Flying robot device for monitoring cable-stayed cable

Abstract

The utility model provides a flying robot device for monitoring a cable-stayed cable, and a breakthrough is brought to the field of monitoring the cable-stayed cable of a cable-stayed bridge. The flying robot device adopts a detachable design, and is high in stability and convenient to transport and carry. The device is unique in structure, the rack adopts a center plate design, the foot stool is stably supported, and the operation flexibility and safety are greatly improved. The climbing mechanism, the deviation preventing mechanism and the image collecting mechanism are arranged, it is ensured that the unmanned aerial vehicle stably and efficiently collects images on the cable, and the problems that in the prior art, operation is inconvenient, and the cable is prone to being damaged are solved. Secondly, the guide wheel is accurately adjusted by the adjusting component, the stability is improved, and the contact of the device with the cable is reduced as much as possible; in addition, the anti-collision mechanism reduces shutdown or maintenance time caused by collision, the flying robot device can execute tasks for a longer time, operation efficiency is improved, and more efficient, accurate and safe cable-stayed cable monitoring is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of monitoring devices, in particular to a flying robot device for monitoring inclined cables. Background Art

[0002] Cable-stayed bridges, as a key structural form of modern long-span bridges, have demonstrated their unique technical advantages, especially when crossing deep canyons, bays, and large rivers. This type of bridge, also known as a cable-stayed bridge or cable-stayed suspension bridge, is a type of bridge that has emerged in recent decades. Its uniqueness lies in the use of cables to closely connect the main beam and the bridge tower to form a stable force system, which is not only economical and efficient, but also has excellent earthquake resistance.

[0003] The core of a cable-stayed bridge is the cable, which carries all the loads transmitted from the bridge deck and transmits them to the ground through the bridge tower. Therefore, daily inspection and maintenance of the cable is crucial. However, with the increase in the span of the cable-stayed bridge, the area of ​​the cable exposed to the natural environment also increases accordingly, and the impact of wind vibration and rain vibration becomes increasingly significant. In order to cope with this problem, designs such as spiral cables and indented pit cables are widely used in new bridges, but this also brings new challenges. Long-term exposure to wind, sun and rain will cause the polyethylene sheath on the surface of the cable to harden and crack, and in severe cases, it may even cause the steel wire bundle to rust and break.

[0004] At present, the inspection of cable-stayed bridge cables is mainly focused on appearance and cable force measurement, but manual inspection is still mainly used, which is inefficient and has safety hazards. For example, a winch is used to drag a hanging basket trolley carrying inspectors for measurement. This method is not only dangerous, but may also cause secondary damage to the cable. Therefore, the introduction of industrial robots for cable inspection has become an industry trend.

[0005] A variety of cable inspection robots have been developed at home and abroad, including wheeled, pneumatic and hydraulic creeping, and snake-like climbing types. Among them, wheeled robots have been widely used due to their simple structure, fast climbing speed, and strong load-bearing capacity. However, they also face challenges such as large size, heavy weight, and reliance on cable power supply, which to some extent limit their operational flexibility.

[0006] In addition, existing inspection robots may accidentally squeeze or aggravate the damage of the sheath during actual operation. For spiral cables, due to the unique spiral protrusion structure on their surface, existing inspection robots often find it difficult to achieve effective inspection without damaging the cable, which further increases the difficulty of inspection.

[0007] In addition, when performing tasks, especially in complex environments, the robot may encounter various obstacles, such as trees, buildings or other moving objects. Collisions between the robot and these obstacles may cause serious harm or damage, and may even cause the robot to fail or be destroyed. Utility Model Content

[0008] In order to solve the deficiencies of the prior art, reduce damage to cables while ensuring detection efficiency, and achieve efficient and safe detection, the utility model provides a flying robot device for monitoring inclined cables.

