Abstract
Demand for high-rising building has arisen. However, its maintenance is usually executed by labour. It could have a severe problem. We proposed a gondola robot to solve it. In this paper, we designed a height estimation sensor for this gondola. It is consist of pan-tilt unit, ARS sensor, and laser sensor. The pan-tilt unit keeps the laser sensor to indicate the gravity direction by referencing the ARS. The laser sensor's range is vertical distance from gondola to ground. However, if there is an obstacle under the gondola, the distance includes its height. To filter it out, we apply a Kalman filter for the height estimation. If the estimated height is changed extremely, the filter decides that there is an obstacle. Then, it remembers the height of obstacle. Other extreme changes of height estimations are reflected. The experimental results using the proposed sensor system show detail flow of the height estimation.
