A general light-weight disease identification and cable climbing device and method for stay cable suspender

Abstract

The application discloses a general lightweight disease identification cable climbing device and method for stay cables and suspender, and belongs to the technical field of bridge detection. The device comprises a robot framework, a cable climbing mechanism arranged on the robot framework, a power module, an image acquisition mechanism and a control mechanism. The control mechanism is electrically connected with the cable climbing mechanism, the power module and the image acquisition mechanism. The device further comprises a protection mechanism. The protection mechanism protects the image acquisition mechanism and the control mechanism in a strong wind environment and improves the gripping force of the device on the suspender. The application can significantly improve the anti-slippage ability of the cable climbing device in a strong wind condition, reduce the falling risk and realize rapid and accurate detection of diseases of the stay cable and the suspender, thereby providing scientific and reliable data support for the maintenance and management of the bridge.

Description

Technical Field

[0001] This invention relates to a lightweight cable-stayed bridge gantry climbing device and method for identifying cable defects, belonging to the field of bridge inspection technology. Background Technology

[0002] In recent years, the construction of long-span special-structure cable-stayed bridges (such as cable-stayed bridges and suspension bridges) has developed rapidly. Due to their aesthetic appeal and excellent seismic performance, they have been widely used. The cables of cable-stayed bridges and the suspenders of suspension bridges, as the main supporting components, have a significant impact on the overall integrity of the bridge due to their safety and durability. During long-term service, cables and suspenders are affected by various factors such as alternating loads, wind and rain erosion, and material aging, leading to various defects such as sheath damage, wire corrosion, and broken wires. Due to the special characteristics of cable-stayed bridges (such as their extreme height), they are difficult to access manually, and even if accessible, the potential danger to workers is significant, making inspection difficult. Therefore, comprehensive inspection and repair maintenance work is rarely carried out in China, with manual suspended platform operations being the primary method, resulting in low efficiency, poor safety, high cost, and low reliability.

[0003] Currently, computer vision image recognition methods based primarily on deep learning models are developing rapidly, especially YOLO, DETR, and Cascade Mask R. Traditional machine learning methods, such as CNNs, utilize high-resolution images acquired by cable-climbing robots or drones for both supervised and unsupervised learning in defect identification. These methods offer good accuracy, robustness, strong learning ability, and adaptability, achieving the best overall image defect identification performance. However, they still face challenges such as difficulty balancing detection accuracy and speed, large image data requirements, and high annotation costs. CN 117670825 A discloses a method for detecting surface defects in bridge cable sheaths. This method trains a specific model using a defect image dataset to obtain a weight file for subsequent detection of specific cable defects. Its technical approach is relatively mature and does not incorporate cloud computing or IoT-based digital processes. Summary of the Invention

[0004] (a) Technical problems to be solved The technical problem to be solved by the present invention is to address the issues of poor safety and insufficient reliability of existing bridge cable surface defect detection devices and detection methods.

[0005] (II) Technical Solution To address the aforementioned technical problems, this invention provides a lightweight cable-climbing device for identifying defects in cable-stayed bridges. The device includes a robot skeleton and a cable-climbing mechanism, a power module (not shown in the figures), an image acquisition mechanism, and a control mechanism mounted on the robot skeleton. The control mechanism is electrically connected to the cable-climbing mechanism, the power module, and the image acquisition mechanism, and can control the operation of each mechanism. It should be noted that the above-mentioned features are achievable with existing technology and will not be elaborated further. It also includes a protective mechanism; the protective mechanism includes a base, a reciprocating screw, a fan, a first movable sleeve, an air collecting cylinder, a movable disc, a connecting rod, a connecting pipe, and an airbag. The base is mounted on the robot skeleton, the reciprocating screw is rotatably mounted on the base, the fan is fixedly mounted on the reciprocating screw and threadedly connected to the first movable sleeve, the air collecting cylinder is fixed to the robot skeleton, the movable disc is located inside the air collecting cylinder, one end of the connecting rod is connected to the first movable sleeve, and the other end extends into the air collecting cylinder and is connected to the movable disc, and the airbag covers the image acquisition mechanism and the control mechanism; the air collecting cylinder is provided with an air intake pipe and an air delivery pipe, and each of the air intake pipe and the air delivery pipe is provided with a one-way valve, and the output end of the air delivery pipe is connected to the airbag through the connecting pipe. The protective mechanism uses a coordinated design of a fan, an air collection cylinder, and an airbag to create a dynamic airflow circulation during the robot's climbing process. The fan rotation drives the airflow through the suction pipe into the air collection cylinder, which in turn pushes the movable disc to compress the gas. The gas is then inflated into the airbag through the air delivery pipe, forming a wrap-around protection for the image acquisition and control mechanisms. The airbag envelopment design does not add any extra structural weight.

