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Cable Inspection Robot for Cable-Stayed Bridges:Design, Analysis, and Application

机译：斜拉桥电缆检查机器人：设计，分析与应用

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摘要

As the most important component of cable-stayed bridges, cable safety has been of crucial public concern. In this paper, a new robot system for the inspection of stay cables is proposed. The robot not only replaces human workers in carrying out risky tasks in a hazardous environment but also increases operational efficiency by eliminating costly erection of scaffolding or dragging of winches. The designed robot is composed of two equally spaced modules, joined by connecting bars to form a closed hexagonal body that clasps the cable. For safe landing in case of an electrical interruption or malfunction, a gas damper with a slider-crank mechanism is proposed to use up the extra energy generated by gravity when the robot slips down. To conserve energy, a landing method based on back electromotive force is introduced. Laboratory and field experiments verified that the robot can stably climb random inclined cables and land smoothly upon electrical malfunction. Finally, along with an application example, the vision inspection system based on charge-coupled device cameras, operating modes of the robot, control methods, and feasibility are discussed in detail. The field applications on two cable stayed bridges indicate that such a low-cost robot system can improve the efficiency of inspection operations and satisfy the requirements of actual cable inspection.
机译：作为斜拉桥最重要的组成部分，电缆安全一直是公众关注的重点。本文提出了一种用于检查斜拉索的新型机器人系统。该机器人不仅可以代替工人在危险环境中执行危险任务，而且还可以通过消除昂贵的脚手架架设或绞车拖动来提高运营效率。设计的机器人由两个等间距的模块组成，通过连接杆连接在一起，形成一个闭合的六角形主体，可以卡住电缆。为了在电气中断或故障的情况下安全着陆，提出了一种带有曲柄曲柄机构的气体阻尼器，以耗尽机器人滑倒时重力产生的额外能量。为了节省能量，引入了基于反电动势的着陆方法。实验室和现场实验证明，该机器人可以稳定攀爬随机倾斜的电缆，并在发生电气故障时平稳着陆。最后，结合应用实例，详细讨论了基于电荷耦合器件摄像机的视觉检测系统，机器人的操作模式，控制方法和可行性。在两个斜拉桥上的现场应用表明，这种低成本的机器人系统可以提高检查操作的效率，并满足实际电缆检查的要求。

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  • 来源
    《Journal of Robotic Systems》 |2011年第3期|p.441-459|共19页
  • 作者

    Fengyu Xu; Xingsong Wang; Lei Wang;

  • 作者单位

    School of Mechanical Engineering, Southeast University, 2# Southeast University Road, JiangNing District, Nanjing, 211189, China;

    School of Mechanical Engineering, Southeast University, 2# Southeast University Road, JiangNing District, Nanjing, 211189, China;

    School of Mechanical Engineering, Southeast University, 2# Southeast University Road, JiangNing District, Nanjing, 211189, China;

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