the bridge body A1 to be inspected; the rope drive mechanism 20 is mounted on the movable base 10 and is used to retract and extend the rope 40. The cantilever guide mechanism 30 is used to support and guide the rope 40. One end of the cantilever guide mechanism 30 is connected to the movable base 10, the middle part of the cantilever guide mechanism 30 is slidably connected to both sides of the guardrail A2 of the bridge body A1 to be inspected, and the other end of the cantilever guide mechanism 30 is slidably connected to the rope 40.

[0025] With this setup, the rope 40 can cross the guardrail A2 from the bridge deck of the bridge body A1 to be inspected and connect to the rectangular suspended inspection platform 50 located below the bottom surface of the bridge body A1 to be inspected. Moreover, the process of raising and lowering the rope 40 is not affected by the bridge body A1 to be inspected, thus enabling flexible adjustment of the position of the rectangular suspended inspection platform 50.

[0026] The rope drive mechanism 20 includes a rectangular support frame 21.

[0027] In practical applications, the rectangular support frame 21 is mounted on the movable base 10. A servo motor 22, a retraction and extension adjustment assembly, an encoder wheel 281, a tension idler wheel 282, and a second guide wheel 29 are installed within the rectangular support frame 21.

[0028] The servo motor 22 drives the drum 23, which winds the rope 40, to rotate. The rotation of the drum 23 enables the winding and unwinding of the rope 40. The winding and unwinding adjustment assembly orderly winds and unwinds the rope 40 pulled from the drum 23, preventing tangling and knotting. The first guide wheel 25 guides the rope 40 after adjustment by the winding and unwinding adjustment assembly, thereby adjusting the direction of the rope 40 pulled from the drum 23.

[0029] The tension idler wheel 282 is used to press the rope 40 that has passed through the first guide wheel 25 against the surface of the encoder wheel 281 with a preset pressure, forming an S-shaped wrap angle; the second guide wheel 29 is used to guide the rope 40 that has passed through the encoder wheel 281 to the cantilever guide mechanism 30.

[0030] The retraction and adjustment assembly includes a reciprocating lead screw 24, a drive belt 26, and a rope guide 27, all mounted in a rectangular support frame 21.

[0031] In practical applications, the two ends of the transmission belt 26 are connected to the power output shaft of the servo motor 22 and the power input shaft of the reciprocating screw 24, respectively. Starting the servo motor 22 will drive the reciprocating screw 24 and the drum 23 to rotate together. The rope guide 27 is slidably connected to the rope 40 pulled out from the drum 23, and the rope guide 27 is engaged with the body of the reciprocating screw 24. During the rotation of the reciprocating screw 24, the rope guide 27 moves back and forth along the length of the reciprocating screw 24. This arrangement ensures that the rope 40 can be wound or pulled out of the drum 23 in an orderly and compact manner during the rotation of the drum 23.

[0032] The cantilevered guide mechanism 30 mainly consists of a U-shaped support frame 31 and an extension bracket 36. The middle part of the U-shaped support frame 31 is installed on the guardrail A2, and one end of the U-shaped support frame 31 is connected to the rectangular support frame 21. The U-shaped support frame 31 is equipped with rollers 32, casters 33, a first sliding wheel 34, and a second sliding wheel 35.

[0033] In practical applications, roller 32 is slidably connected to the top of guardrail A2; first sliding wheel 34 is slidably connected to the outer wall of guardrail A2 along its length; second sliding wheel 35 is slidably connected to the inner wall of guardrail A2 along its length; and swivel wheel 33 is slidably connected to the outer wall of guardrail A2.

[0034] With this configuration, a sliding connection is formed between the U-shaped support frame 31 and the guardrail A2, so that when the tractor moves the U-shaped support frame 31, the guardrail A2 will not affect its movement.

[0035] One end of the extension bracket 36 is connected to the other end of the U-shaped support frame 31; the other end of the extension bracket 36 extends to the bottom surface of the bridge body A1 to be tested, and the end is provided with a third guide wheel 361 for adjusting the traction direction of the rope 40. It also includes multiple guide wheels for changing and adjusting the traction direction of the rope 40, and the multiple guide wheels are respectively installed at the connection between the U-shaped support frame 31 and the rectangular support frame 21, and at the top of the U-shaped support frame 31.

[0036] With this setup, the rope 40 extending from the drum 23 can be adjusted in multiple directions along the structure of the cantilever guide mechanism 30 until it is successfully connected to the rectangular suspended testing platform 50.

