| Title: | OS21-2 Inspection System for Underwater Structure of Bridge Pier |
|---|---|
| Publication: | ICAROB2019 |
| Volume: | 24 |
| Pages: | 521-524 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2019.OS21-2 |
| Author(s): | Takumi Ueda, Hiyoyasu Hirai, Kazuki Fuchigami, Ryoma Yuki, Ahn Jonghyun, Shinsuke Yasukawa, Yuya Nishida, Kazuo Ishii, Takashi Sonoda, Katsunori Higashi, Katsunori Tanaka, Tomomasa Ikeda |
| Publication Date: | January 10, 2019 |
| Keywords: | Infrastructure inspection, ROV, USV |
| Abstract: | Inspection of underwater infrastructure of bridge pier is important for bridge maintenance, however, the underwater environment is dangerous and their observation is one of difficult problems. We have been developing the underwater inspection system which consists of an unmanned surface vehicle (USV) and a remotely operated vehicle (ROV). The concepts of the system are (1) Operation is executable with a small number of persons, (2) USV and ROV are controllable from land or bridge, (3) Build 3D model and images for crack detection. The ROV observes the status of whole infrastructure using cameras and control its posture using a depth sensor and IMU sensor. The USV vertically lifts up and down ROV by winch and carries ROV to the infrastructure. USV has GPS, LRF and IMU for horizontal positioning and pan-tilt control of the camera. In this paper, we discuss the results of the inspection operation test by the robot. |
| PDF File: | https://alife-robotics.co.jp/members2019/icarob/data/html/data/OS_pdf/OS21/OS21-2.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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