Force control of cleaning tool system for building wall maintenance robot on built-in guide rail

C. Y. Shin, S. M. Moon, J. H. Kwon, J. Huh, D. Hong

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

2 Citations (Scopus)

Abstract

In modern days, there has been an increasing trend to build high-rise buildings. Until now, the methods to maintain building wall have relied on human efforts. However, there exist dangers and difficulties caused by height of buildings. Due to this problem, the need for system that can maintain building wall has been increasing and various systems have been developed. On this, the building maintenance robot that is used for built-in guide rail and tool system for cleaning wall of building was developed. Cleaning tool system equipped to building maintenance robot system has squeezing and injection functions. This system operates with spreading the water through injection part and eliminating dust and contaminants using squeezing module. Throughout this process, flow control is needed to spread water evenly on window at the changing velocity of robot. Also, the angle of the squeezing module and the force which is applied to window should be controlled to prevent damage of wall and to remove contaminants completely. This paper suggests algorithms for control of position and force of the squeezing module to implement cleaning building window composed of segmented façade. In addition, flow control algorithm for uniform injection is proposed. After that, the results of experiment in consistent robot velocity and transition of squeezer angle were shown and analyzed.

Original languageEnglish
Title of host publication31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014 - Proceedings
EditorsQuang Ha, Xuesong Shen, Ali Akbarnezhad
PublisherUniversity of Technology Sydney
Pages157-162
Number of pages6
ISBN (Electronic)9780646597119
DOIs
Publication statusPublished - 2014
Event31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014 - Sydney, Australia
Duration: 2014 Jul 92014 Jul 11

Publication series

Name31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014 - Proceedings

Other

Other31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014
CountryAustralia
CitySydney
Period14/7/914/7/11

Keywords

  • Building maintenance robot
  • Façade cleaning
  • Flow control
  • Force control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Civil and Structural Engineering
  • Building and Construction

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  • Cite this

    Shin, C. Y., Moon, S. M., Kwon, J. H., Huh, J., & Hong, D. (2014). Force control of cleaning tool system for building wall maintenance robot on built-in guide rail. In Q. Ha, X. Shen, & A. Akbarnezhad (Eds.), 31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014 - Proceedings (pp. 157-162). (31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014 - Proceedings). University of Technology Sydney. https://doi.org/10.22260/isarc2014/0021