Evaluation of Removed quantity for Wall Coating Removing Robot

Abstract

This paper desciribes an evaluation method for the removed quantity of wall coating removed by a robot which has a sucking disk, a rotatable water jet nozzle for removing work, and four driving wheels. The states of removed wall surface can be classified into three classes, that is, standard surface (S surface), over removed one (O surface) and under removed one (U surface). The wall surfaces are classified using the data represented in HLS space. It seems that each surface has following features; S surface is the concrete surface that looks like smooth surface. O surface shows some aggregates in concrete, which seems coarse surface. U surface has non removed coating area. Images from a CCD camera fixed on the robot can be classified into these groups based on a newly devised method. The method are using follwing values, (a) the color difference between pixels in HLS space, and, (b) percentage of non removed area in processed image.