Imaging Plan Generation for Bridge Inspection Robots
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Solution Overview
Problem
Existing techniques lack an effective method for generating an imaging plan that ensures comprehensive inspection of bridge deck slabs and steel members without omission, as they do not provide a systematic approach for acquiring captured images for inspection purposes.
Innovation Solution
An imaging plan generation device and method that acquires space and member information to determine optimal camera positions and postures for a camera-equipped mobile robot, allowing it to efficiently image bridge deck slabs and steel members by dividing the inspection area into panels and deciding on specific imaging positions and postures based on this information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a camera-equipped mobile robot performs inspection of bridge deck slabs and steel members, then comprehensive inspection coverage is achieved, but the complexity of generating an imaging plan increases
Solution Approach 1:
The inspection area is divided into multiple panels based on bridge structure information. Each panel is processed independently to determine imaging positions and postures, which simplifies the overall planning complexity while ensuring comprehensive coverage of the entire bridge structure
Solution Approach 2:
The patent transforms the three-dimensional inspection space into a two-dimensional panel grid system for plan generation. By projecting the 3D bridge structure onto 2D panels and determining imaging parameters in this simplified space, the system reduces computational complexity while maintaining inspection reliability
2Reliability
If the camera-equipped mobile robot acquires many captured images for inspection, then inspection completeness is improved, but the time required for image acquisition increases
Solution Approach 1:
The imaging plan is generated in advance by determining all necessary imaging positions and postures before the robot begins inspection. This preliminary planning ensures that the robot acquires only the required images in an optimized sequence, completing comprehensive inspection in minimal time
Solution Approach 2:
The patent determines imaging positions and postures dynamically based on the specific panel being inspected and the robot's current location. This adaptive approach optimizes the imaging process for each panel while maintaining overall inspection completeness, reducing total acquisition time
Data Source
AI summary
Disclosed are an imaging plan generation device, an imaging plan generation method, and a program that generate an imaging plan for efficiently imaging captured images for use in inspection of a bridge without omission. An imaging plan generation device (400) includes a space information acquisition unit (401) that acquires space information of a panel, a first decision unit (403) that decides a plurality of deck slab imaging positions and postures of a camera based on the space information of the panel, a second decision unit (405) that decides, based on the space information of the panel, a plurality of steel member imaging positions and postures of the camera in imaging a plurality of joint portions of steel members with the camera, and an imaging plan generation unit (407) that generates an imaging plan of a camera-equipped mobile robot based on the plurality of deck slab imaging positions and postures decided by the first decision unit and the plurality of steel member imaging positions and postures decided by the second decision unit.