Development of Inspection Robot Moving on Vertical Wall of Construction Using Duct Fan Thrust

(Part 4, Improved fan placement and stability for practical design)

Abstract

The purpose of this research is to develop a new robot for inspecting infrastructure such as bridges and tunnels, and a deterioration estimation method that can be used in normal work. In the 4th report, we developed a wall inspection robot that integrates lift and pushing force by applying a high-thrust duct fan, and examined the rationalization of wall inspection and its actual operation. The mobile robot's fan thrust was applied to lift the robot body and push it against the wall. By changing the angle of the wall duct fan, the robot was able to move vertical walls and ceiling walls. In addition, the design for practical use was improved and high workability and stability was excused. In this paper, we report the experiment of continuous movement of the developed mobile robot vertically and on the ceiling wall, and the improved design for practical use.