A Climbing Robot for Steel Bridge Inspection
A Climbing Robot for Steel Bridge Inspection
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DOI：
10.1007/s10846-020-01266-1
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发表时间：
2021-08-01
影响因子：
3.3
通讯作者：
La, Hung Manh
中科院分区：
文献类型：
--
作者：
Nguyen, Son Thanh;La, Hung Manh
作为桥梁检测过程自动化的努力，本文提出了一种新型的自适应罐式机器人，它可以爬上钢结构进行数据采集和检测。目前大多数爬钢移动机器人都是在平坦的钢表面上工作，而我们提出的坦克机器人设计可以通过往复机构和磁性滚子链在不同的钢结构形状（如圆柱体、立方体）上爬。所开发的机器人可以通过关节并从一个表面过渡到另一个表面（例如，从平面到曲面）。集成了多种传感器（霍尔效应、红外、IMU、涡流和摄像头）的原型机器人，通过解决紧凑尺寸、有效粘接和攀爬适应等各种严格问题而开发出来。对机器人的运动学、粘附力、滑动和翻转故障以及电机功率进行了严格的分析，以证明所提出设计的稳定性。理论计算可为今后钢结构攀爬机器人的设计提供有用的框架。在机器人上集成了摄像机和涡流传感器，实现了钢结构疲劳裂纹的视觉深度检测。实验结果和在20多个钢桥上的现场部署证实了机器人的粘接、攀爬和检查能力。
As an effort of automating the bridge inspection process, this paper presents a new development of an adaptable tank-like robot, which can climb on steel structures to collect data and perform inspection. While most current steel climbing mobile robots are designed to work on flat steel surface, our proposed tank-like robot design is capable of climbing on different steel structural shapes (e.g., cylinder, cube) by using reciprocating mechanism and magnetic roller-chains. The developed robot can pass through the joints and transition from one surface to the other (e.g., from flat to curving surfaces). A prototype robot integrating multiple sensors (hall-effects, IR, IMU, Eddy current and cameras), has been developed by coping with variety of strict concerns including tight dimension, effective adhesive and climbing adaptation. Rigorous analysis of robot kinematics, adhesive force, sliding and turn-over failure and motor power has been conducted to certify the stability of the proposed design. The theory calculations can serve as an useful framework for designing future steel climbing robots. The cameras and Eddy current sensor is integrated on Robot for visual and in-depth fatigue crack inspection of steel structures. Experimental results and field deployments on more than twenty steel bridges confirm the adhesive, climbing, inspection capability of the robot.