A robotics approach to preparing surfaces for repair

摘要

The CURIO robot, together with sensor fusion, makes it possible to map out areas for concrete removal. However, further work is needed on the data fusion model to allow more operator influence and the accommodation of other NDT methods. In the trials, numerous excavations were automatically completed with the HEROIC robot on single- and multiple-strength, reinforced and plain concrete slabs. During this research, two water-jetting systems were compared, one delivering high pressure with low flow-rate and the other producing low pressure with high flow. Further work is necessary to determine the optimum approach, on both cost and performance grounds. The combined sound-rebound energy sensor system has enabled high-definition excavations to be automatically produced with controlled surface texture. Current work concentrates on the influence of surface texture on the patch repair quality. Further investment is needed to make the leap from the laboratory to the construction site.