An integrated damping and vibration de-icing device and control method for cable structures

Abstract

This invention relates to the field of vibration control and health monitoring technology for civil engineering structures, specifically to an integrated device and control method for damping and vibration-induced de-icing of cable structures. This application achieves intelligent de-icing through a single device that combines damping vibration suppression with visual guidance, possessing a complete closed-loop control capability encompassing perception, decision-making, execution, and verification. It employs a progressive high-order modal excitation strategy, utilizing the complex local deformation of high-order modes to more effectively break down ice layer adhesion, fundamentally solving the industry problem of poor low-order modal excitation performance. Furthermore, the system can automatically select and upgrade the optimal mode according to different icing conditions, achieving online optimization of the de-icing strategy.

Description

Technical Field

[0001] This invention relates to the field of vibration control and health monitoring technology for civil engineering structures, specifically to an integrated device and control method for damping and vibration de-icing of cable structures. Background Technology

[0002] Long-span bridge cable structures are characterized by high slenderness ratio, low damping, and high flexibility, making them prone to harmful vibrations such as vortex-induced vibration and wind-induced vibration under environmental loads like wind and rain. External viscous dampers are commonly used in engineering to suppress these vibrations. However, traditional dampers have limited functionality, and the performance of their hydraulic oil may deteriorate at extreme low temperatures.

[0003] Furthermore, with the increasing frequency of extreme weather events, the problem of icing in cable structures is becoming increasingly prominent. Icing increases structural load, alters aerodynamic shape, and induces more severe vibrations; ice detachment also threatens the safety of the structures below. Existing de-icing methods (such as manual tapping and thermal melting) are inefficient, costly, and risky. Although some studies have proposed using additional vibrators to induce resonance in cable structures for de-icing, this requires the installation of an additional system and typically only utilizes fundamental frequency resonance. For firmly bonded or unevenly distributed ice, its de-icing efficiency and effectiveness are unsatisfactory. Therefore, there is an urgent need in this field for an intelligent device that integrates vibration suppression and efficient active de-icing functions, and can adaptively optimize the de-icing strategy. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide an integrated damping and vibration de-icing device and control method for cable structures to solve the problems in the background art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: The present invention provides an integrated damping and vibration de-icing device for cable structures, comprising: A visual monitoring module is used to acquire original images of the cable structure and analyze the original images to obtain the icing thickness of the cable structure. The control module, connected to the visual monitoring module, is used to compare the ice thickness with a preset thickness threshold, and when the ice thickness is greater than or equal to the preset thickness threshold, generate an excitation control signal with a current excitation frequency that is higher than the excitation frequency of the previous stage; when the ice thickness is less than the preset thickness threshold, generate a damping control signal to suppress wind-induced vibration of the cable structure. The power module, connected to the control module, the vision monitoring module, and the cable structure, is used to apply vibration at the current stage excitation frequency to the cable structure based on the excitation control signal, and return to the vision monitoring module after the vibration target duration to perform the current stage excitation de-icing; and is also used to enter the damping mode based on the damping control signal to suppress wind-induced vibration of the cable structure.

[0006] In one embodiment of this application, it further includes: The frequency sweep module is used to control the power module to perform frequency sweep excitation or composite frequency excitation when the ice thickness of the cable structure is still greater than or equal to a preset thickness threshold after the power module has completed the excitation de-icing at the highest excitation frequency.

[0007] In one embodiment of this application, the original image is analyzed to obtain the icing thickness of the cable structure, including: The original image is preprocessed to obtain a preprocessed image, wherein the preprocessing includes grayscale conversion, Gaussian filtering, and contrast enhancement; Extract the effective edge pixels from the preprocessed image, and merge the effective edge pixels into multiple detection line segments based on the probabilistic Hough transform; The left and right contour lines of the cable structure are constructed based on multiple detection line segments, and the icing thickness of the cable structure is calculated based on the left contour line, the right contour line, the pre-constructed left reference contour line, and the pre-constructed right reference contour line.

[0008] In one embodiment of this application, effective edge pixels are extracted from the preprocessed image, and these effective edge pixels are merged into multiple detection line segments based on the probabilistic Hough transform, including: Based on the Canny edge detection algorithm, strong edge pixels and weak edge pixels are extracted from the preprocessed image by combining high threshold and low threshold. The strong edge pixels are pixels with gradient magnitude greater than the high threshold, and the weak edge pixels are pixels with gradient magnitude between the low threshold and the high threshold. The strong edge pixels and the weak edge pixels connected to the strong edge pixels are taken as valid edge pixels. The effective edge pixels are combined into multiple detection line segments based on the probabilistic Hough transform.

