Robot-aided tunnel inspection and maintenance system by vision and proximity sensor integration

Abstract

This article describes an unprecedented alternative to manual procedures for the application of advanced composite materials, such as Fiber Reinforced Polymer (FRP) and epoxy resins. A complete mobile integrated system is presented for the inspection and maintenance of concrete surfaces in tunnels. It allows performance of operations with minimum interference on passing traffic. The core of this system resides in a specially designed light-weight robotic tool, which is sensed and automated for processes. Sensing includes vision and a laser telemeter to assure precise inspection, superficial preparation, and composite application. The designed interconnection flange allows simple and robust attachment of the tool to a robotic arm's tip. The robot-tool set is to be mounted on a standard articulated lift platform. Therefore, an operator can direct the platform and the robot-tool set's operations from a control station placed at ground-level, in a wheeled vehicle on which the articulated lift platform is mounted. A graphical Human-Machine Interface (HMI) has been developed for the system. It allows the operator to identify fissures for the injection of epoxy resin, and weakened surfaces for FRP adhesion. Actual procedures are planned and performed by the system's automatic components.

Review and analysis of augmented reality literature for construction industry

“…From a location perspective, AR technologies can be classified in two categories: (a) field, e.g., using robot-aided tunnel inspection and maintenance system on construction site (Victores et al 2011), (b) home office, e.g., virtual environments for synchronous and remote collaborative design (Germani et al 2012). Figure 17 depicts the number of articles within the technology category that had a principal focus of on-site and on not-on-site.…”

Autonomous Robotic System with Tunnel Inspection Tool Positioning

“…The ROBO-SPECT robotic system design is based on TUNCONSTRUCT European Project (FP6) [6] system, which used a similar vehicle, crane and robotic arm configuration.…”

An innovative road marking quality assessment mechanism using computer vision

“…In construction automation, machine vision has been an important part integrated in automated pavement crack sealing, 3,4 bridge inspection, 5 concrete surface grinding, 6 and sewer pipe and tunnel inspection. 7 Other researchers used machine vision technologies for automated construction progress monitoring. 8,9 Machine vision and related video technologies are also gaining increasing popularity in intelligent transportation system (ITS) applications.…”