Cable Inspection Robot System

- OVER VIEW -

  These days, a lot of Super Long Span Bridges (SLSBs) have been constructed over the world. SLSBs are largely classified into Cable-stayed bridges and Suspension bridges. They are composed of a bridge deck, pylons, and cables. Because the bridge deck, that is the largest and heaviest element of a bridge, is directly sustained by the cables, the role of the cables is critical. As time goes on, cables will be worn and may have problems. Therefore, regular inspection and maintenance activities for bridge cables are prerequisite in ensuring the integrity of a bridge. However, maintaining cables by human is very difficult and dangerous.  It could be overcome by using robot system for the cable inspection. For this reason, we have conducted the researches to develop Cable Climbing Robots with focusing on suspension bridge hangers.

Prototype of Cable Climbing Robot

  For the verification of the developed mechanisms, the prototype was developed. The prototype is composed with the adhesion mechanism, the driving mechanism, and the safe-landing mechanism.

Spec of MRC²IN-I

  Based on the prototype, MRC²IN-I was developed. The robot has three modules, and these are arranged with an angle of 120 degrees.

Outdoor Test of MRC²IN-I

  The performances of the robot was verified under outdoor experimental environment. The visual inspection is possible through 4 cameras which were equipped on the robot.

MRC²IN-I +

  For the stable driving, the developed caterpillars were equipped instead of the wheels to MRC²IN-I. The stability of driving was much improved.

MRC²IN-II

  The MRC²IN-II consists of two traction modules, two auxiliary modules and single detachable adhesion tool. The traction modules and the auxiliary modules face each other (a traction module is 90 degrees apart from an auxiliary module).

Outdoor Test of MRC²IN-II

  In order to validate the MRC²IN-II in the field condition, tests were conducted on the Yeong-Jong Grand Bridge in Korea. Its hanger cable is CFRC cables with the diameter of 84 mm. The height of the pylon of the Yeong-Jong Grand Bridge is 107 m, and the maximum length of the hanger cables is approximately 75 m. The robot stably traveled up and down the hanger cables at a speed of 50 mm/s. The power supply was cut off while the robot climbed up the hanger cable, and the robot was able to be securely landed by the safe-landing mechanism.

Publications

• • K. H. Cho, Y. H. Jin, H. M. Kim, H. Moon, J. C. Koo and H. R. Choi, “Multifunctional robotic crawler for inspection of suspension bridge hanger cables: Mechanism design and performance validation,” IEEE/ASME Trans. Mechatronics, vol. 22, no. 1, pp. 236-246, Feb. 2017.

  • K. H. Cho, Y. H. Jin, H. M. Kim, and H. R. Choi, “Development of novel multifunctional robotic crawler for inspection of hanger cables in suspension bridges,” in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), May. 2014, pp. 2673–2678.

  • K. H. Cho, H. M. Kim, Y. H. Jin, F. Liu, H. Moon, J. C. Koo and H. R. Choi, “Inspection robot for hanger cable of suspension bridge: Mechanism design and analysis,” IEEE/ASME Trans. Mechatronics, vol. 18, no. 6, pp. 1665-1674, Dec. 2013.

  • K. H. Cho, Y. H. Jin, H. M. Kim, H. Moon, J. C. Koo, Y. J. Park and H. R. Choi, “Development of multifunctional robotic crawler for cable inspection (MRC2 IN),” in Proc. IEEE Int. Conf. Ubiquitous Robot. Ambient Intell. (URAI), Oct. 2013, pp. 123–124.

  • K. H. Cho, Y. H. Jin, H. M. Kim, H. Moon, J. C. Koo and H. R. Choi, “Caterpillar-based cable climbing robot for inspection of suspension bridge hanger rope,” in Proc. IEEE Int. Conf. Autom. Sci. Eng. (CASE), Aug. 2013, pp. 1059–1062.

  • H. M. Kim, K. H. Cho, Y. H. Jin, F. Liu, J. C. Koo and H. R. Choi, “Development of cable climbing robot for maintenance of suspension bridges,” in Proc. IEEE Int. Conf. Autom. Sci. Eng. (CASE), Aug. 2012, pp. 606–611.

  • H. M. Kim, K. H. Cho, Y. H. Jin and H. R. Choi, “Development of a Climbing Robot for Inspection Bridge Cable,” 로봇학회논문지, vol. 7, no. 2, Jun. 2012.

  • K. H. Cho, H. M. Kim, Y. H. Jin, F. Liu and H. R. Choi, “Developments of a climbing robot and communication system for inspection of suspension bridge hanger cable,” 한국로봇공학회 하계종합 학술대회, Jun. 2012. pp. 1-2.

  • H. M. Kim, K. H. Cho, F. Liu, and H. R. Choi, “Development of cable climbing robotic system for inspection of suspension bridge,” in Proc. Int. Symp. Autom. Robot. Construction (ISARC), Jun. 2011, pp. 1422–1423.

  • H. M. Kim, K. H. Cho, F. Liu and H. R. Choi, "Development of Climbing Robotic System for Inspection of Suspension Bridge Cable," 한국로봇공학회 하계종합 학술대회, Jun. 2011, pp. 357-358.

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Project

• 현수교 행어 및 사장교 케이블 점거용 이동 로봇 개발 (2010. 8. 16 - 2014. 3. 23)

  • • 한국도로공사

Researcher

Kyeong Ho Cho, Ho Moon Kim, Young Hoon Jin