Anti-collision flying robot device for monitoring cable-stayed cable

Abstract

The utility model provides an anti-collision 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, a plurality of adjusting components accurately adjust the relative positions of the guide wheel, the clamping surface and the cable, so that the stability is improved, and the contact between the device and the cable is reduced as much as possible; and the horizontal table is always kept in a horizontal state by adjusting the swing clamping component, so that the accuracy of data in the monitoring process is ensured. In addition, the anti-collision mechanism also reduces the shutdown or maintenance time caused by collision, the flying robot device can execute tasks for a longer time, the operation efficiency is improved, and more efficient, accurate and safe cable-stayed cable monitoring is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of monitoring devices, in particular to a collision-proof 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, and lack the ability to calibrate the damage location in real time, which brings many inconveniences to subsequent maintenance work. In particular, 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 during inspection, 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 an anti-collision flying robot device for monitoring inclined cables.

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

[0010] Rack, including:

[0011] 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;

[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] A horizontal platform is connected to the frame through a tripod, the horizontal platform is provided with a U-shaped notch, the open end of the U-shaped notch is provided with a transverse plate, and the U-shaped notch and the transverse plate together form a cavity for sheathing the cable;

[0021] The swing clamping member is vertically and fixedly installed on a side of the horizontal platform away from the center plate, and comprises a clamping member 1, a clamping member 2, a first fixing portion, and a second fixing portion. The clamping member 1 is rotatably connected to the first fixing portion, the clamping member 2 is rotatably connected to the second fixing portion, and the distance between the clamping member 1 and the first fixing portion is adjustable. A space for inserting a cable is formed between the clamping member 1 and the clamping member 2.

[0022] Image acquisition mechanism, including:

[0023] Cameras are evenly distributed around the cable to collect cable status information;

[0024] The anti-collision mechanism is installed just above the circular through hole of the center plate.

[0025] In a preferred embodiment, the shape of the center plate includes a regular polygon or a circle.

[0026] Preferably, the shape of the center plate includes one or more of a circle, a regular quadrilateral, a regular hexagon, and a regular octagon.

[0027] More preferably, the center plate is in the shape of a regular hexagon.

[0028] In a preferred embodiment, the top plate and the bottom plate are also detachable structures and are connected by a first connecting member.

[0029] 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.

[0030] 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.

[0031] In a preferred embodiment, the base plate and the stand are connected in a fixed manner.

[0032] In a preferred embodiment, the connection between the tripod and the horizontal platform is a detachable connection.

[0033] Preferably, the detachable connection comprises one or more combinations of a threaded connection, a hinge connection, a slide rail connection, a latch connection, and a magnetic connection.

[0034] More preferably, the connection method between the tripod and the horizontal platform is a pin connection, that is, the cross bar of the tripod serves as a pin, and a fixing plate socket is provided on the horizontal platform. The cross bar of the tripod cooperates with the fixing plate socket to realize flexible disassembly and installation of the horizontal platform on the frame.

[0035] 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.

[0036] Preferably, the bushing is evenly assembled between the top plate and the bottom plate.

[0037] 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.

[0038] Preferably, the sleeve is welded between the top plate and the bottom plate.

[0039] Preferably, the machine arm is detachably mounted in the shaft sleeve by means of screws.

[0040] 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.

[0041] In a preferred embodiment, the rotor includes one or more combinations of two-blade, three-blade, and four-blade rotors.

[0042] Preferably, the material of the rotor includes one or more of carbon fiber, aluminum alloy, ABS plastic, glass fiber composite material, and titanium alloy.

[0043] Preferably, the rotor is a four-blade rotor, whose four blades are evenly distributed, and the angle between two adjacent blades is 90°.

[0044] In a preferred embodiment, each of the rotors is provided with a protective cover.

[0045] 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.

[0046] In a preferred embodiment, the guide wheel is a flexible wheel.

[0047] Preferably, the flexible wheel is provided with a pressure sensor.

[0048] 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.