[0009] In one embodiment of this application, the left and right contour lines of the cable structure are constructed based on multiple detection line segments, including: The positions of the endpoints of the detected line segment are compared with those of multiple pre-defined regions of interest, wherein the regions of interest are located on the left or right side of the cable structure; The detection line segments whose endpoints are located in the same region of interest are assigned to the same edge contour; and the Euclidean distance between the adjacent endpoints of any two adjacent detection line segments in the same edge contour is calculated. When the Euclidean distance is less than a preset distance threshold, the adjacent endpoints of the two adjacent detection line segments are connected to obtain the pixel chain of the left contour or the right contour. The left or right contour pixel chain is fitted with a quadratic polynomial to obtain the left or right contour line.

[0010] In one embodiment of this application, the icing thickness of the cable structure is calculated based on the left contour line, the right contour line, a pre-constructed left reference contour line, and a pre-constructed right reference contour line, including: The left contour line, the right contour line, the pre-constructed left reference contour line, and the pre-constructed right reference contour line are sampled respectively to obtain multiple sampling points of the left contour line, multiple sampling points of the right contour line, multiple sampling points of the left reference contour line, and multiple sampling points of the right reference contour line, wherein the multiple sampling points are distributed at equal intervals along the vertical direction of the cable structure; For the same height level Calculate the first distance between the sampling points of the left contour line and the sampling points of the right contour line. And calculate the second distance between the sampling points of the left reference contour line and the sampling points of the right reference contour line. , where the first distance and the second distance The mathematical expression is: In the formula, Indicates the height level of the right contour line Corresponding sampling points Indicates the height level of the left contour line Corresponding sampling points Indicates the height level of the right-side reference contour line. Corresponding sampling points Indicates the height level of the left reference contour line. The corresponding sampling points; Based on the first distance and the second distance Calculate height level Ice layer pixel thickness The ice layer pixel thickness The mathematical expression is: Calculate the average pixel thickness of the ice layer pixel thickness at multiple sampling heights. And extract the maximum pixel thickness from the ice layer pixel thickness at multiple sampling heights. ; The average pixel thickness is calculated based on a pre-calibrated scaling factor. and the maximum pixel thickness Converted to average true thickness respectively and maximum true thickness Wherein, the average true thickness and the maximum true thickness The mathematical expressions are as follows: In the formula, This is a scaling factor.

[0011] In one embodiment of this application, the ice thickness is compared with a preset thickness threshold, and when the ice thickness is greater than or equal to the preset thickness threshold, an excitation control signal with a current excitation frequency higher than the excitation frequency of the previous stage is generated; when the ice thickness is less than the preset thickness threshold, excitation de-icing is completed, including: The average true thickness The maximum true thickness is compared with a preset average thickness threshold. The thickness is compared with a preset maximum thickness threshold, wherein the maximum thickness threshold is greater than the average thickness threshold. The average true thickness Greater than or equal to a preset average thickness threshold, or the maximum true thickness. When the average true thickness is greater than or equal to a preset maximum thickness threshold, an excitation control signal is generated that has a current excitation frequency one unit higher than the excitation frequency of the previous stage; Less than the preset average thickness threshold and the maximum true thickness When the thickness is less than the preset maximum thickness threshold, the de-icing process is considered complete.

[0012] In one embodiment of this application, the control module includes a programmable controller and a relay group; the power module includes an adjustable energy-consuming resistor, a driver, and a power transmission unit. The programmable controller is used to generate an excitation control signal with a higher excitation frequency in the current stage than the excitation frequency in the previous stage when the ice thickness is greater than or equal to a preset thickness threshold; or to generate a damping control signal for suppressing wind-induced vibration of the cable structure when the ice thickness is less than the preset thickness threshold. The input terminal of the relay group is connected to the programmable controller, and the output terminal of the relay group is connected to the adjustable energy-consuming resistor and the driver. The adjustable energy-consuming resistor and the driver are connected in parallel and are both connected to the motor module in the power transmission unit. The relay group switches its output to the power transmission unit to generate excitation based on the excitation control signal, or switches its output to an adjustable energy-consuming resistor based on the damping control signal. The adjustable energy-consuming resistor is used to consume electrical energy and generate an electromagnetic damping force opposite to the direction of vibration.

[0013] In one embodiment of this application, the power transmission unit includes a motor module, a fixed frame, a fixed sleeve, and a sliding column; Wherein, one end of the fixed frame is installed in the anchorage area of ​​the bridge tower, the motor module is disposed inside the fixed frame, one end of the fixed sleeve is fixedly connected to the other end of the fixed frame, and the sliding column is disposed in the fixed sleeve to slide freely along the axis of the fixed sleeve; the fixed sleeve also cooperates with the guide rail disposed on the sliding column to limit relative rotation. The output end of the motor module is provided with a screw, and one end of the slide column is provided with a nut. The screw and the nut cooperate to form a ball screw structure; the other end of the slide column is provided with a cable clamp to fix the cable structure. The motor module reciprocates based on the excitation control signal to drive the sliding column to reciprocate within the sleeve, thereby generating excitation on the cable structure.

