The quality of rebar welds directly impacts the overall service performance of highway infrastructure.However,current assessments of weld appearance quality primarily rely on traditional inspection methods such as man...The quality of rebar welds directly impacts the overall service performance of highway infrastructure.However,current assessments of weld appearance quality primarily rely on traditional inspection methods such as manual visual inspection,which suffer from significant limitations in accuracy,reliability,and efficiency.Given the increasing demand for safety performance inspections of highway infrastructure in China,traditional methods struggle to meet modern rapid inspection requirements.Therefore,this study proposes the design of a portable,non-destructive inspection device for rebar weld appearance,utilizing visible light vision and line-structured light 3D scanning technology.The device is equipped with an STM32 master control chip to manage encoder reading,scanning laser control,ring fill light,industrial camera synchronization,image acquisition,and serial port command transmission.Additionally,a weld image processing and detection software system was developed to receive,store,and identify weld defects.A field inspection prototype was created and subjected to various defect weld detection experiments in a laboratory setting.Experimental results demonstrate that the device can accurately measure weld parameters by acquiring multimodal images,fulfilling defect detection requirements.The device features high detection accuracy,portability,and user-friendliness,making it significant for the objective inspection and evaluation of rebar weld appearance and welding quality.展开更多
The accuracy of center height detection for corrugated beam guardrails is significantly affected by robot posture in the mobile highway guardrail detection systems based on structured light vision.To address the probl...The accuracy of center height detection for corrugated beam guardrails is significantly affected by robot posture in the mobile highway guardrail detection systems based on structured light vision.To address the problem,this paper proposes an integrated calibration method for structured light vision sensors.In the proposed system,the sensor is mounted on a crawler-type mobile robot,which scans and measures the center height of guardrails while in motion.However,due to external disturbances such as uneven road surfaces and vehicle vibrations,the posture of the robot may deviate,causing displacement of the sensor platform and resulting in spatial 3D measurement errors.To overcome this issue,the system integrates inertial measurement unit(IMU)data into the sensor calibration process,enabling realtime correction of posture deviations through sensor fusion.This approach achieves a unified calibration of the structured light vision system,effectively compensates for posture-induced errors,and enhances detection accuracy.A prototype was developed and tested in both laboratory and real highway environments.Experimental results demonstrate that the proposed method enables accurate center height detection of guardrails under complex road conditions,significantly reduces posture-related measurement errors,and greatly improves the efficiency and reliability of traditional detection methods.展开更多
基金Supported by the Central Public-Interest Scientific Institution Basal Research Fund(2023-9062)the Transport Power Pilot Project(2021-C334)。
文摘The quality of rebar welds directly impacts the overall service performance of highway infrastructure.However,current assessments of weld appearance quality primarily rely on traditional inspection methods such as manual visual inspection,which suffer from significant limitations in accuracy,reliability,and efficiency.Given the increasing demand for safety performance inspections of highway infrastructure in China,traditional methods struggle to meet modern rapid inspection requirements.Therefore,this study proposes the design of a portable,non-destructive inspection device for rebar weld appearance,utilizing visible light vision and line-structured light 3D scanning technology.The device is equipped with an STM32 master control chip to manage encoder reading,scanning laser control,ring fill light,industrial camera synchronization,image acquisition,and serial port command transmission.Additionally,a weld image processing and detection software system was developed to receive,store,and identify weld defects.A field inspection prototype was created and subjected to various defect weld detection experiments in a laboratory setting.Experimental results demonstrate that the device can accurately measure weld parameters by acquiring multimodal images,fulfilling defect detection requirements.The device features high detection accuracy,portability,and user-friendliness,making it significant for the objective inspection and evaluation of rebar weld appearance and welding quality.
基金Supported by the Special Fund for Basic Scientific Research of Central-Level Public Welfare Scientific Research Institutes(2024-9007)。
文摘The accuracy of center height detection for corrugated beam guardrails is significantly affected by robot posture in the mobile highway guardrail detection systems based on structured light vision.To address the problem,this paper proposes an integrated calibration method for structured light vision sensors.In the proposed system,the sensor is mounted on a crawler-type mobile robot,which scans and measures the center height of guardrails while in motion.However,due to external disturbances such as uneven road surfaces and vehicle vibrations,the posture of the robot may deviate,causing displacement of the sensor platform and resulting in spatial 3D measurement errors.To overcome this issue,the system integrates inertial measurement unit(IMU)data into the sensor calibration process,enabling realtime correction of posture deviations through sensor fusion.This approach achieves a unified calibration of the structured light vision system,effectively compensates for posture-induced errors,and enhances detection accuracy.A prototype was developed and tested in both laboratory and real highway environments.Experimental results demonstrate that the proposed method enables accurate center height detection of guardrails under complex road conditions,significantly reduces posture-related measurement errors,and greatly improves the efficiency and reliability of traditional detection methods.
