阅读说明：本技术 一种桥梁缆索探测装置的精准定位攀爬装置及方法 (Accurate positioning and climbing device and method for bridge cable detection device ) 是由 孟庆领 王海良 刘中宪 杨振舰 郭红梅 周燕 于 2021-09-08 设计创作，主要内容包括：本发明公开一种桥梁缆索探测装置的精准定位攀爬装置及方法,包括步骤：接收检测终端的攀爬控制指令；根据攀爬控制指令和实时采集攀爬定位数据计算各个攀爬单元的攀爬参数；将各个攀爬单元的攀爬参数发送至相应的攀爬单元,实现个攀爬单元的协同攀爬。本发明适用于斜拉桥桥梁缆索,在爬升过程中具有较好的可靠性和稳定性,能够实现检测精准定位,为检测提供稳定可靠的检测基础。(The invention discloses a precise positioning and climbing device and a method of a bridge cable detection device, wherein the method comprises the following steps: receiving a climbing control instruction of a detection terminal; calculating climbing parameters of each climbing unit according to the climbing control instruction and the real-time collected climbing positioning data; and sending the climbing parameters of each climbing unit to the corresponding climbing units to realize the cooperative climbing of each climbing unit. The invention is suitable for cable-stayed bridge cables, has better reliability and stability in the climbing process, can realize accurate detection positioning and provides a stable and reliable detection basis for detection.)

1. The accurate positioning and climbing method of the bridge cable detection device is characterized by comprising the following steps:

s10, receiving a climbing control instruction of the detection terminal;

s20, calculating climbing parameters of each climbing unit according to the climbing control instruction and the real-time collected climbing positioning data;

and S30, sending the climbing parameters of the climbing units to the corresponding climbing units, and realizing the cooperative climbing of the climbing units.

2. The method for accurately positioning and climbing a bridge cable detection device according to claim 1, wherein the detection terminal sends a climbing control command to the climbing device through a wireless network, and a climbing controller of the climbing device calculates climbing parameters of each climbing unit according to the climbing control command.

3. The method for accurately positioning and climbing a bridge cable detection device according to claim 1, wherein in the step S20, the climbing parameters of each climbing unit are calculated according to climbing control instructions, and the method comprises the following steps:

s21, calculating initial climbing parameters of each climbing unit according to the climbing control command; the initial climbing parameters of all the climbing units are sent to the corresponding climbing units, and the cooperative climbing of all the climbing units is realized;

s22, collecting climbing positioning data in real time, and controlling the climbing state of the climbing unit according to the current climbing positioning data.

4. The method for accurately positioning and climbing the bridge cable detection device according to claim 3, wherein an axial angle sensor is arranged at a roller driving rotating shaft of the climbing unit and is connected to the climbing controller; the climbing positioning data of the current period are acquired by the shaft angle sensor, and the climbing state of the climbing unit is adjusted according to the current climbing positioning data;

the climbing positioning data of all climbing units in the current period are obtained, comparison and judgment are carried out, and the climbing units with the deviation phenomenon are adjusted.

5. The method for accurately positioning and climbing a bridge cable detection device according to claim 3, wherein the comparison and judgment process comprises the following steps:

s221, obtaining climbing positioning data X of all current climbing units as [ X1, X2, … …, Xn ];

s222, calculating the theoretical advancing distance X of the current climbing period according to the climbing speed, the climbing time period, the period number and the position of the previous period set in the climbing control command_{Sign board}；

S223, comparing the theoretical travel distance with each value in the climbing positioning data X to obtain a target difference value D ═ X1-X_{Sign board},X2-X_{Sign board},……，Xn-X_{Sign board}]；

S224, selecting the climbing unit under the minimum value in the target difference value sequence as a target unit;

s225, comparing the climbing positioning data of the target unit with the climbing positioning data of other climbing units to be adjusted, and if the difference is larger than the preset error range, judging that the climbing units to be adjusted need to be adjusted, and acquiring all climbing units to be adjusted;

s226, in all the climbing units needing to be adjusted, the motor of the unit is decelerated if the climbing positioning data of the climbing units are higher than the climbing positioning data of the target unit, and the motor of the unit is accelerated if the climbing positioning data of the climbing units are lower than the climbing positioning data of the target unit.

