Autonomous Ultrasonic Thickness Measurement of Steel Bridge Members Using a Climbing Bicycle Robot

Abstract

This paper presents the development of a steel-climbing bicycle robot integrated with an ultrasonic sensing device towards autonomous thickness measurement of steel bridge members. The bicycle-like robot has two magnetic wheels controlled by two independent steering actuators, which navigates on various steel surfaces (flat, curved, rough, concave, and convex). The compact ultrasonic sensing device is capable of high-voltage pulse excitation, filtering/amplification of the received ultrasonic signal, and high-speed analog-to-digital conversions (up to 80 MHz). Along with the ultrasonic sensing device, the robot carries a dual element transducer, an automatic gel couplant dispenser, a position tracking sensor, and a camera. A mounting/retrieving mechanism of the transducer is designed to ensure the reliable contact of the transducer on steel surfaces. The camera view assists an operator to safely navigate the robot to measurement locations, properly dispense gel couplant, and firmly press the transducer on a measurement surface. The automated robot localization provides accurate thickness measurement locations, which are mapped real-time in three-dimensional (3D) space together with the robot’s travel path. We validate the performance of the developed system in several indoor and outdoor tests. Weblink to a supplementary video demonstrating the robot’s maneuverability and ultrasonic thickness measurements is available in the Data Availability Statement of this article.