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    • 4. 发明申请
    • BRIDGE INSPECTION ROBOT CAPABLE OF CLIMBING OBSTACLE
    • 桥梁检查机器人爬行障碍物
    • WO2009131341A3
    • 2010-01-21
    • PCT/KR2009002038
    • 2009-04-20
    • KOREA EXPRESSWAY CORPLEE BYEONG-JUNAM MOON-SEOKPARK CHANG-HOPARK YOUNG-HOSHIN JAE-IN
    • LEE BYEONG-JUNAM MOON-SEOKPARK CHANG-HOPARK YOUNG-HOSHIN JAE-IN
    • B25J5/00
    • B25J5/007B25J19/021E01D19/106E01D19/16G02B27/648G03B2205/00G03B2205/0007
    • 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.
    • 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 拍摄图像拍摄部分(130)的高度以对应于高度变化,从而具有始终相同高度的z轴坐标; 位置计算部(160),其测量与图像拍摄部(130)拍摄的连续图像对应的机器人主体(101)的移动位置,从而计算x / y / z轴坐标; 以及图像处理部分(170),其接收连续拍摄的图像和对应于连续拍摄的图像的x / y / z轴坐标,从而连续地确认与图像相对应的实际裂纹元素,从而产生可识别的 图像的相应图像的实际位置坐标。