[0009] The first aspect of the utility model provides a flying robot device for monitoring a stay cable, comprising:

[0010] Rack, including:

[0011] A center plate is provided with a circular through hole and is used to be sleeved on the outer periphery of the cable; the center plate is a left-right separated structure and is detachably connected through a first connecting member; the center plate includes a top plate and a bottom plate, the top plate and the bottom plate are arranged in parallel and vertically connected through a plurality of connecting rods;

[0012] A tripod, mounted on a side of the bottom plate away from the top plate;

[0013] Climbing mechanism, comprising:

[0014] An arm, one end of which is fixedly connected between the top plate and the bottom plate;

[0015] The rotor is installed at the other end of the arm and is used to provide flight and hovering power;

[0016] A rotor motor is connected to the rotor to drive the rotor to rotate;

[0017] Anti-deflection mechanism, including:

[0018] At least two guide wheels, mounted on the bottom surface of the base plate and cooperating with the cable, are used to limit the movement of the robot along the direction of the cable;

[0019] at least two first butterfly thread adjustment members, used in conjunction with the guide wheel to adjust the distance between the guide wheel and the cable;

[0020] Image acquisition mechanism, including:

[0021] Cameras are evenly distributed around the cable to collect cable status information;

[0022] The anti-collision mechanism is installed just above the circular through hole of the center plate.

[0023] In a preferred embodiment, the shape of the center plate includes a regular polygon or a circle.

[0024] Preferably, the shape of the center plate includes one or more of a circle, a regular quadrilateral, a regular hexagon, and a regular octagon.

[0025] More preferably, the center plate is in the shape of a regular hexagon.

[0026] In a preferred embodiment, the top plate and the bottom plate are also detachable structures and are connected by a first connecting member.

[0027] In a preferred embodiment, the first connecting member includes one or more combinations of bolts and nuts, screws, buckles, pins, pipe connectors, and quick clamps.

[0028] In a preferred embodiment, the top plate is provided with a fixing hole, the bottom plate is provided with a connecting hole corresponding to the fixing hole, and the connecting rod vertically connects the top plate and the bottom plate through the fixing hole and the connecting hole.

[0029] In a preferred embodiment, the base plate and the stand are connected in a fixed manner.

[0030] In a preferred embodiment, a plurality of bushings are mounted between the top plate and the bottom plate, and the machine arm is fixed between the top plate and the bottom plate via the bushings.

[0031] Preferably, the bushing is evenly assembled between the top plate and the bottom plate.

[0032] More preferably, each of the shaft sleeves is equipped with the machine arm, that is, each of the machine arms is evenly assembled between the top plate and the bottom plate, which is conducive to maintaining the balance of the drone.

[0033] Preferably, the sleeve is welded between the top plate and the bottom plate.

[0034] Preferably, the machine arm is detachably mounted in the shaft sleeve by means of screws.

[0035] Preferably, the material of the machine arm includes one or more of carbon fiber, aluminum alloy, ABS plastic, glass fiber composite material, and titanium alloy.

[0036] In a preferred embodiment, the rotor includes one or more combinations of two-blade, three-blade, and four-blade rotors.

[0037] Preferably, the material of the rotor includes one or more of carbon fiber, aluminum alloy, ABS plastic, glass fiber composite material, and titanium alloy.

[0038] Preferably, the rotor is a four-blade rotor, whose four blades are evenly distributed, and the angle between two adjacent blades is 90°.

[0039] In a preferred embodiment, each of the rotors is provided with a protective cover.

[0040] Preferably, the protective cover is a detachable hollow structure, which can be separated up and down or left and right to achieve flexible installation and disassembly.

[0041] In a preferred embodiment, the guide wheel is a flexible wheel.

[0042] Preferably, the flexible wheel is provided with a pressure sensor.

[0043] Preferably, during the monitoring process, the distance between the guide wheel and the cable is 0-10 mm, preferably 2-8 mm, and more preferably 3-5 mm.

[0044] Preferably, the first butterfly thread adjustment member comprises a first upper adjustment plate, a first lower adjustment plate, a first adjustment bolt, a first column, a first butterfly knob, and a first adjustment nut;

[0045] The first upper adjustment plate is fixedly connected to a side of the bottom plate away from the top plate and is provided with three through holes;

[0046] The first lower adjustment plate can be telescopically movable along the plane direction of the bottom plate, and is provided with a through hole corresponding to the first upper adjustment plate;

[0047] There is one first adjusting bolt and two first uprights;

[0048] The first adjusting bolt connects the through hole in the middle of the first upper adjusting plate and the through hole in the middle of the first lower adjusting plate;

[0049] The two first uprights are respectively fixed on both sides of the first adjusting bolt, connecting the through hole of the first upper adjusting plate and the through hole of the lower adjusting plate;

[0050] The first butterfly knob cooperates with the first adjusting bolt to adjust the position of the first lower adjusting plate;

[0051] The first adjusting nut cooperates with the first column to fix and support the position of the first lower adjusting plate.