6. The method for accurately positioning and climbing a bridge cable detection device according to claim 4, wherein the acquisition of the climbing positioning data of the current period by the shaft angle sensor is as follows: calculating the corresponding travelling distance of the roller according to the pulse number acquired by the shaft angle sensor to serve as climbing positioning data;

calculating the perimeter according to the diameter of the roller, and dividing the perimeter by the pulse parameter calibration value of the shaft angle sensor to obtain 1 pulse representing the basic advancing distance; and obtaining the corresponding travel distance of the roller wheel under the period according to the acquired pulse number multiplied by the basic travel distance.

7. The accurate positioning and climbing device of the bridge cable detection device is characterized by comprising a supporting main body (1), a plurality of climbing units (2) and a climbing controller, wherein the plurality of climbing units (2) are arranged at two ends of the supporting main body (1) in a surrounding manner, correspond to each other and surround a bridge cable (3) to be detected in the climbing units and move along the bridge cable; control command is sent to climbing controller control each climbing unit (2) operation by the testing terminal is wireless, according to climbing control command with gather in real time and climb the climbing parameter that the data calculated each climbing unit (2), send the climbing parameter of each climbing unit (2) to corresponding climbing unit (2), realize the cooperative climbing of each climbing unit (2).

8. The device for the precise positioning and climbing of a bridge cable detection device according to claim 7, characterized in that the climbing unit (2) comprises a mobile propulsion assembly, a motor (11), a reducer (12), rollers (13), a base (14) and an axial angle sensor; a movable propelling component is arranged on the base (14), a motor (11) is arranged on the movable propelling component, and a rotating shaft of the motor (11) drives a roller (13) to rotate through a speed reducer (12); the base (14) is transversely installed at the end of the supporting main body (1), so that the climbing mechanism is arranged at the end of the supporting main body (1), and the rollers (13) face the bridge cable; the shaft angle sensor is arranged at a driving rotating shaft of the roller (13), and the driving rotating shaft of the roller (13) is connected with a rotating shaft of the motor (11);

the position of a motor (11) is adjusted by moving the propelling component, so as to clamp the bridge cable; the motor (11) drives the roller (13) to roll to realize that the whole device moves along a bridge cable, and the climbing working condition is controlled by the speed reducer (12); the motor (11) and the speed reducer (12) of each climbing subunit are electrically connected with the climbing controller, the climbing controller is in communication connection with the central controller, and the central controller sends control instructions to the motor (11) and the speed reducer (12) of each climbing subunit through the climbing controller after receiving the detection terminal instructions, so that each climbing subunit operates in coordination.

9. The device for accurately positioning and climbing a bridge cable detection device according to claim 8, wherein the moving and propelling assembly comprises a rail (15), a sliding block (16), a rocker (17) and a connecting plate (18), the rail (15) is arranged on the base (14), the sliding block (16) is connected on the rail (15) in a sliding manner, one end of the sliding block (16) is connected to the rocker (17) through a propelling screw, and a motor (11) is mounted on the sliding block (16) through the connecting plate (18);

a rubber layer is arranged on the surface of the roller (13).

10. The device for accurately positioning and climbing a bridge cable detection device according to claim 8 or 9, characterized in that 3 climbing units (2) are arranged around the support body (1) at equal intervals at each end, and the 3 climbing units (2) are opposite in a triangle and embrace the bridge cable therein.

Technical Field

The invention belongs to the technical field of bridge detection, and particularly relates to an accurate positioning and climbing device and method for a bridge cable detection device.

Background

The cable-stayed bridge is used as a novel bridge and is more and more widely applied in the world by virtue of the advantages of large spanning capacity, high cost performance, good earthquake resistance and the like. The first cable-stayed bridge was established in the sixties of the twentieth century, and hundreds of cable-stayed bridges have been applied all over the country to date, and are the top of the world in length and number. The damage condition of the stay cable can be inevitably generated in the application of the large-scale cable-stayed bridge, so that the safety of the bridge and the personal and property safety are threatened. Bridge construction and maintenance workers are therefore increasingly looking at the safe operation of bridge cables and are improving and raising them by various means. The accessible climbing device carries check out test set to detect the cable-stay bridge's cable.

However, the existing climbing walking device is not suitable for cable of a cable-stayed bridge, has poor reliability and stability in the climbing process, cannot realize accurate positioning, and cannot provide a stable and reliable detection basis for detection.

Disclosure of Invention

In order to solve the problems, the invention provides an accurate positioning and climbing device and an accurate positioning and climbing method for a bridge cable detection device, which are suitable for cable-stayed bridge cables, have better reliability and stability in the climbing process, can realize accurate detection positioning and provide a stable and reliable detection basis for detection.

