Bionic wall-climbing robot and application thereof in bridge pier crack detection

Abstract

The invention discloses a bionic wall-climbing robot and application thereof in bridge pier crack detection. The wall-climbing robot comprises a first wall suction foot, a second wall suction foot and a driving mechanism, and the second wall suction foot is provided with a rotating table. The driving mechanism comprises a first overturning regulation and control mechanism connected with the first base, a second overturning regulation and control mechanism connected with the rotating table, and a telescopic step switching movement mechanism connected between the first overturning regulation and control mechanism and the second overturning regulation and control mechanism; the method for applying the bionic wall-climbing robot to bridge pier crack detection comprises the following steps: acquiring a crack image by using the wall-climbing robot; inputting the acquired bridge pier crack image into a DCNN network of a mobile terminal for training, and identifying, positioning and quantifying the crack of the bridge pier; and finally, evaluating the health condition of the bridge pier according to the historical data of the bridge pier diseases and the bridge pier detection specifications. The wall-climbing robot has multiple operation modes and can adapt to piers in different shapes, and the adopted detection method can improve the evaluation accuracy.

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