G1500203 Robot for image recording of structure's crack

Abstract

In our research, we focus on the maintenance and inspection management of cracks which accrued in reinforced concrete slab, proposed and developed the Robotics system for inspection by short range visual observation on the basis of the conventional inspection method. We suggested a robot that can photograph the cracks with less than 0.15 [mm] width from the ground. We have developed two crawler robots with camera attachment for inspection. One robot photograph a detailed image of the cracks, and another one photograph the entire image of the RC slab. Robot is operated by sequential control. We create a damage site map that showing the damaged position of the crack from the photographed images by image processing using an affine transformation. As a result, the error of the position of the crack of the damage site map was 1.6[%]. It was possible to improve the efficiency of inspection work with the robotics system