The camera embedded wall climbing robot in this paper combines the suction and aerodynamic attraction to achieve good balance between strong adhesion force and high mobility and adopts embedded image processing technique to detect targets on the warehouse inspection. 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 target objects and dangerous situation on the warehouse wall and for sending alarm signals to remote sensor node or manager.

ABSTRACT   1. Introduction   2. The Structure of the Robot    2.1 Adhesion Mechanism    2.2 Physical Analysis of forces    2.3 Prototype Design    2.4 Wireless Camera and image processing for the object inspection   3. Experimental Results    3.1 Moving Speed    3.2 Payload Capacity    3.3 Power Consumption    3.4 Demonstrations   4. Conclusions   5. Acknowledgments

• Sang-Hoon Kim(Dept. of Electrical, Electronic and Control Engineering, Hankyong National University) Correspondence to
• Dong Sang Yoo(Dept. of Electrical, Electronic and Control Engineering, Hankyong National University)