Flying-Climbing Mobile Robot for Steel Bridge Inspection

2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2021-10-25 DOI:10.1109/SSRR53300.2021.9597676

A. Pham, Anh T. La, Ethan Chang, Hung M. La

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引用次数: 2

Abstract

The research of robots to assist people in inspecting the quality of steel bridges has attracted significant attention in recent years. However, the intricate structure of the steel bridge components poses a massive challenge for researchers to move the robot across the bridge to perform the tests. This paper presents a new development of a hybrid flying-climbing robotic system, which can move flexibly and quickly to different positions on the steel bridge. In addition to using high-resolution cameras for an overview, the design allows the robot to stick to steel surfaces and act as a mobile robot for more detailed inspection with our developed giant magneto-resistance (GMR) sensor array system. We conduct a mechanical analysis to show the climbing capability of the mobile part. Additionally, we develop a landing algorithm to allow the robot to land on a steel surface to perform in-depth inspection safely. The designed GMR sensor array has shown the capability of detecting steel cracks to support the in-depth inspection mode. We have tested and validated our developed robot on real bridges to ensure that the design works well and is stable.

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飞爬式移动钢桥检测机器人

近年来，利用机器人辅助人们进行钢桥质量检测的研究引起了人们的广泛关注。然而，钢桥组件的复杂结构给研究人员移动机器人过桥进行测试带来了巨大的挑战。本文提出了一种新型的飞行-攀爬混合机器人系统，该系统能在钢桥上灵活快速地移动到不同位置。除了使用高分辨率相机进行概述外，该设计还允许机器人粘附在钢铁表面，并作为移动机器人使用我们开发的巨磁阻(GMR)传感器阵列系统进行更详细的检查。我们进行了力学分析，以显示可移动部件的爬升能力。此外，我们还开发了一种着陆算法，使机器人能够安全地降落在钢表面上进行深度检查。所设计的GMR传感器阵列显示出检测钢裂纹的能力，支持深度检测模式。我们已经在真实的桥梁上测试和验证了我们开发的机器人，以确保设计工作良好且稳定。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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