Design and Development of a Wall-Climbing Robot for Wall Inspection and Crack Detection
Date
2024-09-29Author
Deundaraarachchi, MY
Walawege, PD
Dolage, AR
Piyumini, HDI
Metadata
Show full item recordAbstract
Mobile robots have been very popular in
industries to perform various tasks. The problem of manual
inspection of concrete walls is that it requires highly trained
operatives and various tools to analyze and identify cracks
that pose future threats to structural integrity, which is also
a dangerous task considering human lives. Our objective
here was to introduce a solution to all the above-mentioned
problems and to use robotics to make this task even easier.
To address this, a wall-climbing robot was designed,
developed, and fabricated for wall inspection and crack
detection. The robot’s design incorporates two ducted fans;
one maintains grip on the wall, while the other
counterbalances the robot’s weight. For locomotion, four
directly coupled Mecanum wheels are present. The robot is
controlled using a wireless RC transmitter and receiver.
The inspection and crack detection system uses an ESP
32 camera module externally mounted on the robot for wall
inspection and a Canny edge detection algorithm integrated
into the robot’s microcontroller for crack identification.
Following these stages, the robot and its crack detection
algorithm underwent rigorous testing on various wall
surfaces such as concrete, glass, and cement and in varied
light conditions such as noon, evenings, and cloudy
conditions as well to simulate its practicality. We can deem
the project successful in the expected disciplines, but with
further developments and with more budget, this robot has
the potential to go beyond crack detection and work on
various other remote uses which is hostile in nature to use
manual labor.
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- Engineering [38]