[0052] Preferably, the first lower adjustment plate is also connected to a guide wheel connecting column, and the guide wheel connecting column is connected to the guide wheel.

[0053] Preferably, the guide wheel connecting column is an elastic member and is sleeved with a coil spring to maintain the stability and reliability of the guide wheel.

[0054] In a preferred embodiment, the image acquisition component further includes one or more combinations of a wireless receiver, an image sensor, an image processor, an infrared imager, an ultrasonic detector, a controller, and a storage medium.

[0055] Preferably, the image acquisition mechanism is mounted on a central plate.

[0056] In a preferred embodiment, the camera includes one or more combinations of a wide-angle camera, a zoom lens camera, a telephoto lens camera, a fisheye lens camera, and a macro lens camera.

[0057] Preferably, multiple wide-angle cameras are used so that the outer layer image on the inclined cable is collected and analyzed by the image processor. When color difference and smoothness change occur, it can be confirmed that the outer layer is damaged. Then the image processor transmits the crack image to the controller and sends it to the display in the user's hand through the transmission antenna, thereby completing the outer layer detection of the inclined cable.

[0058] Preferably, the ultrasonic detector is convenient for performing steel wire flaw detection inside the inclined cable, and the internal steel wire condition is analyzed and processed by the ultrasonic processor and transmitted to the controller by the transmission wire, and then the damage result is transmitted to the display below to complete the inner layer detection of the inclined cable.

[0059] The second aspect of the utility model provides a method for monitoring a cable-stayed cable, the steps comprising:

[0060] Based on the flying robot device described in the first aspect of the utility model;

[0061] The left and right separated center plates are sleeved on the outer periphery of the cable and fixedly connected by a first connecting member;

[0062] Adjust the first butterfly thread adjustment member to adjust the distance between the guide wheel and the cable to a preset distance;

[0063] Turn on the rotor motor to rotate the rotor, and use the controller to control the flying robot to take off smoothly;

[0064] The cable is imaged in all directions by an image acquisition mechanism, and the acquired data is transmitted back to the controller for monitoring and analysis.

[0065] In a preferred embodiment, the flying robot device can also be controlled in flight by a controller, such as moving, rotating, hovering, etc., so as to more comprehensively monitor the status of the cable.

[0066] In a preferred embodiment, after completing the monitoring task, the flying robot is controlled to land smoothly, the rotor motor is turned off, the center plate is removed from the cable, and the tripod, arm and other components are disassembled for cleaning and maintenance.

[0067] The third aspect of the utility model provides an application of a flying robot device for monitoring cable-stayed cables, wherein the flying robot device can be applied to monitoring cable-stayed cables of a cable-stayed bridge.

[0068] Preferably, the monitoring includes one or more of cable surface condition monitoring, cable stress monitoring, and environmental monitoring.

[0069] More preferably, the flying robot device can be applied to cable surface condition monitoring, cable stress monitoring, environmental impact assessment, emergency response and accident investigation.

[0070] In a preferred embodiment, the no-load working time of the flying robot device is ≧20 min, preferably ≧25 min, and more preferably ≧30 min.

[0071] In a preferred embodiment, the angle between the cable and the ground is 50-90°, preferably 60-90°, and more preferably 75-90°.

[0072] In a preferred embodiment, the diameter of the inclined cable is 50-300 mm, preferably 55-200 mm, and more preferably 60-120 mm.

[0073] Compared with the prior art, the utility model has the following beneficial effects:

[0074] The utility model provides a flying robot device for monitoring cable-stayed cables, which brings a breakthrough in the field of monitoring cable-stayed cables of cable-stayed bridges. The flying robot device described in the utility model adopts a detachable design, has high stability, and is easy to transport and carry. The device has a unique structure, a center plate design for the frame, and a stable support for the tripod, which greatly improves the operational flexibility and safety. The climbing mechanism, anti-deflection mechanism and image acquisition mechanism equipped with it ensure that the drone can stably and efficiently perform image acquisition on the cable, solving the problems of inconvenient operation and easy damage to the cable in the prior art. Secondly, the adjustment component of the utility model accurately adjusts the guide wheel, improves stability, and minimizes the contact of the device with the cable; and the anti-collision mechanism of the utility model also reduces the downtime or maintenance time caused by collision. The flying robot device can perform tasks for a longer time and improve work efficiency. The utility model realizes more efficient, accurate and safe monitoring of cable-stayed cables. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 It is a side view of the flying robot device structure in Example 1 of the utility model.

