Publications / 2018 Proceedings of the 35th ISARC, Berlin, Germany

Robotic Inspection Tests of Tunnel Lining Concrete with Crack Light-Section Device on Variable Guide Frame

Daisuke Inoue, Takao Ueno and Satoru Nakamura
Pages 540-545 (2018 Proceedings of the 35th ISARC, Berlin, Germany, ISBN 978-3-00-060855-1, ISSN 2413-5844)
Abstract:

There are approximately 10,000 road tunnels in Japan. Human visual inspections of the tunnels must be conducted once every five years. However, presently, the number of inspection engineers is insufficient and the cost incurred for the inspection is significantly high. In conventional crack inspection methods based on an image processing, inspection engineers process many images off site. However, these methods require a lot of effort to identify the cracks and dirt manually. We have studied a brand-new robotic inspection method to measure the crack positions automatically by using high-resolution texture / depth images that are acquired based on the light-section method. In this report, we present the study outline and introduce the devices developed. Furthermore, we present the inspection results of tunnel lining concretes by using our method in contrast with both an actual road tunnel made by the conventional piling method and a simulated actual-size tunnel we made by the NATM method.

Keywords: Tunnel inspection, Crack detection, Depth-image