[0014] This application also provides an integrated control method for damping and vibration de-icing of cable structures, including the following steps: The original image of the cable structure was acquired and analyzed to obtain the icing thickness of the cable structure. The ice thickness is compared with a preset thickness threshold. When the ice thickness is greater than or equal to the preset thickness threshold, an excitation control signal with a higher excitation frequency than the previous stage is generated. When the ice thickness is less than the preset thickness threshold, a damping control signal is generated to suppress wind-induced vibration of the cable structure. The excitation control signal applies vibration at the current excitation frequency to the cable structure, and after the target vibration duration, it returns to the visual monitoring module to perform excitation de-icing for the current stage; and is used to enter the damping mode based on the damping control signal to suppress wind-induced vibration of the cable structure.

[0015] The beneficial effects of this invention are as follows: This invention provides an integrated damping and vibration-guided de-icing device and control method for cable structures. This application achieves intelligent de-icing through a single device that combines damping vibration suppression and visual guidance, possessing a complete closed-loop control capability encompassing perception, decision-making, execution, and verification. It employs a progressive high-order modal excitation strategy, utilizing the complex local deformation of high-order modes to more effectively break down ice adhesion, fundamentally solving the industry problem of poor low-order modal excitation effects. Furthermore, the system can automatically select and upgrade the optimal mode according to different icing conditions, achieving online optimization of the de-icing strategy. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a logic structure diagram of an integrated damping and vibration de-icing device for cable structures shown in one embodiment of this application; Figure 2 This is a schematic diagram of the control module and power module in one embodiment of this application; Figure 3 This is a schematic diagram of the power transmission unit in one embodiment of this application; Figure 4 This is a schematic diagram of the specific installation structure of the power transmission unit in one embodiment of this application; Figure 5 This is a flowchart of an integrated damping and vibration de-icing device for cable structures according to one embodiment of this application. Detailed Implementation

[0017] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0018] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the layers related to the present invention and are not drawn according to the actual number, shape and size of the layers in the actual implementation. In the actual implementation, the form, number and proportion of each layer can be arbitrarily changed, and the layer layout may also be more complex.

[0019] Numerous details are explored in the following description to provide a more thorough explanation of embodiments of the invention; however, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details.

[0020] Figure 1 This is a logic structure diagram of an integrated damping and vibration de-icing device for cable structures, as shown in one embodiment of this application. Figure 1 As shown: This embodiment of an integrated damping and vibration de-icing device for cable structures includes: a visual monitoring module 110, a control module 120, a power module 130, and a frequency sweep module 140. The principles of the above functional modules are as follows: (1) Visual monitoring module 110, used to acquire the original image of the cable structure and analyze the original image to obtain the icing thickness of the cable structure; Specifically, the visual monitoring module 110 includes an image acquisition unit and an image processing and recognition unit; The image acquisition unit includes at least one high-definition camera deployed near the cable structure for acquiring image information of the cable structure surface.

[0021] The image processing and recognition unit is integrated into the controller, enabling it to analyze acquired images, identify ice layer conditions, estimate ice thickness and distribution, and generate de-icing demand signals and de-icing effect evaluation signals. Specific analysis and recognition algorithms will be described later.

[0022] (2) Control module 120, connected to the visual monitoring module, is used to compare the ice thickness with a preset thickness threshold, and when the ice thickness is greater than or equal to the preset thickness threshold, generate an excitation control signal with a current excitation frequency higher than the excitation frequency of the previous stage; when the ice thickness is less than the preset thickness threshold, generate a damping control signal to suppress wind-induced vibration of the cable structure.

[0023] (3) Power module 130, connected to the control module, the vision monitoring module and the cable structure, is used to apply vibration at the current stage excitation frequency to the cable structure based on the excitation control signal, and return to the vision monitoring module after the vibration target duration to perform the current stage excitation de-icing; and is used to enter the damping mode based on the damping control signal to suppress wind-induced vibration of the cable structure.

[0024] Figure 2 This is a schematic diagram of the control module and power module in one embodiment of this application, as shown below. Figure 2 As shown, the control module includes a programmable controller and a relay group; the power module includes an adjustable energy-consuming resistor, a driver, and a power transmission unit. The programmable controller is used to generate an excitation control signal with a higher excitation frequency in the current stage than the excitation frequency in the previous stage when the ice thickness is greater than or equal to a preset thickness threshold; or to generate a damping control signal to suppress wind-induced vibration of the cable structure when the ice thickness is less than a preset thickness threshold. The input terminal of the relay group is connected to the programmable controller, and the output terminal of the relay group is connected to the adjustable energy-consuming resistor and the driver. The adjustable energy-consuming resistor and the driver are connected in parallel and are both connected to the motor module in the power transmission unit. The relay group switches its output to the power transmission unit to generate excitation based on the excitation control signal, or switches its output to the adjustable energy-consuming resistor based on the damping control signal. The adjustable energy-consuming resistor is used to consume electrical energy and generate an electromagnetic damping force opposite to the direction of vibration.

