Development of a wall-climbing drone
In the picture: CAROS, a drone-type wall-climbing robot system. The integrity of large structures like bridges, high-rise buildings, wind turbines, and large aircrafts is deeply related with security. Nowadays, due to the aging of large structures and the potential concerns about their collapse, interest in structural health monitoring has risen all over the world. Though there has been a great deal of research on the inspection of inaccessible large structures using mobile robots, since most existing robots require the installation of additional infrastructure or use magnetic-based technology or vacuum adhesion, it is difficult to apply those technologies to structures with diverse surface shapes and materials. Professor Hyun Myung in the Department of Civil and Environmental Engineering at Korea Advanced Institute of Science and Technology (KAIST) has developed CAROS (Climbing Aerial RObot System), which does not require installation of any additional infrastructure and which features maximised mobility and safety as a wall-climbing robot. This robot has higher mobility than existing wall-climbing robots because it can fly. It also has an advantage in that it can restore its pose after an accidental fall due to an unexpected disturbance. Since the robot can stick to the surface, it can perform close inspection and maintenance of the structure. Firstly, the CAROS team designed and analysed the structure/mechanism of the drone to maximise the flight stability and grip force on walls. Secondly, they developed the algorithms of flying/climbing mode transformation and wall-climbing control, respectively. These algorithms enable the CAROS to change its mode when it meets a wall while flying. To make these algorithms, the forward and backward kinematics are derived and applied to the system. Lastly, the team developed an autonomous navigation algorithm using sensory information to recognize 3D environments. This technology also can be used to assess the situation in a fire […]