Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Development of a Monitoring Module for a Steel Bridge-repainting Robot Using a Vision Sensor

비전센서를 이용한 강교량 재도장 로봇의 주행 모니터링 모듈 개발

  • Received : 2021.11.10
  • Accepted : 2021.12.10
  • Published : 2022.03.01
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Abstract

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.

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Acknowledgement

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

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