Visual inspection strategies for large bridges using Unmanned Aerial Vehicles (UAV)

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1 Visual inspection strategies for large bridges using Unmanned Aerial Vehicles (UAV) Norman Hallermann & Guido Morgenthal Bauhaus-Universität Weimar, Chair of Modeling and Simulation of Structures, Weimar, Germany ABSTRACT: Effective monitoring strategies play a major role in achieving the target of service life of important structures such as bridges. The main part of conventional inspections of bridges is based on visual investigation methods. The inspection of critical structural components and hot spots that are hard to reach is technically complex and mostly done by special trained staff or with large underbridge units, elevating platforms or other specialised equipment. Remote controlled Unmanned Aerial Vehicles equipped with high definition photo and video cameras can simplify these inspection tasks. The paper discusses a novel method of visual inspection based on airborne photos and video taken by Unmanned Aerial Vehicles. Furthermore, it presents possible applications of Unmanned Aerial Vehicles in bridge inspection and the first steps in developing a semi-autonomous inspection method for automatic damage detection in post flight analysis. 1 INTRODUCTION In regard to environmental, economic and societal issues the service life or better a lifetime extension of existing structures should be aspired for an efficient and economic utilisation. It will become a great challenge for civil engineers to extend the life time of a structure as much as possible. But a life time extension often raises the question of durability and residual capacity of structure substance. In relation to the safety requirements of structures like bridges, the load bearing capacity as well as the serviceability is of critical importance, since a large part of the structure is used for activating structural resistance. Therefore, an early identification of capacity reducing deterioration and damage is required. In regard to the sustainability and resource-efficiency in infrastructure industry, in the future more attention will be paid to monitoring and maintenance of structures. This requires effective monitoring strategies. Monitoring strategies play a major role in achieving the target of service life of important structures such as bridges. The main part of conventional inspections of bridges is based on visual investigation methods. In most cases, these inspections are technically complex. The inspection of critical structural components and hot spots that are hard to reach is mostly done by specially trained staff like industrial climbers or with large underbridge units, elevating platforms or other specialised equipment. Remote controlled Unmanned Aerial Vehicles (UAV) equipped with high definition photo and video cameras can simplify these complex inspection tasks. This method provides an important contribution to monitoring strategies in terms of quality and efficiency. High quality inspection data are essential for a reliable state estimation of structures. Due to the high wind stability of the flight system and the fully stabilized (horizontal and vertical compensation) camera, the high resolution photos and videos allow detailed damage detections and analyses of structures. Furthermore, global positioning and inertial measurement units, which are built into the flight systems, allow an advanced navigation and semi-autonomous inspection flight. The gathered data can be georeferenced for later storage in dedicated databases, so that inspection results can be related to locations on the structure. This offers the possibility of 3Dmodelling of structures in relation to a direct referenced visualisation of the detected damage. This paper discusses a novel method of visual inspection based on airborne photos and video taken by UAVs. Furthermore the paper shows possible applications of UAVs in bridge inspection and the first steps in developing a semi-autonomous inspection method for automatic damage detection in post flight analyses. The critical influences on the image quality, like wind-induced motion blur and lighting conditions are discussed. Semi-autonomous flight missions with Computer Vision based automatic damage detection are presented.

