斜拉索表观检测机器人的开发

Development of Apparent Detection Robot for Stayed Cable

摘要:

斜拉索的受力性能与耐久性直接关系到斜拉桥的结构安全。由于长期暴露在各种环境因素中，斜拉索极易出现表面开裂，内部钢丝锈蚀等病害。因此，定期对其进行检测显得尤为重要。现依据象山港大桥和清水浦大桥，针对斜拉索出现的典型病害特征与检测要求，开发了一种斜拉索表观检测机器人。该机器人具备了小型化、快速自爬行、高质量图像采集、缺陷自动化识别等优点。

Abstract:

The mechanical performance and durability of the stayed cables are directly related to the structural safety of a cable-stayed bridge. Due to the long-term exposure to various environmental factors, the stayed cables are prone to surface cracking, internal wire corrosion and other diseases. Therefore, it is essential to detect the stayed cables in a regular time. Based on Xiangshangang Bridge and Qingshuipu Bridge, an apparent detection robot of stayed cable is developed for the typical disease characteristics and detection requirements of stayed cables. The robot has the advantages of miniaturization, fast self-crawling, high-quality image acquisition, automatic defect identification and so on.