[0025] Figure 3 This is a schematic diagram of the power transmission unit in one embodiment of this application. Figure 4 This is a schematic diagram of the specific installation structure of the power transmission unit in one embodiment of this application, as shown below. Figures 3-4 As shown, the power transmission unit 201 includes a motor module 203, a fixed frame 202, a fixed sleeve 207, and a sliding column 204; One end of the fixed frame 202 is installed in the anchorage area of ​​the bridge tower, the motor module 203 is installed inside the fixed frame 202, one end of the fixed sleeve 207 is fixedly connected to the other end of the fixed frame 202, and the sliding column 204 is installed inside the fixed sleeve 207 to slide freely along the axis of the fixed sleeve 207; the fixed sleeve 207 also cooperates with the guide rail 209 provided on the sliding column 204 to limit relative rotation; The output end of the motor module 203 is provided with a screw 208, and one end of the slide column 204 is provided with a nut 205. The screw 208 and the nut 205 cooperate to form a ball screw structure; the other end of the slide column 204 is provided with a cable clamp 206 to fix the cable structure. The motor module 202 reciprocates based on the excitation control signal to drive the slide column 204 to reciprocate within the fixed sleeve 207, thereby generating excitation on the cable structure.

[0026] The control device instructs the relay group to connect the motor wires to the adjustable energy-dissipating resistor circuit. When the cable structure vibrates, it drives the slide column and ball screw nut to move axially in a linear motion, forcing the screw to rotate and driving the permanent magnet servo motor to generate electricity. The electrical energy is converted into heat energy and consumed in the external resistor, while simultaneously generating an electromagnetic damping force opposite to the direction of vibration, effectively suppressing the vibration.

[0027] When the visual monitoring unit detects ice and triggers the de-icing mode, the control device executes the following control logic: a. Mode switching: The control relay group switches the motor wires to the servo driver.

[0028] b. Frequency Selection and Excitation: The control device selects the highest-order mode excitation frequency from the pre-stored cable structure modal frequency library, in ascending order. The resulting command is sent to the driver via the PLC, driving the motor to rotate in both directions. The motor converts the rotational motion into precise axial linear motion of the slide block via a ball screw, thereby applying a periodic excitation force to the cable structure, inducing resonance, and causing the ice layer to break and detach due to fatigue.

[0029] (4) Frequency sweep module 140 is used to control the power module to perform frequency sweep excitation or composite frequency excitation when the ice thickness of the cable structure is still greater than or equal to a preset thickness threshold after the power module has completed the excitation de-icing at the highest excitation frequency.

[0030] Figure 5 This is a flowchart of an integrated damping and vibration de-icing device for cable structures according to one embodiment of this application. Figure 5 As shown, the visual monitoring module 110 in the above device is used to implement a visual monitoring cycle. It monitors the ice thickness in the cable structure using relevant algorithms (described below). When the ice thickness is within limits, it periodically collects thickness information through a timed loop. Once the ice thickness exceeds the limit, it triggers the de-icing procedure. The control module 120 controls the power module 130 to switch from the default damping mode to the excitation mode, gradually increasing the frequency to perform de-icing. For example, an initial excitation frequency is set, and the circuit switching unit switches the power module to drive the motor at a second-order frequency f2. After excitation, the controller restarts visual recognition to evaluate the effect. If the ice is not completely removed, the controller upgrades the frequency to a third-order f3, repeating the excitation and evaluation. This process loops until the visual system confirms the ice has fallen off, at which point the device automatically returns to the damping mode.

[0031] If the de-icing effect is still unsatisfactory after switching to the preset highest-order mode frequency for excitation, the control device will activate a frequency sweep excitation mode that includes the fundamental frequency and higher-order mode frequencies.

[0032] The following are methods for identifying ice thickness, specifically including: (1) The original image is preprocessed to obtain a preprocessed image; Specifically, the preprocessing process includes: (1-1) Perform grayscale conversion on the original image to obtain a grayscale image; Specifically, a weighted average method is used to convert a color image into a grayscale image. The formula for calculating the weighted average method is as follows: In the formula, Grayscale value The value for the red channel. This is the green channel value. This is the value for the blue channel.

[0033] (1-2) Perform Gaussian filtering on the grayscale image to obtain a filtered image; Specifically, using 5×5 pixels and standard deviation A Gaussian kernel is used for filtering and noise reduction.