2 2 VISUAL BASED INSPECTION OF STRUCTURES The inspection of structures is mostly based on visual data. For example, critical structures like bridges have to be visually inspected by civil engineers in definite inspection periods every few years. These visual inspections of large structures or special parts of these structures are time consuming, technically and personnel complex. Often special equipment and specially trained staff are required. Figure 1 show typical hard to access structures and inspection units like scaffolding, elevating platforms or underbridge units. Large trucks, special elevating platforms or scaffolding on structures are in most cases expensive custom products and cause high logistical efforts and costs as well as high personnel costs for the specially trained machine operators. These units can induce disturbances in using these structures. Specially trained staff, like industrial climbers, can get access to certain parts of the structure, but they can rarely evaluate which influences detected damage can have on these structures. Therefore, they can only take photos or videos of the concerned part of the structure, which must be analysed by civil engineers after data recording. This leads to the idea of developing a more efficient method of visual data acquisition on large structures. 3 UAV GENERAL INFORMATION AND LIMITATIONS Figure 1: Inspections units for large structures: underbridge unit (top), industrial climber (middle) and scaffolding (bottom). UAVs are aircrafts without human pilots and can fly autonomously controlled by a computer, remotely controlled by a navigator on the ground or semiautonomously as a combination of both capabilities. For the special application of UAVs in the field of inspection of structures only small, very light (less than 5 kg) and electrically operating flight systems are investigated. These flight systems can be equipped with different kinds of high definition cameras and other measuring units that offer a high number of civil applications in the field of photography, geology, geography, meteorology or in agriculture and forestry. They can also be used in the field of geo-referenced photogrammetry. The use of UAVs, in this case small helicopters, in the field of civil engineering has already been investigated by [Derkx, Dumoulin] and [Menti, Hamel]. In spite of all benefits, UAVs have some essential limitations, which confine the use of these systems. Due to the small payload, only small format and light digital compact cameras (maximum weight 650g) can be used for photo or video documentation. Furthermore, the limited payload allows only small battery packs, which causes a relatively short flight time. Due to the low weight, the flight system is very sensitive to changes in the weather conditions, especially in critical wind situations. Unexpected flight situations or failures in the flight supporting GPS-signal cause a change from the automatic flight mode into the manual mode, which requires a welltrained pilot to handle those critical situations. Currently, UAVs have only a limited collision avoidance system, like a mechanical protection ring. Other limits are given by the regulations of civil and security authorities. Often, flight permissions are required and fully autonomous flights are forbidden (restriction for flights in line of sight).

3 4 UAV HARDWARE The flight system used for these investigations is a high-end professional system made by Ascending Technologies (AscTec) Germany [AscTec], see Figure 2. Figure 2: Flight system BUW Falcon Photo with mounted digital camera Sony NEX 5 and additional camera Panasonic Lumix and mobile ground station. This flight system is based on a multirotor-platform with eight rotors, which are arranged on two arms mounted in V-shape configuration. The central unit with the camera is placed between both arms in the centroid of the system. This special construction type is a patented product developed by AscTec and offers many advantages in regard to the state determination and inspection of structures. The stabilisation and the detection of the accurate position and orientation of the flight system is realised by eleven different sensors (Accelerometers, Gyroscope, Compass, Barometric altitude sensor) which send control signals continuously to the computing unit at a high rate. This high performance computing unit is primarily responsible for the flight control. Furthermore, all flight relevant data is logged by the computing unit and stored on a standard SD-card. That provides the possibility of a detailed post flight analysis. The redundancy of each motor-rotor-combination, which allows a failure of up to 2 motors, guaranties a very high degree of safety which no other system can offer. The unique resistance to magnetic fields play an important role in regard to inspections in industrial areas. Other special safety features supports an