Patent ID: 8830315

Claim:
A device for inspecting a structure of a bridge, comprising: a vehicle having an arm; at least one image sensing device; and a pendulum mechanism consisting of a first pendulum element, a second pendulum element and a joint connecting the first and the second pendulum elements, wherein the first pendulum element has a first end secured to the arm, the second pendulum elements has a second end connected to the at least one image sensing device grabbing an image of a bottom of the bridge, wherein the arm is configured to suspend the pendulum mechanism to be driven to swing freely back and forth, with respect to the arm at the first end, with a non-synchronous swing mode by using a pendulum principle such that the at least one image sensing device swings back and forth and reaches positions in proximity with a bottom of the bridge, and the first and the second pendulum elements are rigid bars; wherein the at least one image sensing device is configured to take images when the at least one image sensing device reaches the positions in proximity with the bottom of the bridge during the pendulum mechanism swinging freely back and forth, and wherein an image stitch technique is applied to combine the images taken when the at least one image sensing device reaches the positions in proximity with the bottom of the bridge to obtain a complete image of the bridge.