• Title, Summary, Keyword: built-in guide rail type robot

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Economic Analysis on the Built-in Guide Rail Type Building Facade Cleaning Robot (건축물 외벽용 가이드레일 청소 로봇의 경제성 분석)

  • Kim, Kyoon-Tai;Han, Jae-Goo;Kim, Chang-Han
    • Proceedings of the Korean Institute of Building Construction Conference
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    • pp.157-159
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    • 2012
  • In recent years, the number of high-rise buildings has been on the rise. As buildings have become larger in scale, significantly different issues related to their construction and maintenance have emerged. In addition, the automation and mechanization of the cleaning work for the curtain wall, one of the most frequently-performed tasks in building maintenance, is required as a fundamental measure. For this reason, a guide-rail type cleaning robot system is emerging as one of the measures in response to external factors, including gust. The major objective of this study is to propose an economic feasibility forecasting model and to apply the a building facade cleaning robot which is now under development.

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Sensor-based Motion Planning Algorithm for High-rise Building Facade Cleaning of Built-in Guide Type Multi-Robot (Built-in guide 타입 다중 로봇의 고층 빌딩 외벽 청소를 위한 센서 기반 운동 계획 알고리즘)

  • Lee, Seung-Hoon;Kim, Dong-Hyung;Kang, Min-Sung;Gil, Myung-Soo;Kim, Young-Soo;Back, Sung-Hoon;Han, Chang-Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.5
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    • pp.445-452
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    • 2012
  • With the increasing number of high-rise and large-scale buildings, modern buildings are becoming intelligent, and are incurring high construction costs and requiring careful maintenance. Maintenance works for high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. The resulting accidents may produce very high social and economic losses. To address this problem, herein, this paper proposes robotic building maintenance system using multi-robot concept, in specific, cleaning a building facade which is directly subjected to minimize human labor; that improves the process efficiency and economic feasibility. The sensor for detecting contamination of building's outer-wall glass is proposed; Kalman filter was used for estimating robots' status with the contamination of the window glass. Task allocation of the sensor based multi-robots for an effective way of task execution is introduced and the feasibility was verified through the simulations.