[0006] Furthermore, the protection mechanism also includes an auxiliary plate, a second movable sleeve, and a movable rod. The second movable sleeve is mounted on the robot skeleton, and the output end of the air supply pipe is connected to the second movable sleeve. One end of the movable rod is inserted into the second movable sleeve and can slide back and forth, while the other end is fitted with the auxiliary plate, which is an arc-shaped plate. The airflow output from the air supply pipe drives the movable rod within the second movable sleeve to move. On one hand, the arc-shaped plate fits against the curved surface of the stay cable, which can cause the auxiliary plate to grip the boom. On the other hand, the arc-shaped auxiliary plate scrapes the surface of the stay cable, removing adhering dust and other debris, thus reducing interference during image acquisition.

[0007] Furthermore, the protection mechanism also includes a first spring, a first fixing plate, and a telescopic rod. The first fixing plate is disposed inside the second movable sleeve. One end of the first spring is connected to the movable rod, and the other end is connected to the first fixing plate. The telescopic rod is disposed at one end of the movable rod located inside the second movable sleeve. Furthermore, the protection mechanism also includes a coating plate, a storage tube, a conveying tube, a second fixed plate, a second spring, and a movable plate. The coating plate is mounted on the auxiliary plate, and the storage tube is mounted on the coating plate. The storage tube has a feed inlet. The conveying tube is mounted on the robot skeleton. The second fixed plate is mounted inside the conveying tube, and a vent hole is provided in the middle of the second fixed plate. The output end of the air supply pipe is connected to the conveying tube. One end of the second spring is connected to the second fixed plate, and the other end is mounted on the movable plate, which is located inside the storage tube. The airflow pushes the movable plate, causing the friction-enhancing paste entering the storage tube from the feed inlet to seep out through the arc-shaped groove and be applied to the surface of the inclined cable, increasing the friction force when the device moves on the cable and improving stability. Alternatively, it can be used to apply rust-preventive lubricants, enabling simultaneous identification of defects and basic maintenance.

[0008] Furthermore, the coating plate is provided with an arc-shaped groove, and the material storage tube communicates with the groove. The arc-shaped groove matches the curvature of the inclined cable surface, ensuring uniform coverage of the friction-enhancing paste, avoiding waste, and reducing the risk of the robot slipping.

[0009] Furthermore, the robot skeleton is equipped with multiple air collection cylinders, and the ends of the air intake pipes on all the air collection cylinders that are away from the air collection cylinders converge at one place to form an air intake port, which is directly opposite the middle of the robot skeleton.

[0010] Furthermore, the robot skeleton includes an arc-shaped enclosure, a first fixing plate, a fixing sleeve, a pretensioner, a pretension spring, and a second fixing bolt. Two arc-shaped enclosures are arranged side by side, and the first fixing plate is set between the two arc-shaped enclosures to form a skeleton assembly. The two skeleton assemblies are connected to form the robot skeleton. Fixing sleeves and pretensioners are respectively set at both ends of the arc-shaped enclosures. The second fixing bolt passes through the fixing sleeves of the two skeleton assemblies adjacent to each other, and the pretensioners of the two skeleton assemblies opposite each other are connected by the pretension spring.

[0011] Furthermore, the climbing cable mechanism includes a motor, an integrated base, a drive wheel, an auxiliary wheel, a first fixing bolt, and a fixing nut. The drive wheel and the auxiliary wheel are respectively mounted on the arc-shaped enclosure plate via the integrated base and the first fixing bolt and locked with the fixing nut. The motor is mounted on the integrated base on which the drive wheel is mounted, and the output end of the motor is connected to the drive wheel.

[0012] Furthermore, the robot skeleton is provided with a second fixing plate and a fixing disk. The second fixing plate is provided with an image acquisition mechanism and a control mechanism. The image acquisition mechanism includes a detection head, and the control mechanism includes a control box. The air collection cylinder is provided on the fixing disk.

[0013] On the other hand, the present invention also provides a lightweight defect identification method for cable-stayed gantry rods, implemented using the aforementioned lightweight defect identification cable-climbing device, which includes: S100, Collect image information on the apparent defects of the stay cables and suspension rods; The lightweight disease identification climbing device is used to move along the stay cable and the gantry to take pictures and obtain the appearance image information of the stay cable and the gantry. S200: Transmit the image data of the apparent defects of the stay cables and suspension rods to the host computer; S300 intelligently identifies and segments defects in stay cables and suspenders, achieving precise classification and positioning; S400, multi-dimensional disease verification and risk assessment, generating test reports; S500 and climbing cable device status feedback and data archiving support full lifecycle operation and maintenance.

