A tiltable-rotor bridge cable rapid detection robot
Patent Information
- Application Number
- CN202521987385.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-16
- Publication Date
- 2026-10-09
- Estimated Expiration
- 2035-09-16
AI Technical Summary
[0003]本实用新型的目的是提供一种检测效率高、无损接触、越障能力强且运行稳定可靠的可倾转旋翼的桥梁缆索快速检测机器人，以解决传统接触式爬缆机器人因机械结构复杂笨重导致的运动灵活性差、爬升速度缓慢、越障能力不足，以及持续机械接触对缆索PE护套造成磨损的技术问题
本实用新型通过四组对称分布的旋翼提供核心升力，通过主体机构的控制板根据激光测距传感器与双目深度相机实时检测到的数据，实时感知的缆索倾角，控制倾转舵机带动旋翼倾转，实现对旋翼推力方向的精准、动态调节，自适应地调整飞行姿态与距离，使主体机构非接触的沿缆索自主、稳定爬升，避免了传统机械接触方式对缆索PE护套的磨损，还显著提升了越障能力与运动灵活性，光学摄像头组对缆索表观病害的全覆盖、无损化、自动化检测，极大提高了检测效率与数据质量，防撞起升架为旋翼及驱动机构提供了有效防护，增强了系统在复杂环境中的可靠性。
Smart Images
Figure CN224833468U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of cable inspection technology, specifically to a bridge cable rapid inspection robot with a tilting rotor. Background Technology
[0002] With the rapid development of my country's transportation infrastructure construction, the number of long-span bridges continues to grow. As the main load-bearing component, the cable system's operational status directly affects the structural safety and service life of the entire bridge. Therefore, regular and comprehensive inspection of cable surface defects (such as cracks, corrosion, and PE sheath damage) has become a crucial part of the bridge operation and maintenance system. Traditionally, inspections are mainly conducted manually, with inspectors using suspended platforms, cable-climbing trolleys, or rope systems to approach the cables for close-range observation. However, this method suffers from low efficiency, low safety, and incomplete inspection coverage, especially in high-altitude and complex environments. Furthermore, manual inspection is highly subjective, making it difficult to achieve standardized inspection criteria and easily overlooking minor defects, resulting in insufficient inspection coverage and reliability. Existing technologies often employ guide wheel assemblies or track mechanisms to make strong contact with the cable surface, relying on motor-driven friction to propel the robot up the cable for inspection. While this improves the safety and automation level of the inspection to some extent, the overall mechanical structure is complex and bulky, with poor movement flexibility and slow climbing speed. When facing obstacles such as clamps and dampers commonly found on cables, the robot's obstacle-crossing ability is insufficient, and it is prone to getting stuck or requiring complex auxiliary mechanisms to overcome obstacles. Continuous mechanical contact may also cause wear and tear on the cable's PE sheath. Utility Model Content
[0003] The purpose of this invention is to provide a bridge cable rapid inspection robot with a tilting rotor that has high detection efficiency, non-destructive contact, strong obstacle crossing ability, and stable and reliable operation. This aims to solve the technical problems of traditional contact cable climbing robots, which suffer from poor motion flexibility, slow climbing speed, insufficient obstacle crossing ability, and wear and tear on the PE sheath of the cable due to continuous mechanical contact caused by their complex and bulky mechanical structure.
[0004] To solve the above technical problems, the solution adopted by this utility model is as follows: A tilting rotor bridge cable rapid inspection robot includes a power supply, a main structure, a power distribution board, a control board, a lifting assembly, a detection assembly, and a monitoring and adjustment assembly; the lifting assembly, the detection assembly, and the monitoring and adjustment assembly are each provided in four sets, symmetrically installed around the main structure; The detection components and monitoring and adjustment are fixedly installed on the main structure; the power supply and control board are installed on the outside of the main structure; the power distribution board is installed below the main structure; the lifting assembly includes a tilt servo motor, rotor, drive motor, mounting frame, connecting rod, speed controller mounting frame, electronic speed controller, and tilt servo shaft; the connecting rod is fixedly connected to the main structure; The drive motor is mounted in the middle of the connecting rod via the mounting bracket, and its output end is fixedly connected to the rotor; the tilt servo is fixedly connected to the connecting rod, and its output end is fixedly connected to the tilt servo shaft; the tilt servo shaft passes through the mounting bracket; the speed controller mounting bracket is located at the end of the connecting rod closer to the main structure, and is externally connected to the electronic speed controller. The main structure consists of two semi-circular frames, hinged at one end and bolted at the other, facilitating the fitting of the main structure onto the cable to be tested; the control board is equipped with an inertial sensor, which is a type of sensor mainly used to detect and measure acceleration, tilt, impact, vibration, rotation, and multi-degree-of-freedom (DoF) motion, and is an important component for solving navigation, orientation, and motion vehicle control.
