드라이브 ㆍ 컨트롤 (Journal of Drive and Control)

  • 제19권1호
  • /
  • Pages.1-7
  • /
  • 2022
  • /
  • 2671-7972(pISSN)
  • /
  • 2671-7980(eISSN)
유공압건설기계학회 (The Korean Society for Fluid Power and Construction Equipment)
권호 표지
DOI QR코드

DOI QR Code

비전센서를 이용한 강교량 재도장 로봇의 주행 모니터링 모듈 개발

Development of a Monitoring Module for a Steel Bridge-repainting Robot Using a Vision Sensor

  • 투고 : 2021.11.10
  • 심사 : 2021.12.10
  • 발행 : 2022.03.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

Recently, a re-painting robot was developed to semi-automatically conduct blasting work in bridge spaces to improve work productivity and worker safety. In this study, a vision sensor-based monitoring module was developed to automatically move the re-painting robot along the path. The monitoring module provides direction information to the robot by analyzing the boundary between the painting surface and the metal surface. To stably measure images in unstable environments, various techniques for improving image visibility were applied in this study. Then, the driving performance was verified in a similar environment.

키워드

과제정보

본 연구는 국토교통기술촉진연구사업 지원에 의해 수행됨(과제번호: 19CTAP-C15073-01)

참고문헌

  1. D. H. Kim, H. Y. Jung and J. Y. Kim, "An Evaluation of Life for Corrosion and Damage of Steel Bridges," Journal of the Institute of Industrial Technology, Vol.14, pp.103-109, 2006.
  2. M. K. Seo et. al., "Development of a Prototype Monitoring Module for Steel Bridge Repainting Robots," Journal of Drive and Control, Vol.17 No.4, pp.15-22, 2020. https://doi.org/10.7839/KSFC.2020.17.4.015
  3. S. K. Bhatia, "Advances in Computer Communication and Computational Sciences," Proceedings of IC4S, Springer, pp.301-302, 2017.
  4. K. He, J. Sun and X. Tang, "Single Image Haze Removal using Dark Channel Prior," IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.33, pp.2341-2353, 2011. https://doi.org/10.1109/TPAMI.2010.168
  5. N. Kanopoulos, N. Vasanthavada, and R. L. Baker, "Design of an Image Edge Detection Filter using the Sobel Operator," IEEE Journal of Solid-State Circuits, Vol.23 No.2, pp.358-367, 1988. https://doi.org/10.1109/4.996
  6. J. Canny, "A Computational Approach to Edge Detection," in IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.PAMI-8, No.6, pp.679-698, 1986. https://doi.org/10.1109/TPAMI.1986.4767851
  7. X. M. Zhao, W. X. Wang and L. P. Wang, "Parameter Optimal Determination for Canny Edge Detection," The Imaging Science Journal, Vol.59, No.6, pp.332-341, 2011. https://doi.org/10.1179/136821910X12867873897517