Many concrete structures are deteriorating to dangerous levels throughout Japan. These concrete structures need to be inspected regularly to be sure that they are safe enough to be used. The inspection method for these concrete structures is typically the impact acoustic method. In the impact acoustic method, the worker taps the surface of the concrete with a hammer. Thus, it is necessary to set up scaffolding to access tunnel walls for inspection. Alternatively, aerial work platforms can be

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... d. However, setting up scaffolding and aerial work platforms is not economical with regard to time or money. Therefore, we developed a testing machine using a multirotor UAV for tunnel inspection. This test machine flies by a plurality of rotors, and it is pushed along a concrete wall and moved by using rubber crawlers. The impact acoustic method is used in this testing machine. This testing machine has a hammer to make an impact, and a microphone to acquire the impact sound. The impact sound is converted into an electrical signal and is wirelessly transmitted to the computer. At the same time, the position of the testing machine is measured by image processing using a camera. The weight and dimensions of the testing machine are approximately 1.25 kg and 500 mm by 500 mm by 250 mm, respectively.