In order to achieve the purpose, the invention adopts the technical scheme that: a precise positioning and climbing method of a bridge cable detection device comprises the following steps:

s10, receiving a climbing control instruction of the detection terminal;

s20, calculating climbing parameters of each climbing unit according to the climbing control instruction and the real-time collected climbing positioning data;

and S30, sending the climbing parameters of the climbing units to the corresponding climbing units, and realizing the cooperative climbing of the climbing units.

Further, the detection terminal sends the climbing control instruction to the climbing device through a wireless network, and a climbing controller of the climbing device calculates climbing parameters of the climbing units according to the climbing control instruction.

Further, in the S20, calculating the climbing parameters of each climbing unit according to the climbing control command includes the steps of:

s21, calculating initial climbing parameters of each climbing unit according to the climbing control command; the initial climbing parameters of all the climbing units are sent to the corresponding climbing units, and the cooperative climbing of all the climbing units is realized;

s22, collecting climbing positioning data in real time, and controlling the climbing state of the climbing unit according to the current climbing positioning data.

Further, an axial angle sensor is arranged at a roller driving rotating shaft of the climbing unit and connected to the climbing controller; the climbing positioning data of the current period are acquired by the shaft angle sensor, and the climbing state of the climbing unit is adjusted according to the current climbing positioning data;

the climbing positioning data of all climbing units in the current period are obtained, comparison and judgment are carried out, and the climbing units with the deviation phenomenon are adjusted.

Further, the comparison and judgment process comprises the following steps:

s221, obtaining climbing positioning data X of all current climbing units as [ X1, X2, … …, Xn ];

s222, calculating the theoretical advancing distance X of the current climbing period according to the climbing speed, the climbing time period, the period number and the position of the previous period set in the climbing control command_{Sign board}；

S223, comparing the theoretical travel distance with each value in the climbing positioning data X to obtain a target difference value D ═ X1-X_{Sign board},X2-X_{Sign board},……，Xn-X_{Sign board}]；

S224, selecting the climbing unit under the minimum value in the target difference value sequence as a target unit;

s225, comparing the climbing positioning data of the target unit with the climbing positioning data of other climbing units to be adjusted, and if the difference is larger than the preset error range, judging that the climbing units to be adjusted need to be adjusted, and acquiring all climbing units to be adjusted;

s226, in all the climbing units needing to be adjusted, the motor of the unit is decelerated if the climbing positioning data of the climbing units are higher than the climbing positioning data of the target unit, and the motor of the unit is accelerated if the climbing positioning data of the climbing units are lower than the climbing positioning data of the target unit.

Further, the climbing positioning data of the current period obtained by the shaft angle sensor is as follows: calculating the corresponding travelling distance of the roller according to the pulse number acquired by the shaft angle sensor to serve as climbing positioning data;

calculating the perimeter according to the diameter of the roller, and dividing the perimeter by the pulse parameter calibration value of the shaft angle sensor to obtain 1 pulse representing the basic advancing distance; and obtaining the corresponding travel distance of the roller wheel under the period according to the acquired pulse number multiplied by the basic travel distance.

On the other hand, the invention also provides an accurate positioning and climbing device of the bridge cable detection device, which comprises a supporting main body, a plurality of climbing units and a climbing controller, wherein the plurality of climbing units are arranged at two ends of the supporting main body in a surrounding manner, the plurality of climbing sub-units correspond to each other and surround the bridge cable to be detected therein and move along the bridge cable; control command is sent to climbing controller by the testing terminal wireless and each climbing unit operation is controlled, climbing parameter according to climbing control command and real-time collection climbing location data calculation each climbing unit, climbing parameter with each climbing unit sends corresponding climbing unit, realizes the cooperation climbing of individual climbing unit.

Further, the climbing unit comprises a moving propulsion assembly, a motor, a speed reducer, rollers, a base and a shaft angle sensor; a movable propelling component is arranged on the base, a motor is arranged on the movable propelling component, and a rotating shaft of the motor drives the roller to rotate through a speed reducer; the base is transversely installed at the end of the supporting main body, so that the climbing mechanism is arranged at the end of the supporting main body, and the rollers face the bridge cable; the shaft angle sensor is arranged at a roller driving rotating shaft, and the roller driving rotating shaft is connected with a motor rotating shaft;

the position of the motor is adjusted by moving the propelling component, so that the bridge cable is clamped; the motor drives the roller to roll to realize that the whole device moves along a bridge cable, and the climbing working condition is controlled by the speed reducer; the motor and the speed reducer of each climbing subunit are electrically connected with the climbing controller, the climbing controller is in communication connection with the central controller, and the central controller sends control instructions to the motor and the speed reducer of each climbing subunit through the climbing controller after receiving the instructions of the detection terminal, so that each climbing subunit operates in coordination.