[0037] The movable base 10 includes a drive motor 11, a transmission chain 12, and a movable wheel 13 installed in the bottom support frame; the transmission chain 12 is connected to the power shaft of the drive motor 11 and the transmission shaft of the movable wheel 13.

[0038] It also includes a controller; the controller is electrically connected to the drive motor 11, the servo motor 22, the encoder wheel 281 and the rectangular suspension detection platform 50. The controller is used to control the servo motor 22 to adjust the length of the rope 40, and to perform closed-loop feedback control of the rope 40 length through the encoder wheel 281 coupled to the rope 40, thereby adjusting the position of the rectangular suspension detection platform 50.

[0039] Example 2 The method of using the device provided by the present invention includes the following steps: S1. When using the longitudinal and transverse decoupling control method to inspect the bridge body A1, the controller first calculates the coordinate position that the tractor should reach based on the target position of the rectangular suspended inspection platform 50. As the tractor moves longitudinally along the bridge body A1 to be inspected, the four rope drive mechanisms 20 work together. By adjusting the length of the ropes 40, the final rectangular suspended inspection platform 50 is precisely positioned in the lateral direction of the bridge body A1 to be inspected.

[0040] The change in the length of rope 40 is monitored and recorded in real time by the encoder wheel 281 to ensure the accuracy of position control. Based on the principle of friction transmission, the linear motion of rope 40 drives the encoder wheel 281 to rotate synchronously through friction, converting the change in rope length into the angular displacement of the encoder wheel 281. This displacement, combined with the geometric radius of the encoder wheel 281, allows for the calculation of the real-time extension or contraction of the rope. This detection method is "in-motion detection," meaning that position feedback and correction are continuously performed during movement, thereby improving the system's response speed and positioning accuracy.

[0041] S2. If the fully coupled planar motion control method is used to detect the bridge body A1 to be tested, the controller first determines the boundary of the area to be detected of the bridge body A1 to be tested, and fixes the four tractors at the four vertices of the area. Subsequently, the controller calculates the target length of the ropes 40 on each tractor according to the detection point or path that the rectangular suspended detection platform 50 needs to reach, and coordinates the control through the rope drive mechanism 20; the encoder wheel 281 continuously monitors the change in the length of the ropes 40 during this process; ensuring the accurate positioning and path tracking of the rectangular suspended detection platform 50 in the plane.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A novel rope-driven bridge bottom detection device, characterized by, The utility model relates to a bridge bottom detection device, which comprises a rope (40), a rectangular suspension detection platform (50) and a traction vehicle. The rectangular suspension detection platform (50) is arranged in parallel with the bottom surface of the bridge body (A1) to be detected and scans and detects the bottom surface structure of the bridge body (A1) to be detected, and the four corners of the rectangular suspension detection platform (50) are connected with one end of the rope (40) respectively.

2. The novel rope-driven bridge bottom detection device according to claim 1, characterized in that, The other end of the rope (40) is wound in the traction vehicle.

3. A novel rope-driven bridge bottom detection device according to claim 1 or 2, characterized in that, The traction vehicle is arranged on the bridge body (A1) to be detected and moves along the length direction of the bridge body (A1) to be detected, and the traction vehicle drives the rope (40) to be wound and unwound to adjust the position of the rectangular suspension detection platform (50).

4. The novel rope-driven bridge bottom detection device according to claim 3, characterized in that, The rectangular suspension detection platform (50) is provided with sensors or devices required for performing the detection task of the bottom of the bridge body (A1) to be detected. The traction vehicle comprises a moving base (10), a rope driving mechanism (20) and a cantilever guide mechanism (30). The rope driving mechanism (20) is installed on the moving base (10) and is used for winding and unwinding the rope (40). The rope driving mechanism (20) comprises a rectangular body support frame (21). The rectangular body support frame (21) is installed on the moving base (10), and a servo motor (22), a winding and unwinding adjusting assembly, a coding wheel (281), a tension idler (282) and a second guide wheel (29) are installed in the rectangular body support frame (21). The servo motor (22) is used for driving the winding drum (23) winding the rope (40) to rotate. The winding and unwinding adjusting assembly orderly winds and unwinds the rope (40) pulled out of the winding drum (23). The first guide wheel (25) is used for guiding the rope (40) adjusted by the winding and unwinding adjusting assembly. The tension idler (282) is used for reversely pressing the rope (40) passing through the first guide wheel (25) on the surface of the coding wheel (281) with a preset pressure and forms an S-shaped wrap angle. The second guide wheel (29) is used for guiding the rope (40) passing through the coding wheel (281) to the cantilever guide mechanism (30).

