• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.259-260
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• 2007

본 논문은 건물 외면의 유리창 청소로봇에 관한 것으로, 더욱 세부적으로는 청소 시스템을 갖춘 로봇을 사람이 닦기 힘들거나 위험한 고층건물이나 아파트 둥의 실외 유리창에 흡착시켜 청소로봇을 이용하여 실외 유리창을 자동으로 닦을 수 있게 하는 건물 외면의 유리창 청소로봇에 관한 것이다. 진공펌프를 사용하여 유리창에 안정적으로 흡착할 수 있도록 하였고, 블루투스를 이용하여 무선 조종이 가능하도록 하여 사용자가 원거리에서 로봇의 청소를 제어할 수 있도록 하였다.

• Journal of the Korea Institute of Building Construction
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• v.18 no.2
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• pp.161-168
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• 2018

Recently, a prototype of a guide rail type window cleaning robot was developed, and is currently undergoing field testing. The size and the load of the robot have not yet been optimized. In this study, a stress analysis was performed to derive quantitative data to improve the current window cleaning robot and secure its structural safety. Through the analysis of its own weight, resistance to wind speed, and other factors, it was found that the robot can be improved in terms of the drooping caused by its own weight and the drag force against wind pressure. The analysis results obtained will be directly applied to improve the design of the window cleaning robot, and it is expected that this will advance the completeness of the robot's design.

• Journal of the Korea Institute of Building Construction
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• v.20 no.6
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• pp.537-543
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• 2020

The window cleaning works are manpower-dependent and are performed in an unstable posture at high altitude, so that there is a risk of falling. Therefore, there is an urgent need to improve the safety of workers. In this study, a conceptual design was proposed for the cleaning of exterior windows of a building, and the economic feasibility of the proposed conceptual model was analyzed. The proposed model is designed to avoid protrusions such as window frames, and to be able to respond even if the shapes of the upper and lower parts are different. As a result of analyzing the economic feasibility of the designed conceptual model, the benefit cost ratio was 4.48, which was significantly higher than 1. Therefore, the economic feasibility of the proposed window cleaning device is expected to be sufficient. The results analyzed in this paper will be used in the development and marketing of the window cleaning device.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.12
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• pp.612-618
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• 2020

In recent years, the demand for external window cleaning has increased, but the process is a very dangerous manpower-dependent operation. In addition, it is difficult to clean at the desired frequency in a business that values cleanliness. Therefore, there is a need to automate this work. This paper presents the concept of a device that can be attached to a specific window and clean the window continuously. The economic feasibility of this device was analyzed. The estimated manufacturing cost of the equipment was approximately 10 million won, but the possible investment cost was at least 9.8 million won for five years of endurance and 103 million won for 10 years of endurance. Therefore, the expected savings well exceed the equipment cost, and it was evaluated as having economic feasibility. Since this study analyzed only quantitative indicators, the expected cost reduction due to a reduction in safety accidents, productivity improvement, construction time reduction, and quality improvement was not considered. Therefore, it is expected that the calculated economic feasibility will be more accurate if the cost reduction effect by the automation equipment is calculated by adding the expected values not considered in this study.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2018.11a
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• pp.138-139
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• 2018

The purpose of this study is to analyze the work of the existing manpower dependent cleaning method by investigating the window cleaning site. In this study, detailed work contents were confirmed by on-site investigation and interview with experts, and the relationship, procedure, repetition work, and time required for each work were analyzed. The future analysis results will be used as a basic data for comparative analysis of productivity and economical efficiency with the window cleaning device to be developed.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2019.05a
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• pp.244-245
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• 2019

Recently, a variety of window cleaning devices have been developed. There are, however, few cases of anticipated problems and countermeasures that may arise after these devices are installed. Therefore, in this study, the emergency condition was derived and the emergency scenario was derived for the rail-mounted cleaning device. Emergency scenarios and countermeasures derived from this study will be used for continuous improvement and supplementation of cleaning devices through prototyping and testing.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2017.05a
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• pp.272-273
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• 2017

As businesses put a greater emphasis on outward appearances, the demand for external window cleaning has been on the rise. However, with the conventional labor-intensive window cleaning method, it is hard to meet this demand. Therefore, this study proposes a Life Cycle Cost (LCC) analysis model for a guiderail-type cleaning robot, and estimate the LCCs of the conventional method and the cleaning robot. The findings of this research are expected to serve as a guide for future development of a cleaning robot.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2016.05a
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• pp.85-86
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• 2016

Recently, needs for the window cleaning for 2~5 stories in a building has been increased but existing window cleaning work by workers is not easy to clean the windows. Therefore a demand for development of alternative techniques have been raised. The purpose of this study is to analyze feasibility of development of the guide rail-type cleaning device for cleaning window for the lower stories. For this, we analyze the status of the job, such as risk, limitations of by workers and examine the potential producer needs through interviewing field experts of the cleaning work. Futhermore, we define the required features of the window cleaning device and proposed the validity of the relised device development of the function.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2018.05a
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• pp.320-321
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• 2018

In the past, the results of window cleaning work have been judged subjective and complaints about cleaning results are being raised. In this study, we tried to quantify the evaluation of the cleaning result. For the quantification of the evaluation, a colorimeter was selected and the basic experiment was carried out. In addition, this study examined the use of standard dust powder for artificial production of contaminants in glasses. Further evaluation and analysis will be carried out to quantify the evaluation criteria of the cleaning results.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2017.11a
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• pp.203-204
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• 2017

In case of developing a guide-rail type window cleaning robot, only the first prototype has been developed. In this study, it was considered that the size and the load of the window cleaning robot was not optimized, and through the structural analysis of the self-weight of the window cleaning robot, the stress concentration area was derived and the concentrated stress was quantified. Analysis showed that the upper rail shaft had a bending stress of 9.964Mpa and the bolt had a shear stress of 19.544Mpa. The results of this study will be used as basic data for designing future prototypes.