A Wall Climbing Robot for Inspection Use

A wall climbing robot using propulsive force of propeller has been developed for wall inspection use. Thrust force is inclined to wall side to make use of frictional force between wheels and wall surface, and the robot can move on a vertical wall safely. A long body with many wheels is considered to move on an irregular wall surface. A strong and turbulent wind is predicted on a wall of high rise buildings, so that, a frictional force augmentor is employed to avoid slipping of the robot. A controller characteristic is tested by computer simulation for an abrupt change of wind gust, and safety locomotion in high speed turbulent wind can be attained.