CN104483322B - The detecting system of bridge rope - Google Patents
The detecting system of bridge rope Download PDFInfo
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- CN104483322B CN104483322B CN201410764929.1A CN201410764929A CN104483322B CN 104483322 B CN104483322 B CN 104483322B CN 201410764929 A CN201410764929 A CN 201410764929A CN 104483322 B CN104483322 B CN 104483322B
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- rope
- snake
- detecting system
- shaped robot
- magnetic flux
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Abstract
The invention discloses a kind of detecting system of bridge rope, including：Snake-shaped robot, many monocular vision detection modules, lossless Magnetic Flux Leakage Inspecting module, magnetostriction sensing module；Many monocular vision detection modules are located at the articular portion of snake-shaped robot；Lossless Magnetic Flux Leakage Inspecting module is located inside snake-shaped robot；Magnetostriction sensing module is located at snake-shaped robot top.A kind of detecting system of bridge rope that the present invention is provided, by designing snake-shaped robot, adapt to various environment, complete spatially spiral motion, the detecting system intelligence degree is high, and controllability is strong, by setting many monocular vision detection modules, lossless Magnetic Flux Leakage Inspecting module, magnetostriction sensing module realizes that rope is outside, internal and detection in all directions of corrosion damage；The detecting system can implement gait switching in perform detection task so as to successfully realize obstacle detouring, and this reduces number of rounds in bridge rope detection process, improves detection efficiency.
Description
Technical field
The invention belongs to bridge machinery field, more particularly to a kind of detecting system of bridge rope.
Background technology
In present bridge, extensive profit is obtained due to the outward appearance and good shock resistance of suspension bridge and cable-stayed bridge grace
With, and it is also adopted by rope structure in many heavy constructions.However, due to leaking in natural environment cruelly for a long time, rope can not
The meeting for avoiding due to wind, Exposure to Sunlight, drench with rain with the erosion of environmental pollution and, with the growth and the increasing in bridge age of traffic loading
It is long, health detection is carried out to rope and is just particularly important with maintenance.
At present, the detection both at home and abroad to bridge rope mainly has 2 kinds of methods；One kind be to small-sized cable-stayed bridge using hydraulic pressure or
Electric lifting platform is detected；Another method is, using the fixed point for being pre-installed in tower top, to drag hanging basket with steel wire and carry work
Detected as personnel.Former approach working range is limited；Later approach is that present many suspension bridges and cable-stayed bridge are used
Common form, but due to artificial operation, not only inefficiency, and work high above the ground has larger danger to attendant
Property.And, above two method is all influenceed by weather.
The content of the invention
It is an object of the invention to provide a kind of detecting system of bridge rope, it is intended to solve existing to adopt small-sized cable-stayed bridge
The working range that is detected with hydraulic pressure or electric lifting platform is limited, hanging basket is dragged with steel wire carries staff and is detected
Artificial operating efficiency it is relatively low, work high above the ground has problem that is larger dangerous and easily being influenceed by weather.
Necessary technology scheme：
The present invention is achieved in that a kind of detecting system of bridge rope, and the detecting system includes：Snake-shaped robot,
Many monocular vision detection modules, lossless Magnetic Flux Leakage Inspecting module, magnetostriction sensing module；
Many monocular vision detection modules are located at the articular portion of snake-shaped robot, for being detected to rope surface；
Lossless Magnetic Flux Leakage Inspecting module is located inside snake-shaped robot, for being detected to rope inside；
Magnetostriction sensing module be located at snake-shaped robot top, for launch low-frequency guided wave signal detection rope fatigue and
Corrosion damage.
Further, camera is installed on many monocular vision detection modules, by extract the texture of image, gradient,
The features such as color, are identified using template matches, then are classified using Method Using Relevance Vector Machine, for being recognized under different visual angles
Same place can be using the algorithm of images match, to improve efficiency of algorithm, using the images match mode of non-traversal, in image
With the hierarchical search strategy that middle use physical layering and layering logic layers are combined, image is carried out pyramid point by physical layering
Solution, layering logic layers are then that image is first slightly matched, then carry out smart matching, the method that physical layering is taken based on wavelet transformation
Picture breakdown is carried out, layering logic layers are taken based on the improved sequential similarity detection algorithm of genetic algorithm and MAD algorithm
To realize, then physical layering and layering logic layers are combined, realize the Rapid matching of image, so as to realize the knowledge to rope defect
Not with positioning.
Further, the lossless Magnetic Flux Leakage Inspecting module makees circumferential multiloop axial magnetized to rope using permanent magnet；When
When magnetizing tested ferromagnetic material with magnetic saturation device, if the material of material is continuous, uniform, the line of magnetic induction in material will be by
In the material, magnetic flux is parallel to the surface of material, and almost no line of magnetic induction is passed from surface, and tested surface does not have for constraint
Magnetic field；But when there is the defect of cutting magnetic line in material, defect or the structural state change of material surface can make magnetic conductance
Rate changes, and due to the magnetic conductivity very little of fault location, magnetic resistance is very big so that the magnetic flux in magnetic circuit is distorted；The line of magnetic induction
Approach can be changed, except the magnetic flux of a part can directly by defect or in addition to material internal bypasses defect, also part magnetic
The logical surface that can leave material, defect re-enter material is bypassed by air, and stray field is formed at System of Detecting Surface Defects For Material,
Distribution and the size of stray field can be then detected by magnetic susceptibility sensor, so as to reach Non-Destructive Testing.