[0034] (1-3) Enhance the contrast of the filtered image to obtain a preprocessed image.

[0035] The CLAHE algorithm (Clip Limit=2.0, Tile Grid Size=8×8) is used to enhance contrast.

[0036] (2) Extract the effective edge pixels in the preprocessed image, and merge the effective edge pixels into multiple detection line segments based on the probabilistic Hough transform; the specific process includes: (2-1) Based on the Canny edge detection algorithm, strong edge pixels and weak edge pixels are extracted from the preprocessed image by combining high threshold and low threshold. The strong edge pixels are pixels with gradient magnitude greater than the high threshold, and the weak edge pixels are pixels with gradient magnitude between the low threshold and the high threshold. Specifically, the Sobel operator (with a kernel size of 3) is used to calculate the gradients of the image in the X and Y directions, respectively. .

[0037] Gradient magnitude: Gradient direction: And approximate the angles to four directions: 0°, 45°, 90°, and 135°.

[0038] Then, non-maximum suppression is used to refine the edges by traversing the gradient magnitude matrix and retaining only the local maximum points in the gradient direction of each pixel.

[0039] This application also uses dual threshold detection and edge connectivity to filter out valid edge pixels, for example: High threshold: 30 (based on gradient magnitude statistics, usually taking the 70-80th percentile of the image gradient magnitude distribution).

[0040] Low threshold: 0.4 times the high threshold (i.e., 12).

[0041] The strong edge pixels and the weak edge pixels connected to the strong edge pixels are taken as valid edge pixels. Specifically, pixels with gradient magnitudes greater than the high threshold are identified as strong edge pixels; those between the high and low thresholds are identified as weak edge pixels; and those less than the low threshold are suppressed. Through 8-neighborhood connectivity analysis, weak edge pixels connected to strong edge pixels are identified as valid edges, thus completing edge connectivity.

[0042] 2-2) Based on the probabilistic Hough transform, the effective edge pixels are combined into multiple detection line segments.

[0043] The parameters required for the probabilistic Hough transform are configured as follows: Resolution (distance resolution): 1 pixel.

[0044] Resolution (angular resolution): 1 degree (i.e.) radian).

[0045] Threshold: 50. This is the minimum number of intersections required to detect a straight line. This value is adjusted based on image size and edge density to filter out short, interfering line segments.

[0046] Minimum line length: 50 pixels. Line segments shorter than this length will be ignored.

[0047] Maximum line spacing: 10 pixels. Broken line segments smaller than this spacing will be connected into a straight line.

[0048] (3) Construct the left and right contour lines of the cable structure based on multiple detection line segments, and calculate the icing thickness of the cable structure based on the left contour line, the right contour line, the pre-constructed left reference contour line, and the pre-constructed right reference contour line. Specifically, this includes: (3-1) The positions of the endpoints of the detection line segment and a plurality of predefined regions of interest are compared, wherein the regions of interest are located on the left or right side of the cable structure; In this application, regions of interest (ROIs) are pre-defined on both sides of the cable structure, and the endpoints of the detection line segments are compared with the positions of the pre-defined regions of interest (ROIs).

[0049] (3-2) Assign the detection line segments whose endpoints are in the same region of interest to the same edge contour; and calculate the Euclidean distance between the adjacent endpoints of any two adjacent detection line segments in the same edge contour. When the Euclidean distance is less than a preset distance threshold, connect the adjacent endpoints of the two adjacent detection line segments to obtain the pixel chain of the left contour or the right contour. The initial filtering and merging is performed based on the spatial position of the endpoints of line segments within the preset regions of interest (ROIs) of the left and right contours. For example, the detected line segments are first filtered using ROIs, retaining those whose endpoints are located within ROIs. Then, they are grouped together; if the endpoints of multiple detected line segments are all located within the ROI on the left side of the cable structure, they are grouped into the same left contour.

[0050] Then, connectivity analysis is performed based on the Euclidean distance between endpoints (threshold 5-10 pixels) to connect spatially adjacent line segments, forming "pixel chains" that describe the direction of the left and right contours.

[0051] (3-3) Perform a quadratic polynomial fitting on the pixel chain of the left or right contour to obtain the left or right contour line.

[0052] A quadratic polynomial fitting algorithm is used to perform curve fitting on the pixel chains of the left and right contours respectively, to obtain the left contour line. and right outline This method can accurately describe the contour curvature caused by localized icing.

[0053] (3-4) Sample the left contour line, the right contour line, the pre-constructed left reference contour line and the pre-constructed right reference contour line respectively to obtain multiple sampling points of the left contour line, multiple sampling points of the right contour line, multiple sampling points of the left reference contour line and multiple sampling points of the right reference contour line, wherein the multiple sampling points are equally spaced along the vertical direction of the cable structure; The system database stores the baseline profile curves in the unfrozen state, specifically including the left baseline profile line of each cable structure. and the right baseline outline .

