• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2011년도 추계 학술논문 발표대회
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• pp.197-198
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• 2011

Most of buildings' exterior walls are curtain wall systems and in the respect, the cleaning robot system is the main research item for cleaning and maintenance of them. We have structurely analysed the cases to review on the structural stability of the mullion members where the cleaning robot is attached. The result is showing that the largest stress is formed by the basic wind speed, which is specified in Korean Building Code-Structural.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2017년도 추계 학술논문 발표대회
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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.

• 로봇학회논문지
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• 제5권1호
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• pp.14-22
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• 2010

Recently researches on the window cleaning robot are being conducted actively. Moving mechanismsof these window cleaning robots are divided into two categories, which are towed type and walking type. Towed type is focused on fast cleaning on the flat surface of building and walking type has priority on cleaning task on relatively complex surface with overcoming obstacles. Currently commercialized towed type window cleaning robot has weakness that it is hard to adhere closely with the wall and easy to be affected by wind. In case of walking type it has the problem that the position errors are continuously accumulated during motion. In this paper, we propose new towed and walking type mechanism which can compensate previous weaknesses. After that we estimate the performance of each proposed mechanism by simulation.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2011년도 추계 학술논문 발표대회
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• pp.195-196
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• 2011

Recently, the number of high-rise buildings has been on the rise, which has meant that maintenance cost has increased by two and three times, along with the increase in the construction cost. It is suggested that the use of an auto-cleaning robot could increase the productivity and safety of cleaning work, which is mostly done outside of a building. In particular, the guide rail on a high-rise building could be useful in this capacity, as it has the advantage of not being significantly influenced by factors of the external environment, including wind pressure. For this reason, this research is preliminary research into a cleaning automation for a high-rise building, and aims to draw up a scenario for the vertically moving robot.

• 한국건축시공학회지
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• 제18권2호
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• pp.161-168
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• 2018

최근에 개발되고 있는 가이드레일형 유리창 청소로봇은 현재 첫 번째 시작품이 제작되어 시험 중인 상황으로, 그 크기와 하중이 최적화 되지 못한 상황이다. 본 연구에서는 현재의 유리창 청소로봇을 개선하고 구조적 안전성을 확보하기 위한 정량적인 데이터를 도출하기 위하여 응력해석을 진행하였다. 유리창 청소로봇의 자중, 풍압 등에 의한 응력을 해석한 결과, 자중에 의한 처짐, 풍속에 대한 항력 등에서 개선의 여지가 있음을 발견하였다. 도출된 해석 결과는 유리창 청소로봇의 설계 개선에 직접 적용될 예정이며, 이를 통하여 설계의 완성도를 높일 수 있을 것으로 기대된다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 추계학술대회 논문집
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• pp.193-194
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• 2012

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.1369-1370
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• 2011

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2016년도 춘계 학술논문 발표대회
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• pp.255-256
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• 2016

In order to overcome the limitation of conventional cleaning method by workers, variety attempts to develop a window cleaning apparatus has been tried. However, the existing cleaning devices were lack of consideration for avoiding projection parts of the window such as frames or profiles. In this study, operating mechanism of cleaning tool for avoiding the projections parts using a two-axis robot is proposed. Proposed mechanism is that a wiper are reposed in a relatively stationary in the vicinity of the projection and avoided the projection in this state. It is expected that the mechanism is the base of driving cleaning tool part in the new window cleaning apparatus.

• 로봇학회논문지
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• 제17권3호
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• pp.381-386
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• 2022

We develop a business model for facade cleaning service robot system that provides service by meeting the market needs and environments. The size of the facade cleaning market is growing rapidly in recent years due to the increasing importance of indoor space and the modern trend of building construction methods. Also, maintenance of exterior appearance of buildings has become an important factor in residential and commercial facilities. Though demand for facade cleaning services is rising, the current facade cleaning services are performed dangerously in a human labor-dependent way. It is desirable that the existing human resource service should be replaced with robot-based services. In addition, quantitative analysis of rental pricing model was conducted to propose effective launch of products to the market. The robot system is economically attractive from the consumer's point of view. When the actual facade cleaning robot service is released, it is expected that verification of the business models and more accurate analysis with specific figures can be performed.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2019년도 춘계 학술논문 발표대회
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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.