[0014] (III) Beneficial Effects The above-described technical solution of the present invention has the following advantages: This invention significantly improves the anti-slip capability of cable-climbing devices under strong wind conditions, reduces the risk of falls, and enables rapid and accurate detection of defects in stay cables and suspenders using this lightweight defect identification device, providing scientific and reliable data support for bridge maintenance and management. Specifically, this invention protects key equipment through protective devices and increases the friction force of the cable-climbing device when sliding on the cables in high wind conditions, thereby improving its stability when moving on the cables.

[0015] In addition to the technical problems solved by the present invention, the technical features of the technical solutions constituted by the present invention, and the advantages brought about by the technical features of these technical solutions as described above, other technical features of the present invention and the advantages brought about by these technical features will be further explained in conjunction with the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention (isometric view). Figure 2 This is a schematic diagram of the left-side skeleton assembly and its associated structures of the present invention; Figure 3 This is a schematic diagram of the right-side skeleton assembly and its associated structures of the present invention; Figure 4for Figure 3 A schematic diagram with further added auxiliary structures; Figure 5 for Figure 4 Enlarged view of section A in the middle; Figure 6 for Figure 4 A schematic diagram showing the components with some parts hidden. Figure 7 for Figure 6 Enlarged view of section B; Figure 8 for Figure 4 Right-side view illustration; Figure 9 This is a flowchart of the method for identifying and detecting apparent defects in stay cables and suspension rods according to the present invention. Figure 10 This is a diagram showing the results of the detection and identification of apparent defects in the stay cables and suspension rods of this invention.

[0018] In the diagram: 1. Robot skeleton; 2. Climbing cable mechanism; 21. Auxiliary wheel; 22. First fixing bolt; 23. Fixing nut; 24. Preload; 25. First fixing plate; 26. Drive wheel; 27. Fixing sleeve; 28. Second fixing bolt; 29. ​​Preload spring; 210. Second fixing plate; 211. Control box; 212. Motor; 213. Detection head; 3. Protection mechanism; 31. Fan; 32. Reciprocating lead screw; 33. Base; 34. First movable sleeve; 35. Connecting rod; 36. 37. Air collecting cylinder; 38. Movable disc; 39. Fixed disc; 30. Auxiliary plate; 310. Coating plate; 312. Air intake port; 313. Air intake pipe; 314. Second movable sleeve; 315. First spring; 316. First fixed plate; 317. Movable rod; 318. Telescopic rod; 319. Conveying pipe; 320. Second fixed plate; 321. Second spring; 322. Movable plate; 323. Material storage pipe; 324. Air delivery pipe; 325. Connecting pipe; 326. Airbag; 327. Feed inlet. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 some embodiments of the present invention, not all embodiments. 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] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] Example 1 See Figures 1 to 8 As shown, this embodiment provides a lightweight cable-stayed bridge climbing device for identifying defects in cable-stayed bridges. It includes a robot frame 1 (arc-shaped enclosure) and a climbing mechanism 2 mounted on the robot frame 1. A protective mechanism 3 is also provided on the robot frame 1. The protective mechanism 3 includes a fan 31 rotating at the upper end of the robot frame 1. A reciprocating screw 32 is connected to one side of the fan 31. A first movable sleeve 34 slides on the reciprocating screw 32. A movable disc 37 is connected to one side of the first movable sleeve 34. A fixed disc 38 is provided on one side of the robot frame 1. Two sets of air collection cylinders 36 are mounted on the fixed disc 38. The movable disc 37 slides inside the air collection cylinders 36. Each of the two sets of air collecting cylinders 36 has an air intake 312 connected to one side, and a second movable sleeve 314 connected to the other side. A movable rod 317 is movable inside the second movable sleeve 314. One end of the movable rod 317 is connected to an auxiliary plate 39. The bottom of the auxiliary plate 39 is connected to a coating plate 310. A conveying pipe 319 is connected to one side of the second movable sleeve 314. A movable piece 322 is movable on one side of the conveying pipe 319. A storage pipe 323 is connected to the other side of the conveying pipe 319. The movable piece 322 slides inside the storage pipe 323. One end of the storage pipe 323 is connected to the coating plate 310. An air bag 326 is connected to one side of the air collecting cylinder 36.

[0022] In use, the position of the auxiliary wheel 21 inside the robot frame 1 is adjusted by rotating the fixing nut 23 according to the size of the cable to be climbed, thereby adjusting the contact pressure between the auxiliary wheel 21 and the cable. At the same time, the robot frame 1 is spliced ​​together by the second fixing bolt 28 to form a whole. The pre-tensioning spring 29 is connected to the pre-tensioning component 24 to pre-tension the spliced ​​robot frame 1. At the same time, rotating the second fixing bolt 28 moves the fixing sleeve 27 closer to the center to fix the spliced ​​robot frame 1. Simultaneously, the motor 212 is started by the control box 211, which drives the drive wheel 26 to rotate. The rotation of the drive wheel 26 causes the robot frame 1 to move along the cable. At the same time, when the robot frame 1 moves, the detection head 213 takes pictures of the cable to detect defects and damage on the cable.

