모서리 이동이 가능한 흡착력 기반의 벽로봇에 관한연구

• 영문명: Suction based Wall Climbing Robot for Edge Movement
• 발행기관: 한국컴퓨터게임학회
• 저자명: 김상훈(Sang hoon Kim) 이지수(Ji Soo Lee) 유동상(Dong Sang Yoo)
• 간행물 정보: 『한국컴퓨터게임학회논문지』제27권 1호, 89~94쪽, 전체 6쪽
• 주제분류: 공학 > 컴퓨터학
• 파일형태: PDF
• 발행일자: 2014.03.30

영문 초록

The camera embedded wall climbing robot in this paper combines the suction and aerodynamic attraction to achieve good balance between strong adhesion force and high mobility and adopts embedded image processing technique to detect targets on the warehouse inspection. Experimental results showed that the robot can move upward on the wall at the speed of 2.9m/min and carry 5kg payload in addition to 2.5kg self-weight, which record the highest payload capacity among climbing robots of similar size. With two 11.1V lithium-polymer battery, the robot can operate continuously for half hours. A wireless camera system, zigbee protocol module and several sensors was adopted for detecting target objects and dangerous situation on the wall and for sending alarm signals to remote sensor node or manager.

목차

1. 서론

2. The Robot Design and Structure

3. The Embedded Image Processing System

4. Experimental Results

5. Conclusions

6. Acknowledgments

References

키워드

wall climbing aerodynamics adhesion force wireless camera embedded image processing