Tunnel structural inspection and assessment using an autonomous robotic system
Tunnel structural inspection and assessment using an autonomous robotic system
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DOI：
10.1016/j.autcon.2017.12.001
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发表时间：
2018-03-01
影响因子：
10.3
通讯作者：
Balaguer, Carlos
中科院分区：
文献类型：
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作者：
Menendez, Elisabeth;Victores, Juan G.;Balaguer, Carlos
本文介绍了 ROBO-SPELT 欧洲 FP7 项目，该项目由 ICT-2013.2.2 机器人用例和伴随措施计划资助，该项目是手动隧道结构检查和裂缝及其他缺陷评估的机器人替代方案。物理开发包括多自由度机器人系统的设计和实现，该系统由移动车辆、加长起重机和高精度机械臂组成。还开发了用于检测隧道缺陷的半监督计算机视觉系统，以及用于测量检测到的裂缝的宽度和深度的超声波传感器（美国）机器人工具。将概述缺陷检测方法以及项目架构和设计的基本方面。此外，还应详细介绍为美国机器人工具开发和实施的臂尖定位算法。最后，将提供在持续交通的真实高速公路隧道中进行验证的实验证据和详细信息。
This paper presents the ROBO-SPELT European FP7 project, funded under the ICT-2013.2.2 programme on Robotics use cases & Accompanying measures, a robotized alternative to manual tunnel structural inspection and assessment of cracks and other defects. Physical developments include the design and implementation of a multi-degree-of-freedom robotic system, composed by a mobile vehicle, an extended crane, and a high precision robotic arm. A semi-supervised computer vision system to detect tunnel defects, and a ultrasonic sensor (US) robotic tool to measure width and depth of detected cracks have been also developed. An overview of defect detection methods, as well as the fundamental aspects of the project architecture and design, will be presented. In addition, the developed and implemented arm tip positioning algorithm for the US robotic tool shall be detailed. Finally, experimental evidence and details on validation in a real motorway tunnel with ongoing traffic will be provided.