[0076] Figure 2 It is a schematic diagram of the three-dimensional structure of the flying robot device in Example 1 of the utility model with the protective cover removed.

[0077] Figure 3 This is a bottom view of the center plate of the flying robot device in Example 1 of the utility model.

[0078] Figure 4 It is a schematic diagram of the three-dimensional structure of the flying robot device in Example 1 of the utility model.

[0079] Figure 5 This is a top view of the center plate of the flying robot in Example 1 of the utility model.

[0080] The following are the descriptions of the reference numerals:

[0081] 1. Arm; 2. Rotor; 3. Center plate; 31. Top plate; 32. Bottom plate; 4. First connecting piece; 5. Guide wheel; 6. First butterfly thread adjustment member; 61. First upper adjustment plate; 62. First adjustment bolt; 63. First column; 64. Guide wheel connecting column; 65. Coil spring; 66. First lower adjustment plate; 7. Protective cover; 8. Anti-collision mechanism; 9. Tripod; 91. Crossbar of the tripod; 10. Connecting rod; 11. Bushing; 12 Fixing hole; 13. Connecting hole; 14. Rotor motor; 15. Wireless receiver. DETAILED DESCRIPTION

[0082] The following is a further description of a flying robot device, method and application of monitoring a cable-stayed cable provided by the utility model in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the utility model and are not used to limit the scope of the utility model. In addition, it should be understood that after reading the content of the utility model, those skilled in the art can make various changes or modifications to the utility model, and these equivalent forms also fall within the scope defined by the claims attached to this application.

[0083] Embodiment 1:

[0084] This embodiment provides a flying robot device for monitoring a cable-stayed cable, such as Figure 1-5 As shown, it includes a frame, a climbing mechanism, an anti-deflection mechanism, an image acquisition mechanism and an anti-collision mechanism 8.

[0085] The frame comprises:

[0086] The center plate 3 is designed in a regular hexagonal shape and is provided with a circular through hole for being mounted on the outer periphery of the cable. The center plate 3 is a left-right separated structure, and is detachably connected by a first connecting member 4 composed of bolts and nuts. The center plate 3 includes a top plate 31 and a bottom plate 32, which are parallel to each other; and the top plate 31 is provided with a fixing hole 12, and the bottom plate 32 is provided with a connecting hole 13 corresponding to the fixing hole 12, and the connecting rod 10 connects the top plate 31 and the bottom plate 32 through these holes. The material of the center plate 3 is carbon fiber.

[0087] The tripod 9 is provided with a cross bar 91 of the tripod, which is installed on the side of the bottom plate 32 away from the top plate 31 and is fixedly connected to the bottom plate 32 by welding. The design of the tripod 9 ensures the stability of the device on the cable. The material of the tripod 9 is carbon fiber.

[0088] The shaft sleeves 11 are provided with six pieces and fixed between the top plate 31 and the bottom plate 32 by welding, and the shaft sleeves 11 are evenly assembled between the top plate 31 and the bottom plate 32, which is conducive to maintaining the balance of the drone. The shaft sleeves 11 are made of carbon fiber.

[0089] The climbing mechanism comprises:

[0090] The machine arm 1 is equipped with six, one end of which is detachably mounted in the shaft sleeve 11 by screws to achieve fixation between the top plate 31 and the bottom plate 32, and the other end is used to install the rotor 2. The material of the machine arm 1 is carbon fiber.

[0091] The rotor 2 is equipped with six blades. The rotor 2 is a four-blade rotor 2, and the angle between two adjacent blades is 90°. The rotor 2 is equipped with a protective cover 7, which is a left-right and up-down detachable structure. The rotor motor 21 drives it to rotate, providing the device with power for flying and climbing. The rotor 2 and the protective cover 7 are made of carbon fiber.

