Fig. 6. Rise-Rover type robot
The Rise-Rover robot was developed by New York University to test the
quality of concrete, as shown in Figure 6. In order to realize stable
movement of the robot on the wall, based on the original power
transmission system, the robot replaces the track with holes and
installs the suction device. The suction device controller based on PID
control technology is adopted to realize pressure control and robust
control and fast response. At the same time, the extended Kalman filter
is applied to the power transmission control system to improve the
precision of motor speed estimation. Combined with the impact sensor
technology on the stereo vision measuring device, real-time image
capture and detection can be realized to detect the quality of concrete.
After a series of tests, compared with the previous manual inspection,
the robot inspection concrete quality inspection data error is about
10%.