METHOD OF CONTROLLING ROBOT FOR BRIDGE INSPECTION
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Accused Products
Abstract
The present invention relates to a method of controlling a robot for bridge inspection. In the present invention, whether a defect image is being received from a robot device is determined. As a result of the determination, when the defect image is being received, a current location of the robot device is stored. Whether a predetermined period of time has been elapsed after the storage of the current location is determined. When the predetermined period of time has elapsed, a control command for moving the robot device to a prestored location is output. Whether a defect image at a same location as the prestored location is being received is determined. When the defect image at the same location is being received, a defect image at a previous time is compared with a defect image at a current time. A result of the comparison is displayed.
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Citations
12 Claims
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1-5. -5. (canceled)
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6. A method of controlling a robot for bridge inspection, the method controlling a robot device in a robot control system including the robot device for moving to a desired location to inspect a status of a bridge, acquire a state of a defect at the location as an image and transmit the image;
- and a monitoring device connected to the robot device to enable wireless communication and configured to control a location of the robot device, analyze the image received from the robot device and monitor the robot device, comprising;
a primary defect measurement step including; controlling a posture of the camera by controlling an inclination angle of a central axis of the camera to ground and a rotation angle of a projection axis, formed when the central axis is projected onto the ground, with a reference axis; acquiring a first image by controlling a control motor for controlling a focus of the camera and a control motor for controlling a zoom function of the camera; determining a width and a length of a defective region when a defect is detected in the first image acquired by the camera; and storing a first defect image of the defective region, a current location of the robot device, and a current location of the camera when the first image is determined to show a defect as a result of the determining a width and length of a defective region; determining, when the primary defect measurement step has been completed, whether a predetermined period of time has elapsed after storing the first defect image; if the predetermined period of time has elapsed, extracting information about the location of the robot device and the location of the camera, at which the defect was detected in the primary defect measurement step, and outputting a control command for moving the robot device; moving the robot device and the camera to a same location where the defect was measured in compliance with the control command; acquiring a second image at the same location having a second defect image; checking the second defect image from the acquired second image and comparing the first defect image with the second defect image; and displaying a result of the comparison. - View Dependent Claims (7, 8, 9, 10, 11, 12)
- and a monitoring device connected to the robot device to enable wireless communication and configured to control a location of the robot device, analyze the image received from the robot device and monitor the robot device, comprising;
Specification