{"title":"Development of an automatic concrete-tunnel inspection system by an autonomous mobile robot","authors":"F. Yao, Guifeng Shao, H. Yamada, K. Kato","doi":"10.1109/ROMAN.2000.892473","DOIUrl":null,"url":null,"abstract":"We propose a non-destructive automatic concrete tunnel inspection method. In this method, we aim to inspect the tunnel automatically and completely at high-speed by using non-destructive sensors. For the non-destructive sensors, we employ 24 ultrasonic sensors an 6 video cameras. These sensors are mounted on the same plane in the shape of semi-ring. This combined ultrasonic-sensor/video-camera semi-ring (or USVC semi-ring) is mounted on an autonomous mobile robot inspect the concrete-tunnel. Experiment results show that this system can detect the deformed inner-wall at the division of 8 nm, when the robot moves at 20 mm/S.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"2019 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMAN.2000.892473","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 8
Abstract
We propose a non-destructive automatic concrete tunnel inspection method. In this method, we aim to inspect the tunnel automatically and completely at high-speed by using non-destructive sensors. For the non-destructive sensors, we employ 24 ultrasonic sensors an 6 video cameras. These sensors are mounted on the same plane in the shape of semi-ring. This combined ultrasonic-sensor/video-camera semi-ring (or USVC semi-ring) is mounted on an autonomous mobile robot inspect the concrete-tunnel. Experiment results show that this system can detect the deformed inner-wall at the division of 8 nm, when the robot moves at 20 mm/S.
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