【摘要】：纜索是橋梁的重要構(gòu)件,將機(jī)器人技術(shù)與無(wú)損檢測(cè)技術(shù)結(jié)合改進(jìn),可開(kāi)發(fā)出實(shí)用纜索檢測(cè)機(jī)器人技術(shù)。為給橋梁纜索檢測(cè)機(jī)器人的研發(fā)和應(yīng)用提供指導(dǎo),介紹既有纜索結(jié)構(gòu)無(wú)損檢測(cè)和機(jī)器人檢測(cè)維護(hù)技術(shù),重點(diǎn)介紹韓國(guó)2010年開(kāi)始研發(fā)的2種橋梁纜索檢測(cè)機(jī)器人的硬件和結(jié)構(gòu)特點(diǎn)。利用目視檢查和基于圖像處理的檢查、基于振動(dòng)的索力測(cè)量、超聲波檢查、磁學(xué)方法和射線照相法等無(wú)損檢測(cè)方法和功能模塊,一些國(guó)家已經(jīng)開(kāi)發(fā)了一些用于管道、線路和纜索結(jié)構(gòu)的檢測(cè)機(jī)器人。2010年韓國(guó)制定了橋梁纜索檢測(cè)機(jī)器人系統(tǒng)研究計(jì)劃,主要開(kāi)發(fā)了應(yīng)用于斜拉橋和懸索橋的橋梁纜索檢測(cè)機(jī)器人。這2種橋梁纜索檢測(cè)機(jī)器人的硬件具有獨(dú)特的功能,適應(yīng)纜索直徑范圍較寬、荷載能力較大,能實(shí)現(xiàn)無(wú)線控制和通信傳輸,以及有效的機(jī)械電氣自鎖安全保障功能。試驗(yàn)結(jié)果表明,纜索檢測(cè)機(jī)器人可以檢測(cè)纜索內(nèi)部鋼絲缺陷,基于圖像處理技術(shù),可以感測(cè)3種不同類型纜索表面各種取向的裂紋狀表面缺陷。
[Abstract]:Cable is an important component of bridge. Combining robot technology with nondestructive testing technology, a practical cable detection robot technology can be developed. In order to provide guidance for the development and application of bridge cable detection robot, this paper introduces the existing cable structure nondestructive testing and robot inspection and maintenance technology. The hardware and structure characteristics of two kinds of bridge cable detection robots which were developed in South Korea in 2010 are introduced in detail. Using non-destructive testing methods and functional modules such as visual inspection and image-based inspection, vibration based cable force measurement, ultrasonic inspection, magnetic methods and radiography, some countries have developed a number of pipeline applications. In 2010, South Korea established the research plan of bridge cable detection robot system, mainly developed the bridge cable detection robot used in cable-stayed bridge and suspension bridge. The hardware of these two kinds of bridge cable detection robots has unique functions, such as wide cable diameter range, large load capacity, wireless control and communication transmission, and effective safety guarantee function of mechanical and electrical self-locking. The experimental results show that the cable detection robot can detect the internal steel wire defects of the cable, and based on the image processing technology, it can detect the crack surface defects of three different types of cable surface with various orientations.
【作者單位】： 中國(guó)電子科技集團(tuán)第29研究所;暨南大學(xué)國(guó)際學(xué)院;中鐵大橋科學(xué)研究院有限公司;
【分類號(hào)】：U446.3

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