About the Project
Abstract
The bridge inspection and repair robot is an autonomous system designed to reduce infrastructure inspection time and keep workers out of potentially hazardous environments. By automatically detecting corrosion and applying targeted treatment with minimal human input, the platform aims to deliver safer, faster, and more consistent repair operations on bridge components.
Project Details
The system uses a fully computer-controlled architecture that manages every stage of inspection and repair. A Raspberry Pi functions as the central controller and collects images from onboard cameras, processes them with a computer vision pipeline to identify corrosion, and converts pixel detections into real-world coordinates.
After defects are identified, the computer generates a motion sequence and sends commands to the FANUC LR Mate 200iC through a custom socket communication interface. The robot follows these commands to scan the structure, position the tool, and apply the repair spray material with consistent timing and controlled approaches. All scan paths, movements, and spray decisions originate from the software control loop, so the robot operates with very little user input once it is started.
Safety is built into the system at several layers. The robot controller enforces internal motion limits provided by FANUC’s safety architecture, including joint limits, speed restrictions, and emergency stop handling. The software adds its own protection by defining allowable work zones, verifying robot position before each motion, and preventing any command that would place the tool outside the designated safe region near the beam. Ultrasonic distance sensing provides another safeguard by detecting unexpected proximity to the surface and halting operation when required. Together, these hardware and software protections allow the robot to perform inspection and repair tasks accurately and safely while keeping humans outside hazardous areas.