摘要
为解决桥塔、桥墩等桥梁高耸结构物检测耗时长、成本高、精度差的问题,研发一套轨道式攀爬机器人系统,并提出一种检测图像处理方法。该系统由机械平台、视觉平台、控制平台等3大部分组成,将视觉平台搭载在机械平台轨道上,并使用控制平台远程控制机械平台及视觉平台工作,实现结构物表面图像的间隔式、连续化采集;根据图像的位置信息,结合尺度不变特征转换(SIFT)算法拼接检测图像,生成桥梁全景图像。通过搭建带有裂缝图像背景的试验平台,进行样机试验,检验该系统的性能。结果表明:相比于现有的检测方法,轨道式攀爬机器人系统的检测效果更加快速稳定,并能通过图像处理方法生成全景图像,其实施将有助于提高桥梁检测与维护的水平。
In order to solve the problem that current bridge inspection for high-rise structures such as bridge pylons and piers is time-consuming,costly and inaccurate,a track-type climbing robot system was developed and a processing method of detection images was proposed.The system consists of three parts:mechanical platform,visual platform and control platform.The visual platform is placed on the mechanical platform and both of them are remotely controlled by the control platform to capture the interval and continuous surface images of the structure.The SIFT algorithm is used to splice the detected images according to the position information to generate the bridge panorama.The prototype experiment was conducted by setting up an experimental platform with a cracked image background.The results show that compared with the existing detection methods,the designed robot system is more rapid and stable,and the panorama can be generated by the image processing method,which will help improve the level of bridge detection and maintenance.
作者
秦海伟
陆从飞
蒋永生
周旭
程斌
QIN Haiwei;LU Congfei;JIANG Yongsheng;ZHOU Xu;CHENG Bin(School of Naval Architecture,Ocean&Civil Engineering,Shanghai Jiaotong University,Shanghai 200240,China;Research Institute of Highway Ministry of Transport,Beijing 100088,China;Guizhou Expressway Group Company Limited,Guiyang Guizhou 550009,China)
出处
《中国安全科学学报》
CAS
CSCD
北大核心
2019年第7期117-122,共6页
China Safety Science Journal
基金
贵州省交通运输厅科技项目(2017-121-044,2019-122-004)