[0023] When the cable-climbing device inspects the cables at high altitudes, if a sudden strong wind occurs, the fan 31 will rotate due to the strong wind. The rotation of the fan 31 will drive the reciprocating screw 32 to rotate. The rotation of the reciprocating screw 32 will drive the first movable sleeve 34 to move through the ball nut pair connection. The first movable sleeve 34 will reciprocate on the reciprocating screw 32. The movement of the first movable sleeve 34 will drive the connecting rod 35 and the movable disc 37 to move. When the movable disc 37 moves inside the air collecting cylinder 36, it will draw in the air outside the air intake 312 through the air intake pipe 313. Internally, the first one-way valve inside the suction pipe 313 prevents the gas entering the gas collection cylinder 36 from being discharged through the suction pipe 313. At the same time, the second one-way valve inside the gas delivery pipe 324 discharges the gas inside the gas collection cylinder 36 into the gas delivery pipe 324, which then enters the air bag 326 to inflate the air bag 326, thus protecting the control box 211 and the detection head 213. When the device falls from a height, it reduces the damage to the detection head 213 and the control box 211, thereby reducing economic losses.

[0024] Simultaneously, the gas in the gas collecting cylinder 36 enters the second movable sleeve 314 and is stored inside. As the fan 31 rotates, the gas drawn in through the air intake 312 increases, increasing the gas inside the second movable sleeve 314 and thus increasing the internal air pressure. This slowly pushes the movable rod 317 to move. When the movable rod 317 moves inside the second movable sleeve 314, it stretches the first spring 315 and the telescopic rod 318, causing the first spring 315 to extend and the telescopic rod 318 to extend and retract. The movement of the movable rod 317 causes the auxiliary plate 39 to move, increasing the contact area between the climbing cable device and the cable. At the same time, as the amount of gas increases, the pressure of the climbing cable device on the cable increases, reducing the probability of the device falling from a height in windy weather and avoiding injury to personnel.

[0025] Simultaneously, the movement of the auxiliary plate 39 drives the application plate 310 to move, which in turn drives the storage tube 323 to move, causing the movable piece 322 to move inside the storage tube 323. The application plate 310 moves along with the auxiliary plate 39 to ensure the paste contacts the cable during application. Meanwhile, external friction-enhancing paste is added to the storage tube 323 through the inlet 327. Gas introduced into the second movable sleeve 314 simultaneously enters the conveying tube 319, inflating its interior. Once the gas pressure exceeds the elastic force of the second spring 321, the gas pressure pushes the movable piece 322 to move. This movement of the movable piece 322 transfers the friction-enhancing paste from the storage tube 323 into the application plate 310, which then applies it to the cable through the grooves inside the application plate 310. This increases the friction of the drive wheel 26 as it moves on the cable, improving its stability.

[0026] In an optional embodiment, the climbing mechanism 2 includes multiple sets of auxiliary wheels 21 mounted on the robot frame 1. Each set of auxiliary wheels 21 is connected to a first fixing bolt 22 on one side. A fixing nut 23 is screwed onto the first fixing bolt 22. Multiple sets of first fixing plates 25 are mounted on the outside of the robot frame 1. Each set of first fixing plates 25 is equipped with bolts and nuts. The first fixing plates 25 are fixedly connected to the robot frame 1 by bolts and nuts. Fixing sleeves 27 are mounted on both sides of the robot frame 1. Second fixing bolts 28 pass through the inside of the fixing sleeves 27. Multiple sets of pre-tensioning members 24 are also mounted inside the robot frame 1. Pre-tensioning springs 29 are connected to the inside of the multiple sets of pre-tensioning members 24.

[0027] It should be noted that, depending on the size of the cable to be climbed, the position of the auxiliary wheel 21 inside the robot frame 1 is adjusted by rotating the fixing nut 23, thereby adjusting the contact pressure between the auxiliary wheel 21 and the cable. At the same time, the robot frame 1 is spliced ​​together by the second fixing bolt 28, forming a whole. The pre-tensioning spring 29 is connected to the pre-tensioning component 24 to pre-tension the spliced ​​robot frame 1. Meanwhile, rotating the second fixing bolt 28 moves the fixing sleeve 27 closer to the center, thereby fixing the spliced ​​robot frame 1.

