Automated robotic monitoring and inspection of steel structures and bridges

被引：81

作者：

Hung Manh La ^{[1
]}

Tran Hiep Dinh ^{[2
]}

Nhan Huu Pham ^{[1
]}

Quang Phuc Ha ^{[2
]}

Anh Quyen Pham ^{[1
]}

机构：

[1] Univ Nevada, Dept Comp Sci & Engn, Adv Robot & Automat ARA Lab, Reno, NV 89557 USA

[2] Univ Technol Sydney, Sch Elect Mech & Mechatron Syst, Sydney, NSW, Australia

来源：

ROBOTICA | 2019年 / 37卷 / 05期

基金：

美国国家科学基金会; 美国国家航空航天局;

关键词：

Field robotics; Climbing robots; Steel bridge inspection; Image stitching; 3D map construction; Steel crack; Histogram thresholding; Image segmentation; CRACK DETECTION; DECK INSPECTION; LEVEL SET; SYSTEM; SEGMENTATION; DESIGN;

D O I：

10.1017/S0263574717000601

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents visual and 3D structure inspection for steel structures and bridges using a developed climbing robot. The robot can move freely on a steel surface, carry sensors, collect data and then send to the ground station in real-time for monitoring as well as further processing. Steel surface image stitching and 3D map building are conducted to provide a current condition of the structure. Also, a computer vision-based method is implemented to detect surface defects on stitched images. The effectiveness of the climbing robot's inspection is tested in multiple circumstances to ensure strong steel adhesion and successful data collection. The detection method was also successfully evaluated on various test images, where steel cracks could be automatically identified, without the requirement of some heuristic reasoning.

引用

页码：947 / 967

页数：21

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