The moving and pushing assembly comprises a track, a sliding block, a rocker and a connecting plate, the track is arranged on the base, the sliding block is connected with the track in a sliding mode, one end of the sliding block is connected to the rocker through a pushing screw rod, and a motor is mounted on the sliding block through the connecting plate;

the gyro wheel is provided with the rubber layer on the surface, improves the climbing dynamics, places the position and takes place the drunkenness, improves the location precision.

Further, support every end department of main part equidistant 3 climbing units that encircle and set up, 3 climbing units are triangle-shaped relative to encircle the bridge cable wherein, make the device can even collaborative work, improve the stability of crawling.

The beneficial effects of the technical scheme are as follows:

the climbing unit is mainly designed into a motor drive, a pulley adjustment and a shaft angle encoder, wherein the motor can climb the cable without sliding, and the diameter error of the inhaul cable is used. The motors are uniformly distributed around the inhaul cable, the stepping motor is connected with the speed reducer, and the speed reducer is connected with the rubber wheel to transmit torque; meanwhile, the advancing of the step motor is calculated through the data of the shaft angle encoder, so that the bridge rope is ensured to be accurately positioned for detection.

The invention can adapt to the characteristics of the cable, realize quick installation and quick detection, has simple structure and light weight, can be separated from a power cable, adopts a battery for power supply, and can be popularized and applied on a large scale in engineering.

The climbing device provided by the invention can interact with the surrounding environment, and the state is adjusted to adapt to the environment, namely an environment interaction system, such as system adjustment of related functions such as thickness change of related cables, crossing of surface obstacles, friction coefficient influence and the like; the climbing position can be adjusted in real time and in coordination, the accuracy of the climbing position is improved, and deviation is avoided.

Drawings

FIG. 1 is a schematic flow chart of a precise positioning and climbing method of a bridge cable detection device according to the present invention;

FIG. 2 is a schematic structural diagram of a precise positioning and climbing device of a bridge cable detection device according to an embodiment of the present invention;

figure 3 is a schematic structural view of a climbing unit in an embodiment of the present invention.

Wherein, 1 is a supporting main body, 2 is a climbing unit, 3 is a bridge cable to be detected, and 4 is a detecting device; 11 is a motor, 12 is a speed reducer, 13 is a roller, 14 is a base, 15 is a track, 16 is a sliding block, 17 is a rocker and 18 is a connecting plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described with reference to the accompanying drawings.

In this embodiment, referring to fig. 1, the present invention provides a method for accurately positioning and climbing a bridge cable detection device, including the steps of:

s10, receiving a climbing control instruction of the detection terminal;

s20, calculating climbing parameters of each climbing unit according to the climbing control instruction and the real-time collected climbing positioning data;

and S30, sending the climbing parameters of the climbing units to the corresponding climbing units, and realizing the cooperative climbing of the climbing units.

As an optimization scheme of the embodiment, the detection terminal sends the climbing control instruction to the climbing device through a wireless network, and the climbing controller of the climbing device calculates the climbing parameters of the climbing units according to the climbing control instruction.

As an optimization solution of the above embodiment, in S20, calculating the climbing parameters of each climbing unit according to the climbing control command includes the steps of:

s21, calculating initial climbing parameters of each climbing unit according to the climbing control command; the initial climbing parameters of all the climbing units are sent to the corresponding climbing units, and the cooperative climbing of all the climbing units is realized;

s22, collecting climbing positioning data in real time, and controlling the climbing state of the climbing unit according to the current climbing positioning data.

As an optimized scheme of the embodiment, an axial angle sensor is arranged at a roller driving rotating shaft of the climbing unit and connected to a climbing controller; the climbing positioning data of the current period are acquired by the shaft angle sensor, and the climbing state of the climbing unit is adjusted according to the current climbing positioning data;

the climbing positioning data of all climbing units in the current period are obtained, comparison and judgment are carried out, and the climbing units with the deviation phenomenon are adjusted.

