A Survey of Wall Climbing Robots: Recent Advances and Challenges

Nansai, Shunsuke; Elara, Mohan Rajesh

doi:10.3390/robotics5030014

Cited by 90 publications

(47 citation statements)

References 83 publications

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“…Edificios que bajo las técnicas clásicas hacen difícil, caro, y en ciertas ocasiones peligroso, el acceso a superficie para abordar tareas de inspección y mantenimiento (Nansai & Mohan, 2016). La incorporación de sistemas robotizados autónomos en tareas de inspección y mantenimiento de fachadas se presenta como un reto tecnológico en sí.…”

Section: Nuevos Sistemas Robóticos De Inspección E Intervención En Reunclassified

Nuevos sistemas robóticos de inspección e intervención en rehabilitación de fachadas = New robotic systems of inspection and intervention in façade rehabilitation

Riobo

Espelosín

Montano

et al. 2018

ADE

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Nuevos sistemas robóticos de inspección e intervención en rehabilitación de fachadas. New robotic systems of inspection and intervention in façade rehabilitation. Resumen-La construcción de edificios cada vez más altos, la puesta en marcha de la ITV de edificios de más de 50 años y los avances tecnológicos son tres factores que hacen cada vez más interesante, e incluso necesario, el desarrollo de nuevos sistemas de inspección que faciliten dichas actuaciones. La robotización en estas tareas debe dar lugar a una optimización de los procesos (menor tiempo, menor coste), disminución de riesgos laborales, así como la minimización de las afecciones en el tráfico y las molestias a los viandantes en torno al edificio. Este artículo, generado dentro del proyecto ROBIM financiado por Centro de Desarrollo Tecnológico Industrial en la Convocatoria CIEN 2016, presenta los avances tecnológicos producidos en los últimos años en las labores de inspección de fachadas yendo desde los procesos más manuales y costosos en tiempo y dinero hasta las últimas novedades existentes donde la automatización del proceso de inspección empieza a cobrar peso. En especial, el estudio se focaliza en analizar los diferentes robots existentes en el panorama internacional en tareas de inspección de superficies verticales, el conocer que tecnologías de fijación utilizan y cómo se trasladan a lo largo de la fachada.Palabras clave-Inspección, robot, rehabilitación, fachada.Abstract-The construction of increasingly higher buildings, the implementation of the ITV of buildings over 50 years and technological advances are three factors that make it increasingly interesting, and even necessary, the development of new inspection systems that facilitate said actions. The robotization in these tasks must lead to an optimization of the processes (less time, lower cost), reduction of occupational risks, as well as the minimization of traffic conditions and the inconvenience to pedestrians around the building. This article, generated within the ROBIM project funded by the Center for Industrial Technological Development in the CIEN 2016 Call, presents the technological advances produced in recent years in the inspection of facades from the most manual and costly processes in time and money to the latest news where the automation of the inspection process begins to gain weight. In particular, the study focuses on analyzing the different existing robots in the international landscape in vertical surface inspection tasks, knowing which fixing technologies they use and how they move along the façade.

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Section: Nuevos Sistemas Robóticos De Inspección E Intervención En Reunclassified

Nuevos sistemas robóticos de inspección e intervención en rehabilitación de fachadas = New robotic systems of inspection and intervention in façade rehabilitation

Riobo

Espelosín

Montano

et al. 2018

ADE

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“…In this regard, cleaning robots that use passive suction cups for attaching to vertical surfaces have been developed [12,18,19]. However, the loss of negative pressure during the operation on rough/uneven surfaces, such as cement walls, is the critical shortcoming that hinders the usage of passive suction cups for robots operated in walls [20,21]. Apart from this, the requirement of complex mechanical and control designs to manage the adhesion for facilitating locomotion is also one of the major concerns of climbing mechanisms based on passive suction cups [19][20][21].…”

Section: Introductionmentioning

confidence: 99%

“…Vacuum suction and propeller-thrust based adhesion mechanisms have greater flexibility in controlling the amount of adhesion [21]. This can be easily realized by varying the electrical power supply to the actuator attached to the mechanisms [22,23].…”

