Development of Wall Coating Removing Robot: Evaluation of Removed Quantity for Wall Coating Removing Robot

摘要

This paper describes an evaluation method for the removed quantity of wall coating removed by a robot which has a sucking disk, a rotatable water jet nozzle for removing work, and four driving wheels. The states of removed wall surface can be classified into three classes, that is, standard surface( S surface ), over removed one ( O surface ) and under removed one ( U surface ). The wall surfaces are classified using the data represented in HLS space.lt seems that each surface has following features; S surface is the concrete surface that looks like smooth surface. O surface shows some aggregates in concrete, which seems coarse surface. U surface has non removed coating area. Images from a CCD canera fixed on the robot can be classified into these groups based on a percentage of non removed area in processed image.