Improvements in adhesion force and smart embedded programming of wall inspection robot

Abstract

An intelligent wall inspection robot with sensors and embedded image processing system was studied based on a combination of vacuum-suction technique and four-wheel drive method to achieve good balance between strong adhesion force and high mobility. To obtain more stable adhesion forces, the height and weight of the robot body were reduced by analyzing the relation between the principal physical input variables and the output performance, such as the suction force and momentum. An object detection system on the embedded programming system for automatic wall inspection was also developed. For successful detection, threshold methods were compared and an improved Otsu method was adopted so that it could handle both unimodal and bimodal distributions well. Through the improvement, the robot could move upward a wall at a speed of 5.3 m/min and carry a payload of at least 7.5 kg in addition to its self-weight and it could also intelligently detect and classify small objects on the wall.

Design and Analysis of a Welding Inspection Robot

“…Krenich 9 designed a sixaxis robot that could move autonomously for inspection, while a human could also inspect around the weld seam with a camera carried by the robot. Bruzzone 10 introduced a mobile robot with a hybrid wheel and leg design, which featured wheels that could roll on flat grounds at a high speed, while the legs enabled the robot to avoid obstacles and climb hills 11 This study design fabricates and tests a weld inspection robot shown in Figure 1.…”

“…The velocity and acceleration constraints are described similarly to the geometrically constrained penalty functions. The linear and angular velocities are approximated by the Euclidean distance between adjacent poses and the amount of change in the directional angle, and can be expressed as (11).…”

Design and analysis of welding inspection robot

“…Krenich 11 designed a six-axis robot that could move autonomously for inspection, while a human could also inspect around the weld seam with a camera carried by the robot. Bruzzone 12 introduced a mobile robot with a hybrid wheel and leg design, which featured wheels that could roll on flat grounds at a high speed, while the legs enabled the robot to avoid obstacles and to climb hills 13 .…”