easy handling. Equipped with an inertial measurement unit (IMU), a compass and a high performance global positioning system-module (GPS), in combination with the GPS-position hold mode, which guarantees a continuously regulated flight, stable flying in winds up to 12 m/s (< 6 bft) under full payload can be accomplished. With a standard payload of 650 g, it is possible to install compact digital photo and video cameras of high quality on the flight unit. The cameras are installed on an actively stabilised camera mount, which continuously stabilises the camera in a horizontally (roll stabilised) and vertically (pitch stabilised) levelled position. The special construction of the flight system and the modified camera mount allow a horizontal angular freedom of 360 and a camera tilting of 90 up and down. This affords a unique field of view. That is only possible with the flight system of AscTec. The camera can be controlled and triggered remotely with the mobile ground station by the pilot of the flight unit or independently with an additional control pad by a second operator in complex flight situations. All camera settings (shutter speed, aperture, ISO) can be changed from the ground and flash can be used in critical lighting conditions. A live stream of the camera to the display on the mobile ground station provides control and orientation. Furthermore, other application specific cameras can be implemented on the flight system like a Sony CX730 HD-Camcorder, a NEC F30 thermal camera or a FLIR infrared camera. The flight system, including the camera, is powered by an 8000 mah battery pack, which allows for a flight time up to 18 minutes with a standard payload. The used flight system BUW Falcon Photo has a maximum take-off weight of 2,2 kg and can carry two types of digital photo cameras. The specifications of the compact camera Panasonic Lumix TZ22 with a high optical zoom factor and the mirror less DSLR Sony Nex 5 with interchangeable lenses are summarized in Table 1. Both digital cameras can also be used for Full-HD-videos Table 1. Specifications of implemented digital cameras. Specification Panasonic Lumix Sony Nex 5 DMC TZ 22 Resolution 14.1 megapixel 14.2 megapixel Sensor 1/2,33'' CMOS APS-C CMOS Zoom Lens Video 16 x optical zoom (Leica wide angle lens) Focal length mm Full-HD-Video (1080/50p) Prime lenses (interchangeable) Wide-angle lens 16mm Normal lens 30mm Long-focus lens 50mm Full-HD-Video (1080/50p) 5 UAV SOFTWARE FEATRUES AND FLIGHT STRATEGIES Specific software features, which extremely simplify the handling, support the navigator of the flight system. In regard to the safety concept for the use of such flight systems, the come home function guarantees a safe landing when the connection between the ground station and the flight system is interrupted. The height control takes care that the flight system holds the altitude when the GPS-signal is too bad or interrupted. For a well-trained pilot, it is possible to steer the system only with the support of the

4 barometric height control. This allows for flights in a striking distance to structures or even underneath of structures or a limited use inside of structures. Another helpful software feature is the Waypoint Navigation Software. This software is developed for pre-planning of semi-autonomous GPS-controlled flight mission for an automatic data acquisition. Flight paths with exact position and height can be pre-set on a separate laptop or can be set and stored by the mobile ground station during the flight for a later return to that position. The use of a pre-planned matrix offers the chance of highly efficient automatic data acquisition of large structures, e.g. tall industrial chimneys, wide dams, towers or large scale roofs and bridges of course. For the recording of large areas or large scale structures like roofs or facades matrixes can be pre-set horizontal, vertical or inclined with a chosen angle. The matrix option allows flying in a constant distant to the structure. Figure 3 shows the principle concept of the preplanned matrix flight mission. Figure 4: GPS-based flight tests on a concrete arch bridge. For very tall and slender structures, like chimneys or towers, a special GPS-based matrix feature was created. This feature is called Point of Interest POI and allows flying around a structure in a constant distant to the object with a continuous orientation of the flight system and the camera towards the center of the object. Figure 5 shows the principle concept of this feature. Figure 3: Principle concept of matrix based flight mission. In the case of bridge inspection, especially very high or long span bridges, this feature can be used for an automatic data recording of the super structure, the pylons, the pillars or the arch of a bridge. First tests show that it is possible to fly along the superstructure at a short distance to the object, generating high quality images. The same was tested on the arch of an approx. 