Multi-directional Bicycle Robot for Bridge Inspection with Steel Defect Detection System
Multi-directional Bicycle Robot for Bridge Inspection with Steel Defect Detection System
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DOI：
10.1109/iros47612.2022.9981325
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发表时间：
2022-10
期刊：
影响因子：
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通讯作者：
Habib Ahmed;S. Nguyen;D. La;C. Le;Hung M. La
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文献类型：
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作者：
Habib Ahmed;S. Nguyen;D. La;C. Le;Hung M. La
本文提出了一种多向自行车机器人的新颖设计，该机器人是为钢结构（特别是钢筋桥梁）的检测而开发的。运动概念基于将两个磁轮布置在类似自行车的配置中，并具有两个独立的转向执行器。这种配置使机器人具有多向移动性。额外的自由关节有助于机器人自然地适应非扁平和复杂的钢结构。该机器人的设计具有机械简单的优点，并在不同的钢结构中提供高水平的移动性。此外，还配备了视觉传感器，可以通过离线训练和验证来收集钢材缺陷检测的数据。该论文还提供了一种新颖的钢缺陷检测流程，它利用来自真实桥梁的多个数据集（一个用于训练，一个用于验证）。已报告了三种深度编码器-解码器网络（即 LinkNet、UNet、DeepLab）及其相应编码器模块（即 ResNet-18、ResNet-34、RegNet-X2、EfficientNet-B0 和 EfficientNet-B2）的定量结果。由于篇幅问题，定性结果已在附录中概述，并在图 11 标题中提供了访问所提供结果的链接。
This paper presents a novel design of a multi-directional bicycle robot, which is developed for the inspection of steel structures, in particular, steel-reinforced bridges. The locomotion concept is based on arranging two magnetic wheels in a bicycle-like configuration with two independent steering actuators. This configuration allows the robot to possess multi-directional mobility. An additional free joint helps the robot adapt naturally to non-flat and complex steel structures. The robot's design provides the advantage of being mechanically simple and providing high-level mobility across diverse steel structures. In addition, a visual sensor is equipped that allows the data collection for steel defect detection with offline training and validation. The paper also provides a novel pipeline for Steel Defect Detection, which utilizes multiple datasets (one for training and one for validation) from real bridges. The quantitative results have been reported for three Deep Encoder-Decoder Networks (i.e., LinkNet, UNet, DeepLab) with their corresponding Encoder modules (i.e., ResNet-18, ResNet-34, RegNet-X2, EfficientNet-B0, and EfficientNet-B2). Due to space concerns, the qualitative results have been outlined in Appendix, with a link in Fig. 11 caption to access the result provided.