10.3390/s19020305
https://zenodo.org/records/2633659
oai:zenodo.org:2633659
Pedro J. Sanchez-Cuevas
Pedro J. Sanchez-Cuevas
Universidad de Sevilla
Pablo Ramon-Soria
Pablo Ramon-Soria
Universidad de Sevilla
Begoña Arrue
Begoña Arrue
Universidad de Sevilla
Anibal Ollero
Anibal Ollero
Universidad de Sevilla
Guillermo Heredia
Guillermo Heredia
Universidad de Sevilla
Robotic System for Inspection by Contact of Bridge Beams Using UAVs
Zenodo
2019
robotic bridge inspection; UAS applications; aerial robotics; aerial inspection; aerodynamic ceiling effect
2019-01-14
https://zenodo.org/communities/eu
Creative Commons Attribution 4.0 International
This paper presents a robotic system using Unmanned Aerial Vehicles (UAVs) for bridge-inspection tasks that require physical contact between the aerial platform and the bridge surfaces, such as beam-deflection analysis or measuring crack depth with an ultrasonic sensor. The proposed system takes advantage of the aerodynamic ceiling effect that arises when the multirotor gets close to the bridge surface. Moreover, this paper describes how a UAV can be used as a sensor that is able to fly and touch the bridge to take measurements during an inspection by contact. A practical application of the system involving the measurement of a bridge’s beam deflection using a laser tracking station is also presented. In order to validate our system, experiments on two different bridges involving the measurement of the deflection of their beams are shown.
This work has been supported by the AEROCROS Project, funded by the Spanish Ministerio de Economia, Industria, y Competitividad (DPI2015-71524-R).
European Commission
10.13039/501100000780
687384
AErial RObotic System for In-Depth Bridge Inspection by Contact
European Commission
10.13039/501100000780
769066
RESilient transport InfraSTructure to extreme events