[0028] In an optional embodiment, a drive wheel 26 is provided on one side of the robot skeleton 1, and a motor 212 is also provided on one side of the robot skeleton 1. The motor 212 is connected to the drive wheel 26 via an electrical signal. A second fixing plate 210 is provided on one side of the robot skeleton 1. A detection head 213 is provided on one side of the second fixing plate 210, and a control box 211 is provided on the other side of the second fixing plate 210. The control box 211 is connected to the detection head 213 via an electrical signal, and the control box 211 is connected to the motor 212 via an electrical signal.

[0029] It should be noted that the motor 212 is started by the control box 211, which drives the drive wheel 26 to rotate. The rotation of the drive wheel 26 causes the climbing device to move along the cable. At the same time, when the climbing device moves, the detection head 213 takes pictures of the cable to detect defects and damage on the cable.

[0030] In an optional embodiment, a base 33 is provided on the robot skeleton 1. The base 33 is movably connected to the reciprocating screw 32. The reciprocating screw 32 rotates inside the base 33. The first movable sleeve 34 is connected to the reciprocating screw 32 through a ball nut pair. One side of the first movable sleeve 34 is connected to the connecting rod 35. One end of the connecting rod 35 passes through the air collecting cylinder 36 and is connected to the movable disk 37.

[0031] It should be noted that the fan 31 is rotated by the strong wind, which drives the reciprocating screw 32 to rotate. The rotation of the reciprocating screw 32 drives the first movable sleeve 34 to move through the ball nut pair. The first movable sleeve 34 reciprocates on the reciprocating screw 32. The movement of the first movable sleeve 34 drives the connecting rod 35 and the movable plate 37 to move.

[0032] In an optional embodiment, a suction pipe 313 is connected to one side of the air collecting cylinder 36, one end of the suction pipe 313 is connected to the air intake 312, and a first one-way valve is provided inside the suction pipe 313.

[0033] It should be noted that when the movable disc 37 moves inside the gas collecting cylinder 36, it draws the gas outside the air intake port 312 into the air intake pipe 313 through the air intake pipe 313. At the same time, the first one-way valve inside the air intake pipe 313 prevents the gas entering the gas collecting cylinder 36 from being discharged through the air intake pipe 313.

[0034] In an optional embodiment, one end of the gas collecting cylinder 36 passes through the fixed plate 38 and is connected to a gas supply pipe 324. One end of the gas supply pipe 324 passes through the second fixed plate 210 and is connected to a second movable sleeve 314. A first spring 315 is provided inside the second movable sleeve 314. A first fixed piece 316 is provided inside the second movable sleeve 314. One end of the first spring 315 is connected to a movable rod 317, and the other end of the first spring 315 is connected to the first fixed piece 316. A telescopic rod 318 is provided inside the second movable sleeve 314. One end of the telescopic rod 318 is connected to the movable rod 317. A second one-way valve is provided inside the gas supply pipe 324.

[0035] It should be noted that the gas inside the gas collecting cylinder 36 is discharged into the gas supply pipe 324 through the second one-way valve inside the gas supply pipe 324, and then enters the second movable sleeve 314 through the gas supply pipe 324. It is stored inside the second movable sleeve 314. As the fan 31 rotates, the gas drawn in through the air intake port 312 increases, which increases the gas inside the second movable sleeve 314 and increases the air pressure inside the second movable sleeve 314. This slowly pushes the movable rod 317 to move. When the movable rod 317 moves inside the second movable sleeve 314, it stretches the first spring 315 and the telescopic rod 318, causing the first spring 315 to extend. At the same time, the telescopic rod 318 extends and retracts. The movement of the movable rod 317 causes the auxiliary plate 39 to move, increasing the contact area between the climbing cable device and the cable.

[0036] In an optional embodiment, a second fixing plate 320 is provided inside the conveying pipe 319, a second spring 321 is provided inside the conveying pipe 319, one end of the second spring 321 is connected to the movable plate 322, and the other end of the second spring 321 is connected to the second fixing plate 320. A feed inlet 327 is connected to one side of the storage pipe 323, and a groove is provided inside the coating plate 310.

[0037] It should be noted that the gas injected into the second movable sleeve 314 also enters the conveying pipe 319, inflating the inside of the conveying pipe 319. At the same time, after the gas pressure exceeds the elastic force of the second spring 321, the gas pressure pushes the movable plate 322 to move. The movement of the movable plate 322 brings the friction-enhancing paste inside the storage pipe 323 into the coating plate 310. The paste is then applied to the cable through the groove inside the coating plate 310, increasing the friction of the drive wheel 26 when it moves on the cable.

[0038] In an optional embodiment, one end of the gas supply pipe 324 is connected to a connecting pipe 325, and one side of the connecting pipe 325 is connected to an airbag 326. The airbag 326 is located outside the control box 211 and the pretension spring 29.

