Sensory system design for an automated construction quality assessment robot system

• Main Author: Low, Chin Leong
• Other Authors: Erdal Kayacan
• Format: Final Year Project
• Language: English
• Published: 2016
• Subjects: DRNTU::Engineering
• Online Access: http://hdl.handle.net/10356/67817
• Institution: Nanyang Technological University

The issues of the quality of a house is paramount for the owner in Singapore. The quality of the house is subjected to defects such as hollowness, crack, unevenness etc. To resolve these issues, the BCA is using a comprehensive method called CONQUAS to evaluate the quality of the house. Despite the increasing interest in academic, having a robotic system for CONQUAS are still very scarce. Therefore, this report intended to design and construct a robotic system to aid in the inspection. This robotic system will consist of a set of imaging camera and sensors to evaluate the quality. This design, which was similar to a trolley architecture, allow integration and interoperability between the mobile robots and sensor. It is the first time that such a robot designed for inspection. The advantage of having this robotic system is that it is able to become standalone when the mobile robot is malfunction, hence making this system more durable. Autonomous scanning can be achieve and scanning view can be expand to take in more data. However as this is still a prototype, there are drawback like the mounting of the mobile platform to the mobile robot, the wiring and the limitation of the inspection instrument. Likewise, this report will mainly focus on the process of the designing the platform and the motion of the motor control.