一种针对线激光3D相机桥梁表观检测的移动机器人平台抖动影响消除方法  

A Method for Eliminating the Impact of Mobile Robot Platform Jitter on Bridge Appearance Detection of Line Laser 3D Cameras

作　　者：贺骥 王宇航 尹兆宇 胥健 HE Ji;WANG Yuhang;YIN Zhaoyu;XU Jian(Shanghai Guimu Robotics Co.,Ltd.,Shanghai 201713,China;School of Astronautics,Northwestern Polytechnical University,Xi'an 710072,China)

机构地区：[1]上海圭目机器人有限公司,上海201713 [2]西北工业大学航天学院,陕西西安710072

出　　处：《科技创新与生产力》2023年第7期92-94,共3页Sci-tech Innovation and Productivity

基　　金：大跨度桥梁检测作业机器人(2019YFB1310400)。

摘　　要：本文指出携带线激光3D相机的移动机器人检测的是一种重要的桥梁表观扫描检测方式。由于桥梁表面不平整、风场干扰、机械震动、导航信号误差等原因,各类型移动机器人平台在实施桥梁表观检测过程中均不可避免发生抖动,对检测数据产生较为明显的干扰。针对这一问题,本文提出了一种针对线激光3D相机的桥梁检测移动机器人平台抖动影响消除方法。该方法仅通过软件算法即可剔除深度检测图片的抖动干扰信息,具有较高的工程应用价值。This paper points out that mobile robots carrying line laser 3D cameras are an important method of bridge surface scanning inspection.Due to factors such as uneven bridge surface,wind interference,mechanical vibration,and navigation signal errors,various types of mobile robot platforms inevitably experience shaking during the implementation of bridge surface inspection,which causes significant interference to the inspection data.In response to this issue,this paper proposes a method for eliminating the impact of platform jitter on bridge inspection mobile robots using line laser 3D cameras.This method can eliminate jitter interference information from deep inspection images only through software algorithms,and has high engineering application value.

关 键 词：桥梁检测 移动机器人 线激光3D相机 抖动影响消除 

分 类 号：U446[建筑科学—桥梁与隧道工程] TP242[交通运输工程—道路与铁道工程]