[0005] During the inspection at 005, all four drive motors start simultaneously, driving the rotors to rotate. The air thrust generated by the rotors propels the entire device upwards along the cable. During this ascent, the detection components acquire real-time images of the cable's surface and transmit them to the control board. The control board then transmits this information back to the ground for real-time detection of cable surface defects. Simultaneously, the monitoring and adjustment components detect the cable's tilt position and transmit this information to the control board for calculation of the cable's specific tilt angle. Based on the calculated data, the control board controls the tilt servo motors in the non-tilting direction to tilt the rotors above the cable parallel to the ground. The horizontal thrust generated by the rotors... To counteract the robot's gravity and ensure its stability at a certain height on the cable, the control board controls the rotor tilt angle along the cable's tilt direction to ensure consistent angles. This allows the main structure to climb along the tilted cable while maintaining a consistent distance from it. By dynamically manipulating the tilt servo to adjust the symmetrical rotor tilt angle, the robot's attitude is adjusted to track the cable's tilt angle. The robot can adapt to climbing tasks at different tilt angles without contacting the cable, achieving contactless stable tracking and detection. The electronic speed controller receives commands from the control board and precisely adjusts the current supplied to the drive motor to control the rotor speed.
[0006] Furthermore, the fixing frame includes a fixed base and a connecting seat; the fixed base is fixedly installed in the middle of the connecting rod, the top end of the connecting seat is fixedly connected to the drive motor, and the bottom end is rotatably connected to the fixed base; the tilting rudder shaft passes through the fixed base and is fixedly connected to the connecting seat.
[0007] When the tilt servo receives a command from the control board, it drives the tilt servo shaft to rotate via the output shaft, causing the connecting seat to rotate relative to the fixed base. This, in turn, drives the entire drive motor and rotor to tilt synchronously around the servo shaft axis, thereby changing the direction of rotor thrust and achieving precise and dynamic adjustment of flight attitude.
[0008] Furthermore, the monitoring and adjustment assembly includes a laser rangefinder, a fixed component, and a binocular depth camera; the laser rangefinder and the binocular depth camera are mounted on both sides of the fixed component; the fixed component is fixedly mounted on the inner side of the main structure; the laser rangefinder and the binocular depth camera are connected through the fixed component.
[0009] The laser rangefinder synchronously collects distance information from the inside of the robot body to the cable surface in four orthogonal directions, obtaining high-precision real-time distance data. At the same time, the binocular depth camera also captures images of the cable body tilting from four orthogonal directions, calculating the relative angle and approximate distance between the robot and the cable. The data is transmitted to the control board for fusion calculation, obtaining the yaw and pitch angles of the main structure relative to the cable, as well as precise radial distance information. Based on this data, the control board controls the rotor tilt to adjust the attitude and maintain the hovering distance, ensuring that the robot always maintains a stable tracking and detection attitude in a dynamic environment.
[0010] 010 Furthermore, the lifting assembly is equipped with an arc-shaped anti-collision lifting frame; the anti-collision lifting frame is fixedly installed at the other end of the connecting rod; the lifting assembly is located inside the anti-collision lifting frame. When the robot climbs or hovers along the cable, the anti-collision lifting frame can protect the rotor of the internal lifting assembly from collision with obstacles and damage.
[0011] Furthermore, the detection component is an optical camera, which is fixedly installed at the top of the main structure. As the robot climbs along the cable, the four optical cameras continuously acquire images of the cable surface in front of it, convert the captured optical images into digital signals, and transmit them in real time to the ground control station via the control board, providing the operator with a high-definition video stream and image sequence of the cable surface.
[0012] The working principle of this utility model is as follows: During inspection, all four drive motors start simultaneously, driving the rotors to rotate. The air thrust generated by the rotors propels the main structure upwards along the cable. During this ascent, optical cameras continuously capture images of the cable surface, converting the captured optical images into digital signals and transmitting them in real-time to the ground control station via the control board. This provides the operator with high-definition video of the cable surface for real-time detection of surface defects. Simultaneously, laser rangefinders collect distance information from the robot's interior to the cable surface in four orthogonal directions, obtaining high-precision real-time distance data. At the same time, binocular depth cameras capture images of the cable's tilt from four orthogonal directions, calculating the relative angle and approximate distance between the robot and the cable. This data is transmitted to the control board for fusion calculations to determine the yaw and pitch angles of the main structure relative to the cable. With precise radial distance information, the control board, based on calculated data, controls the tilt angle of the tilt servo in the non-tilt direction, making the rotor above it parallel to the ground. The horizontal thrust generated by the rotor counteracts the robot's gravity, ensuring the robot remains stable at a certain height on the cable. Simultaneously, the control board controls the tilt angle of the rotor located in the tilt direction of the cable, ensuring consistent angles so that the main structure can climb along the tilted cable and maintain a consistent distance from the cable. By dynamically manipulating the tilt servo to adjust the symmetrical rotor tilt angle, the robot adjusts the attitude of the main structure and tracks the cable tilt angle. The robot can adapt to climbing tasks on the cable at different tilt angles without contacting the cable, achieving non-contact stable tracking and detection. When the robot climbs or hovers along the cable, the anti-collision lifting frame protects the rotor of the internal lifting component, preventing the rotor from colliding with obstacles and causing damage.