[0054] (3-5) For the same height level Calculate the first distance between the sampling points of the left contour line and the sampling points of the right contour line. And calculate the second distance between the sampling points of the left reference contour line and the sampling points of the right reference contour line. , where the first distance and the second distance The mathematical expression is: In the formula, Indicates the height level of the right contour line Corresponding sampling points Indicates the height level of the left contour line Corresponding sampling points Indicates the height level of the right-side reference contour line. Corresponding sampling points Indicates the height level of the left reference contour line. The corresponding sampling points; (3-6) Based on the first distance and the second distance Calculate height level Ice layer pixel thickness The ice layer pixel thickness The mathematical expression is: Calculate the average pixel thickness of the ice layer pixel thickness at multiple sampling heights. And extract the maximum pixel thickness from the ice layer pixel thickness at multiple sampling heights. ; (3-7) The average pixel thickness is calculated based on a pre-calibrated scaling factor. and the maximum pixel thickness Converted to average true thickness respectively and maximum true thickness Wherein, the average true thickness and the maximum true thickness The mathematical expressions are as follows: In the formula, This is a scaling factor.

[0055] Finally, the ice thickness is compared with a preset thickness threshold, and when the ice thickness is greater than or equal to the preset thickness threshold, an excitation control signal with a higher excitation frequency than the previous stage is generated; when the ice thickness is less than the preset thickness threshold, excitation de-icing is completed, including: (3-8) The average true thickness The maximum true thickness is compared with a preset average thickness threshold. The thickness is compared with a preset maximum thickness threshold, wherein the maximum thickness threshold is greater than the average thickness threshold. (3-9) In the average true thickness Greater than or equal to a preset average thickness threshold, or the maximum true thickness. When the average true thickness is greater than or equal to a preset maximum thickness threshold, an excitation control signal is generated that has a current excitation frequency one unit higher than the excitation frequency of the previous stage; Less than the preset average thickness threshold and the maximum true thickness When the thickness is less than the preset maximum thickness threshold, the de-icing process is considered complete.

[0056] This application has the following significant advantages: Highly integrated and intelligent: A single device achieves intelligent de-icing with damping vibration suppression and visual guidance, possessing a complete closed-loop control capability of "perception-decision-execution-verification".

[0057] Revolutionary improvement in de-icing efficiency and thoroughness: The pioneering progressive high-order modal excitation strategy utilizes the complex local deformation of high-order modes to more effectively break the ice layer adhesion, fundamentally solving the industry problem of poor low-order modal excitation effect.

[0058] This application has the following significant advantages: Highly integrated and intelligent: A single device achieves intelligent de-icing with damping vibration suppression and visual guidance, possessing a complete closed-loop control capability of "perception-decision-execution-verification".

[0059] Revolutionary improvement in de-icing efficiency and thoroughness: The pioneering progressive high-order modal excitation strategy utilizes the complex local deformation of high-order modes to more effectively break the ice layer adhesion, fundamentally solving the industry problem of poor low-order modal excitation effect.

[0060] Stable and reliable structure: The motor is fixed to the base and combined with a precision guiding mechanism, the transmission chain has good rigidity and precise movement, ensuring long-term operational reliability.

[0061] Highly adaptable: The system can automatically select and upgrade the optimal attack mode according to different icing conditions, realizing online optimization of the de-icing strategy.

[0062] This application also provides an integrated control method for damping and vibration de-icing of cable structures, including the following steps: The original image of the cable structure was acquired and analyzed to obtain the icing thickness of the cable structure. The ice thickness is compared with a preset thickness threshold. When the ice thickness is greater than or equal to the preset thickness threshold, an excitation control signal with a higher excitation frequency than the previous stage is generated. When the ice thickness is less than the preset thickness threshold, a damping control signal is generated to suppress wind-induced vibration of the cable structure. The excitation control signal applies vibration at the current excitation frequency to the cable structure, and after the target vibration duration, it returns to the visual monitoring module to perform excitation de-icing for the current stage; and is used to enter the damping mode based on the damping control signal to suppress wind-induced vibration of the cable structure.

[0063] This invention discloses an integrated damping and vibration-guided de-icing device and control method for cable structures. This application achieves intelligent de-icing through a single device that combines damping vibration suppression with visual guidance, possessing a complete closed-loop control capability encompassing perception, decision-making, execution, and verification. It employs a progressive high-order modal excitation strategy, utilizing the complex local deformation of high-order modes to more effectively break down ice adhesion, fundamentally solving the industry problem of poor low-order modal excitation performance. Furthermore, the system can automatically select and upgrade the optimal mode based on different icing conditions, achieving online optimization of the de-icing strategy.

