Image Mosaicking and Localization Using a Camera Mounted on a Hanging-Type Wall Climbing Robot

Shigenori Sano; Daisuke Takaki; Atsunori Ishida; Teruhiro Ishida;  ;

doi:10.20965/jrm.2021.p1373

Image Mosaicking and Localization Using a Camera Mounted on a Hanging-Type Wall Climbing Robot

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2021.p1373 ◽

2021 ◽

Vol 33 (6) ◽

pp. 1373-1383

Author(s):

Shigenori Sano ◽

Daisuke Takaki ◽

Atsunori Ishida ◽

Teruhiro Ishida ◽

◽

...

Keyword(s):

Inspection System ◽

Climbing Robot ◽

Image Mosaicking ◽

High Elevations

Owing to the revision of Japanese building law in 2008, the demand for wall inspections has been increasing. Currently, wall inspections are performed by workers using hammering devices; this involves dangerous work at high elevations. Therefore, we developed an inspection system using NOBORIN®, a hanging-type wall climbing robot. In this paper, we introduce the robot and its hammering inspection system, and propose a method for image mosaicking and localization using images captured from an equipped camera. The estimated values are used to correct the elevation motion(s) of the robot.

Download Full-text

Development of Ladder Climbing Robot LCR-1

Journal of Robotics and Mechatronics ◽

10.20965/jrm.1989.p0311 ◽

1989 ◽

Vol 1 (4) ◽

pp. 311-316 ◽

Cited By ~ 10

Author(s):

H. lida ◽

◽

H. Hozumi ◽

R. Nakayama

Keyword(s):

Mobile Robot ◽

Nuclear Power ◽

Power Plants ◽

Nuclear Power Plants ◽

The Body ◽

Prototype Model ◽

Climbing Robot ◽

High Elevations ◽

Laborious Work ◽

Limit Switch

A new mobile robot has been developed, which is capable of ascending and descending vertical ladders such as those used in nuclear power plants and other facilities. The Ladder Climbing Robot releases personnel from dangerous and laborious work at high elevations. The body of the robot has four grippers which grip each rung of the ladder as it ascends or descends. Each gripper is able to move up, down, forward or backward, and has two kinds of sensors to detect a rung: one photoelectric-switch and one limit-switch. The robot can operate automatically or be remote controlled. Three of the grippers are continuously in contact with the ladder rungs to prevent falling. As a result of experiment, it has been confirmed that in trials the prototype model LCR-1 with a built-in microcomputer can ascend and descend an actual vertical ladder automatically.

Download Full-text

Magnetic Flux Leakage Sensing-Based Steel Cable NDE Technique Incorporated on a Cable Climbing Robot for Bridge Structures

Advances in Science and Technology ◽

10.4028/www.scientific.net/ast.83.217 ◽

2012 ◽

Vol 83 ◽

pp. 217-222 ◽

Cited By ~ 2

Author(s):

Seung Hee Park ◽

Ju Won Kim ◽

Min Jun Nam ◽

Jong Jae Lee

Keyword(s):

Magnetic Flux ◽

Magnetic Flux Leakage ◽

Magnetic Flux Density ◽

Inspection System ◽

Climbing Robot ◽

Steel Cable ◽

Monitoring Method ◽

Sensor Head ◽

Bridge Structures ◽

Flux Leakage

In this study, an automated cable monitoring system using a NDE technique and a cable climbing robot is proposed. MFL (Magnetic Flux Leakage- based inspection system was applied to monitor the condition of cables. This inspection system measures magnetic flux to detect the local faults (LF) of steel cable. To verify the feasibility of the proposed damage detection technique, an 8-channel MFL sensor head prototype was designed and fabricated. A steel cable bunch specimen with several types of damage was fabricated and scanned by the MFL sensor head to measure the magnetic flux density of the specimen. To interpret the condition of the steel cable, magnetic flux signals were used to determine the locations of the flaws and the level of damage. Measured signals from the damaged specimen were compared with thresholds set for objective decision making. In addition, the measured magnetic flux signal was visualized into a 3D MFL map for convenient cable monitoring. Finally, the results were compared with information on actual inflicted damages to confirm the accuracy and effectiveness of the proposed cable monitoring method.

Download Full-text

Analysis of Mechanical Adhesion Climbing Robot Design for Wind Tower Inspection

Journal of Artificial Intelligence and Technology ◽

10.37965/jait.2021.0013 ◽

2021 ◽

Author(s):

Shyamal Chandra Mondal ◽

Patricio l. C. Marquez ◽

Mohammad Osman Tokhi

Keyword(s):

Wind Turbine ◽

Inspection System ◽

Robot Design ◽

Potential Hazard ◽

Climbing Robot ◽

Mechanical Adhesion ◽

Inspection Tasks ◽

Control System Model ◽

Different Diameters ◽

Periodic Inspections

Mmaintenance of wind turbine farms is a huge task, with associated significant risks and potential hazard to the safety and wellbeing of people who are responsible for carrying the tower inspection tasks. Periodic inspections are required for wind turbine tower to ensure that the wind turbines are in full working order, with no signs of potential failure. Therefore, the development of an automated wind tower inspection system has been very crucial for the overall performance of the renewable wind power generation industry. In order to determine the life span of the tower, an investigation of robot design is discussed in this paper. It presents how a mechanical spring-loaded climbing robot can be designed and constructed to climb and rotate 360° around the tower. An adjustable circular shape robot is designed that allows the device to fit in different diameters of the wind generator tower. The rotational module is designed to allow the wheels to rotate and be able to go in a circular motion. The design further incorporates a suspension that allows the robot to go through any obstacle. This paper also presents afiniteelement spring stress analysis and Simulink control system model to find the optimal parameters that are required for the wind tower climbing robot.

Download Full-text