BRIDGE INSPECTION ROBOT CAPABLE OF CLIMBING OBSTACLE

摘要

Provided is a bridge inspection robot which is capable of climbing over an obstacle, the bridge inspection robot including: a climbing-over portion (110) which is extended to correspond to a gap distance between a flange (1 Ia) of a first girder (11) and a flange (12a) of a first girder (12) which are provided at the upper side of a pier (L) of a bridge (10) in which a robot main body (101) climbs up/down or avoids and climbs over an obstacle, when the robot main body (101) moves on the flange, for example, along a bridge inspection path; an obstacle detection portion (120) which detects the obstacle which exists on the flanges; a photographing altitude control portion (150) which detects an altitude change of an image photographing portion (130) according to height of the obstacle when the robot main body (101) climbs up/down or avoids and climbs over the obstacle, and adjusts a photographingheight of the image photographing portion (130) so as to correspond to the altitude change, to thus have a z-axis coordinate of an identical height all the time; a position calculation portion (160) which measures a mobile position of the robot main body (101) which corresponds to a consecutive image photographed by the image photographing portion (130), to thus calculate x/y/z-axis coordinates; and an image processing portion (170) which receives the consecutively photographed images and x/y/z-axis coordinates corresponding to the consecutively photographed images, to thus continuously confirms the actual crack elements corresponding to the images and to thus produce a rec¬ ognizable image of an actual position coordinate of the corresponding image.