Development of an autonomous bridge deck inspection robotic system
Development of an autonomous bridge deck inspection robotic system
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DOI：
10.1002/rob.21725
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发表时间：
2017-12-01
影响因子：
8.3
通讯作者：
Kee, Seong-Hoon
中科院分区：
文献类型：
--
作者：
La, Hung M.;Gucunski, Nenad;Kee, Seong-Hoon
由于美国许多桥梁的状况不佳，老化桥梁的安全威胁已被公认为公众的严重关切。目前，桥梁检查是人工进行的，并且识别桥梁状况恶化以便于实施适当的维护或修复程序的效率不高。在本文中，我们报告了一个新的发展自主移动的机器人系统的桥面检测和评估。该机器人集成了多个无损评估（NDE）传感器和导航控制算法，使其能够在桥面上准确自主地机动，以收集视觉图像并进行NDE测量。所开发的机器人系统可以减少桥面数据采集和检测的成本和时间。为了有效地监测桥面，详细介绍了建立桥面裂缝图的裂缝检测算法。分析机器人采集的冲击回波（IE）、超声表面波（USW）和电阻率（ER）数据，分别生成桥面的分层图、混凝土弹性模量图和腐蚀图。所提出的机器人系统已成功部署，以检查在美国十多个不同的州的许多桥梁。
The threat to safety of aging bridges has been recognized as a critical concern to the general public due to the poor condition of many bridges in the United States. Currently, the bridge inspection is conducted manually, and it is not efficient to identify bridge condition deterioration in order to facilitate implementation of appropriate maintenance or rehabilitation procedures. In this paper, we report a new development of the autonomous mobile robotic system for bridge deck inspection and evaluation. The robot is integrated with several nondestructive evaluation (NDE) sensors and a navigation control algorithm to allow it to accurately and autonomously maneuver on the bridge deck to collect visual images and conduct NDE measurements. The developed robotic system can reduce the cost and time of the bridge deck data collection and inspection. For efficient bridge deck monitoring, the crack detection algorithm to build the deck crack map is presented in detail. The impact-echo (IE), ultrasonic surface waves (USW), and electrical resistivity (ER) data collected by the robot are analyzed to generate the delamination, concrete elastic modulus, corrosion maps of the bridge deck, respectively. The presented robotic system has been successfully deployed to inspect numerous bridges in more than ten different states in the United States.