The comparison and judgment process comprises the following steps:

s221, obtaining climbing positioning data X of all current climbing units as [ X1, X2, … …, Xn ];

s222, calculating the theoretical advancing distance X of the current climbing period according to the climbing speed, the climbing time period, the period number and the position of the previous period set in the climbing control command_{Sign board}(ii) a For example: if the climbing speed is 2cm/s, the climbing time period is 10s, the current period is the 3 rd period, and the position of the previous period is 21cm, the theoretical climbing distance of the current climbing period is 2 multiplied by 10 multiplied by 3-21 cm;

s223, comparing the theoretical travel distance with each value in the climbing positioning data X to obtain a target difference value D ═ X1-X_{Sign board},X2-X_{Sign board},……，Xn-X_{Sign board}]；

S224, selecting the climbing unit under the minimum value in the target difference value sequence as a target unit;

s225, comparing the climbing positioning data of the target unit with the climbing positioning data of other climbing units to be adjusted, and if the difference is larger than the preset error range, judging that the climbing units to be adjusted need to be adjusted, and acquiring all climbing units to be adjusted;

s226, in all the climbing units needing to be adjusted, the motor of the unit is decelerated if the climbing positioning data of the climbing units are higher than the climbing positioning data of the target unit, and the motor of the unit is accelerated if the climbing positioning data of the climbing units are lower than the climbing positioning data of the target unit.

Wherein, the climbing positioning data of obtaining the current cycle by the shaft angle sensor is: calculating the corresponding travelling distance of the roller according to the pulse number acquired by the shaft angle sensor to serve as climbing positioning data;

calculating the perimeter according to the diameter of the roller, and dividing the perimeter by the pulse parameter calibration value of the shaft angle sensor to obtain 1 pulse representing the basic advancing distance; and obtaining the corresponding travel distance of the roller wheel under the period according to the acquired pulse number multiplied by the basic travel distance. If 1000 pulses in the shaft angle sensor are one turn, the pulse parameter calibration value is 1000.

In order to match the realization of the method, based on the same inventive concept, as shown in fig. 2, the invention also provides an accurate positioning climbing device of the bridge cable detection device, which comprises a supporting main body 1, a plurality of climbing units 2 and a climbing controller, wherein the plurality of climbing units 2 are arranged at two ends of the supporting main body 1 in a surrounding manner, the plurality of climbing subunits correspond to each other and embrace the bridge cable 3 to be detected therein and move along the bridge cable; control command is sent to climbing controller control each climbing unit 2 operation by the testing terminal is wireless, according to climbing control command and gather the climbing parameter that climbing data calculated each climbing unit 2 in real time, sends each climbing unit 2's climbing parameter to corresponding climbing unit 2, realizes individual climbing unit 2's cooperative climbing. A bridge cable detecting device 4 is mounted on the support body 1.

As an optimization of the above embodiment, as shown in fig. 3, the climbing unit 2 comprises a mobile propulsion assembly, a motor 11, a reducer 12, rollers 13, a base 14 and a shaft angle sensor; a movable propelling component is arranged on the base 14, a motor 11 is arranged on the movable propelling component, and a rotating shaft of the motor 11 drives a roller 13 to rotate through a speed reducer 12; transversely installing the base 14 at the end of the supporting main body 1, so that the climbing mechanism is arranged at the end of the supporting main body 1, and the rollers 13 face the bridge cable; the shaft angle sensor is arranged at a driving rotating shaft of the roller 13, and the driving rotating shaft of the roller 13 is connected with a rotating shaft of the motor 11;

the position of the motor 11 is adjusted by moving the propelling component, so as to clamp the bridge cable; the motor 11 drives the roller 13 to roll to realize that the whole device moves along a bridge cable, and the climbing working condition is controlled by the speed reducer 12; the motor 11 and the speed reducer 12 of each climbing subunit are electrically connected with the climbing controller, the climbing controller is in communication connection with the central controller, and the central controller sends control instructions to the motor 11 and the speed reducer 12 of each climbing subunit through the climbing controller after receiving the detection terminal instructions, so that each climbing subunit operates in coordination.

The moving and propelling component comprises a track 15, a sliding block 16, a rocker 17 and a connecting plate 18, wherein the track 15 is arranged on a base 14, the sliding block 16 is connected on the track 15 in a sliding manner, one end of the sliding block 16 is connected to the rocker 17 through a propelling screw rod, and a motor 11 is mounted on the sliding block 16 through the connecting plate 18;

the gyro wheel 13 is provided with the rubber layer on the surface, improves the climbing dynamics, places the position and takes place the drunkenness, improves the location precision.

Preferably, support 1 every end department of main part equidistant 3 climbing units 2 that encircle to set up, 3 climbing units 2 are triangle-shaped relative to encircle the bridge cable wherein, make the device can even collaborative work, improve the stability of crawling.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.