[0039] It should be noted that the gas inside the gas collecting cylinder 36 is discharged into the gas supply pipe 324, and then enters the air bag 326 through the gas supply pipe 324 to inflate the air bag 326 and protect the control box 211 and the pretension spring 29.

[0040] Working principle: During use, the position of the auxiliary wheel 21 inside the robot frame 1 is adjusted by rotating the fixing nut 23 according to the size of the cable to be climbed, thereby adjusting the contact pressure between the auxiliary wheel 21 and the cable. At the same time, the robot frame 1 is spliced ​​together by the second fixing bolt 28 to form a whole. The pre-tensioning spring 29 is connected to the pre-tensioning component 24 to pre-tension the spliced ​​robot frame 1. At the same time, rotating the second fixing bolt 28 moves the fixing sleeve 27 closer to the center, thereby fixing the spliced ​​robot frame 1. Simultaneously, the motor 212 is started by the control box 211, which drives the drive wheel 26 to rotate. The rotation of the drive wheel 26 causes the cable climbing device to move along the cable. At the same time, the detection head 213 takes pictures of the cable while the cable climbing device is moving.

[0041] When the cable-climbing device inspects the cables at high altitudes, if a sudden strong wind occurs, the wind will cause the fan 31 to rotate. The rotation of the fan 31 will drive the reciprocating screw 32 to rotate. The rotation of the reciprocating screw 32 will drive the first movable sleeve 34 to move through the ball nut assembly. The first movable sleeve 34 will reciprocate on the reciprocating screw 32. The movement of the first movable sleeve 34 will drive the connecting rod 35 and the movable disc 37 to move. When the movable disc 37 moves inside the air collecting cylinder 36, it will move through the suction pipe 31. 3. The gas outside the air inlet 312 is drawn into the air inlet pipe 313. At the same time, the first one-way valve inside the air inlet pipe 313 prevents the gas entering the air collection cylinder 36 from being discharged through the air inlet pipe 313. Meanwhile, the second one-way valve inside the air delivery pipe 324 discharges the gas inside the air collection cylinder 36 into the air delivery pipe 324. The gas then enters the air bag 326 through the air delivery pipe 324 to inflate the air bag 326 and protect the control box 211 and the pretension spring 29.

[0042] Simultaneously, the gas in the gas collecting cylinder 36 enters the second movable sleeve 314 and is stored inside the second movable sleeve 314. As the fan 31 rotates, the gas drawn in through the air intake 312 increases, causing the gas inside the second movable sleeve 314 to increase, thus increasing the air pressure inside the second movable sleeve 314. This slowly pushes the movable rod 317 to move. When the movable rod 317 moves inside the second movable sleeve 314, it stretches the first spring 315 and the telescopic rod 318, causing the first spring 315 to extend. At the same time, the telescopic rod 318 extends and retracts. The movement of the movable rod 317 causes the auxiliary plate 39 to move, increasing the contact area between the climbing cable device and the cable.

[0043] Simultaneously, as the auxiliary plate 39 moves, it drives the coating plate 310 to move. At the same time, friction-enhancing paste from the outside is added to the storage tube 323 through the feed port 327. The gas that is filled into the second movable sleeve 314 enters the conveying tube 319 to inflate the inside of the conveying tube 319. When the gas pressure exceeds the elastic force of the second spring 321, the gas pressure pushes the movable plate 322 to move. The movement of the movable plate 322 brings the friction-enhancing paste inside the storage tube 323 into the coating plate 310, and then coats it onto the cable through the groove inside the coating plate 310.

[0044] 1. In this embodiment, the gas pressure inside the delivery pipe exceeds the elastic force of the second spring, and the gas pressure pushes the movable plate to move. The moving plate moves the friction-enhancing paste inside the storage pipe into the coating plate, and applies it to the cable through the groove inside the coating plate. This increases the friction of the drive wheel when it moves on the cable, improves the stability of the drive wheel when it moves on the cable, significantly enhances the anti-slip ability under strong wind conditions, and reduces the risk of falling.

[0045] 2. In this embodiment, a strong wind drives the fan to rotate, drawing air from the outside of the intake port through the intake pipe into the air supply pipe via the air collection cylinder. Then, the air inside the air supply pipe is discharged from the air collection cylinder into the air supply pipe through the second one-way valve inside the air supply pipe. The air then enters the airbag through the air supply pipe, inflating the airbag and protecting the control box and detection head. When the device falls from a height, it reduces the damage to the detection head and control box, thereby reducing economic losses.

[0046] 3. In this embodiment, when the movable rod is slowly pushed to move, it stretches the first spring and the telescopic rod when it moves inside the second movable sleeve. This causes the first spring to extend and the telescopic rod to extend and retract. The movement of the movable rod causes the auxiliary plate to move, increasing the contact area between the climbing robot and the cable. At the same time, as the amount of gas increases, the pressure of the climbing robot on the cable is increased, reducing the probability of the device falling from a height in windy weather and avoiding injury to personnel.

