用于自动像素级路面裂缝密封的视觉引导机器人

IF 9.6 1区工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY

Automation in Construction Pub Date : 2024-09-23 DOI:10.1016/j.autcon.2024.105783

Jianqi Zhang , Xu Yang , Wei Wang , Hainian Wang , Ling Ding , Sherif El-Badawy , Zhanping You

{"title":"用于自动像素级路面裂缝密封的视觉引导机器人","authors":"Jianqi Zhang , Xu Yang , Wei Wang , Hainian Wang , Ling Ding , Sherif El-Badawy , Zhanping You","doi":"10.1016/j.autcon.2024.105783","DOIUrl":null,"url":null,"abstract":"<div><div>Automated pavement crack sealing plays a crucial role in road maintenance. However, challenges remain in refining crack segmentation and sealing control accuracy. This article proposes an automated pavement crack sealing robot(APCSbot), which employs a crack refinement network(CrackSegRefiner) and a crack sealing controller(LQR). Specifically, CrackSegRefiner is based on a denoising diffusion model to refine the coarse mask of crack through a diffusion process. Additionally, the LQR controller integrates weight matrices Q and R to ensure control and state of APCSbot based on visual servo, facilitating the delivery of emulsified asphalt for sealing through the end effector. Extensive experiments conducted on the DeepCrack, CFD, and S2TCrack datasets confirm the effectiveness of APCSbot, which achieved a segmentation precision of 84.48% and mIoU of 79.28%. Furthermore, the system demonstrated a sealing error of 6.22 mm and speed of 0.0456 m/s when addressing discontinuous cracks, showcasing its excellence and robustness in crack sealing.</div></div>","PeriodicalId":8660,"journal":{"name":"Automation in Construction","volume":null,"pages":null},"PeriodicalIF":9.6000,"publicationDate":"2024-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Vision-guided robot for automated pixel-level pavement crack sealing\",\"authors\":\"Jianqi Zhang , Xu Yang , Wei Wang , Hainian Wang , Ling Ding , Sherif El-Badawy , Zhanping You\",\"doi\":\"10.1016/j.autcon.2024.105783\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>Automated pavement crack sealing plays a crucial role in road maintenance. However, challenges remain in refining crack segmentation and sealing control accuracy. This article proposes an automated pavement crack sealing robot(APCSbot), which employs a crack refinement network(CrackSegRefiner) and a crack sealing controller(LQR). Specifically, CrackSegRefiner is based on a denoising diffusion model to refine the coarse mask of crack through a diffusion process. Additionally, the LQR controller integrates weight matrices Q and R to ensure control and state of APCSbot based on visual servo, facilitating the delivery of emulsified asphalt for sealing through the end effector. Extensive experiments conducted on the DeepCrack, CFD, and S2TCrack datasets confirm the effectiveness of APCSbot, which achieved a segmentation precision of 84.48% and mIoU of 79.28%. Furthermore, the system demonstrated a sealing error of 6.22 mm and speed of 0.0456 m/s when addressing discontinuous cracks, showcasing its excellence and robustness in crack sealing.</div></div>\",\"PeriodicalId\":8660,\"journal\":{\"name\":\"Automation in Construction\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":9.6000,\"publicationDate\":\"2024-09-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Automation in Construction\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0926580524005193\",\"RegionNum\":1,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"CONSTRUCTION & BUILDING TECHNOLOGY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Automation in Construction","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0926580524005193","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CONSTRUCTION & BUILDING TECHNOLOGY","Score":null,"Total":0}

引用次数: 0

摘要

路面裂缝自动密封在道路养护中发挥着至关重要的作用。然而，在细化裂缝分割和密封控制精度方面仍存在挑战。本文提出了一种自动路面裂缝密封机器人（APCSbot），它采用了裂缝细化网络（CrackSegRefiner）和裂缝密封控制器（LQR）。具体来说，CrackSegRefiner 基于去噪扩散模型，通过扩散过程细化裂缝粗掩膜。此外，LQR 控制器整合了权重矩阵 Q 和 R，以确保基于视觉伺服的 APCSbot 的控制和状态，从而促进通过终端效应器输送用于密封的乳化沥青。在 DeepCrack、CFD 和 S2TCrack 数据集上进行的大量实验证实了 APCSbot 的有效性，其分割精度达到 84.48%，mIoU 达到 79.28%。此外，该系统在处理不连续裂缝时的密封误差为 6.22 毫米，速度为 0.0456 米/秒，显示了其在裂缝密封方面的卓越性和鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Vision-guided robot for automated pixel-level pavement crack sealing

Automated pavement crack sealing plays a crucial role in road maintenance. However, challenges remain in refining crack segmentation and sealing control accuracy. This article proposes an automated pavement crack sealing robot(APCSbot), which employs a crack refinement network(CrackSegRefiner) and a crack sealing controller(LQR). Specifically, CrackSegRefiner is based on a denoising diffusion model to refine the coarse mask of crack through a diffusion process. Additionally, the LQR controller integrates weight matrices Q and R to ensure control and state of APCSbot based on visual servo, facilitating the delivery of emulsified asphalt for sealing through the end effector. Extensive experiments conducted on the DeepCrack, CFD, and S2TCrack datasets confirm the effectiveness of APCSbot, which achieved a segmentation precision of 84.48% and mIoU of 79.28%. Furthermore, the system demonstrated a sealing error of 6.22 mm and speed of 0.0456 m/s when addressing discontinuous cracks, showcasing its excellence and robustness in crack sealing.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Automation in Construction 工程技术-工程：土木

CiteScore

19.20

自引率

16.50%

发文量

563

审稿时长

8.5 months

期刊介绍： Automation in Construction is an international journal that focuses on publishing original research papers related to the use of Information Technologies in various aspects of the construction industry. The journal covers topics such as design, engineering, construction technologies, and the maintenance and management of constructed facilities. The scope of Automation in Construction is extensive and covers all stages of the construction life cycle. This includes initial planning and design, construction of the facility, operation and maintenance, as well as the eventual dismantling and recycling of buildings and engineering structures.