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Wall-climbing robot for visual and GPR inspection
Yang L(杨亮)1,2; Yang GY(杨国永)2; Liu ZM(刘钊铭)2; Chang Y(常勇)2; Jiang, Biao1,3; Awad, Youssef2; Xiao JZ(肖继忠)1,2
作者部门机器人学研究室
会议名称13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
会议日期May 31 - June 2, 2018
会议地点Wuhan, China
会议录名称Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
出版者IEEE
出版地New York
2018
页码1004-1009
收录类别EI
EI收录号20183005587395
产权排序1
ISBN号978-1-5386-3757-9
摘要This paper presents the design and validates of a wall-climbing robot with the ability to do nondestructive inspection and remote motion control ability. The designed robot is able to have a 31.62 Kg payload with only 50% power on the flat surface, and the robot is able to be controlled through an Android device wirelessly with visual feedback. In order to perform nondestructive inspection, the wall-climbing robot mounts an RGB-D camera and a ground penetration radar, thus it can perform both external visual crack and spall inspection as well as internal defects inspection. Also, a 3D metric inspection is performed via using the RGB-D camera to do visual positioning onboard to couple the measurement from camera and ground penetration radar. Experiments verified the climbing capabilities as well as our novel remote approach to do visual monitoring and control. We also detail the training and the comparative inspection of our DefectNet and FCN-8s, and the results show that our network can perform crack detection.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22297
专题机器人学研究室
通讯作者Yang L(杨亮)
作者单位1.CCNY Robotics Lab, City College of New York, 10031, United States
2.University of Chinese Academy of Sciences, Shenyang Institute of Automation, China
3.Department of Natural Sciences, Hostos Community College, New York
4.NY, United States
推荐引用方式
GB/T 7714
Yang L,Yang GY,Liu ZM,et al. Wall-climbing robot for visual and GPR inspection[C]. New York:IEEE,2018:1004-1009.
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