Development of fail-safety system for building wall cleaning robot

J. Huh, S. M. Moon, S. W. Hwang, S. M. Yoon, Daehie Hong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Recently, there is growing trend to build the high-rise and install curtain walls. Following this trend, we developed robot for building wall cleaning work, which moves along Built-in guide rail of building. Because it moves attached at building wall for cleaning work, it can be seriously affected by potential threats, like earthquake, strong wind, malfunction, and construction error of built-in guide rail. In order to cope with those threats actively, this paper presents the Fail-Safety system. The building wall cleaning robot consists of two moving system: The Horizontal Moving System which mainly do maintenance work, and The Vertical Climbing System which transport the horizontal moving system floor by floor. We apply the Fail-Safety system to these systems. The Fail-Safety system consists of sensors to detect external situation, and, with information of sensors, give instruction for what to do. This robot system is installed with four kinds of sensors: shock sensor, infrared ray sensor, laser sensor, magnetic sensor. First, shock sensor detects external shock during cleaning work. When shock sensor detects big shock, the robot returns to starting point to inspect how damaged it is. Second, infrared ray sensor detects damage of built-in guide rail. It is to prevent destruction of robot caused by moving along damaged rail. Third, laser sensor gives notice about where obstacle is. It is for robot to avoid crash with obstacle and decrease damage. Fourth, magnetic sensor detects magnetic points, which are installed in rail at regular intervals, and helps robot to find its position, based on location of magnetic points detected. If robot is damaged by external shock and its encoder, which gives information of location to it, is not working, magnetic sensor will give information of robot's location to robot. And then, robot regulates its velocity depending on position of it, and safely returns to starting point. The Fail-Safety system in this paper is for building wall cleaning robot to sense external threats, and prevent getting worse. Applied to this active protection system, making safe environment of maintenance work is possible for robot system.

Original languageEnglish
Title of host publicationISARC 2013 - 30th International Symposium on Automation and Robotics in Construction and Mining, Held in Conjunction with the 23rd World Mining Congress
Pages206-212
Number of pages7
Publication statusPublished - 2013 Dec 1
Event30th International Symposium on Automation and Robotics in Construction and Mining, ISARC 2013, Held in Conjunction with the 23rd World Mining Congress - Montreal, QC, Canada
Duration: 2013 Aug 112013 Aug 15

Other

Other30th International Symposium on Automation and Robotics in Construction and Mining, ISARC 2013, Held in Conjunction with the 23rd World Mining Congress
CountryCanada
CityMontreal, QC
Period13/8/1113/8/15

Fingerprint

Security systems
Cleaning
Robots
sensor
Sensors
Rails
Magnetic sensors
safety system
laser
Infrared radiation
damage
Lasers
Earthquakes

Keywords

  • Building wall cleaning
  • Fail-Safety

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Geotechnical Engineering and Engineering Geology
  • Civil and Structural Engineering

Cite this

Huh, J., Moon, S. M., Hwang, S. W., Yoon, S. M., & Hong, D. (2013). Development of fail-safety system for building wall cleaning robot. In ISARC 2013 - 30th International Symposium on Automation and Robotics in Construction and Mining, Held in Conjunction with the 23rd World Mining Congress (pp. 206-212)

Development of fail-safety system for building wall cleaning robot. / Huh, J.; Moon, S. M.; Hwang, S. W.; Yoon, S. M.; Hong, Daehie.

ISARC 2013 - 30th International Symposium on Automation and Robotics in Construction and Mining, Held in Conjunction with the 23rd World Mining Congress. 2013. p. 206-212.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Huh, J, Moon, SM, Hwang, SW, Yoon, SM & Hong, D 2013, Development of fail-safety system for building wall cleaning robot. in ISARC 2013 - 30th International Symposium on Automation and Robotics in Construction and Mining, Held in Conjunction with the 23rd World Mining Congress. pp. 206-212, 30th International Symposium on Automation and Robotics in Construction and Mining, ISARC 2013, Held in Conjunction with the 23rd World Mining Congress, Montreal, QC, Canada, 13/8/11.
Huh J, Moon SM, Hwang SW, Yoon SM, Hong D. Development of fail-safety system for building wall cleaning robot. In ISARC 2013 - 30th International Symposium on Automation and Robotics in Construction and Mining, Held in Conjunction with the 23rd World Mining Congress. 2013. p. 206-212
Huh, J. ; Moon, S. M. ; Hwang, S. W. ; Yoon, S. M. ; Hong, Daehie. / Development of fail-safety system for building wall cleaning robot. ISARC 2013 - 30th International Symposium on Automation and Robotics in Construction and Mining, Held in Conjunction with the 23rd World Mining Congress. 2013. pp. 206-212
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