[0064] As will be understood by those skilled in the art, the computer-readable storage medium described in this embodiment allows for the implementation of all or part of the steps in the above method embodiments by computer program-related hardware. The aforementioned computer program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0065] The electronic terminal provided in this embodiment includes a processor, a memory, a transceiver, and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication between them. The memory is used to store computer programs, the communication interface is used to perform communication, and the processor and the transceiver are used to run the computer programs, so that the electronic terminal performs the steps of the above method.

[0066] In this embodiment, the memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0067] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0068] In the above embodiments, although the invention has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. The embodiments of the invention are intended to cover all such substitutions, modifications, and variations falling within the broad scope of the appended claims.

[0069] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A damping and excitation de-icing integrated device for a cable structure, characterized by, include: A visual monitoring module is used to acquire original images of the cable structure and analyze the original images to obtain the icing thickness of the cable structure. The control module, connected to the visual monitoring module, is used to compare the ice thickness with a preset thickness threshold, and when the ice thickness is greater than or equal to the preset thickness threshold, generate an excitation control signal with a current excitation frequency that is higher than the excitation frequency of the previous stage; when the ice thickness is less than the preset thickness threshold, generate a damping control signal to suppress wind-induced vibration of the cable structure. The power module, connected to the control module, the vision monitoring module, and the cable structure, is used to apply vibration at the current stage excitation frequency to the cable structure based on the excitation control signal, and return to the vision monitoring module after the vibration target duration to perform the current stage excitation de-icing; and is also used to enter the damping mode based on the damping control signal to suppress wind-induced vibration of the cable structure.

2. The damping and excitation de-icing integrated device for cable structures according to claim 1, characterized in that, Also includes: The frequency sweep module is used to control the power module to perform frequency sweep excitation or composite frequency excitation when the ice thickness of the cable structure is still greater than or equal to a preset thickness threshold after the power module has completed the excitation de-icing at the highest excitation frequency.

3. The integrated damping and excitation de-icing device for a cable structure of claim 1, wherein The original image was analyzed to obtain the icing thickness of the cable structure, including: The original image is preprocessed to obtain a preprocessed image, wherein the preprocessing includes grayscale conversion, Gaussian filtering, and contrast enhancement; Extract the effective edge pixels from the preprocessed image, and merge the effective edge pixels into multiple detection line segments based on the probabilistic Hough transform; The left and right contour lines of the cable structure are constructed based on multiple detection line segments, and the icing thickness of the cable structure is calculated based on the left contour line, the right contour line, the pre-constructed left reference contour line, and the pre-constructed right reference contour line.

4. The integrated damping and excitation de-icing device for a cable structure of claim 3, wherein Extracting valid edge pixels from the preprocessed image and merging them into multiple detection line segments based on probabilistic Hough transform, including: Based on the Canny edge detection algorithm, strong edge pixels and weak edge pixels are extracted from the preprocessed image by combining high threshold and low threshold. The strong edge pixels are pixels with gradient magnitude greater than the high threshold, and the weak edge pixels are pixels with gradient magnitude between the low threshold and the high threshold. The strong edge pixels and the weak edge pixels connected to the strong edge pixels are taken as valid edge pixels. The effective edge pixels are combined into multiple detection line segments based on the probabilistic Hough transform.

5. The integrated de-icing and damping device for a cable structure of claim 3, wherein The left and right contour lines of the cable structure are constructed based on multiple detection line segments, including: The positions of the endpoints of the detected line segment are compared with those of multiple pre-defined regions of interest, wherein the regions of interest are located on the left or right side of the cable structure; The detection line segments whose endpoints are located in the same region of interest are assigned to the same edge contour; and the Euclidean distance between the adjacent endpoints of any two adjacent detection line segments in the same edge contour is calculated. When the Euclidean distance is less than a preset distance threshold, the adjacent endpoints of the two adjacent detection line segments are connected to obtain the pixel chain of the left contour or the right contour. The left or right contour pixel chain is fitted with a quadratic polynomial to obtain the left or right contour line.