Further, the magnetostriction sensing module is provided with sensor for launching low-frequency guided wave signal and detecting reflection
The electromagnetism guided wave returned, low-frequency guided wave frequency is not more than 200kHz.
Effect collects：
A kind of detecting system of bridge rope that the present invention is provided, by designing snake-shaped robot, adapts to various environment,
Spatially spiral motion is completed, the detecting system intelligence degree is high, and controllability is strong, by setting many monocular vision detection modules,
Lossless Magnetic Flux Leakage Inspecting module, magnetostriction sensing module realizes that rope is outside, internal and detection in all directions of corrosion damage；Should
Detecting system can implement gait switching in perform detection task so as to successfully realize obstacle detouring, and this is in bridge rope detection process
In reduce number of rounds, improve detection efficiency.
Brief description of the drawings
Fig. 1 is a kind of structure chart of the detecting system of bridge rope of the embodiment of the present invention.
In figure：1st, snake-shaped robot；2nd, many monocular vision detection modules；3rd, lossless Magnetic Flux Leakage Inspecting module；4th, magnetostriction
Sensing module.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
As shown in figure 1, a kind of detecting system of bridge rope of the embodiment of the present invention, the detecting system includes：Snakelike machine
Device people 1, many monocular vision detection modules 2, lossless Magnetic Flux Leakage Inspecting module 3, magnetostriction sensing module 4；Many monocular vision detections
Module 2 is located at the articular portion of snake-shaped robot 1, for being detected to rope surface；Lossless Magnetic Flux Leakage Inspecting module 3 is located at snake
Inside anthropomorphic robot 1, for being detected to rope inside；Magnetostriction sensing module 4 is located at the top of snake-shaped robot 1, uses
In transmitting low-frequency guided wave signal detection rope fatigue and corrosion damage.
In the embodiment of the present invention, camera is installed on many monocular vision detection modules 2, by the line for extracting image
The features such as reason, gradient, color, are identified using template matches, then are classified using Method Using Relevance Vector Machine, for being regarded in difference
Recognize that same place can be raising efficiency of algorithm using the algorithm of images match under angle, using the images match mode of non-traversal,
Image is carried out golden word by the hierarchical search strategy being combined using physical layering and layering logic layers in images match, physical layering
QMF compression, layering logic layers are then that image is first slightly matched, then carry out smart matching, and physical layering is taken based on wavelet transformation
Method carry out picture breakdown, layering logic layers are taken based on the improved sequential similarity detection algorithm of genetic algorithm and average absolute
Difference algorithm is realized, then physical layering and layering logic layers are combined, and realizes the Rapid matching of image, so as to realize lacking rope
Sunken identification and positioning.
In the embodiment of the present invention, the lossless Magnetic Flux Leakage Inspecting module 3 makees circumferential multiloop axle to rope using permanent magnet
To magnetization；When tested ferromagnetic material is magnetized with magnetic saturation device, if the material of material is continuous, uniform, the magnetic in material
Magnetic flux is parallel to the surface of material to the line of induction in the material by restrained, and almost no line of magnetic induction is passed from surface, quilt
Inspection surface does not have magnetic field；But when there is the defect of cutting magnetic line in material, the defect or structural state of material surface become
Change can make magnetic conductivity change, and due to the magnetic conductivity very little of fault location, magnetic resistance is very big so that the magnetic flux in magnetic circuit occurs abnormal
Become；The line of magnetic induction can change approach, except a part magnetic flux can directly by defect or in addition to material internal bypasses defect,
Also part magnetic flux can leave the surface of material, defect re-enter material be bypassed by air, at System of Detecting Surface Defects For Material
Stray field is formed, then distribution and the size of stray field can be detected by magnetic susceptibility sensor, so as to reach Non-Destructive Testing.
In the embodiment of the present invention, the magnetostriction sensing module 4 is provided with sensor for launching low-frequency guided wave signal
And the electromagnetism guided wave for reflecting is detected, low-frequency guided wave frequency is not more than 200kHz.