[0047] Example 2 See Figures 9 to 10As shown, this embodiment provides a lightweight defect identification method for cable-stayed gantry rods, implemented using the lightweight defect identification climbing device described in the above embodiment. It should be noted that this identification method can be implemented using existing technology and based on the climbing device in the above embodiment. Therefore, except for the part concerning the use of the climbing device, all other identification steps are existing technology and are only briefly described. The method includes: S100, Collect image information on the apparent defects of the stay cables and suspension rods; The lightweight cable-climbing device for identifying defects moves along the stay cables and booms to capture images of their appearance. During the process, the device's protective air intake continuously absorbs dust from the cable surface (existing technology can be used to install a removable filter cartridge on the air intake or a filter screen directly inside the air intake to intercept absorbed dust and prevent it from entering the air intake pipe or other structures; the air intake should also be cleaned regularly). This reduces occlusion interference in the acquired images. If the detection head captures areas of strong light or shadow, the control box automatically adjusts the parameters of the supplementary lighting module (such as a supplementary lamp, existing technology) to simultaneously optimize the image acquisition quality.

[0048] S200 transmits images of apparent defects in stay cables and gantry rods to a host computer via a wireless image transmission module (used for data transmission, which can be set up using existing technology). The acquired surface image information undergoes multi-dimensional processing (basic noise reduction and correction) to eliminate environmental interference and optimize data quality. Specifically, Gaussian filtering is used to remove random noise such as dust and raindrops from the images, and histogram equalization is used to adjust the image grayscale distribution, improving the contrast between the surface defects of the stay cables and suspension rods and the background. For image shifts caused by shaking during the ascent, image registration technology is used to correct positional deviations, ensuring the accuracy of defect feature locations (this process can be performed using existing technologies).

[0049] Intelligent identification and segmentation of defects in S300 cables, stay cables, and suspension rods enables precise classification and location. Based on a pre-trained lightweight deep learning model, the processed images are annotated with the types of defects (such as sheath cracks, peeling, exposed threads, scratches, bulges, damage, and wear), their location coordinates, and size parameters. A standardized dataset containing the correspondence between "images and labels" is constructed (this process can be carried out using existing technologies).

[0050] S400, multi-dimensional disease verification and risk assessment, generating test reports; When a suspected defect area is identified, the control box triggers the cable-climbing mechanism to pause its ascent, and the detection head repeatedly captures images of the target area from multiple angles to verify the authenticity of the defect. After defect identification and location are completed, the defect is further verified and analyzed from multiple dimensions, comprehensively considering factors such as the severity of the defect, its development trend, and its impact on the safety of the bridge structure, to conduct a risk assessment. The risk assessment model is constructed using a combination of the analytic hierarchy process (AHP) and fuzzy comprehensive evaluation (this process can utilize existing technologies).

[0051] S500 and climbing cable device status feedback and data archiving support full lifecycle operation and maintenance; Equipment status feedback includes battery level, runtime, fault information, and location information, with real-time monitoring of battery power. Inspection reports, raw images, sensor data, and equipment status records are uniformly stored in a cloud or local database to establish a full lifecycle health record for the stay cables and booms (this process can utilize existing technology).

[0052] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A lightweight cable-stayed bridge climbing device for general-purpose cable-stayed bridge pylon identification, comprising a robot skeleton (1) and a cable-climbing mechanism (2), a power module, an image acquisition mechanism, and a control mechanism mounted on the robot skeleton (1), wherein the control mechanism is electrically connected to the cable-climbing mechanism (2), the power module, and the image acquisition mechanism, characterized in that: It also includes protection agencies (3); The protective mechanism (3) includes a base (33), a reciprocating screw (32), a fan (31), a first movable sleeve (34), an air collecting cylinder (36), a movable disc (37), a connecting rod (35), a connecting pipe (325), and an airbag (326). The base (33) is mounted on the robot frame (1). The reciprocating screw (32) is rotatably mounted on the base (33). The fan (31) is fixedly mounted on the reciprocating screw (32) and threadedly connected to the first movable sleeve (34). The air collecting cylinder (36) is fixed on the robot frame (1). The movable disc (37) is disposed inside the air collection cylinder (36). One end of the connecting rod (35) is connected to the first movable sleeve (34), and the other end extends into the air collection cylinder (36) and is connected to the movable disc (37). The air bag (326) covers the image acquisition mechanism and the control mechanism. The air collection cylinder (36) is provided with an air intake pipe (313) and an air delivery pipe (324). One-way valves are respectively provided on the air intake pipe (313) and the air delivery pipe (324). The output end of the air delivery pipe (324) is connected to the air bag (326) through a connecting pipe (325). The protection mechanism (3) also includes an auxiliary plate (39), a second movable sleeve (314), and a movable rod (317). The second movable sleeve (314) is mounted on the robot skeleton (1). The output end of the air supply pipe (324) is connected to the second movable sleeve (314). One end of the movable rod (317) is inserted into the second movable sleeve (314) and can slide back and forth. The other end is provided with the auxiliary plate (39), which is an arc-shaped plate.

