The robot in this paper combines the suction and aerodynamic attraction to achieve good balance between strong adhesion force and high mobility. Experimental results showed that the robot can move upward on the wall at the speed of 2.9m/min and carry 5kg payload in addition to 2.5kg self-weight, which record the highest payload capacity among climbing robots of similar size. With two 11.1V lithium-polymer battery, the robot can operate continuously for half hours. A wireless camera system, zigbee protocol module and several sensors was adopted for detecting dangerous situation on the wall and for sending alarm signals to remote sensor node or controller based on the color normalization and image segmentation technique.

ABSTRACT   1. 서론   2. 임베디드 시스템의 구성    2.1 임베디드 시스템의 H/W 구성    2.2 임베디드 시스템의 S/W 구성    2.3 임베디드 시스템과 스마트폰의 데이터 흐름   3. 임베디드 시스템에서의 영상처리    3.1 색상 정규화(RGB Normalization) 알고리즘    3.2 시스니처 알고리즘(Signature Algorithm)    3.3 영상분할 알고리즘(Segmentation Algorithm)   4. 실험    4.1 실험 카메라 모듈의 SPEC    4.2 압축률에 따른 송수신 속도    4.3 함수별 크기 분석    4.4 화면에서의 확인    4.5 측정 결과   5. 결론   참고문헌

• 김상훈(국립한경대학교 전기전자제어공학과 교수) | Sang-Hoon Kim Correspondence to
• 권혁성(한경대학교 정보제어공학과 졸업) | Hyuk-Sung Kwon