A kind of detecting system of bridge rope provided in an embodiment of the present invention, by designing snake-shaped robot, adapts to each
Environment is planted, spatially spiral motion is completed, the detecting system intelligence degree is high, and controllability is strong, examined by setting many monocular visions
Survey module, lossless Magnetic Flux Leakage Inspecting module, magnetostriction sensing module realize that rope is outside, internal and corrosion damage in all directions
Detection；The detecting system can implement gait switching in perform detection task so as to successfully realize obstacle detouring, and this is in bridge rope
Number of rounds is reduced in detection process, detection efficiency is improve.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (3)
1. a kind of detecting system of bridge rope, it is characterised in that the detecting system of the bridge rope includes：Snake-shaped robot,
Many monocular vision detection modules, lossless Magnetic Flux Leakage Inspecting module, magnetostriction sensing module；
Many monocular vision detection modules are located at the articular portion of snake-shaped robot, for being detected to rope surface；
Lossless Magnetic Flux Leakage Inspecting module is located inside snake-shaped robot, for being detected to rope inside；
Magnetostriction sensing module is located at snake-shaped robot top, for launching low-frequency guided wave signal detection rope fatigue and corrosion
Damage；
Camera is installed on many monocular vision detection modules, by extracting texture, gradient, the color of image, using mould
Plate matching is identified, then is classified using Method Using Relevance Vector Machine, for recognizing that same place uses image under different visual angles
The algorithm matched somebody with somebody, using the images match mode of non-traversal, is combined in images match using physical layering and layering logic layers
Image is carried out pyramid decomposition by hierarchical search strategy, physical layering, and layering logic layers are then that image is first slightly matched, then
Smart matching is carried out, the method that physical layering is taken based on wavelet transformation carries out picture breakdown, and layering logic layers are taken based on hereditary calculation
The improved sequential similarity detection algorithm of method and MAD algorithm are realized, then physical layering is mutually tied with layering logic layers
Close.
2. the detecting system of bridge rope as claimed in claim 1, it is characterised in that lossless Magnetic Flux Leakage Inspecting module is using permanent
Magnet makees circumferential multiloop axial magnetized to rope；When there is the defect of cutting magnetic line in rope, by magnetosensitive propagated sensation
Sensor detects distribution and the size of stray field, reaches Non-Destructive Testing.
3. the detecting system of bridge rope as claimed in claim 1, it is characterised in that set on the magnetostriction sensing module
There is sensor for launching low-frequency guided wave signal and detecting the electromagnetism guided wave for reflecting, low-frequency guided wave frequency is not more than
200kHz。
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| CN201410764929.1A CN104483322B (en) | 2014-12-11 | 2014-12-11 | The detecting system of bridge rope |
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| CN201410764929.1A CN104483322B (en) | 2014-12-11 | 2014-12-11 | The detecting system of bridge rope |
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| CN104483322A CN104483322A (en) | 2015-04-01 |
| CN104483322B true CN104483322B (en) | 2017-05-31 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106198718B (en) * | 2016-06-30 | 2019-03-22 | 重庆交通大学 | Drag-line corrosion sites detection device and method based on metal magnetic memory |
| CN108051502B (en) * | 2017-11-23 | 2019-08-30 | 华中科技大学 | A kind of detection method of cable fatigue damage |
| CN109682824B (en) * | 2018-12-28 | 2021-09-24 | 河南科技大学 | Image fusion-based steel wire rope nondestructive testing method and device |
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| CN102570349A (en) * | 2011-12-30 | 2012-07-11 | 武汉大学 | Snake-shaped robot capable of climbing for overhead transmission cables |
| CN102941576A (en) * | 2012-10-10 | 2013-02-27 | 河北工业大学 | Pole climbing robot for wind power tower pole |
| CN103048379A (en) * | 2013-01-11 | 2013-04-17 | 中铁大桥局集团武汉桥梁科学研究院有限公司 | Device and method for recognizing damage to bridge stay cable |
| CN103138398A (en) * | 2012-12-07 | 2013-06-05 | 富阳市供电局 | Electrical equipment viewing system |
| CN203479748U (en) * | 2013-10-11 | 2014-03-12 | 国家电网公司 | Nondestructive integrated detection system for damage of steel wire and aluminum stranded wire of power transmission line |
| CN103895723A (en) * | 2012-12-26 | 2014-07-02 | 上海建冶科技工程股份有限公司 | Multi-wheel elastic extrusion flexible climbing robot for cable maintenance |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101052800B1 (en) * | 2009-03-30 | 2011-07-29 | 한국표준과학연구원 | Method for wall thinning monitoring of a pipe using magnetostrictive transducers and the variation of the dispersion characteristics of the broadband multimode SH waves |
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2014
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5821430A (en) * | 1997-02-28 | 1998-10-13 | Southwest Research Institute | Method and apparatus for conducting in-situ nondestructive tensile load measurements in cables and ropes |
| CN102323331A (en) * | 2011-09-07 | 2012-01-18 | 华中科技大学 | In service cable rope defect detection device |
| CN102570349A (en) * | 2011-12-30 | 2012-07-11 | 武汉大学 | Snake-shaped robot capable of climbing for overhead transmission cables |
| CN102941576A (en) * | 2012-10-10 | 2013-02-27 | 河北工业大学 | Pole climbing robot for wind power tower pole |
| CN103138398A (en) * | 2012-12-07 | 2013-06-05 | 富阳市供电局 | Electrical equipment viewing system |
| CN103895723A (en) * | 2012-12-26 | 2014-07-02 | 上海建冶科技工程股份有限公司 | Multi-wheel elastic extrusion flexible climbing robot for cable maintenance |
| CN103048379A (en) * | 2013-01-11 | 2013-04-17 | 中铁大桥局集团武汉桥梁科学研究院有限公司 | Device and method for recognizing damage to bridge stay cable |
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