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

The wire-based under-bridge inspection technique is a method that utilizes multiple wires to bring a lateral truss close to the bridge underside, move it in the longitudinal direction of the bridge, and automatically collect images of the bridge underside using a Robo-cam installed on the upper part of the lateral truss. In this study, for the integration and functional improvement of the wire-based robot position control system, we proposed improvements to existing components and new sub-components with added functionalities, fabricated these components, and applied the overall system to an actual bridge to evaluate its field applicability. The results of the field application confirmed that the lateral truss, positioned on the bridge’s underside, could be operated with a high control precision of up to approximately 6 mm using the wire winches installed on the bridge deck. However, for this system to be deployed for actual bridge inspection, the development of components for winch installation and integrated testing with the Robo-cam system are necessary.