{"title":"用于钢筋混凝土结构检测的自主爬墙机器人SIRCAUR","authors":"G. Garrido, T. Sattar","doi":"10.37965/JAIT.2021.0016","DOIUrl":null,"url":null,"abstract":"A wall climbing inspection robot has been designed to climb on safety critical concrete structures by adhering to reinforcement steel bars (rebars) using permanent magnets to generate the adhesion forces. Simulation and experimental validation has been performed to determine the optimum flux focusing magnet configurations with the robot operating on 30 to 35mm of concrete cover over rebars arranged in different patterns. The goal of adhesion force optimization is to be able to carry a ground penetrating radar (GPR) sensor which detects rebar corrosion, concrete delamination and concrete cover deterioration. The autonomous robot uses an ultra-wide band (UWB) localisation system and GPR data to control its motion trajectories to avoid regions where there is insufficient density of rebars. Non-destructive testing (NDT) inspection data acquired by GPR is transmitted wirelessly to a ground station for processing and monitoring by NDT technicians.","PeriodicalId":70996,"journal":{"name":"人工智能技术学报(英文)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2021-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"An Autonomous Wall Climbing Robot for Inspection of Reinforced Concrete Structures: SIRCAUR\",\"authors\":\"G. Garrido, T. Sattar\",\"doi\":\"10.37965/JAIT.2021.0016\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A wall climbing inspection robot has been designed to climb on safety critical concrete structures by adhering to reinforcement steel bars (rebars) using permanent magnets to generate the adhesion forces. Simulation and experimental validation has been performed to determine the optimum flux focusing magnet configurations with the robot operating on 30 to 35mm of concrete cover over rebars arranged in different patterns. The goal of adhesion force optimization is to be able to carry a ground penetrating radar (GPR) sensor which detects rebar corrosion, concrete delamination and concrete cover deterioration. The autonomous robot uses an ultra-wide band (UWB) localisation system and GPR data to control its motion trajectories to avoid regions where there is insufficient density of rebars. Non-destructive testing (NDT) inspection data acquired by GPR is transmitted wirelessly to a ground station for processing and monitoring by NDT technicians.\",\"PeriodicalId\":70996,\"journal\":{\"name\":\"人工智能技术学报(英文)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-07-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"人工智能技术学报(英文)\",\"FirstCategoryId\":\"1093\",\"ListUrlMain\":\"https://doi.org/10.37965/JAIT.2021.0016\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"人工智能技术学报(英文)","FirstCategoryId":"1093","ListUrlMain":"https://doi.org/10.37965/JAIT.2021.0016","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
An Autonomous Wall Climbing Robot for Inspection of Reinforced Concrete Structures: SIRCAUR
A wall climbing inspection robot has been designed to climb on safety critical concrete structures by adhering to reinforcement steel bars (rebars) using permanent magnets to generate the adhesion forces. Simulation and experimental validation has been performed to determine the optimum flux focusing magnet configurations with the robot operating on 30 to 35mm of concrete cover over rebars arranged in different patterns. The goal of adhesion force optimization is to be able to carry a ground penetrating radar (GPR) sensor which detects rebar corrosion, concrete delamination and concrete cover deterioration. The autonomous robot uses an ultra-wide band (UWB) localisation system and GPR data to control its motion trajectories to avoid regions where there is insufficient density of rebars. Non-destructive testing (NDT) inspection data acquired by GPR is transmitted wirelessly to a ground station for processing and monitoring by NDT technicians.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
