Internal Defect Identification of Bridge Cables Based on Automatic Inspection Robot Based on Magnetic Flux Leakage

Abstract

With the expansion of transportation networks, cable-stayed bridges are widely used. Routine inspections of these cables are vital to ensure the safety and functionality of these bridges. In this paper, a novel modular Magnetic Flux Leakage (MFL) detection mechanism designed for cable inspection robots is introduced. This detection mechanism can identify steel wire defects within cables by monitoring changes in magnetic field strength. This detection mechanism is modular, allowing its application to cables of varying diameters. Model calculations and simulations were performed to determine the changes in the magnetic field during detection. Additionally, a signal processing technique based on the sliding mean square error was proposed to accurately identify the defect location. Experimental results confirm the effectiveness of the detection mechanism in identifying internal defects in bridge cables. Furthermore, the feasibility and stability of both the detection mechanism and inspection robot are validated. The cable inspection robot equipped with the MFL detection mechanism can autonomously inspect cables, offering a viable alternative to manual inspections and enhancing detection efficiency in engineering applications.