Section: Introductionmentioning

confidence: 99%

Design and Control of a Wall Cleaning Robot with Adhesion-Awareness

et al. 2020

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Wall cleaning robots are developed to cater to the demands of the building maintenance sector. The ability to climb vertical surfaces is one of the crucial requirements of a wall cleaning robot. Robots that can climb vertical surfaces by adhesion to a surface are preferred since those do not require additional support structures. Vacuum suction mechanisms are widely used in this regard. The suction force acting on the robot due to the negative pressure built up is used by these robots for the adhesion. A robot will fall off or overturn when the pressure difference drops down a certain threshold. In contrast, if the pressure difference becomes too high, the excessive amount of frictional forces will hinder the locomotion ability. Moreover, a wall cleaning robot should be capable of adapting the adhesion force to maintain the symmetry between safe adhesion and reliable locomotion since adhesion forces which are too low or too high hinder the safety of adhesion and reliability of locomotion respectively. Thus, the pressure difference needs to be sustained within a desired range to ensure a robot’s safety and reliability. However, the pressure difference built up by a vacuum system may unpredictably vary due to unexpected variation of air leakages due to irregularities in surfaces. The existing wall cleaning robots that use vacuum suction mechanisms for adhesion are not aware of the adhesion status, or subsequently responding to them. Therefore, this paper proposes a design for a wall cleaning robot that is capable of adapting vacuum power based on the adhesion-awareness to improve safety and reliability. A fuzzy inference system is proposed here to adapt the vacuum power based on the variation of the adhesion and the present power setting of the vacuum. Moreover, an application of fuzzy logic to produce a novel controlling criterion for a wall cleaning robot to ensure safety and reliability of operation is proposed. A fuzzy inference system was used to achieve the control goals, since the exact underlying dynamics of the vacuum-adhesion cannot be mathematically modeled. The design details of the robot are presented with due attention to the proposed control strategy. Experimental results confirmed that the performance of a robot with proposed adhesion-awareness surpasses that of a robot with no adhesion-awareness in the aspects of safety, reliability, and efficiency. The limitations of the work and future design suggestions are also discussed.

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“…As no large-sized mechanisms are necessary for adhesion with bio-inspired approaches, Nansai and Mohan said that most of climbing robots were designed to be small and light weight [27].…”

Section: Introductionmentioning

confidence: 99%

Vertical Climbing Locomotion of a New Gecko Robot Using Dry Adhesive Material

Yu¹,

Yang²,

Yang³

et al. 2017

International Journal of Robotics and Automation

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Most of Geckos can move freely on a smooth vertical surface. The wonderful ability of locomotion depended on the countless setae under the geckos' foot which have an effect on van der Waals' force between foot and surface. This kind of force belongs to the dry adhesive force. Many scientists had attempted to understand structure-function and had produced several kinds of dry adhesive material. One of the dry adhesive materials with mushroom-shaped adhesive microstructure (MSAMS) had been selected and firstly applied in vertical locomotion of Gecko robot_6 which was a bioinspired gecko robot with four legs. To apply MSAMS in Gecko robot_6 successfully, the adhesive ability of MSAMS was tested including normal force, tangential force, and the peel-off force curve with different thickness substrates of bio-inspired gecko foot. The new bio-inspired gecko foot with MSAMS was designed, and the Gecko robot_6 can climb on a smooth vertical surface (glass) stably using dry adhesive material with MSAMS.

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A Survey of Wall Climbing Robots: Recent Advances and Challenges

Cited by 90 publications

References 83 publications

Nuevos sistemas robóticos de inspección e intervención en rehabilitación de fachadas = New robotic systems of inspection and intervention in façade rehabilitation

Nuevos sistemas robóticos de inspección e intervención en rehabilitación de fachadas = New robotic systems of inspection and intervention in façade rehabilitation

Design and Control of a Wall Cleaning Robot with Adhesion-Awareness

Vertical Climbing Locomotion of a New Gecko Robot Using Dry Adhesive Material

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