Volume 26 Issue 7
Jul.  2026
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Article Navigation >  Journal of Traffic and Transportation Engineering  > 2026  >  26(7): 220-234
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WANG Hui-feng, GUAN Yue-yuan, BAI Jia-di, ZHANG Heng, CAO Jing-ming, WANG Rui, MA Xue-yan, HUANG He, JIAO Yun-mei. Multi-parameter detection robot system for highway corrugated beam steel guardrail based on linear structured light scanning[J]. Journal of Traffic and Transportation Engineering, 2026, 26(7): 220-234. doi: 10.19818/j.cnki.1671-1637.2026.278
Citation: WANG Hui-feng, GUAN Yue-yuan, BAI Jia-di, ZHANG Heng, CAO Jing-ming, WANG Rui, MA Xue-yan, HUANG He, JIAO Yun-mei. Multi-parameter detection robot system for highway corrugated beam steel guardrail based on linear structured light scanning[J]. Journal of Traffic and Transportation Engineering, 2026, 26(7): 220-234. doi: 10.19818/j.cnki.1671-1637.2026.278
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Multi-parameter detection robot system for highway corrugated beam steel guardrail based on linear structured light scanning

doi: 10.19818/j.cnki.1671-1637.2026.278
  • 1.

    School of Electronic & Control Engineering, Chang'an University, Xi'an 710064, Shaanxi, China

  • 2.

    Yunnan Traffic Engineering Quality Inspection Co., Ltd., Kunming 650000, Yunnan, China

  • 3.

    Research Institute of Highway of Ministry of Transport, Beijing 100088, China

Funds:

Science and Technology Project of Shaanxi Provincial Department of Transportation 25-79X

Science and Technology Project of Shaanxi Provincial Department of Transportation 25-87K

Yunnan Transportation Science and Technology Research Project JKYZLX-2023-16

More Information
  • Corresponding author: WANG Hui-feng, professor, PhD, E-mail: hfwang@chd.edu.cn
  • Received Date: 2025-01-02
  • Accepted Date: 2026-01-26
  • Rev Recd Date: 2025-11-26
  • Publish Date: 2026-07-28
    Abstract
  • In order to overcome the limitations of traditional manual detection methods and realize the automatic measurement of structural parameters of highway corrugated steel guardrails, a vehicle-mounted structured light scanning detection system based on an autonomous mobile robot platform was proposed. A direct line structured light scheme was adopted to construct the system detection model. To solve the problem of strong reflection interference easily generated on the guardrail plate surface under complex illumination, an adaptive exposure highlight suppression method was proposed, which effectively suppressed specular reflection noise and eliminated background interference. On this basis, the traditional slope threshold method was improved by combining the line structured light model with the characteristics of light stripe images, which improved the feature recognition accuracy of light stripes. Finally, algorithms suitable for measuring the crossbeam center height, plate shape, deformation, and inclination of corrugated beam guardrails were proposed. Laboratory and field test results show that the system achieves an accuracy of 98.5% in guardrail plate shape recognition; in inclination detection, the relative errors of two-wave and three-wave guardrails are better than 20% and 19%, respectively, with an overall accuracy of more than 80%, which meets the practical engineering requirements; in crossbeam center height measurement, the errors of two-wave and three-wave guardrail plates are 1.439-4.029 mm and 1.137-4.387 mm, respectively, which satisfies the requirements for high-precision detection and automatic inspection of guardrails. The system can realize the efficient, high-precision, and automatic detection of the structural parameters of corrugated beam steel guardrails, which has strong practicability and provides reliable support for the condition detection and maintenance of highway guardrails.

     

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