A Fundamental Study on the Development of Wire-based Robot Position Control System for Under Bridge Inspection

Namgyu Kim; Sang-Yoon Lee; Young-soo Park

doi:10.22725/JSRP.2024.2.2.74

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2024 Vol.2, Issue 2 Preview Page Next Page

Research Article

A Fundamental Study on the Development of Wire-based Robot Position Control System for Under Bridge Inspection 교량 하면 점검용 와이어 기반 로봇 위치 제어 시스템 구성을 위한 기초 연구

31 December 2024. pp. 74-81

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Abstract

The drone technology-based bridge inspection method is a useful tool to alternate the traditional bridge inspection method conducted by manpower. However, there are limitations in applying it to the under bridge inspection of overpass bridge due to the narrow space between girders and the risk of drone crashes. In this paper, therefore, a wire-based under bridge inspection system suitable for overpass bridge was newly proposed, and the prototype of a wire-based robot position control system was designed, manufactured, and tested for estimating the initial performance. The results show a longitudinal position control accuracy of 0.03 to 0.04 m/m, with an expected vertical deflection of approximately 10.70 mm for a real scale bridge with a width of 20 meters. However, in order to apply this technology to the field, it is essential to perform the integration tests with Robo-cam system.

Keywords

bridge inspection

under bridge inspection

wire-based system

position control system

드론 기술을 활용한 교량 점검 방법은 인력에 의해 수행되는 기존 교량 점검을 무인화·자동화할 수 있는 유용한 수단이다. 그러나, 거더 사이의 협소한 공간 및 드론 추락의 위험 등으로 인해, 오버패스(Overpass) 교량 하부 점검에 적용하는데 한계가 있다. 본 논문에서는 이와 같은 점검 공백 영역 중 하나인 오버패스 교량 하부 점검에 적합한 ‘와이어 기반 교량 하면 점검 시스템’을 제안하고, 핵심 구성 기술 중 하나인 ‘와이어 기반 로봇 위치 제어시스템’을 설계·제작 및 초기 성능을 검토하였다. 그 결과, 교량 길이 방향 위치 추정 정밀도 0.03~0.04 m/m를 가지며, 실 규모 교량 적용 시 연직 방향 예상 처짐 약 10.70 mm(교량 폭 20 m일 경우)가 발생하는 것을 확인하였다. 다만, 본 기술을 현장에 적용하기 위해서는 로보캠 시스템과의 통합 연계 검증 등이 필수적이다.

키워드

교량 점검

교량 하면 점검

와이어 기반 시스템

위치 제어 시스템

References

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Information

Publisher :Korean Institute of Bridge and Structural Engineers
Publisher(Ko) :한국교량및구조공학회
Journal Title :Journal of Structure Research and Practice
Journal Title(Ko) :한국교량및구조공학회 논문집
Volume : 2
No :2
Pages :74-81
Received Date : 2024-11-12
Revised Date : 2024-12-05
Accepted Date : 2024-12-06
DOI :https://doi.org/10.22725/JSRP.2024.2.2.74

Journal of Structure Research and Practice ISSN:3022-4241(Print) 3022-7267(Online) 한국교량및구조공학회 논문집

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