Minimally Invasive Structural Inspections with a Robotic Endoscope and Contactless Ultrasonics

Abstract

This paper introduces a novel robotic endoscope equipped with an optical microphone for non-destructive testing (NDT) of structural components using ultrasound guided waves. Conventional NDT often requires disassembling components, a labor-intensive and time-consuming process, especially for defects in carbon fiber reinforced polymers that are not visible externally. To address these challenges, a concept from minimally invasive medicine is transferred and a robotic prototype is developed that integrates endoscopic mobility, robotic precision and ultrasonic inspection capabilities. A test stand demonstrates the robot’s ability to navigate confined areas and perform internal ultrasonic measurements. By scanning the surface of components, the system generates full wavefield images and post-processing reveals alterations in the structure, offering insights into structural damage that traditional visual inspections may not detect. This technology is particularly promising for applications like the inspection of hydrogen storage tanks, where conventional methods are limited.