Non-destructive corrosion inspection of reinforced concrete structures using an autonomous flying robot
Patrick Pfändler, Karen Bodie, G. Crotta, Michael Pantic, Roland Siegwart, Ueli Angst
Abstract
Autonomous non-destructive testing (NDT) on reinforced concrete structures has a large potential to overcome the limitations of current routine inspection techniques, often not capable of detecting corrosion at an early stage. Here, the development and validation of two probes, tailored to acquire contact-based NDT data with the help of a hexacopter, is presented. Each probe allows the combined measurement of two essential parameters in the condition assessment: half-cell potentials and concrete electrical resistivity. Strategies are presented to monitor probe functionality during operation and detect loss of contact between probe and structure, which is considered essential for autonomous NDT. The presented approach enables effective and reliable autonomous corrosion inspection, surpassing traditional visual inspections by localizing corrosion at an early stage, allowing engineers a better planning of maintenance. The successful application in a concrete bridge inspection sets the stage for future research in autonomous inspections with robots in various fields of applications.