Development of Safety-Inspection-Purpose Wall-Climbing Robot Utilizing Aerial Drone with Lifting Function

Song, Young-woon; Kim, Tae-Sik; Lee, Meungsuk; Rho, Sehwan; Kim, Jason; Kang, Jungill; Yu, Son-Cheol

doi:10.1109/ur52253.2021.9494637

Cited by 4 publications

(3 citation statements)

References 10 publications

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“…Shahmoradi et al (2020) used an encased drone to inspect in prior mines. Researchers also suggested contact‐based UAV inspection for tunnels wall (Kocer et al, 2019), ceilings (Song et al, 2021) pipelines (Moss, 2016) and bridges (Higashi & Akahori, 2016; Sanchez‐Cuevas et al, 2019).…”

Section: Path Planning For Uav Inspectionmentioning

confidence: 99%

Unmanned aerial vehicle navigation in underground structure inspection: A review

Zhang,

Hao,

Zhang

et al. 2023

Geological Journal

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Many years after construction, a number of existing old tunnels and underground structures are deteriorating with time as evidenced by cracks, large deformations, water leakage and so forth, which usually require regular site inspections to record their structural deterioration by taking high‐pixel, high‐overlap images along miles of a tunnel network. For complex underground structures (e.g., long tunnels and large caves), unmanned aerial vehicles (UAVs) may be adaptive in acquiring images at multiple heights and angles with low operational costs. So far, UAV underground structural health monitoring has become mature for open‐air surveying with rapid developments in robotic software and hardware. However, the UAV image acquisition for underground working conditions still faces a number of key challenges. This paper aims to provide an overview of UAV navigation techniques in confined dark spaces for geotechnical engineers, geologists, drone developers and other interdisciplinary researchers & professionals in the structural health monitoring field. It specifies the challenges for UAV application in underground space, mainly including lack of Global Navigation Satellite System (GNSS) signals, poor lighting conditions, weak features and obstacle avoidance and then followed by strategic solutions. For example, in light of poor GNSS signals, the fusion of multi‐sensors (e.g., laser imaging, detection and ranging (LiDAR) and multi‐cameras) can enhance localization accuracy in low‐luminance underground conditions. To address obstacle avoidance, computer vision (CV)‐based navigation algorithms (e.g., deep reinforced learning [DRL]) enable effective navigation in complex 3D spaces, but their adaptability is limited by arithmetic power and pre‐training needs. The review of relevant previous studies concludes that further development for UAVs in underground space inspection may focus on operation in large‐scale geometric inspection environments, obstacle avoidance, features and semantic recognition.

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Section: Path Planning For Uav Inspectionmentioning

confidence: 99%

Unmanned aerial vehicle navigation in underground structure inspection: A review

Zhang,

Hao,

Zhang

et al. 2023

Geological Journal

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“…The first application (Fig. 21a) on a dome structure was proposed based on a previous study [21] in which a wallclimbing robot, along with a supervisor robot on the ground equipped with a laser projector, projects a virtual landmark to interact with robots under the surface without distinctive features. In this scenario, a wall-climbing robot utilizes various mounted devices, such as a line laser or front-facing camera, to perform local (fine) localization and inspection of the attached surface, while the projected laser pattern from the supervisor robot acts as a virtual landmark and helps global (coarse) localization.…”

Section: Applicationmentioning

confidence: 99%

“…In contrast, rapid movement can be achieved by a robot that uses an EDF and wheels to move around a surface without restriction of the surface material, but obstacles cannot be traversed in this manner [16]. Previous studies proposed the use of an aerial drone docked with a wall-climbing robot to avoid obstacles [21], [22]. Although these aerial drones may aid in the placement of a robot at the point of interest, the obstacle traversal capability of robots significantly improves inspection performance.…”

Section: Introductionmentioning

confidence: 99%

Development of Dual-Unit Ceiling Adhesion Robot System With Passive Hinge for Obstacle Traversal Under Kinodynamic Constraints

Song

Kang

2023

IEEE Access

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The inspection of high ceilings or surfaces is important to ensure the quality and safety of infrastructure; however, the approach adopted by people or conventional robots is rather limited. Kinodynamic constraints (simultaneous kinematic and dynamic constraints) are presented by obstacles in real-life scenarios, such as suspended piping and wiring, which further limits the usability of robots. Therefore, this paper proposed an adhesion robot system that is attached to and maneuvers on flat and curved ceilings while traversing obstructions. To traverse obstacles, the robot comprises two units connected by a passive hinge mechanism. Traversal motion is achieved under adhesion force control with preexisting electric ducted fans without using separate hinge motors; thus, no additional weight is included. In addition to robot hardware, this study investigated the development of a control method based on dynamic analysis under the aforementioned kinodynamic constraints. Specifically, the proposed control algorithm considers the slipping and rollover conditions of the robot caused by the external force and moment applied to the unit during the obstacle traversal, respectively. The algorithm was systematically analyzed by conducting simulations to prevent the robot from experiencing adhesion failure, and the results were verified experimentally. The use of the robot in real-life scenarios was determined by performing feasibility tests in real-life applications.INDEX TERMS Ceiling inspection, climbing robot, dynamic analysis, electric ducted fan, kinodynamic constraint, mobile robot, passive hinge.

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A Robust High-Strength Multi-Surface Rapid UV-Curable Payload Installation System for Generic Multirotors via Impact Delivery

Lim,

Tan,

et al. 2024

IEEE Robot. Autom. Lett.

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Development of Safety-Inspection-Purpose Wall-Climbing Robot Utilizing Aerial Drone with Lifting Function

Cited by 4 publications

References 10 publications

Unmanned aerial vehicle navigation in underground structure inspection: A review

Unmanned aerial vehicle navigation in underground structure inspection: A review

Development of Dual-Unit Ceiling Adhesion Robot System With Passive Hinge for Obstacle Traversal Under Kinodynamic Constraints

A Robust High-Strength Multi-Surface Rapid UV-Curable Payload Installation System for Generic Multirotors via Impact Delivery

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