6. The integrated damping and excitation de-icing device for a cable structure of claim 3, wherein The icing thickness of the cable structure is calculated based on the left contour line, the right contour line, the pre-constructed left reference contour line, and the pre-constructed right reference contour line, including: The left contour line, the right contour line, the pre-constructed left reference contour line, and the pre-constructed right reference contour line are sampled respectively to obtain multiple sampling points of the left contour line, multiple sampling points of the right contour line, multiple sampling points of the left reference contour line, and multiple sampling points of the right reference contour line, wherein the multiple sampling points are distributed at equal intervals along the vertical direction of the cable structure; For the same height level , the first distance between the sampling points of the left profile line and the sampling points of the right profile line is calculated , and the second distance between the sampling points of the left reference profile line and the sampling points of the right reference profile line is calculated , wherein the mathematical expression of the first distance and the second distance is: In the formula, Indicates the height level of the right contour line Corresponding sampling points Indicates the height level of the left contour line. Corresponding sampling points Indicates the height level of the right-side reference contour line. Corresponding sampling points Indicates the height level of the left reference contour line. The corresponding sampling points; Based on the first distance and the second distance Calculate altitude level Ice layer pixel thickness The ice layer pixel thickness The mathematical expression is: Calculate the average pixel thickness of the ice layer pixel thickness at multiple sampling heights. And extract the maximum pixel thickness from the ice layer pixel thickness at multiple sampling heights. ; The average pixel thickness is calculated based on a pre-calibrated scaling factor. and the maximum pixel thickness Converted to average true thickness respectively and maximum true thickness Wherein, the average true thickness and the maximum true thickness The mathematical expressions are as follows: In the formula, This is a scaling factor.

7. The integrated damping and vibration de-icing device for cable structures according to claim 6, characterized in that, The ice thickness is compared with a preset thickness threshold, and when the ice thickness is greater than or equal to the preset thickness threshold, an excitation control signal with a higher excitation frequency in the current stage than the excitation frequency in the previous stage is generated. When the ice thickness is less than a preset thickness threshold, vibration de-icing is performed, including: The average true thickness The maximum true thickness is compared with a preset average thickness threshold. The thickness is compared with a preset maximum thickness threshold, wherein the maximum thickness threshold is greater than the average thickness threshold. The average true thickness Greater than or equal to a preset average thickness threshold, or the maximum true thickness. When the average true thickness is greater than or equal to a preset maximum thickness threshold, an excitation control signal is generated that has a current excitation frequency one unit higher than the excitation frequency of the previous stage; Less than the preset average thickness threshold and the maximum true thickness When the thickness is less than the preset maximum thickness threshold, the de-icing process is considered complete.

8. The integrated damping and vibration de-icing device for cable structures according to claim 1, characterized in that, The control module includes a programmable controller and a relay group; the power module includes an adjustable energy-consuming resistor, a driver, and a power transmission unit. The programmable controller is used to generate an excitation control signal with a higher excitation frequency in the current stage than the excitation frequency in the previous stage when the ice thickness is greater than or equal to a preset thickness threshold. Alternatively, it can be used to generate a damping control signal to suppress wind-induced vibration of the cable structure when the ice thickness is less than a preset thickness threshold. The input terminal of the relay group is connected to the programmable controller, and the output terminal of the relay group is connected to the adjustable energy-consuming resistor and the driver. The adjustable energy-consuming resistor and the driver are connected in parallel and are both connected to the motor module in the power transmission unit. The relay group switches its output to the power transmission unit to generate excitation based on the excitation control signal, or switches its output to an adjustable energy-consuming resistor based on the damping control signal. The adjustable energy-consuming resistor is used to consume electrical energy and generate an electromagnetic damping force opposite to the direction of vibration.

9. The integrated damping and vibration de-icing device for cable structures according to claim 8, characterized in that, The power transmission unit includes a motor module, a fixed frame, a fixed sleeve, and a sliding column; Wherein, one end of the fixed frame is installed in the anchorage area of ​​the bridge tower, the motor module is disposed inside the fixed frame, one end of the fixed sleeve is fixedly connected to the other end of the fixed frame, and the sliding column is disposed in the fixed sleeve to slide freely along the axis of the fixed sleeve; the fixed sleeve also cooperates with the guide rail disposed on the sliding column to limit relative rotation. The output end of the motor module is provided with a screw, and one end of the slide column is provided with a nut. The screw and the nut cooperate to form a ball screw structure; the other end of the slide column is provided with a cable clamp to fix the cable structure. The motor module reciprocates based on the excitation control signal to drive the sliding column to reciprocate within the sleeve, thereby generating excitation on the cable structure.

10. A method for integrated control of damping and vibration de-icing in cable structures, characterized in that, Including the following steps: The original image of the cable structure was acquired and analyzed to obtain the icing thickness of the cable structure. The ice thickness is compared with a preset thickness threshold. When the ice thickness is greater than or equal to the preset thickness threshold, an excitation control signal with a higher excitation frequency than the previous stage is generated. When the ice thickness is less than the preset thickness threshold, a damping control signal is generated to suppress wind-induced vibration of the cable structure. The excitation control signal applies vibration at the current excitation frequency to the cable structure, and after the target vibration duration, it returns to the visual monitoring module to perform excitation de-icing for the current stage; and is used to enter the damping mode based on the damping control signal to suppress wind-induced vibration of the cable structure.

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