[0013] The beneficial effects of this utility model are as follows: This invention utilizes four symmetrically distributed rotors to provide core lift. The main mechanism's control board, based on real-time data detected by laser rangefinders and binocular depth cameras, senses the cable tilt angle in real time and controls tilt servos to rotate the rotors. This achieves precise and dynamic adjustment of the rotor thrust direction, adaptively adjusting flight attitude and distance. The main mechanism then autonomously and stably climbs along the cable without contact, avoiding wear on the cable's PE sheath caused by traditional mechanical contact methods. It also significantly improves obstacle-crossing ability and maneuverability. The optical camera array provides full-coverage, non-destructive, and automated detection of cable surface defects, greatly improving detection efficiency and data quality. The anti-collision lifting frame provides effective protection for the rotors and drive mechanism, enhancing the system's reliability in complex environments. Attached Figure Description
[0014] Figure 1 This is a schematic diagram of the main structure of this utility model; Figure 2 for Figure 1 Enlarged structural diagram at point A in the diagram; Figure 3 This is a front view structural diagram of the present utility model; Figure 4 This is a side view of the structure of this utility model; Figure 5 This is a top view of the structure of this utility model.
[0015] In the diagram: 1. Tilting servo; 2. Rotor; 3. Drive motor; 4. Mounting frame; 41. Mounting base; 42. Connecting seat; 5. Connecting rod; 6. Speed controller mounting frame; 7. Electronic speed controller; 8. Power supply; 9. Tilting servo shaft; 10. Collision-resistant lifting frame; 11. Laser rangefinder sensor; 12. Optical camera; 13. Fixed component; 14. Binocular depth camera; 15. Main structure; 16. Power distribution board; 17. Control board. Detailed Implementation
[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0017] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model; the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.
[0018] The following is a detailed description of the tilting rotor bridge cable rapid inspection robot of this utility model, with reference to the accompanying drawings: Example 1
[0019] A tilting rotor bridge cable rapid inspection robot includes a power supply 8, a main structure 15, a power distribution board 16, a control board 17, a lifting assembly, a detection assembly, and a monitoring and adjustment assembly. The lifting assembly, detection assembly, and monitoring and adjustment assembly are each provided in four sets, symmetrically installed around the main structure 15. The detection assembly and monitoring and adjustment assembly are fixedly installed on the main structure 15. The power supply 8 and control board 17 are installed on the outside of the main structure 15. The power distribution board 16 is installed below the main structure 15. The lifting assembly includes a tilt servo motor 1, a rotor 2, a drive motor 3, a mounting frame 4, a connecting rod 5, a speed controller mounting frame 6, an electronic speed controller 7, and a tilt servo shaft 9; the connecting rod 5 is fixedly connected to the main structure 15; the detection assembly is an optical camera 12 mounted on the top of the main structure 15; the monitoring and adjustment assembly includes a laser rangefinder sensor 11, a fixing component 13, and a binocular depth camera 14; the mounting frame 4 includes a fixed base 41 and a connecting seat 42; The fixed base 41 is fixedly installed in the middle of the connecting rod 5. The top end of the connecting seat 42 is fixedly connected to the drive motor 3, and the bottom end is rotatably connected to the fixed base 41. The drive motor 3 is installed in the middle of the connecting rod 5 through the fixed base 41 and the connecting seat 42, and its output end is fixedly connected to the rotor 2. The tilt servo 1 is fixedly connected to the connecting rod 5, and its output end is fixedly connected to the tilt servo shaft 9. The tilt servo shaft 9 passes through the fixed base 41 of the fixed frame 4 and is fixedly connected to the connecting seat 42. The speed controller fixed frame 6 is located at the end of the connecting rod 5 near the main structure 15, and is externally connected to the electronic speed controller 7. The tilt servo shaft 9 passes through the fixed base 41 and is fixedly connected to the connecting seat 42. The laser rangefinder 11 and the binocular depth camera 14 are installed on both sides of the fixed component 13. The fixed component 13 is fixedly installed on the inner side of the main structure 15. The laser rangefinder 11 and the binocular depth camera 14 are connected through the fixed component 13.
