The Journal of Supercomputing

, Volume 72, Issue 7, pp 2635–2650 | Cite as

Improvements in adhesion force and smart embedded programming of wall inspection robot

  • SangHoon KimEmail author
  • Hyun-Ho Choi
  • YunSeop Yu


An intelligent wall inspection robot with sensors and embedded image processing system was studied based on a combination of vacuum-suction technique and four-wheel drive method to achieve good balance between strong adhesion force and high mobility. To obtain more stable adhesion forces, the height and weight of the robot body were reduced by analyzing the relation between the principal physical input variables and the output performance, such as the suction force and momentum. An object detection system on the embedded programming system for automatic wall inspection was also developed. For successful detection, threshold methods were compared and an improved Otsu method was adopted so that it could handle both unimodal and bimodal distributions well. Through the improvement, the robot could move upward a wall at a speed of 5.3 m/min and carry a payload of at least 7.5 kg in addition to its self-weight and it could also intelligently detect and classify small objects on the wall.


Wall inspection robot Adhesion force Embedded image processing Threshold technology Suction-based method 



This work was supported by a research grant from Gyeonggi province (GRRC) in 2015-2016 (2015GRRC Hankyong 12-B02), Development of Vision Inspection algorithm and Wireless and Wired Integrated Control System for Intelligent Logistics Inspection


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Copyright information

© Springer Science+Business Media New York 2015

Authors and Affiliations

  1. 1.Department of Electrical, Electronic and Control Engineering and the Institute for Information Technology ConvergenceHankyong National UniversityAnseongKorea

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