[0049] 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;

[0050] 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;

[0051] 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;

[0052] There is one first adjusting bolt and two first uprights;

[0053] 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;

[0054] 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;

[0055] The first butterfly knob cooperates with the first adjusting bolt to adjust the position of the first lower adjusting plate;

[0056] The first adjusting nut cooperates with the first column to fix and support the position of the first lower adjusting plate.

[0057] 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.

[0058] 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.

[0059] In a preferred embodiment, the clamping member 1 of the swing clamping member comprises:

[0060] A second upper adjustment plate, mounted in the guide groove of the first fixing portion and provided with three through holes;

[0061] A first clamping surface, a side of which facing the first fixing portion is provided with a circular hole corresponding to the second upper adjustment plate;

[0062] A second adjusting bolt, connecting the through hole in the middle of the second upper adjusting plate and the circular hole in the middle of the first clamping surface;

[0063] Two second uprights are provided, which are respectively fixed on both sides of the second adjusting bolt and connect the through hole of the second upper adjusting plate and the circular hole of the first clamping surface;

[0064] a second butterfly knob, cooperating with the second adjusting bolt, for adjusting the position of the first clamping surface;

[0065] The second adjusting nut cooperates with the second column to fix and support the position of the first clamping surface.

[0066] In a preferred embodiment, the second clamping member of the swing clamping member comprises:

[0067] a second clamping surface; and

[0068] a second connecting member, wherein the second clamping surface is rotatably connected to the second fixing portion through the second connecting member;

[0069] In a preferred embodiment, a space for inserting a cable is formed between the first clamping surface and the second clamping surface.

[0070] Preferably, the circular hole of the first clamping surface is a blind hole to avoid damage to the cable during the monitoring process.

[0071] Preferably, the second clamping surface is connected to the second fixing portion via the second connecting member through an axial hole.

[0072] In a preferred embodiment, the first fixing portion is provided with a first fixing plate, the first fixing plate is provided with a first waist hole, and the second upper adjustment plate of the clamping member 1 cooperates with the first waist hole to make the clamping member 1 swing along the direction of the first waist hole.

[0073] Preferably, the shape of the first waist hole is arc-shaped, the edge of the second upper adjustment plate matching the first waist hole is an arc-shaped edge, and the curvature of the first waist hole is consistent with the curvature of the edge of the second upper adjustment plate.

[0074] In a preferred embodiment, the second fixing portion is provided with a second fixing plate, the second fixing plate is provided with a second waist hole, and the second connecting piece of the second clamping member cooperates with the second waist hole to enable the second clamping member to move along the direction of the second waist hole.

[0075] Preferably, the shape of the second waist hole is a straight line parallel to the horizontal platform, the edge of the second connecting piece matching the second waist hole is also a straight edge, and the second connecting piece moves horizontally along the direction of the second waist hole to adjust the distance of the clamping member 2 relative to the second fixed part.

[0076] Preferably, during the monitoring process, the distance between the first clamping surface and the cable is 0-10 mm, preferably 2-8 mm, and more preferably 3-5 mm.

[0077] Preferably, during the monitoring process, the distance between the second clamping surface and the cable is 0-10 mm, preferably 2-8 mm, and more preferably 3-5 mm.

[0078] In a preferred embodiment, a level meter is provided on the horizontal platform to ensure that the horizontal platform always remains horizontal during the monitoring process.

[0079] 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.

[0080] Preferably, the image acquisition mechanism can be installed on a horizontal platform or on a center plate.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] The second aspect of the utility model provides a method for monitoring a cable-stayed cable, the steps comprising:

[0085] Based on the flying robot device described in the first aspect of the utility model, the horizontal platform is disassembled from the flying robot device;

[0086] Fixing the transverse plate to the horizontal platform so that the cable is located in the cavity formed by the U-shaped notch of the horizontal platform and the transverse plate;

[0087] The left and right separated center plates are sleeved on the outer periphery of the cable and fixedly connected by a first connecting member;

[0088] Connect the horizontal platform to the frame through the tripod;

[0089] Adjust the first butterfly thread adjustment member to adjust the distance between the guide wheel and the cable to a preset distance;

