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Bridge inspection robot capable of climbing obstacle

  • US 8,924,018 B2
  • Filed: 04/20/2009
  • Issued: 12/30/2014
  • Est. Priority Date: 04/23/2008
  • Status: Expired due to Fees
First Claim
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1. A bridge inspection robot which is capable of avoiding an obstacle, the bridge inspection robot comprising:

  • an ascending/descending portion which is extended to correspond to a gap distance between a flange of a first girder and a flange of a second girder which are provided at the upper side of a pier (L) of a bridge in which a robot main body (101) climbs up/down or avoids an obstacle, when the robot main body moves on the flanges, for example, along a bridge inspection path;

    an obstacle detection portion which detects the obstacle which exists on the flanges;

    a photographing altitude control portion which detects an altitude change of an image photographing portion according to height of the obstacle when the robot main body climbs up/down or avoids the obstacle, and adjusts a photographing height of the image photographing portion so as to correspond to the altitude change, to thus make the image photographing portion have a z-axis coordinate of an identical height all the time;

    a position calculation portion which measures mobile positions of the robot main body which corresponds to consecutive images photographed by the image photographing portion, to thus calculate x/y-axis coordinates of the image photographing portion;

    an image processing portion which receives the consecutively photographed images and x/y/z-axis coordinates corresponding to the consecutively photographed images, to thus continuously confirm actual crack elements corresponding to the consecutively photographed images and to thus produce recognizable consecutively photographed images of actual position coordinates of the corresponding consecutively photographed images; and

    a slope adjustment portion which detects a slope of the robot main body when the robot main body climbs up/down an obstacle, and adjusts the slope of the image photographing portion to correspond to the detected slope.

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