• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.5
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• pp.383-389
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• 2016

In this paper, we present the hull blasting machine with vision-based weld bead recognition device for cleaning shipment exterior wall. The purpose of this study is to introduce the mechanism design of the high efficiency hull blasting machine using the vision system to recognize the weld bead. Therefore, we have developed a robot mechanism and drive controller system of the hull blasting robot. And hull blasting characteristics such as the climbing mechanism, vision system, remote controller and CAN have been discussed and compared with the experimental data. The hull blasting robots are able to remove rust or paint at anchor, so the re-docking is unnecessary. Therefore, this can save time and cost of undergoing re-docking process and build more vessels instead. The robot uses sensors to navigate safely around the hull and has a filter system to collect the fouling removed. We have completed a pilot test of the robot and demonstrated the drive control and CAN communication performance.

• The KIPS Transactions:PartA
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• v.18A no.2
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• pp.75-80
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• 2011

Recently, many cleaning robots have been made with various algorithms for efficient cleaning. One of them is a DmaxCoverage algorithm which efficiently clean for the situation when the robot has a time limit. This algorithm uses Rectangle Tiling method for finding the biggest rectangle that doesn't have any obstacle. When the robot uses grid map, Rectangle Tiling method can find the optimal value. Rectangle Tiling method is to find all of the rectangles in the grid map. But when the grid map is big, it has a problem that spends a lot of times because of the large numbers of rectangles. In this paper, we propose Four Direction Rectangle Scanning(FDRS) method that has similar accuracy but faster than Rectangle Tiling method. FDRS method is not to find all of the rectangle, but to search the obstacle's all directions. We will show the FDRS method's performance by comparing of FDRS and Rectangle Tiling methods.

• 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 Advanced Marine Engineering and Technology
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• v.37 no.4
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• pp.391-398
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• 2013

Fuel consumption in a vessel can be reduced by a hull cleaning which has been performed by the industrial robot. It is most important to attach safely and travel on the hull surface for a hull cleaning robot. In this study, therefore, we have developed a drive control system of the hull cleaning robot that enables a stable drive. In addition, operator's conveniences were reflected on the drive control system for comfort robot operation. Through a drive control experiments conducted at a hull test-bed, we demonstrated the drive control performance and conveniences of the developed drive control system.

• The Monthly Technology and Standards
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• s.115
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• pp.36-39
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• 2011

지능형 로봇의 파일로 상품인 청소로봇은 이미 시장 진입단계로 접어들었다. 특히 청소로봇에 대한 성능평가 국제표준은 한국의 국가표준을 기초로 2012년 표준 제정 작업이 진행되고 있다. WG 5 회의에 IEC SC 59F/ WG 5 컨비너 자격으로 참가했던 지능형로봇 표준포럼 성능/안전성 분과위원장인 임성수 경희대학교 교수의 참관기를 싣는다.

• 대한두경부종양학회:학술대회논문집
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• 2006.11a
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• pp.201-201
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• 2006

• Proceedings of the KIPE Conference
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• 2008.06a
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• pp.118-120
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• 2008

본 논문은 청소차에 쓰이는 IPMSM을 위한 적절한 제어기법을 연구하고, 이를 위한 제어기 보드를 개발하였다. 청소차에 쓰이는 전동기는 주행용, 브러쉬용, 흡입용이 있으며, 용도에 따라 최대 토크 제어 기법과 최적 효율 제어기법을 적용함으로서 목적에 맞는 효과를 기대할 수 있다. 또한 이러한 제어 기법을 적용할 수 있는 제어기 보드를 제작하였다.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2016.10a
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• pp.162-163
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• 2016

Conventional window cleaning method has a number of limitations, for example, workers dependent and high crash risk. The purpose of this study is to derive the performance requirements of a window cleaning apparatus through technology survey. For this, we investigated the domestic and international patents related to window cleaning, and interviewed experts in the field of window cleaning and mechanical design. Through this research, we have proposed performance requirements of the window cleaning apparatus.

• Proceedings of the Korea Information Processing Society Conference
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• 2003.11b
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• pp.639-642
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• 2003

본 논문에서는 청소로봇이 전 청소 영역을 CCPP(Complete Coverage Path Planning)를 이용해 경로를 생성한 후 재 경로계획 시 장애물의 미소한 변화로도 기존에 생성한 전 경로패턴을 바꾸지 않고 수정 할 수 있는 CD(Cell Decomposition)와 FN(Flow Network)을 이용한 CCPP 방식을 제안 하였다. 그리고 제안된 경로 계획에 대해 시뮬레이션으로 결과를 제시하였다.

• 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.