[0090] Adjusting the angle of the first clamping member relative to the first fixing portion to a preset value, and adjusting the angle of the second clamping member relative to the second fixing portion to a preset value, so that the horizontal platform remains horizontal and the clamping surface remains parallel to the cable; and,

[0091] Adjusting the distance between the clamping member 1 and the first fixing portion so that the clamping surface of the clamping member 1 is close to or away from the clamping surface of the clamping member 2, so that the clamping member 1 and the clamping member 2 are close to or away from the cable;

[0092] Turn on the rotor motor to rotate the rotor, and use the controller to control the flying robot to take off smoothly;

[0093] 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.

[0094] In a preferred embodiment, the second connecting piece of the second clamping member moves horizontally along the direction of the second waist hole to adjust the distance of the second clamping member relative to the second fixing portion.

[0095] 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.

[0096] 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, horizontal platform and other components are disassembled for cleaning and maintenance.

[0097] The third aspect of the utility model provides an application of a collision-proof flying robot device for monitoring cable-stayed cables, and the flying robot device can be used to monitor the cable-stayed cables of a cable-stayed bridge.

[0098] Preferably, the monitoring includes one or more of cable surface condition monitoring, cable stress monitoring, and environmental monitoring.

[0099] 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.

[0100] 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.

[0101] In a preferred embodiment, the angle between the cable and the ground is 50-90°, preferably 60-90°, and more preferably 75-90°.

[0102] In a preferred embodiment, the diameter of the inclined cable is 50-300 mm, preferably 55-200 mm, and more preferably 60-120 mm.

[0103] Compared with the prior art, the utility model has the following beneficial effects:

[0104] The utility model provides a collision-proof 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-deviation 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 multiple adjustment components of the utility model (such as the first butterfly thread adjustment component and the swing clamping component) accurately adjust the relative positions of the guide wheel, the clamping surface and the cable, improve stability, and minimize the contact of the device with the cable; and the utility model ensures the accuracy of the monitoring process data by adjusting the swing clamping component to keep its horizontal platform in a horizontal state. In addition, 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 the inclined cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] Figure 1 It is a side view of the flying robot device structure in Example 1 of the utility model.

[0106] 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 and the horizontal platform removed.

[0107] Figure 3 This is a bottom view of the center plate of the flying robot device in Example 1 of the utility model.

[0108] Figure 4 It is a three-dimensional structural schematic diagram of the horizontal platform and the swing clamping component of the flying robot device in Example 1 of the utility model.

[0109] Figure 5 It is a schematic diagram of the three-dimensional structure of the flying robot device in Example 1 of the utility model after disassembling the water platform.

[0110] Figure 6 It is a side view of the partial structure of the flying robot device in Example 1 of the utility model with the protective cover and anti-collision mechanism removed.

[0111] Figure 7 This is a top view of the center plate of the flying robot in Example 1 of the utility model.

[0112] The following are the descriptions of the reference numerals:

[0113] 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; 1 4. Horizontal platform; 151. First fixing part; 152. Second fixing part; 16. Second butterfly thread adjustment member; 161. Second upper adjustment plate; 162. First clamping surface; 163. Second clamping surface; 164. Second adjustment bolt; 165. Second column; 17. Second connecting member; 18. Cross plate; 19. First fixing plate; 191. First waist hole; 20. Second fixing plate; 201. Second waist hole; 21. Rotor motor; 22. Wireless receiver; 23. Fixing plate jack. DETAILED DESCRIPTION

[0114] The following is a further description of a collision-proof flying robot device, method and application of monitoring inclined cables 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 taught by 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.

[0115] Embodiment 1:

[0116] This embodiment provides a collision-proof flying robot device for monitoring a cable-stayed cable, such as Figure 1-7 As shown, it includes a frame, a climbing mechanism, an anti-deflection mechanism, an image acquisition mechanism and an anti-collision mechanism 8.

[0117] The frame comprises:

[0118] 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.

[0119] 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.

[0120] 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.

[0121] The climbing mechanism comprises:

[0122] 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.