[0092] The anti-deflection mechanism comprises:

[0093] There are four guide wheels 5, which are installed on the side of the bottom plate 32 away from the top plate 31, and cooperate with the cable to limit the robot from moving along the cable direction. The guide wheels 5 are flexible wheels, and their material is preferably rubber.

[0094] The first butterfly thread adjustment component 6 is connected to the guide wheel 5 through the guide wheel connecting column 64. By adjusting the thread, the distance between the guide wheel 5 and the cable can be accurately controlled to ensure the stable operation of the device on the cable. The first butterfly thread adjustment component 6 includes a first upper adjustment plate 61, a first lower adjustment plate 66, a first adjustment bolt 62, a first column 63, a first butterfly knob, and a first adjustment nut; the first upper adjustment plate 61 is fixedly connected to the side of the bottom plate 32 away from the top plate 31, and is provided with three through holes; the first lower adjustment plate 66 can be telescopically moved along the plane direction of the bottom plate 32, and is provided with a through hole corresponding to the first upper adjustment plate 61; one first adjustment bolt 62 is provided, and two first columns 63 are provided; the first adjustment bolt 62 connects the through hole in the middle of the first upper adjustment plate 61 and the through hole in the middle of the first lower adjustment plate 66 ; The two first columns 63 are respectively fixed on both sides of the first adjusting bolt 62, connecting the through hole of the first upper adjusting plate 61 and the through hole of the first lower adjusting plate 66; the first butterfly knob cooperates with the first adjusting bolt 62 to adjust the position of the first lower adjusting plate 66; the first adjusting nut cooperates with the first column 63 to fix and support the position of the first lower adjusting plate 66; the first lower adjusting plate 66 is connected to the guide wheel connecting column 64, and the guide wheel connecting column 64 is connected to the guide wheel 5. The guide wheel connecting column 64 is an elastic member and is sleeved with a coil spring 65 to maintain the stability and reliability of the guide wheel 5.

[0095] The image acquisition mechanism is installed on the central plate 3 and includes:

[0096] Wide-angle cameras are evenly distributed around the cable and are used to collect image information of the cable surface in real time.

[0097] The wireless receiver 22 is used to receive and transmit signals.

[0098] Image sensors are used to capture optical images and convert them into electrical signals.

[0099] Image processor, a processor dedicated to image processing (matrix calculation) such as conversion and synthesis.

[0100] Infrared imagers can produce different thermal images after infrared rays act on objects.

[0101] Ultrasonic detectors use ultra-high frequency sound waves to detect the internal integrity, defects and structure of objects.

[0102] A controller controls the flight status of the device, such as movement, rotation, hovering, etc., so as to more comprehensively monitor the status of the cable.

[0103] Storage media, for data storage, such as pictures and coordinates.

[0104] Embodiment 2:

[0105] This embodiment provides a method for monitoring a stay cable, the steps comprising:

[0106] S1. A flying robot device based on the embodiment 1.

[0107] S2. Sleeve the left and right separated center plates 3 on the outer periphery of the cable, ensure that the circular through holes are aligned with the cable, and then connect them through the first connecting member 4. The angle between the cable and the ground is 60°.

[0108] S3. Insert the anti-collision mechanism 8 above the center plate 3.

[0109] S4, by adjusting the first butterfly thread adjusting member 6, to adjust the distance between the guide wheel 5 and the cable to a preset distance, wherein the distance between the guide wheel 5 and the cable is 3-5 mm. The adjustment steps include:

[0110] (1) Determine the adjustment direction. According to the position of the guide wheel 5, determine whether the length of the threaded adjustment rod needs to be increased or decreased.

[0111] (2) Rotate the first butterfly knob to rotate the first adjusting bolt 62. Keep a stable force and speed to ensure that the first adjusting bolt 62 and the two first columns 63 move in the expected direction.

[0112] (3) After being adjusted to a suitable position, the first butterfly knob locks the position of the first adjusting bolt 62, and the first adjusting nut locks the position of the first column 63 to prevent it from moving during use.

[0113] S5, turning on the rotor motor 21 to rotate the rotor 2, and controlling the flying robot to take off smoothly.

