Position and Posture Measurements Using Laser Projection Markers for Infrastructure Inspection
Position and Posture Measurements Using Laser Projection Markers for Infrastructure Inspection
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DOI：
10.3390/electronics9050807
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发表时间：
2020-05
期刊：
影响因子：
2.9
通讯作者：
Tohru Sasaki;Ryosuke Shioya;T. Sakai;S. Kinoshita;Takahito Nojiri;Kenji Terabayashi;M. Jindai
中科院分区：
文献类型：
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作者：
Tohru Sasaki;Ryosuke Shioya;T. Sakai;S. Kinoshita;Takahito Nojiri;Kenji Terabayashi;M. Jindai
道路、隧道和桥梁等基础设施需要定期检查。传统的结构检查方法由人工检查员使用裂纹仪进行，可能会导致测量误差和检查时间过长等问题。移动机器人和图像处理已应用于基础设施检查领域。图像传感器或任何传感器用于测量基础设施的状态。在自动巡检过程中，移动机器人需要了解自身的位置和姿态。通常，全球定位系统（GPS）已被用来感测移动机器人的位置。然而，GPS 在有天花板的地方（例如桥下和隧道中）无法使用。因此，我们开发了一套系统来感知移动机器人的位置和姿态。该系统使用激光投影标记和相机，并且配置非常简单。相机拍摄目标结构和投影激光标记，并通过图像应用计算相机和移动机器人的位置和姿态。该系统使基础设施检查更加有效，并减少了检查所需的时间。在本文中，我们检查了必要的激光打标机的数量，并通过实验验证了我们的方法。
Infrastructure such as roads, tunnels and bridges needs periodical inspection. The conventional structure inspection method, in which a human inspector uses a crack gauge, may lead to problems such as measurement errors and lengthy inspection times. Mobile robots and image processing have been used in the infrastructure inspection field. An image sensor or any sensor is used for measuring the state of the infrastructures. It is necessary that the mobile robot knows its own position and posture during automatic inspection. Generally, the Global Positioning System (GPS) has been used to sense the position of the mobile robot. However, GPS is not usable in places with the ceilings such as under bridges and in tunnels. Therefore, we developed a system to sense the position and posture of mobile robots. This system uses laser projection markers and cameras, and it has a very simple configuration. The camera photographs a target structure and projection laser markers, and the position and posture of the camera and mobile robot were calculated by an image application. The system makes infrastructure inspection more effective and decreases the time needed for inspection. In this paper, we examined the number of necessary laser markers, and we verified our method by experiment.