Design and implementation of an autonomous robot for steel bridge inspection
Design and implementation of an autonomous robot for steel bridge inspection
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钢桥检测自主机器人的设计与实现
DOI：
10.1109/allerton.2016.7852280
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Hung M. La
中科院分区：
文献类型：
--
作者：
Nhan H. Pham;Hung M. La
钢桥是美国第二大桥梁，而有缺陷的桥梁的数量正在增加。目前，大多数桥梁检查都是由检查员手工完成的，这需要大量的人力资源以及昂贵和专门的设备。此外，对于具有高层结构的大型桥梁，检查人员对其进行检查是困难和危险的。本文提出了一种新的钢桥检测机器人系统的设计与实现。该机器人由四个磁轮组成，它们与钢材表面产生粘附力。它能够携带多个传感器进行导航和测绘。收集到的数据被发送到地面站进行实时监测和进一步处理。此外，还集成了磁场和距离传感器，使机器人能够在钢铁表面安全移动。通过对实际钢结构的物理试验，验证了机器人设计的可行性。
Steel bridges constitute the second most bridges in the U.S. while the number of deficient bridges are growing. Currently, the majority number of current bridge inspections are done manually by inspectors which require significant amount of human resources along with expensive and specialized equipment. Moreover, it is difficult and dangerous for inspectors to inspect large bridges with high structures. In this paper, we propose a new design and implementation of a robotic system that can be used for steel bridge inspection. The robot consists of four magnetic wheels which create adhesion to steel surface. It is able to carry multiple sensors for navigation and mapping. Collected data are sent to the ground station for live monitoring as well as further processing. In addition, magnetic field and range sensors are also integrated to enable robot to move safely on steel surfaces. Results with physical tests on real steel structures are shown to validate the feasibility of robot design.