Inspection System for Underwater Structure of Bridge Pier

被引：0

作者：

Ueda, Takumi ^{[1
]}

Hirai, Hiyoyasu ^{[1
]}

Fuchigami, Kazuki ^{[1
]}

Yuki, Ryoma ^{[1
]}

Jonghyun, Ahn ^{[1
]}

Yasukawa, Shinsuke ^{[1
]}

Nishida, Yuya ^{[1
]}

Ishii, Kazuo ^{[1
]}

Sonoda, Takashi ^{[2
]}

Higashi, Katsunori ^{[3
]}

Tanaka, Katsunori ^{[3
]}

Ikeda, Tomomasa ^{[3
]}

机构：

[1] Kyusyu Inst Technol, Dept Human Intelligence Syst, 2-4 Hibikino, Kitakyushu, Fukuoka 8080196, Japan

[2] Nishinippon Inst Technol, Fac Engn, 1-11 Niizu, Kanda, Fukuoka 8000394, Japan

[3] West Nippon Expressway Engn Kyushu, Chuo Ku, 1-2-22 Maizuru, Fukuoka, Fukuoka 8100073, Japan

来源：

ICAROB 2019: PROCEEDINGS OF THE 2019 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS | 2019年

关键词：

Infrastructure inspection; ROV; USV;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Inspection of underwater infrastructure of bridge pier is important for bridge maintenance, however, the underwater environment is dangerous and their observation is one of difficult problems. We have been developing the underwater inspection system which consists of an unmanned surface vehicle (USV) and a remotely operated vehicle (ROV). The concepts of the system are (1) Operation is executable with a small number of persons, (2) USV and ROV are controllable from land or bridge, (3) Build 3D model and images for crack detection. The ROV observes the status of whole infrastructure using cameras and control its posture using a depth sensor and IMU sensor. The USV vertically lifts up and down ROV by winch and carries ROV to the infrastructure. USV has GPS, LRF and IMU for horizontal positioning and pan-tilt control of the camera. In this paper, we discuss the results of the inspection operation test by the robot.

引用

页码：521 / 524

页数：4

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