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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
Department机器人学研究室
Conference Name13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
Conference DateMay 31 - June 2, 2018
Conference PlaceWuhan, China
Source PublicationProceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
PublisherIEEE
Publication PlaceNew York
2018
Pages1004-1009
Indexed ByEI ; CPCI(ISTP)
EI Accession number20183005587395
WOS IDWOS:000467079500180
Contribution Rank1
ISSN2156-2318
ISBN978-1-5386-3757-9
AbstractThis 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22297
Collection机器人学研究室
Corresponding AuthorYang L(杨亮)
Affiliation1.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
Recommended Citation
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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