[0020] The working principle of this embodiment is as follows: During the inspection, the control board 17 controls the four drive motors 3 to start simultaneously, driving the rotors 2 to rotate. The air thrust generated by the rotors 2 drives the entire device to climb up the cable. During the upward climb, the optical camera 12 continuously acquires images of the cable surface in front, converts the captured optical images into digital signals, and transmits them in real time to the ground control station via the control board 17, providing the operator with high-definition video of the cable surface for real-time detection of cable surface defects. At the same time, the laser rangefinder 11 synchronously acquires distance information from the inside of the robot to the cable surface in four orthogonal directions, obtaining high-precision real-time distance data. The binocular depth camera 14 also captures cable tilt images from four orthogonal directions, calculates the relative angle and approximate distance between the robot and the cable, and transmits the data to the control board 17. By performing fusion calculations, the yaw and pitch angles of the main structure 15 relative to the cable, as well as precise radial distance information, are obtained. Based on the calculated data, the control board 17 controls the tilt angle of the tilt servo 1 in the non-tilt direction, so that the rotor 2 above it is parallel to the ground. The horizontal thrust generated by the rotor 2 counteracts the robot's gravity, ensuring that the robot can remain stable at a certain height on the cable. At the same time, the control board 17 controls the tilt angle of the rotor 2 located in the tilt direction of the cable to ensure that the angles are consistent, so that the main structure 15 can climb along the tilted cable and maintain a consistent distance from the cable. By dynamically manipulating the tilt servo 1 to adjust the tilt angle of the symmetrical rotor 2, the attitude of the main structure 15 and the tracking of the cable tilt angle are adjusted. The robot can adapt to the climbing task of the cable at different tilt angles without contacting the cable, achieving non-contact stable tracking and detection. Example 2
[0021] The difference from Embodiment 1 is that the lifting assembly is provided with an arc-shaped anti-collision lifting frame 10; the anti-collision lifting frame 10 is fixedly installed at the other end of the connecting rod 5; the lifting assembly is located inside the anti-collision lifting frame 10. When the robot climbs or hovers along the cable, the anti-collision lifting frame 10 can protect the rotor 2 of the internal lifting assembly, preventing the rotor 2 from colliding with obstacles and being damaged.
[0022] The working principle of this embodiment is the same as that of Embodiment 1.
[0023] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A tilting rotor-based rapid inspection robot for bridge cables, characterized in that: It includes a power supply (8), a main structure (15), a power distribution board (16), a control board (17), a lifting assembly, a detection assembly, and a monitoring and adjustment assembly; the lifting assembly, the detection assembly, and the monitoring and adjustment assembly are each provided in four groups, symmetrically installed around the main structure (15); The detection components and monitoring adjustment are fixedly installed on the main structure (15); the power supply (8) and control board (17) are installed on the outside of the main structure (15); the power distribution board (16) is installed below the main structure (15); The lifting assembly includes a tilt servo motor (1), a rotor (2), a drive motor (3), a mounting frame (4), a connecting rod (5), a speed controller mounting frame (6), an electronic speed controller (7), and a tilt servo shaft (9); the connecting rod (5) is fixedly connected to the main structure (15); The drive motor (3) is mounted on the middle of the connecting rod (5) via the fixing frame (4), and its output end is fixedly connected to the rotor (2); the tilt servo (1) is fixedly connected to the connecting rod (5), and its output end is fixedly connected to the tilt servo shaft (9); the tilt servo shaft (9) passes through the fixing frame (4). The speed controller mounting bracket (6) is located at one end of the connecting rod (5) near the main structure (15) and is externally connected to the electronic speed controller (7); the monitoring and adjustment assembly includes a laser range sensor (11), a fixing component (13) and a binocular depth camera (14); the laser range sensor (11) and the binocular depth camera (14) are mounted on both sides of the fixing component (13); the fixing component (13) is fixedly mounted on the inner side of the main structure (15); the laser range sensor (11) and the binocular depth camera (14) pass through the fixing component (13).
2. The bridge cable rapid inspection robot with a tilting rotor according to claim 1, characterized in that: The fixed frame (4) includes a fixed base (41) and a connecting seat (42); the fixed base (41) is fixedly installed in the middle of the connecting rod (5), the top end of the connecting seat (42) is fixedly connected to the drive motor (3), and the bottom end is rotatably connected to the fixed base (41); the tilting rudder shaft (9) passes through the fixed base (41) and is fixedly connected to the connecting seat (42).
3. The bridge cable rapid inspection robot with a tilting rotor according to claim 1, characterized in that: The lifting assembly is provided with an arc-shaped anti-collision lifting frame (10); the anti-collision lifting frame (10) is fixedly installed at the other end of the connecting rod (5); the lifting assembly is located inside the anti-collision lifting frame (10).
4. The bridge cable rapid inspection robot with a tilting rotor according to claim 1, characterized in that: The detection component is an optical camera (12), which is fixedly installed on the top of the main structure (15).