Development of Hammer-Sounding Wall Tile Inspection System Using a Two-Wheeled Multicopter

Abstract

This paper proposes a hammer-sounding wall tile inspection system using a two-wheeled multicopter. The proposed system consists of a two-wheeled multicopter equipped with a tapping hammer and a machine winding the wire connected to the multicopter. The winding machine is installed on the rooftop to hang and move the multicopter vertically on the wall. To show the effectiveness of the proposed system, we first collect hammer-sounding inspection data using the proposed system. The collected audio data is analyzed in the frequency domain to detect the delaminated tiles on the inspected walls. We finally evaluate the accuracy of the inspections using the proposed system and compare the accuracy with an inspection by an inspector.