2. The lightweight disease identification climbing device according to claim 1, characterized in that: The protective mechanism (3) further includes a first spring (315), a first fixing plate (316), and a telescopic rod (318). The first fixing plate (316) is disposed inside the second movable sleeve (314). One end of the first spring (315) is connected to the movable rod (317), and the other end is connected to the first fixing plate (316). The telescopic rod (318) is disposed at one end of the movable rod (317) located inside the second movable sleeve (314).

3. The lightweight disease identification climbing device according to claim 2, characterized in that: The protection mechanism (3) further includes a coating plate (310), a storage tube (323), a conveying tube (319), a second fixing plate (320), a second spring (321), and a movable plate (322). The coating plate (310) is provided on the auxiliary plate (39), the storage tube (323) is provided on the coating plate (310), the storage tube (323) is provided with a feed inlet (327), the conveying tube (319) is provided on the robot skeleton (1), the second fixing plate (320) is provided inside the conveying tube (319), the second fixing plate (320) is provided in the middle of the second fixing plate (320), the output end of the air supply pipe (324) is connected to the conveying tube (319), one end of the second spring (321) is connected to the second fixing plate (320), and the other end is provided with the movable plate (322). The movable plate (322) is provided inside the storage tube (323).

4. The lightweight disease identification climbing device according to claim 3, characterized in that: The coating plate (310) is provided with an arc-shaped groove, and the storage tube (323) is connected to the groove.

5. The lightweight disease identification climbing device according to claim 4, characterized in that: The robot skeleton (1) is provided with multiple air collection cylinders (36). The ends of the air suction pipes (313) on all the air collection cylinders (36) that are away from the air collection cylinders (36) converge at one place to form an air intake (312). The air intake (312) is directly opposite the middle of the robot skeleton (1).

6. The lightweight disease identification climbing device according to claim 1, characterized in that: The robot skeleton (1) includes an arc-shaped enclosure, a first fixing plate (25), a fixing sleeve (27), a pre-tensioning member (24), a pre-tensioning spring (29), and a second fixing bolt (28). The two arc-shaped enclosures are arranged side by side, and the first fixing plate (25) is set between the two arc-shaped enclosures to form a skeleton group. The two skeleton groups are connected to form the robot skeleton (1). The two ends of the arc-shaped enclosure are respectively provided with a fixing sleeve (27) and a pre-tensioning member (24). The second fixing bolt (28) passes through the fixing sleeves (27) of the two skeleton groups adjacent to each other. The pre-tensioning members (24) of the two skeleton groups opposite each other are connected by the pre-tensioning spring (29).

7. The lightweight disease identification climbing device according to claim 6, characterized in that: The climbing mechanism (2) includes a motor (212), an integrated base, a drive wheel (26), an auxiliary wheel (21), a first fixing bolt (22), and a fixing nut (23). The drive wheel (26) and the auxiliary wheel (21) are respectively installed on the arc-shaped plate through the integrated base and the first fixing bolt (22) and locked by the fixing nut (23). The motor (212) is installed on the integrated base on which the drive wheel (26) is installed, and the output end of the motor (212) is connected to the drive wheel (26).

8. The lightweight disease identification climbing device according to claim 7, characterized in that: The robot skeleton (1) is provided with a second fixing plate (210) and a fixing disk (38). The second fixing plate (210) is provided with an image acquisition mechanism and a control mechanism. The image acquisition mechanism includes a detection head (213), and the control mechanism includes a control box (211). The fixing disk (38) is provided with the air collection cylinder (36).

9. A lightweight defect identification method for cable-stayed suspension rods, implemented using a lightweight defect identification climbing device as described in any one of claims 1 to 8, characterized in that, include: S100, Collect image information on the apparent defects of the stay cables and suspension rods; The lightweight disease identification climbing device is used to move along the stay cable and the gantry to take pictures and obtain the appearance image information of the stay cable and the gantry. S200: Transmit the image data of the apparent defects of the stay cables and suspension rods to the host computer; S300 intelligently identifies and segments defects in stay cables and suspenders, achieving precise classification and positioning; S400, multi-dimensional disease verification and risk assessment, generating test reports; S500 and climbing cable device status feedback and data archiving support full lifecycle operation and maintenance.

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