Structural behavior sensing using small sized self-propelled inspection robot

Application of maintenance methods to ensure the safety, extend of service life and reduction in the life cycle cost of civil engineering structures are important. In this paper, to perform structural behavior sensing of civil engineering structures which often include such areas that are very narrow or too dangerous for inspectors to reach, a new inspection method using a robot which can effectively approach target sections, and then perform both visual and detailed inspection with various devices installed in the robot has been proposed. A small sized self-propelled inspection robot was initially developed and this model found to be able to freely move on surfaces of various types of structures. Next, the ability to detect the deterioration such as cracks or corrosion of concrete or steel surfaces by attached cameras as visual inspection was examined. In addition, a function was installed to identify the location of the robot automatically by using same camera as visual inspection and to sense structural behavior by using an acceleration sensor directly attached to the robot. Finally, the robot's movement and performance of all installed functions were tested on an existing bridge and then attempted to increase their applicability.