Design of orbital climbing robot system and image processing

doi:10.16265/j.cnki.issn1003-3033.2019.07.019

Abstract

Abstract: 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.

Key words: orbital robot, platform collaboration, component design, image stitching, scale-invariant feature transform(SIFT)

CLC Number:

X924.3

QIN Haiwei, LU Congfei, JIANG Yongsheng, ZHOU Xu, CHENG Bin. Design of orbital climbing robot system and image processing[J]. China Safety Science Journal, 2019, 29(7): 117-122.

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