40 m high and 80 m long concrete arch bridge, shown in Figure 4. The existing GPS information of the structures could be used for preplanning of an exact flight path for recording the front side of the arch from both sides and of the lower side of the arch. During the test flights it becomes more and more clear that the influences of wind play the major role in addition to the changing lighting conditions along the structure. Therefore, it is very important for the enhancement of the fight systems to focus on the improvement in wind stability. Figure 5: Principle concept of flight mission feature Point of Interest. That recording feature allows a defined overlapping of each photo around the structure and in the vertical direction by recording the structure in pre-set height levels from top to bottom. However, by flying around a structure the lighting and especially the wind condition could change intensively. Wind turbulences can have negative influences on the image quality. The influence of changing wind conditions was studied in [Hallermann, Morgenthal, 2012]. A further negative aspect is that the navigator on the ground has to follow the flight system around the structure for a continuous control signal. In some cases this is not possible due to the location. So, it seems that another flight strategy could be more efficient for recording such structures. To avoid these negative influences it is easier to fly in straight lines

5 from top to bottom and shift these flight lines around the structure. A special post-processing software offers the possibility to convert the raw-flight data with 10Hz into readable log files for post-flight analysis. For each time step, all data can be exactly referenced in time, position and orientation. This allows the reconstruction of the flight path for a later visualisation. The photo tagger software links the recorded photos during the flight to the logged flight data. This option offers the possibility to link the taken airborne photos of the structure and respectively the detected damage directly to the structure. Additionally to a localisation of the damage on the structure, a complete 3D-reconstruction of the structure can be performed. assigned to the considered percentile of the distribution. The effects of the continuous movement of the camera and the lighting conditions on the image quality should be illustrated by a simple simulation on a real photo of a wall with a cracked plaster surface. The effects can be simulated by a linear motion blur filter on the image, which simulates a shift in the image caused by a movement of the camera. In this case the shift directly corresponds to the movement of the flight system during the shutter speed. With the referenced data of the dimension of the camera sensor, the focal length of the camera and the distance to the object, it is possible to determine the physical dimensions of the photo. The photo simulation was generated for a centered image section of the original photo shown in Figure 7. 6 IMAGE INFLUECING FACTORS MOTION BLUR SIMULATION The image quality depends on various influencing factors, like movements of the camera or changing light conditions. For this special method of airborne photography, the most critical factor is the movement of the camera, which is directly caused by the movement of the flight system. Due to the low weight of the flight system, it reacts very sensitively to changes in the wind conditions. Figure 6 shows an exemplary displacement flight path over a time of 60 seconds in a height of 80 meters calculated only by the logged acceleration and angular rotation sensor data of the flight system. The vertical movements of approximately 1 m and the horizontal movements of 2.25 m illustrate the wind sensitivity of the flight system. Figure 6: Exemplary displacement/ flight path of the flight system over 60 s in the height of 80 m. To get an impression of the probability of obtaining high quality airborne photos, it is necessary to consider the velocity during the exposure time, because the displacements are directly correlated to the velocity and the shutter speed. For this the velocity magnitude time histories are converted into histograms. The probability distributions are created by the cumulative summation over the histogram data and the particular velocities and calculated shifts are original photo shifted photo Shutter speed 1/80 s velocity: v 0 = 0 mm/s velocity: v s = mm/s shift: d 0 = 0 shift: d s = 4.6 mm 8 pixels Figure 7: Motion blur photo simulation of image section. It is clear to see that the image quality decreases by the increasing velocity. These simulation results lead again to the very important flight system property of wind stability which has to be enhanced for increasing image quality. For further detailed information see [Hallermann, Morgenthal, 2012].

