Robotics, Vision and Control Group, Universidad de Sevilla, Camino de los Descubrimientos s.n., 41092 Sevilla, Spain.
Sensors (Basel). 2019 Jan 14;19(2):305. doi: 10.3390/s19020305.
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.
本文提出了一种使用无人机 (UAV) 的机器人系统，用于需要空中平台与桥梁表面进行物理接触的桥梁检测任务，例如梁挠度分析或使用超声传感器测量裂缝深度。所提出的系统利用了多旋翼飞行器靠近桥梁表面时出现的空气动力学升力效应。此外，本文还描述了如何将无人机用作传感器，使其能够在接触式检测过程中飞行并接触桥梁以进行测量。还介绍了该系统在使用激光跟踪站测量桥梁梁挠度的实际应用。为了验证我们的系统，展示了在两座不同桥梁上进行的涉及测量它们梁挠度的实验。