[0123] 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.

[0124] The anti-deflection mechanism comprises:

[0125] 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.

[0126] 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.

[0127] The horizontal platform 14 is movably connected to the frame through the tripod 9, that is, the horizontal bar 91 of the tripod is connected to the horizontal platform 14 by a latch, and the horizontal bar 91 of the tripod is used as a latch. The horizontal platform 14 is equipped with a fixed plate socket 23, and the horizontal bar 91 of the tripod cooperates with the fixed plate socket 23 to realize the flexible disassembly and installation of the horizontal platform 14 on the frame. The horizontal platform 14 is provided with a U-shaped notch, and a horizontal plate 18 is provided at the open end. The cavity formed by the U-shaped notch and the horizontal plate 18 is used to set the cable. The horizontal platform 14 is also equipped with a level to ensure that the horizontal platform 14 always remains horizontal during the monitoring process. The material of the horizontal platform 14 is carbon fiber.

[0128] The swing clamping member is vertically and fixedly installed on the side of the horizontal platform 14 away from the center plate 3. The swing clamping member includes a first fixing portion 151, a second fixing portion 152, a clamping member 1, and a clamping member 2. The clamping member 1 is a second butterfly thread adjustment member 16, which is rotatably connected to the first fixing portion 151, and the second butterfly thread adjustment member 16 can swing in the vertical direction relative to the first fixing portion 151. The second butterfly thread adjustment member 16 is used to adjust the angle of the first clamping surface 162 and the distance between the first clamping surface 162 and the cable, and the clamping member 2 is used to adjust the angle of the second clamping surface 163 and the distance between the second clamping surface 163 and the cable, so as to ensure that the first clamping surface 162 and the second clamping surface 163 are parallel to the direction of the cable while the horizontal platform 14 remains horizontal.

[0129] The second butterfly thread adjustment member 16 includes a second upper adjustment plate 161, a first clamping surface 162, a second clamping surface 163, a second connecting member 17, a second adjustment bolt 164, a second column 165, a second butterfly knob, and a second adjustment nut; the second upper adjustment plate 161 is installed in the guide groove of the first fixing portion 151 and is provided with three through holes; the first clamping surface 162 is provided with a circular hole corresponding to the upper adjustment plate; one second adjustment bolt 164 is provided, and two second columns 165 are provided; the second adjustment bolt 164 is connected to the second fixing portion 151; Connect the through hole in the middle of the second upper adjustment plate 161 and the circular hole in the middle of the first clamping surface 162; the two second columns 165 are respectively fixed on both sides of the second adjusting bolt 164, connecting the through hole of the second upper adjustment plate 161 and the circular hole (blind hole to avoid damaging the cable) of the first clamping surface 162; the second butterfly knob cooperates with the second adjusting bolt 164 to adjust the position of the first clamping surface 162; the second adjusting nut cooperates with the second column 165 to fix and support the position of the first clamping surface 162.

[0130] The first fixing portion 151 is provided with a first fixing plate 19, on which a first waist hole 191 is provided, the shape of the first waist hole 191 is arc-shaped, the edge of the second upper adjustment plate 161 that matches the first waist hole 191 is an arc-shaped edge, and the curvature of the first waist hole 191 is consistent with the curvature of the edge of the second upper adjustment plate 161. The second upper adjustment plate 161 of the second butterfly thread adjustment member 16 cooperates with the first waist hole 191, so that the clamping member 1 swings along the waist hole direction to achieve the adjustment of the angle of the clamping member 1.

[0131] The second clamping member includes a second connecting member 17 and a second clamping surface 163. The second clamping surface 163 is connected to the axial hole of the second fixing portion 152 via the second connecting member 17 to achieve rotation of the second clamping surface 163 relative to the second fixing portion 152, that is, to achieve angle adjustment of the second clamping surface 163.

