Automated Measurement and Estimation of Concrete Strength by Mobile Robot with Small-Sized Grinding Drill

This paper describes on the estimation method of compressed strength for the concrete construction such as highway roads, large bridges and institution, and the autonomous mobile robot with that the small sized grinding drill. In the control using the torque motor, the feed rate of drill is expected to be a constant as the torque depending on load. However, the feed rate of drill was found to change for concrete strength and to be the approximately constant to concrete strength when the drill load was up to the setting value of torque. As a result of experiment, the comparison of the concrete strength and drill feed rate was able to similar by inversed power curve. Installing this inspection system on a mobile robot, we got the possibility that automated estimation of concrete strength was carried out easily at construction site. Measuring the feed rate by this drill, the concrete strength was expected to estimate practically.