[0114] S6. The cable is subjected to all-round image acquisition through the image acquisition mechanism. The controller controls the flight of the device (such as movement, rotation, and hovering). The acquired images are transmitted back to the controller for monitoring and analysis.

[0115] During the monitoring process, multiple wide-angle cameras collect image information of the cable surface in real time, so that the outer layer image of the inclined cable is collected and analyzed by the image processor. When color difference and smoothness change occur, it can be confirmed that the outer layer is damaged. The image sensor captures the optical image and converts it into an electrical signal, which is then converted and synthesized by the image processor. The crack image is then transmitted to the controller and sent to the display in the user's hand by the transmission antenna, completing the outer layer detection of the inclined cable.

[0116] The infrared imager and ultrasonic detector provide thermal images and internal status information of the cable respectively, which is convenient for steel wire flaw detection inside the cable-stayed cable. The internal steel wire condition is analyzed and processed by the ultrasonic processor and transmitted to the controller by the transmission wire. The damage results are then transmitted to the display below to complete the inner layer detection of the cable-stayed cable.

[0117] The wireless receiver 22 receives and transmits these signals to the controller.

[0118] All data are stored in storage media for subsequent analysis and use.

[0119] The controller controls the flight status of the image acquisition mechanism according to the received information to ensure comprehensive monitoring.

[0120] S7. After completing the monitoring task, control the flying robot to land smoothly, turn off the rotor motor 21, remove the center plate 3 from the cable, and perform cleaning and maintenance.

[0121] Embodiment 3:

[0122] This embodiment provides an application of the flying robot device described in Example 1, which can be used to monitor the cable-stayed cables of cable-stayed bridges. Through the climbing mechanism, anti-deflection mechanism and image acquisition mechanism equipped with it, it is ensured that the drone can stably and efficiently perform image acquisition on the cable, detect damage to the inner and outer layers of the cable (including any possible wear, cracks, corrosion or other abnormalities), and achieve all-round monitoring. In addition, the device can adapt to cable-stayed cables of different angles and diameters, and has a longer working time.

[0123] The flying robot device can also monitor the stress changes of the cable in real time through the sensors integrated in the device, providing important data for the safety assessment of the bridge.

[0124] The flying robot device can also regularly monitor the impact of environmental factors (such as wind, rain, temperature, humidity, etc.) on the cable and evaluate the long-term impact of these factors on the cable.

[0125] In the event of an emergency, such as a broken cable or an abnormal bridge structure, the flying robot device can be quickly deployed to the scene to conduct a preliminary investigation and assessment, and provide information support for subsequent rescue and repair work.

[0126] In addition to the above applications, the flying robot device can also be used in other fields that require monitoring and inspection at high altitudes, long distances, and in complex terrain environments, such as monitoring of high-voltage power lines, large storage tanks, wind turbines, etc.

[0127] In summary, embodiments 1-3 of the utility model provide a flying robot device, method and application for monitoring cable-stayed cables, which brings a breakthrough in the field of monitoring cable-stayed cables of cable-stayed bridges. The fuselage body of the flying robot device described in embodiment 1 adopts a lightweight and detachable design, which is light in weight, highly stable, and easy to transport and carry. The device has a unique structure, the frame adopts a center plate 3 design, the tripod 9 is stably supported, and wireless power supply and data transmission are realized, which greatly improves the operational flexibility and safety. The climbing mechanism, anti-deflection mechanism and image acquisition mechanism it is equipped with ensure that the drone can stably and efficiently perform image acquisition on the cable, solving the problems of inconvenient operation and easy damage to the cable in the prior art. Secondly, the device of the utility model also adopts a four-blade rotor 2 design and is equipped with a detachable protective cover 7 for easy installation and disassembly; the guide wheel 5 is a flexible design and is equipped with a pressure sensor to ensure a suitable distance; the adjustment component accurately adjusts the guide wheel 5 to improve stability, minimize contact with the cable, and avoid damage to the cable during the monitoring process; the anti-collision mechanism 8 also reduces the downtime or maintenance time caused by collision, so that the flying robot device can perform tasks for a longer time. In addition, the utility model is equipped with a variety of cameras and detectors, which can detect damage to the inner and outer layers of the cable and achieve all-round monitoring. The utility model is also widely used in cable surface conditions, stress monitoring, environmental impact assessment, and emergency response, etc., and is suitable for cable stays of different angles and diameters, and has a long working time. In addition, the flying robot device of the utility model can monitor cable stays with an angle of 60° with the ground, which brings a major breakthrough in the monitoring field of cable stays. In summary, the utility model significantly improves the efficiency and accuracy of cable stay monitoring, reduces labor costs and risks, and achieves more efficient and safe cable stay monitoring.