[0132] The second fixing portion 152 is provided with a second fixing plate 20, and a second waist hole 201 is provided on the second fixing plate 20. The shape of the second waist hole 201 is a straight line parallel to the horizontal platform, and the edge of the second connecting member 17 that cooperates with the second waist hole 201 is also a straight edge. The second connecting member 17 of the second clamping member cooperates with the second waist hole 201 to make the second clamping member move horizontally along the waist hole direction, thereby realizing the adjustment of the position of the second clamping member relative to the second fixing portion and achieving the purpose of adjusting the distance between the second clamping surface 163 and the cable.

[0133] The image acquisition mechanism is installed on the horizontal platform 14 or the central plate 3, and includes:

[0134] Wide-angle cameras are evenly distributed around the cable and are used to collect image information of the cable surface in real time.

[0135] The wireless receiver 22 is used to receive and transmit signals.

[0136] Image sensors are used to capture optical images and convert them into electrical signals.

[0137] Image processor, a processor dedicated to image processing (matrix calculation) such as conversion and synthesis.

[0138] Infrared imagers can produce different thermal images after infrared rays act on objects.

[0139] Ultrasonic detectors use ultra-high frequency sound waves to detect the internal integrity, defects and structure of objects.

[0140] 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.

[0141] Storage media, for data storage, such as pictures and coordinates.

[0142] Embodiment 2:

[0143] This embodiment provides a method for monitoring a stay cable, the steps comprising:

[0144] S1. Based on the flying robot device described in Example 1, the horizontal platform 14 is disassembled from the flying robot device, and the horizontal plate 18 is not fixed on the horizontal platform 14 at this time.

[0145] 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°.

[0146] S3, the horizontal platform 14 is connected to the frame through the cooperation between the foot frame 9 and the fixing plate socket 23 on the horizontal platform 14. Then, the anti-collision mechanism 8 is inserted above the center plate 3.

[0147] 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:

[0148] (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.

[0149] (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.

[0150] (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.

[0151] S5, adjusting the swing clamping member to adjust the angle and distance between the clamping surface and the cable to a preset angle and distance, while ensuring that the horizontal platform 14 remains horizontal, and the distance between the clamping surface and the cable is 3-5 mm. The adjustment steps include:

[0152] (1) Angle adjustment: adjust the relative position of the second upper adjustment plate 161 to the first waist hole 191 to adjust the angle of the first clamping surface 162; rotate the relative position of the second clamping surface 163 and the second connecting member 17 to adjust the angle of the second clamping surface 163 to ensure that the first clamping surface 162 and the second clamping surface 163 are parallel to the direction of the cable. And observe the level on the horizontal platform 14 to ensure that the horizontal platform 14 remains level.

[0153] (2) Adjust the distance of the first clamping surface 162 and rotate the second butterfly knob to drive the second adjusting bolt 164 to rotate. Pay attention to maintaining a stable force and speed to ensure that the second adjusting bolt 164 and the two second columns 165 move in the expected direction. After adjusting to the appropriate position, the second butterfly knob locks the position of the second adjusting bolt 164, and the second adjusting nut locks the position of the second column 165 to prevent it from moving during use.

[0154] (3) Adjusting the distance of the second clamping surface 163: By sliding the second connecting member 17 on the second waist hole 201, the relative position of the second connecting member 17 on the second fixing portion 152 is adjusted to achieve the adjustment of the distance between the second clamping surface 163 and the cable.

[0155] S6. Fix the transverse plate 18 to a preset position on the horizontal platform 14 by means of a combination of screws and nuts, so that the cable is located in the cavity formed by the U-shaped notch and the transverse plate 18.

[0156] S7, turning on the rotor motor 21 to rotate the rotor 2, and controlling the flying robot to take off smoothly.

[0157] S8. 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.

[0158] 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.

[0159] 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.

[0160] The wireless receiver 22 receives and transmits these signals to the controller.

[0161] All data are stored in storage media for subsequent analysis and use.

[0162] The controller controls the flight status of the image acquisition mechanism according to the received information to ensure comprehensive monitoring.

[0163] S9. 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 disassemble the tripod 9, the arm 1, the horizontal platform 14 and other components for cleaning and maintenance.

