基于环带视觉扫描的墩柱结构表观病害攀爬检测作业机器人系统  

A Climbing Detection Operation Robot System for Apparent Disease of Pier and Column Structures Based on Visual Scanning of Circular Belt

作　　者：王会峰[1] 杜浩 高荣[1] 仝亚雄 彭璐 赵煜[3] 黄鹤[1] WANG Hui-feng;DU Hao;GAO Rong;TONG Ya-xiong;PENG Lu;ZHAO Yu;HUANG He(School of Electronic and Control Engineering,Chang'an University,Xi'an 710064,Shaanxi,China;Highway Science Research Institute,Ministry of Transport,Beijing 100088,China;School of Highway,Chang'an University,Xi'an 710064,Shaanxi,China)

机构地区：[1]长安大学电子与控制工程学院,陕西西安710064 [2]交通运输部公路科学研究所,北京100088 [3]长安大学公路学院,陕西西安710064

出　　处：《中国公路学报》2024年第2期40-52,共13页China Journal of Highway and Transport

基　　金：国家自然科学基金项目(52172324);中央高校基本科研业务费专项资金项目(300102323501);中央级公益性科研院所基本科研业务费专项资金项目(2021-9050);陕西省重点研发计划项目(2024GX-YBXM-288)。

摘　　要：针对现有爬壁机器人在高墩柱结构表观病害检测过程中存在的局限性,提出了一种基于环带视觉扫描的高墩柱结构表观病害攀爬检测作业机器人系统。首先,根据攀爬作业机器人的功能需求,设计了一种多足协同的攀爬检测作业机器人平台。其可通过上位机设定机器人作业过程中的运行参数,攀爬过程中利用安装在环形框架上的多个倾角传感器实时采集机器人的姿态信息,并通过所设计的系统算法实时校正其爬行姿态和精度。其次,设计了一种可搭载于作业平台的环形轨道及视觉扫描小车,其可携带工业相机、照明系统和高精度编码器实现对轨道方向的病害视觉扫描。最后,利用所采集的图像进行表观病害识别和测量,并以此为基础实现了表观病害的数字化档案。为测试验证其有效性,利用所搭建的样机,在西安广运桥和淮南寿春桥进行了现场试验,结果表明:本机器人系统可以实现墩柱结构的全域扫描,可以获取墩柱结构表观病害的高精度视觉图像,并能够准确地对其病害进行识别和量化,实现了墩柱结构表观病害的智能检测。To overcome the limitations of existing wall-climbing robots in detecting apparent diseases in high pier and column structures,a climbing inspection operation robot system based on the ring belt vision scanning of high pier and column structures with apparent diseases was proposed.To meet the functional requirements of the climbing robot,a multi-legged cooperative climbing detection robot platform was designed.The operating parameters of the robot operation process can be set by the host computer,and the attitude information of the robot is collected in real time by using multiple inclination sensors installed on the ring frame.The climbing attitude and accuracy were corrected in real time by the designed system algorithm.A ring-shaped track and visual scanning vehicle that can be mounted on the operating platform was designed to carry an industrial camera,a lighting system,and a high-precision encoder to visually scan diseases in the track direction.Finally,the acquired images were used to recognize and measure superficial diseases,based on which a digital archive of superficial diseases was created.Using the constructed prototype,field tests were performed at Guangyun Bridge in Xi'an and Shouchun Bridge in Anhui Province.The results showed that the robotic system can achieve full-area scanning of the pier and column structure,obtain high-precision visual images of the apparent diseases of the pier and column structure,and accurately identify and quantify the diseases to realize their intelligent detection.

关 键 词：桥梁工程 桥墩表观病害检测 环形攀爬作业机器人 机器视觉 FPGA 环带视觉扫描 

分 类 号：U446[建筑科学—桥梁与隧道工程]