Aerial Robotic Solution for Detailed Inspection of Viaducts

The inspection of public infrastructure, such as viaducts and bridges, is crucial for their proper maintenance given the heavy use of many of them. Current inspection techniques are very costly and manual, requiring highly qualified personnel and involving many risks. This article presents a novel s...

ver descrição completa

Detalhes bibliográficos
Autores: Caballero, Rafael, González Parra, Jesús Rafael, Trujillo Soto, Miguel Ángel, Pérez Grau, Francisco Javier, Viguria, Antidio, Ollero Baturone, Aníbal
Formato: artículo
Estado:Versión publicada
Fecha de publicación:2021
País:España
Recursos:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/129665
Acesso em linha:https://hdl.handle.net/11441/129665
https://doi.org/10.3390/app11188404
Access Level:acceso abierto
Palavra-chave:Inspection
Maintenance
UAV
Aerial robotics
Aerial robotic manipulation
Viaduct
LIDAR
Photogrammetry
Contact
id ES_c09199198f50dabcea8517df4eefa57b
oai_identifier_str oai:idus.us.es:11441/129665
network_acronym_str ES
network_name_str España
repository_id_str
spelling Aerial Robotic Solution for Detailed Inspection of ViaductsCaballero, RafaelGonzález Parra, Jesús RafaelTrujillo Soto, Miguel ÁngelPérez Grau, Francisco JavierViguria, AntidioOllero Baturone, AníbalInspectionMaintenanceUAVAerial roboticsAerial robotic manipulationViaductLIDARPhotogrammetryContactThe inspection of public infrastructure, such as viaducts and bridges, is crucial for their proper maintenance given the heavy use of many of them. Current inspection techniques are very costly and manual, requiring highly qualified personnel and involving many risks. This article presents a novel solution for the detailed inspection of viaducts using aerial robotic platforms. The system provides a highly automated visual inspection platform that does not rely on GPS and could even fly underneath the infrastructure. Unlike commercially available solutions, our system automatically references the inspection to a global coordinate system usable throughout the lifespan of the infrastructure. In addition, the system includes another aerial platform with a robotic arm to make contact inspections of detected defects, thus providing information that cannot be obtained only with images. Both aerial robotic platforms feature flexibility in the choice of camera or contact measurement sensors as the situation requires. The system was validated by performing inspection flights on real viaducts.Unión Europea H2020-2019-769066Unión Europea H2020-2020- 871542MDPIIngeniería de Sistemas y AutomáticaTEP151: Robótica, Visión y ControlEuropean Commission (EC)2021info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/129665https://doi.org/10.3390/app11188404reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésApplied Sciences, 11 (18). Article number 8404.H2020-2019-769066H2020-2020- 871542https://doi.org/10.3390/app11188404info:eu-repo/semantics/openAccessoai:idus.us.es:11441/1296652026-06-17T12:51:07Z
dc.title.none.fl_str_mv Aerial Robotic Solution for Detailed Inspection of Viaducts
title Aerial Robotic Solution for Detailed Inspection of Viaducts
spellingShingle Aerial Robotic Solution for Detailed Inspection of Viaducts
Caballero, Rafael
Inspection
Maintenance
UAV
Aerial robotics
Aerial robotic manipulation
Viaduct
LIDAR
Photogrammetry
Contact
title_short Aerial Robotic Solution for Detailed Inspection of Viaducts
title_full Aerial Robotic Solution for Detailed Inspection of Viaducts
title_fullStr Aerial Robotic Solution for Detailed Inspection of Viaducts
title_full_unstemmed Aerial Robotic Solution for Detailed Inspection of Viaducts
title_sort Aerial Robotic Solution for Detailed Inspection of Viaducts
dc.creator.none.fl_str_mv Caballero, Rafael
González Parra, Jesús Rafael
Trujillo Soto, Miguel Ángel
Pérez Grau, Francisco Javier
Viguria, Antidio
Ollero Baturone, Aníbal
author Caballero, Rafael
author_facet Caballero, Rafael
González Parra, Jesús Rafael
Trujillo Soto, Miguel Ángel
Pérez Grau, Francisco Javier
Viguria, Antidio
Ollero Baturone, Aníbal
author_role author
author2 González Parra, Jesús Rafael
Trujillo Soto, Miguel Ángel
Pérez Grau, Francisco Javier
Viguria, Antidio
Ollero Baturone, Aníbal
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Ingeniería de Sistemas y Automática
TEP151: Robótica, Visión y Control
European Commission (EC)
dc.subject.none.fl_str_mv Inspection
Maintenance
UAV
Aerial robotics
Aerial robotic manipulation
Viaduct
LIDAR
Photogrammetry
Contact
topic Inspection
Maintenance
UAV
Aerial robotics
Aerial robotic manipulation
Viaduct
LIDAR
Photogrammetry
Contact
description The inspection of public infrastructure, such as viaducts and bridges, is crucial for their proper maintenance given the heavy use of many of them. Current inspection techniques are very costly and manual, requiring highly qualified personnel and involving many risks. This article presents a novel solution for the detailed inspection of viaducts using aerial robotic platforms. The system provides a highly automated visual inspection platform that does not rely on GPS and could even fly underneath the infrastructure. Unlike commercially available solutions, our system automatically references the inspection to a global coordinate system usable throughout the lifespan of the infrastructure. In addition, the system includes another aerial platform with a robotic arm to make contact inspections of detected defects, thus providing information that cannot be obtained only with images. Both aerial robotic platforms feature flexibility in the choice of camera or contact measurement sensors as the situation requires. The system was validated by performing inspection flights on real viaducts.
publishDate 2021
dc.date.none.fl_str_mv 2021
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/129665
https://doi.org/10.3390/app11188404
url https://hdl.handle.net/11441/129665
https://doi.org/10.3390/app11188404
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Applied Sciences, 11 (18). Article number 8404.
H2020-2019-769066
H2020-2020- 871542
https://doi.org/10.3390/app11188404
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869418488471224320
score 15,300719

Registos relacionados