[0164] Embodiment 3:

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] 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 an appropriate distance; multiple adjustment components (such as the first butterfly thread adjustment component 6 and the swing clamping component) accurately adjust the relative position of the guide wheel 5, the clamping surface and the cable to improve stability, minimize contact with the cable, and avoid damage to the cable during the monitoring process; by adjusting the swing clamping component and the horizontal platform 14 to always maintain a horizontal state, the accuracy of the monitoring process data is also ensured, and more efficient and accurate monitoring of the inclined cable is achieved. The anti-collision mechanism 8 also reduces the downtime or maintenance time caused by collision, allowing the flying robot device to 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, emergency response and other aspects, adapting to inclined cables of different angles and diameters, and has a longer working time. In addition, the flying robot device of the utility model can monitor the inclined cable with an angle of 60° with the ground, which has brought a major breakthrough in the monitoring field of inclined cables. In summary, the utility model significantly improves the efficiency and accuracy of inclined cable monitoring, reduces labor costs and risks, and realizes more efficient and safe inclined cable monitoring.

[0171] 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 collision-proof flying robot device for monitoring a stay cable, characterized in that: include: Rack, including: 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; 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; A horizontal platform is connected to the frame through a tripod, the horizontal platform is provided with a U-shaped notch, the open end of the U-shaped notch is provided with a transverse plate, and the U-shaped notch and the transverse plate together form a cavity for sheathing the cable; The swing clamping member is vertically and fixedly installed on a side of the horizontal platform away from the center plate, and comprises a clamping member 1, a clamping member 2, a first fixing portion, and a second fixing portion. The clamping member 1 is rotatably connected to the first fixing portion, the clamping member 2 is rotatably connected to the second fixing portion, and the distance between the clamping member 1 and the first fixing portion is adjustable. A space for inserting a cable is formed between the clamping member 1 and the clamping member 2. 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: The connection method between the tripod and the horizontal platform is a latch connection, that is, the cross bar of the tripod serves as a latch, and a fixing plate socket is provided on the horizontal platform. The cross bar of the tripod cooperates with the fixing plate socket to realize flexible disassembly and installation of the horizontal platform on the frame.

5. 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.

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; the first lower adjusting 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 spiral spring to maintain the stability and reliability of the guide wheel.

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

9. The flying robot device according to claim 1, characterized in that: The first clamping member of the swing clamping member comprises: A second upper adjustment plate, mounted in the guide groove of the first fixing portion and provided with three through holes; A first clamping surface, a side of which facing the first fixing portion is provided with a circular hole corresponding to the second upper adjustment plate; a second adjustment bolt connecting the through hole in the middle of the second upper adjustment plate and the circular hole in the middle of the first clamping surface; Two second uprights are provided, which are respectively fixed on both sides of the second adjusting bolt and connect the through hole of the second upper adjusting plate and the circular hole of the first clamping surface; a second butterfly knob, cooperating with the second adjusting bolt, for adjusting the position of the first clamping surface; a second adjusting nut, cooperating with the second column, for fixing and supporting the position of the first clamping surface; The second clamping member comprises: a second clamping surface; and a second connecting member, wherein the second clamping surface is rotatably connected to the second fixing portion through the second connecting member; wherein a space for inserting a cable is formed between the first clamping surface and the second clamping surface; The first fixing part is provided with a first fixing plate, the first fixing plate is provided with a first waist hole, the shape of the first waist hole is arc-shaped, the edge of the second upper adjustment plate matching with the first waist hole is an arc-shaped edge, the curvature of the first waist hole is consistent with the curvature of the edge of the second upper adjustment plate; the second upper adjustment plate and the first waist hole are matched with each other, so that the clamping member swings along the direction of the first waist hole; The second fixing part is equipped with a second fixing plate, and the second fixing plate is provided with a second waist hole. The shape of the second waist hole is a straight line parallel to the horizontal platform, and the edge of the second connecting piece matching with the second waist hole is also a straight edge; the second connecting piece and the second waist hole cooperate with each other to make the clamping member move along the direction of the second waist hole.

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