PI-BOT: REAL-TIME AUTONOMOUS PAVEMENT DISTRESS SURVEY ROBOT

PI-bot：自主式鋪面破損即時檢測機器人

李正豪(Cheng-Hao Lee) ； 康仕仲(Shih-Chung Kang) ； 張家瑞(Jia-Ruey Chang) ； 陳奕竹(Yi-Chu Chen) ； 蔡孟涵(Meng-Han Tsai)

《中國土木水利工程學刊》 30卷1期 (2018/03) Pp. 1-15

https://doi.org/10.6652/JoCICHE.201803_30(1).0001

摘要

Pavement inspection is one of the most important tasks for the maintenance and rehabilitation (M&R) of transportation road surfaces. There are four shortcomings, as follows, in current pavement inspection systems for project-level inspection: time consuming and labor intensive, inefficient and inaccurate, and require post-processing. In order to deal with these drawbacks, this research developed and designed a real-time autonomous pavement inspection robot, called the PI-bot. We also developed the innovative Chromatic Dual-Light Inspection (CDLI) method, integrated with the PI-bot, which can provide distress-enhanced and spillage-removed effects to find distresses. For experiments, we acquired 504 images and tested the performance of the PI-bot and CDLI method. The results show that the CDLI method performs well for normal pavements, alligator cracks, and manholes, and the performance of CDLI in identifying spillage pavements and longitudinal and transverse cracks is also very successful. This research demonstrates that this real-time pavement inspection system is workable and has high potential for pavement inspection tasks. This system is expected to reduce manpower and cost for pavement inspection applications.

關鍵字

pavement inspection system ； robotics ； autonomous inspection ； image processing ； chromatic dual-light inspection

並列摘要

鋪面檢測是長期鋪面維護以及修繕工程的重要工作項目，長期鋪面維護及修繕工程通常是耗時且耗人力的。本研究開發一式自主式舖面破損即時檢測機器人：PI-bot，能夠在短距且小範圍的鋪面進行檢測，同時亦研發適用於機器人檢測的彩色雙光源檢測方法(CDLI)與PI-bot進行整合。以實地擷取的504張影像進行實驗測試，並測試CDLI方法的成效。研究結果證明，在一般正常鋪面、鱷魚狀裂縫和人手孔方面有相當好的檢測成果，在污漬鋪面以及縱向橫向裂縫的鋪面上，也可達到滿意的成效，證明PI-bot可有效地執行鋪面檢測工作，減少未來路面檢測之人力與成本。

並列關鍵字

鋪面檢測系統 ； 機器人 ； 自主式檢測 ； 影像處理 ； 彩色雙光源檢測