하수관거 외벽 침수부 탐지 자동화 프로세스 설계

Abstract

Reinforced Concrete Box Culverts (RCBCs) are the fast, easy solution for applications under roads, railways and runways as drainage culverts, underpasses or service ducts. Sudden road collapses (Sinkhole) can occur at poorly engineered and maintained RCBCs neighboring sites. One of the problems associated with maintenance of RCBC is that the work has been overlooked current maintenance problems including; a labor-intensive, costly, and hazardous work. This paper is related to a RCBC maintenance robot which can assist human labors during RCBC maintenance works in underground. To improve productivity and safety in RCBC maintenance works, a human-robot cooperative procedures with failsafe algorithm is described in conceptual design of the RCBC maintenance robot, would describe integration of advantages of both robots and humans, and bilateral interaction of between robots and humans.