Automated Hammering Inspection System With Multi-Copter Type Mobile Robot for Concrete Structures

Nishimura, Yuki; Takahashi, Shuki; Mochiyama, Hiromi; Yamaguchi, Tomoyuki

doi:10.1109/lra.2022.3191246

Cited by 10 publications

(7 citation statements)

References 35 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…During hammering inspection, the hammering force has a strong impulse but occurs for a short time. In our previous study [11], the peak hammering force was measured at 215.9 N but the average value in unit time during a hammering sequence was 2.48 N. Therefore, it had limited influence on the stability of the robot on the wall. The propeller angle can help the robot to climb up on the surface with a small friction coefficient.…”

Section: Proposed Model Of Robotmentioning

confidence: 97%

“…Hammering and impact inspection robots have been proposed to inspect internal defects [11]- [14]. A UAV that performs hammering inspection by repeatedly flying and reattaching to the surface to strike the wall has been proposed [12].…”

Section: Introductionmentioning

confidence: 99%

“…The suction-type robot shows high mobility on a smooth surface but cannot move easily on rough concrete surfaces while carrying inspection tools. Our previous study [11] proposed a propeller-type wall-climbing robot for hammering inspection. It achieved locomotion on vertical walls by pushing the robot body against the wall using the thrust force of the propeller [7], [9].…”

Section: Introductionmentioning

confidence: 99%

“…As summarized in TABLE 1, a wall-climbing robot capable of performing both surface and internal concrete inspection has not yet been developed. For example, our previous robot [11] can perform hammering inspection; however, this robot could not be used for visual inspection because it could not carry a camera to capture images owing to a limitation of its payload. When adding multiple measurement sensors to accomplish multiple tasks, the sensors need to be placed by considering both the stability of the robot on the wall and measurement performance.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Propeller-Type Wall-Climbing Robot for Visual and Hammering Inspection of Concrete Surfaces

Nishimura,

Mochiyama,

Yamaguchi

2024

IEEE Access

Self Cite

View full text Add to dashboard Cite

Periodic inspections are necessary to maintain concrete infrastructures. As efficient and lowcost inspection methods, visual inspection robots to detect cracks and hammering inspection robots to detect internal defects have been developed. However, these robots can generally perform only a single task. To realize multiple tasks by a robot, multiple measurement sensors need to be installed considering the stability of the robot on the wall and measurement performance. Parameters such as weight and size must be designed to ensure the stability of the robot on the wall. We propose a propeller-type wall-climbing robot that can capture images and perform hammering simultaneously while moving on the wall. The static model of robot was established by considering parameters such as the direction of the propeller's thrust force, weight, and placement of the measurement sensors. This model increases the payload for sensor installation and enables movement on dusty concrete walls with a low friction coefficient. The image captured by the inspection robot is used for crack detection and width estimation. We confirmed that the hammering sounds generated by the robot showed different frequency characteristics on clear and defective areas. The developed inspection robot showed the ability to collect adequate data for concrete health monitoring.

show abstract

Section: Proposed Model Of Robotmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Propeller-Type Wall-Climbing Robot for Visual and Hammering Inspection of Concrete Surfaces

Nishimura,

Mochiyama,

Yamaguchi

2024

IEEE Access

Self Cite

View full text Add to dashboard Cite

show abstract

“…Automated hitting devices have been developed to detect detachment of tiled surfaces [ Caliano et al ., 2021 ]. Moreover, the possibility of automatize the inspection of infrastructure using Unmanned Aerial Vehicles (UAVs) has also been a subject of recent research, either by exploring their capabilities for constant inspection tasks [ González-deSantos et al ., 2019 ] or by mounting hitting systems to the UAVs for hammering inspections [ Ichikawa et al ., 2017 ; Nishimura et al ., 2022 ]. An automated ultrasonic tomography system was also developed by the research team [ Aparicio et al ., 2022 ], which allowed them to perform numerous tomographic slices along the height of several masonry columns in the Convent of Carmo, in Lisbon (Portugal).…”

Section: Introductionmentioning

confidence: 99%

An automated sonic tomography system for the inspection of historical masonry walls

Heras¹,

F.L.²,

Aparicio³

et al. 2023

Open Res Europe

View full text Add to dashboard Cite

Background: The conservation of the built masonry heritage requires a comprehensive understanding of its geometrical, structural, and material characteristics. Non-destructive techniques are a preferred approach to survey historical buildings, given the cultural value of their fabric. However, currently available techniques are typically operated manually, consuming much time at operational and processing level and thus hindering their use for the on-site inspection of heritage structures. Methods: A novel automated sonic tomography system was designed and built to inspect and obtain information about the inner structure and damage of historic masonry walls. The system consists of a hitting device mounted on a frame that can be placed adjacent to the wall under analysis. The hitting device can move along the surface within the frame area in X, Y and Z directions, generating the sonic wave. The receiving system is a scanning laser vibrometer, able to measure from the distance the displacement of a focused point over time, recording the wave when it reaches the opposite surface. Results: Six stone masonry walls with different interior geometries were constructed at the laboratory by a professional stonemason. The construction of the walls was carefully documented, including the generation of detailed photogrammetric models of each single stone. The system was applied to survey the six masonry walls. Since the inner morphology of the walls is known, the resulting tomographic images could be compared with the ground truth. Conclusions: Automating the inspection allowed to collect thousands of data in a few hours. New software was also developed to automate the processing of the data. Results are expected to highlight the potential of tomography to obtain quantitative information about the interior of heritage structures, while providing new tools that make the implementation of the technique more practical for professionals. Data, software and models have been made publicly available.

show abstract

Tunnel lining quality detection technology based on impulse echo acoustic method from fine management perspective

Song,

Feng,

Huang

2024

Wireless Netw

View full text Add to dashboard Cite

Automated Hammering Inspection System With Multi-Copter Type Mobile Robot for Concrete Structures

Cited by 10 publications

References 35 publications

Propeller-Type Wall-Climbing Robot for Visual and Hammering Inspection of Concrete Surfaces

Propeller-Type Wall-Climbing Robot for Visual and Hammering Inspection of Concrete Surfaces

An automated sonic tomography system for the inspection of historical masonry walls

Tunnel lining quality detection technology based on impulse echo acoustic method from fine management perspective

Contact Info

Product

Resources

About