Abstract
In this study, a MFL (Magnetic Flux Leakage) based 3D inspection system which is incorporated into a cable climbing robot was investigated to monitor the healthy condition of steel cables. Firstly, a MFL sensor head prototype composed of two permanent magnets and eight hall sensors was designed and fabricated. A steel cable specimen with several types of damage, such as corrosion and cutting, was inflicted and scanned by the MFL sensor head to measure the magnetic flux density of the specimen. The measured MFL signals were used to interpret the healthy condition of the steel cable. For improving the resolution and quantification of the damage level, digital signal processing techniques were performed. In addition, the measured MFL signals were visualized into a 3D MFL map for real-time and online cable monitoring. This visualized MFL map can provide the information about location, shape and size of damages very intuitively. Finally, the results were compared with information on actual inflicted damages to confirm the accuracy and effectiveness of the MFL based cable inspection system.
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