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%.