5. A novel rope-driven bridge bottom detection device according to claim 4, characterized in that, The retractable adjusting assembly comprises a reciprocating wire rod (24) installed in a rectangular body support frame (21), a transmission belt (26) and a rope guide (27); two ends of the transmission belt (26) are connected with a power output shaft of a servo motor (22) and a power input shaft of the reciprocating wire rod (24) respectively; the servo motor (22) drives the reciprocating wire rod (24) to rotate; the rope guide (27) is slidably connected with a rope (40) pulled out from a winding drum (23), and the rope guide (27) is engaged with a rod body of the reciprocating wire rod (24) and reciprocally moves along a length direction of the reciprocating wire rod (24) during rotation of the reciprocating wire rod (24).

6. A novel rope-driven bridge bottom detection device according to claim 5, characterized in that The cantilever guide mechanism (30) comprises a U-shaped support frame (31) and an extension support (36); a middle part of the U-shaped support frame (31) is installed on a guardrail (A2), and one end of the U-shaped support frame (31) is connected with the rectangular body support frame (21); the U-shaped support frame (31) is provided with a roller (32), a universal wheel (33), a first sliding wheel (34) and a second sliding wheel (35); the roller (32) is slidably connected with a top end of the guardrail (A2); the first sliding wheel (34) is slidably connected with a length direction of an outer wall of the guardrail (A2), and the second sliding wheel (35) is slidably connected with a length direction of an inner wall of the guardrail (A2); the universal wheel (33) is slidably connected with the outer wall of the guardrail (A2); one end of the extension support (36) is connected with the other end of the U-shaped support frame (31); the other end of the extension support (36) extends to a bottom surface of the bridge body (A1) to be detected, and an end part is provided with a third guide wheel (361) for adjusting a pulling direction of the rope (40).

7. A novel rope-driven bridge bottom detection device according to claim 3 or 6, characterized in that, The moving base (10) comprises a driving motor (11), a transmission chain (12) and a moving wheel (13) installed in a bottom support frame; the transmission chain (12) is connected with a power shaft of the driving motor (11) and a transmission shaft of the moving wheel (13).

8. The novel rope-driven bridge bottom detection device according to claim 6, characterized in that, A plurality of guide wheels for changing the pulling direction of the adjusting rope (40) are further included, and the plurality of guide wheels are respectively installed at a connection between the U-shaped support frame (31) and the rectangular body support frame (21) and a top part of the U-shaped support frame (31).

9. The novel rope-driven bridge bottom detection device according to claim 8, characterized in that, A controller is further included; the controller is electrically connected with the driving motor (11), the servo motor (22), the coding wheel (281) and the rectangular suspension type detection platform (50), and the controller is used for controlling the servo motor (22) to regulate the length of the rope (40), and performing closed-loop feedback control on the length of the rope (40) through the coding wheel (281) coupled with the rope (40) to adjust the position of the rectangular suspension type detection platform (50).

10. A method of using a novel rope-driven bridge deck inspection apparatus according to any one of claims 1-9, characterized in that, The method comprises the following steps: S1, when the bridge (A1) to be detected is detected by using the longitudinal and lateral decoupling control mode, the controller first calculates the coordinate position that the tractor should reach according to the target position of the rectangular suspension detection platform (50); when the tractor moves longitudinally along the bridge (A1) to be detected, the four rope driving mechanisms (20) work cooperatively, the length of the rope (40) is adjusted to make the final rectangular suspension detection platform (50) accurately positioned in the lateral direction; the change of the length of the rope (40) is monitored and recorded by the coding wheel (281) in real time to ensure the accuracy of the position control; S2, when the bridge (A1) to be detected is detected by using the full coupling planar motion control mode, the controller first determines the boundary of the detection area of the bridge (A1) to be detected, and fixes the four tractors at the four vertices of the area; then, the controller calculates the target length of the rope (40) on each tractor according to the detection point or path that the rectangular suspension detection platform (50) needs to reach, and controls the rope driving mechanism (20) coordinately; the coding wheel (281) continuously monitors the change of the length of the rope (40) in the process.

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