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Extended Capture Range Method Under High-Speed Motion


In this research, we developed a high-speed tunnel surface inspection system to improve efficiency. High-resolution images are essential to detect small cracks.

The system compensates for motion blur and increases the captured area by switching the angle of view for each capture. The challenge arises when switching the angle of view every 3ms, as the movement of the mirror can cause blurring in the output images. To address this issue, we adopted a method that adapts to any physical characteristic and controller without the need for modeling. We conducted experiments in which an inspection vehicle traveled through a tunnel with a 5-meter-high ceiling at a speed of 100 km/h. The results showed that cracks with a width of approximately 0.25 mm can be accurately detected.

Tunnel System



  1. Yuriko Ezaki, Yushi Moko, Haruka Ikeda, Tomohiko Hayakawa and Masatoshi Ishikawa: Extension of the Capture Range Under High-Speed Motion Using Galvanometer Mirror, 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Virtual Conferenceļ¼Œ2020.7.9), pp.1854-1859.
  2. Yuriko Ezaki, Yushi Moko, Tomohiko Hayakawa and Masatoshi Ishikawa: Angle of View Switching Method at High-Speed Using Motion Blur Compensation for Infrastructure Inspection, Journal of Robotics and Mechatronics, Vol. 34, No. 5, pp. 985-996, 2022.
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