Bridge inspecting robot using rail in Steel box

摘要

According to the present invention, the robot arm 101 Steel Box Girder (hereinafter SBG) Bridges Dwelling more a steel box (or girder) of the internal partition wall (B) (O) of the moving part to be moved along the rails (R) installed between 110; Steel box (B) on the internal up / down / left / right images taken with continuous shooting side of the unit (120); The moving part 110 of the moving steel box (B) and the steel box (B) for detecting the bulkhead partition (O) between the sensing unit (130); Partition walls of the partition wall detecting unit (130) (O) upon detection of steel box (B) to adjust the height of the camera shooting the image recording unit 120, taken as it passes through the lower side of the internal partition wall (O) continuous Shooting the camera height to enable the controller 140; To measure the movement position of the robot main body 101 corresponding to the image taken continuously by the image capturing unit (120) x / y / z for calculating a coordinate position calculating section 150; And the continuous captured images and the corresponding the x / y / z-axis coordinates, and receiving the actual position coordinates of the continuous check and the image of the actual crack elements corresponding to the image and damage through which to generate a recognizable image For image processing unit (160) SBG bridge steel box with a check inside rail of the bridge, including the robot is provided.