|
Development of autonomous mobile robots for indoor concrete crack inspection and analysis |
|---|---|
| รหัสดีโอไอ | |
| Title | Development of autonomous mobile robots for indoor concrete crack inspection and analysis |
| Creator | Suradit Phuangsombat |
| Contributor | Itthisek Nilkhamhang, Advisor |
| Publisher | Thammasat University |
| Publication Year | 2568 |
| Keyword | Autonomous mobile robots, Visual inspection, Concrete structures, Image processing, SLAM, YOLOv8, Crack detection |
| Abstract | The inspection of concrete structures, including bridges, buildings, and dams, is vital for ensuring public safety and infrastructure longevity. Traditional methods, relying heavily on manual labor and rudimentary tools, are time-intensive, prone to human error, and often expose inspectors to hazardous conditions. To overcome these challenges, this thesis presents an autonomous mobile robot (AMR) system integrating advanced navigation, precise data acquisition, defect detection, and crack analysis capabilities. Equipped with multiple cameras for high-resolution imaging and depth sensing, the robot employs Simultaneous Localization and Mapping (SLAM) techniques for accurate navigation and environmental mapping. Captured data undergo preprocessing, including noise reduction and contrast enhancement, followed by crack detection and segmentation using YOLOv8. The system automatically records the location of defects and analyzes each by measuring crack lengths and widths through pixel-to-metric conversions using calibrated camera parameters. The proposed robotic approach significantly enhances inspection accuracy, efficiency, and safety, representing a transformative solution for continuous structural health monitoring |
