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公开(公告)号：US08924018B2
公开(公告)日：2014-12-30
申请号：US12989605
申请日：2009-04-20
申请人： Byeong-Ju Lee , Jae-In Shin , Chang-Ho Park , Young-Ho Park , Moon-Seok Nam
发明人： Byeong-Ju Lee , Jae-In Shin , Chang-Ho Park , Young-Ho Park , Moon-Seok Nam
CPC分类号： B25J5/007 , B25J19/021 , E01D19/106 , E01D19/16 , G02B27/648 , G03B2205/00 , G03B2205/0007
摘要： Provided is a bridge inspection robot that avoids obstacles is provided. An ascending/descending portion corresponds to a gap distance between a first and second girder flange provided at the upper side of a bridge pier. An obstacle detection portion detects the obstacle and a photographing altitude control portion detects an altitude change of an image photographing portion according to obstacle height when the robot main body climbs up/down or avoids the obstacle, and adjusts a photographing height to correspond to the altitude change. A position calculation portion measures a mobile position of the robot main body corresponding to a consecutively photographed image, to calculate axis coordinates. An image processing portion receives the consecutively photographed images and coordinates, to confirm the crack elements corresponding to images and produce an image of an actual position coordinate of the corresponding image.
摘要翻译： 提供了一种避免障碍物的桥梁检查机器人。 上升/下降部分对应于设置在桥墩上侧的第一和第二桁架凸缘之间的间隙距离。 障碍物检测部分检测障碍物，并且拍摄高度控制部分当机器人主体爬升/下降或避开障碍物时，根据障碍物高度检测图像拍摄部分的高度变化，并且调整拍摄高度以对应于高度 更改。 位置计算部分测量与连续拍摄的图像相对应的机器人主体的移动位置，以计算轴坐标。 图像处理部分接收连续拍摄的图像和坐标，以确认对应于图像的裂纹元素并产生对应图像的实际位置坐标的图像。
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公开(公告)号：US20110106313A1
公开(公告)日：2011-05-05
申请号：US12989605
申请日：2009-04-20
申请人： Byeong-Ju Lee , Jae-In Shin , Chang-Ho Park , Young-Ho Park , Moon-Seok Nam
发明人： Byeong-Ju Lee , Jae-In Shin , Chang-Ho Park , Young-Ho Park , Moon-Seok Nam
CPC分类号： B25J5/007 , B25J19/021 , E01D19/106 , E01D19/16 , G02B27/648 , G03B2205/00 , G03B2205/0007
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 photographing height 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
摘要翻译： 提供了能够爬过障碍物的桥梁检查机器人，桥梁检查机器人包括：爬升部分（110），其延伸以对应于第一梁的凸缘（11a）之间的间隙距离 11）和设置在桥（10）的墩（L）的上侧的第一梁（12）的凸缘（12a），其中机器人主体（101）爬升/下降或避免 当机器人主体（101）例如沿着桥梁检查路径在凸缘上移动时，爬过障碍物; 检测存在于所述凸缘上的障碍物的障碍物检测部（120） 拍摄高度控制部（150），其在机器人主体（101）上下移动时避免和爬过障碍物时，根据障碍物的高度检测图像拍摄部（130）的高度变化，并且调整 拍摄高度，以便对应于高度变化，从而具有始终相同高度的z轴坐标; 测量对应于连续图像的机器人主体（101）的移动位置的位置计算部（160）
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