6 7 UAV INSPECTION APPLICATIONS TEST OF DISPLACEMENT DETECTION For a few years, UAVs have been used for photogrammetric applications in the field of airborne large scale mapping but not yet in field of civil engineering respectively for the detailed inspection of structures. The usability of UAVs for highly accurate displacement detection of structures based on photogrammetric methods and computer vision based methods was tested on a large scale retaining wall, shown in Figure 8. Displacements should be detected in x-(right and left), y-(up and down) and z-direction (in and out) but the focus was on displacements in z-direction because this simulates, amongst other things, a failure of the pre-stressed anchors. For a targetperformance comparison, first the retaining wall was recorded for a calibration. Additional to the calibration record some control points were set on the wall for reliable result verification. After the calibration flight, some changes were applied on the wall. Small bricks were removed and different thin plates were mounted on the wall to simulate a movement of several bricks and blocks. After transformation, a second identical flight on same the pre-planned flight path with the same camera setting was conducted. For each flight only 38 overlapped photos were needed for a full record of the 180 m part of the wall. The photos were analysed photogrammetrically and added to an orthophoto by using the georeferenced control points for data correction. With these data a 3D-point cloud for each flight was generated. Figure 10 shows the generated 3D-point cloud with the reconstructed flight path and orientation of the flight system and respectively the camera towards the wall. Figure 8: Investigated large scale retaining wall. This retaining wall is approx. 700 m long, 20 m high (lower wall 12 m, upper wall 8 m) and has a slope inclination of 70 and is located along a highway. For the investigation only a 180 m long part of the upper retaining wall was considered. The aim was to detect displacements of the whole wall and displacements of several parts (small bricks, blocks) of the wall automatically by analysing airborne photos taken by UAVs in a GPS-based autonomous flight. The pre-planned flight path is shown in Figure 9. The operating altitude was approx. 30 m and the distance to the wall was 35 m. Figure 10: Generated 3D-point cloud with reconstructed flight path and orientation of the flight system/ camera and additional set control points (red). The generated 3D-point clouds were compared and visualised with Agisoft PhotoScan Professional for change detection on the wall. Figure 11 shows the visualised cloud comparison of the both flights and a zoomed part of the wall with the detected changes. The green color signs no changes, lost bricks (positive displacements) were marked red and shifted blocks (negative displacements) were marked blue. Figure 9: Pre-planned flight path for data recording on retaining wall.

7 algorithms, which could then be assessed in a Probability of Detection context. 9 REFRENCES Figure 11: Cloud comparison for change detection of the retaining wall. The analysis of the cloud comparison shows that it is possible to detected relatively small displacements. The position accuracy in x-direction (horizontal) and y-direction (vertical) was approx. ± 2 mm and in z- direction (in and out) ± 10 mm. The accuracy of this analysis depends on different factors. It can be enhanced by using better digital cameras (sensors, lenses) or by flying in a shorter distance to the object (more detailed images) or by using better analysis algorithms. This case study shows the high potential of using UAVs for fast data recording for monitoring and inspection of structures. AscTec, Ascending Technologies GmbH, Derkx, F, Dumoulin, J, Sorin, J-L. and Legeay, V., Concept de Plate-forme Mobile Instrumentée (PMI) pour l inspection des ouvrages d art, Laboratoire Central des Ponts et Chaussées, Paris Hallermann, N. and Morgenthal, G., The Application of Unmanned Aerial Vehicles for the Inspection of Structures, PLSE 2012, Hong Kong Hallermann, N. and Morgenthal, G., Unmanned aerial vehicles (UAV) for the assessment of existing structures, IABSE Symposium 2013, Report , Kolkata Menti, N. and Hamel, T., A UAV for bridge inspection: visual servoing control law with orientation limits, Automation in Construction , 3 10, Paris 8 SUMMARY AND OUTLOOK This paper presented the usability and capability of Unmanned Aerial Vehicles in the field of civil engineering for the inspection of large structures. Advanced high end professional UAVs such as those presented here provide a fast data acquisition in the inspection of structures. The parallel onboard storage of all relevant flight data allows a post flight analysis in detail. This generates much lower costs in comparison to conventional inspection units, personnel intensive inspections and measuring of large scale structures. A further advantage is the reduction of operating risk during inspections. Due to the high wind stability of the flight system they can be used in critical wind situations like in the case of inspection of tall chimneys or bridges without endangering human life. The results of the first practical tests of GPS-preplanned automatic displacement analysis based on photogrammetric computer vision methods show the immense potential of this inspection platform. The high degree of image detail, see [Hallermann, Morgenthal, 2013] and the possibility of geo-referencing of images suggest an efficient and accurate measuring and inspection campaign of large scale structures. Further research is required on an analysis of the detection quality based on suitable computer vision

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