Abstract: Provided is a bridge inspection robot that avoids obstacles is provided. An ascending/descending portion corresponds to a gap distance between a first and second girder flange provided at the upper side of a bridge pier. An obstacle detection portion detects the obstacle and a photographing altitude control portion detects an altitude change of an image photographing portion according to obstacle height when the robot main body climbs up/down or avoids the obstacle, and adjusts a photographing height to correspond to the altitude change. A position calculation portion measures a mobile position of the robot main body corresponding to a consecutively photographed image, to calculate axis coordinates. An image processing portion receives the consecutively photographed images and coordinates, to confirm the crack elements corresponding to images and produce an image of an actual position coordinate of the corresponding image.

Abstract: Provided is a bridge inspection robot which is capable of climbing over an obstacle, the bridge inspection robot including: a climbing-over portion (110) which is extended to correspond to a gap distance between a flange (1 Ia) of a first girder (11) and a flange (12a) of a first girder (12) which are provided at the upper side of a pier (L) of a bridge (10) in which a robot main body (101) climbs up/down or avoids and climbs over an obstacle, when the robot main body (101) moves on the flange, for example, along a bridge inspection path; an obstacle detection portion (120) which detects the obstacle which exists on the flanges; a photographing altitude control portion (150) which detects an altitude change of an image photographing portion (130) according to height of the obstacle when the robot main body (101) climbs up/down or avoids and climbs over the obstacle, and adjusts a photographing height of the image photographing portion (130) so as to correspond to the altitude change, to thus have a z-axis coo