[0128] The specific embodiments of the present invention are described in detail above, but they are only examples, and the present invention is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modification and substitution of the present invention are also within the scope of this application. Therefore, the equivalent transformation and modification made without departing from the spirit and scope of the present invention should be included in the scope of the present invention.

Claims

1. A flying robot device for monitoring a stay cable, characterized in that: include: Rack, including: The center plate is provided with a circular through hole and is used to be sleeved on the outer periphery of the cable; the center plate is a left-right separated structure and is detachably connected through a first connecting member; the center plate includes a top plate and a bottom plate, the top plate and the bottom plate are arranged in parallel and vertically connected through a plurality of connecting rods; A tripod, mounted on a side of the bottom plate away from the top plate; Climbing mechanism, comprising: An arm, one end of which is fixedly connected between the top plate and the bottom plate; The rotor is installed at the other end of the arm and is used to provide flight and hovering power; A rotor motor is connected to the rotor to drive the rotor to rotate; Anti-deflection mechanism, including: At least two guide wheels, mounted on the bottom surface of the base plate and cooperating with the cable, are used to limit the movement of the robot along the direction of the cable; at least two first butterfly thread adjustment members, used in conjunction with the guide wheel to adjust the distance between the guide wheel and the cable; Image acquisition mechanism, including: Cameras are evenly distributed around the cable to collect cable status information; The anti-collision mechanism is installed just above the circular through hole of the center plate.

2. The flying robot device according to claim 1, characterized in that: The top plate and the bottom plate are also detachable structures and are connected by a first connecting member.

3. The flying robot device according to claim 1, characterized in that: The first connecting piece includes one or more combinations of bolts and nuts, screws, buckles, pins, pipe connectors, and quick clamps.

4. The flying robot device according to claim 1, characterized in that: A plurality of shaft sleeves are arranged between the top plate and the bottom plate, and the machine arm is fixed between the top plate and the bottom plate through the shaft sleeves.

5. The flying robot device according to claim 1, wherein the material of the machine arm comprises one or more of carbon fiber, aluminum alloy, ABS plastic, glass fiber composite material, and titanium alloy.

6. The flying robot device according to claim 1, characterized in that: A protective cover is arranged outside the rotor.

7. The flying robot device according to claim 1, characterized in that: The first butterfly thread adjustment member includes a first upper adjustment plate, a first lower adjustment plate, a first adjustment bolt, a first column, a first butterfly knob, and a first adjustment nut; The first upper adjustment plate is fixedly connected to a side of the bottom plate away from the top plate and is provided with three through holes; The first lower adjustment plate can be telescopically movable along the plane direction of the bottom plate, and is provided with a through hole corresponding to the first upper adjustment plate; There is one first adjusting bolt and two first uprights; The first adjusting bolt connects the through hole in the middle of the first upper adjusting plate and the through hole in the middle of the first lower adjusting plate; The two first uprights are respectively fixed on both sides of the first adjusting bolt, connecting the through hole of the first upper adjusting plate and the through hole of the lower adjusting plate; The first butterfly knob cooperates with the first adjusting bolt to adjust the position of the first lower adjusting plate; The first adjusting nut cooperates with the first column to fix and support the position of the first lower adjusting plate.

8. The flying robot device according to claim 7, characterized in that: The first lower adjustment plate is also connected to a guide wheel connecting column, and the guide wheel connecting column is connected to the guide wheel; The guide wheel connecting column is an elastic member and is sleeved with a coil spring.

9. The flying robot device according to claim 1, characterized in that: The guide wheel is a flexible wheel, and a pressure sensor is also arranged on the flexible wheel.

10. The flying robot device according to claim 1, characterized in that: The image acquisition component also includes one or more combinations of a wireless receiver, an image sensor, an image processor, an infrared imager, an ultrasonic detector, a controller, and a storage medium.

Images