#Webots serial port software#

In order to ensure the accuracy of the measurement and the safety of the personnel, the automation technology of the bridge cable measurement is now being studied at home and abroad. As the main load-bearing structure of cable-stayed bridges and suspension bridges, the effective metal bearing area of the cable is directly related to the safety and service life of the bridge, so it is necessary to measure the bridge cable. If it is not regularly maintained, this will eventually lead to the failure of the steel wire corrosion and lead to accidents such as cable failure or even bridge deck collapse. The damage of the stay cable sheath causes the internal steel wire to be exposed to the air, and the oil stains attached to the surface of the stay cable may penetrate into the cable, accelerating the corrosion of the steel wire. In its normal operation, the stay cable will be repeatedly affected by the dynamic load of the bridge deck, wind and rain vibration, sunshine, and corrosive gas, and it is prone to damage to the outer sheath and local steel wire corrosion. The cable-stayed bridge is mainly composed of a bridge tower under pressure, a cable under tension, and a beam body under bending. In order to reduce the loss caused by the uncertain damage of the cable, it is necessary to carry out internal and external measurement, painting, or repair of the cable regularly to improve the safety and image of the bridge. The damage of the cable surface means that the safety of the cable-stayed bridge will be greatly affected. The main load-bearing part of the bridge is about 25%вЂ“30% of the cost of the whole bridge. The main force-bearing component of a cable-stayed bridge is a cable, but it is exposed to the atmosphere for a long time and is corroded by wind, sun, rain, and environmental pollution, and its surface will be severely damaged. With the continuous improvement of design theories, the continuous updating of materials, the widespread use of electronic computers, the continuous accumulation of construction experience, and the continuous improvement of construction technology, the span of cable-stayed bridges is also increasing, which also indicates that cable-stayed bridges will play an increasingly important role in the future bridge construction. They have beautiful appearance, relatively low cost, and good seismic resistance. IntroductionДЄs a new type of bridges, cable-stayed bridges are being used more and more in actual production. The simulation results show that the designed system has higher accuracy in measuring bridge cables and shorter measuring time.

#Webots serial port software#

The bridge cable measurement model is constructed, and the bridge cable measurement system design is completed through the system hardware design and software design. We design system hardware through CIS drive circuit, main controller, and communication module design system software on the basis of hardware design obtain the motion control equation of orthogonal joint cable climbing robot through DH transformation and apply this equation to the bridge cable measurement system. Based on the automatic control technology of the climbing robot, a new bridge cable measurement system is designed. According to the traditional bridge cable measurement system, the accuracy of the bridge cable measurement is low, and the measurement time is long.