高效无损桥面检测与评估的自主机器人系统

2013 IEEE International Conference on Automation Science and Engineering (CASE) Pub Date : 2013-11-07 DOI:10.1109/CoASE.2013.6653886

H. La, R. Lim, B. Basily, N. Gucunski, J. Yi, A. Maher, F. Romero, H. Parvardeh

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引用次数: 52

摘要

桥梁是保障公共交通安全的重要民用基础设施之一。桥梁的状况随着时间的推移而恶化，原因包括材料老化、超载和维护不足等。本文介绍了一种用于高效桥面检测和评估的自主机器人系统的开发。以自主移动机器人为平台，搭载多种无损评估传感系统，实现同步、快速的数据采集。除了NDE传感器外，该机器人还配备了各种车载导航传感器。提出了一种用于高精度机器人定位与导航的传感集成方案。通过广泛的实验和现场部署，证明了自主机器人NDE系统的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Autonomous robotic system for high-efficiency non-destructive bridge deck inspection and evaluation

Bridges are one of the critical civil infrastructure for safety of traveling public. The conditions of bridges deteriorate with time as a result of material aging, excessive loading, and inadequate maintenance, etc. In this paper, the development of an autonomous robotic system is presented for highly-efficient bridge deck inspection and evaluation. An autonomous mobile robot is used as a platform to carry various non-destructive evaluation (NDE) sensing systems for simultaneous and fast data collection. Besides the NDE sensors, the robot is also equipped with various onboard navigation sensors. A sensing integration scheme is presented for high-accuracy robot localization and navigation. The effectiveness of the autonomous robotic NDE system is demonstrated through extensive experiments and field deployments.

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来源期刊

2013 IEEE International Conference on Automation Science and Engineering (CASE)

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