Payload for Contact Inspection Tasks with UAV Systems.

Area of Science:

• Robotics
• Aerospace Engineering
• Sensor Technology

Background:

• Traditional UAV inspection methods often rely on external positioning systems like Global Navigation Satellite System (GNSS), limiting operations in GPS-denied or challenging indoor environments.
• Achieving stable physical contact between a UAV and a structure is crucial for certain inspection tasks, such as ultrasonic thickness gauging, but is difficult to achieve autonomously.

Purpose of the Study:

• To develop and validate a UAV payload capable of performing semi-autonomous contact inspection tasks without external positioning systems.
• To enable UAV inspections in challenging environments where GNSS signals are unavailable or unreliable.
• To ensure stable contact for inspection sensors, facilitating accurate data acquisition.

Main Methods:

• The payload utilizes two LiDAR sensors to measure distance and orientation relative to a target structure.
• A hybrid automaton with distinct control states governs the UAV's approach and contact maneuvers.
• Actuation is performed on the UAV's pitch and yaw signals based on sensor data and the automaton's state.
• An ultrasonic gauge is integrated as the inspection sensor to measure material thickness.

Main Results:

• The developed system successfully performed semi-autonomous contact inspection tasks.
• Accurate results were achieved, demonstrating the system's capability to maintain stable contact with the target structure.
• The payload operated effectively without relying on external positioning systems like GNSS or motion capture.

Conclusions:

• The presented UAV payload is effective for semi-autonomous contact inspections in GNSS-denied environments.
• The system's ability to maintain stable contact is crucial for accurate measurements using contact-based sensors.
• This technology opens possibilities for inspections in previously inaccessible or challenging locations.