TY - JOUR
T1 - The study on the integrated control system for curtain wall building façade cleaning robot
AU - Lee, Yong Seok
AU - Kim, Sang Ho
AU - Gil, Myeong Su
AU - Lee, Seung Hoon
AU - Kang, Min Sung
AU - Jang, Sung Hoon
AU - Yu, Bo Hyun
AU - Ryu, Byung Gab
AU - Hong, Daehie
AU - Han, Chang Soo
N1 - Funding Information:
This research was supported by the Industrial Strategic technology development program (No. 10052965 ) funded by the Ministry of Trade, Industry and Energy (MOTIE), KOREA and was supported by a grant( 14SCIP-B079344-01 ) from Smart Civil Infrastructure Research Program funded by Ministry of Land, Infrastructure and Transport (MOLIT) of Korea government and Korea Agency for Infrastructure Technology Advancement (KAIA).
Publisher Copyright:
© 2017
PY - 2018/10
Y1 - 2018/10
N2 - Recently, with a growing number of high-rise buildings in cities, interest in building facade maintenance is increasing. The existing method of cleaning the exterior walls of existing high-rise buildings depended on the methods by workers who used ropes, gondolas, and winch systems. Recently, however, BMU (building maintenance unit) has been developed and applied to resolve safety problems and boost work efficiency. In Germany, USA, France and other countries, various types of robot systems for building façade maintenance are being applied. In South Korea, façade cleaning robots attached with curtain walls are also being developed. In this paper, we propose an integrated control system for the stable control of robots with the building façade cleaning technology. The proposed control system can be divided into three stages such as preparation stage, cleaning stage, and return stage. Each independent robot system performs tasks such as cleaning, moving, and obstacle detection according to each stage. A wireless communication system for stable communication between robots was proposed and applied for controlling the robot system. The proposed integrated control system was applied to building façade cleaning robots and its efficiency was verified compared with existing high-rise building cleaning methods.
AB - Recently, with a growing number of high-rise buildings in cities, interest in building facade maintenance is increasing. The existing method of cleaning the exterior walls of existing high-rise buildings depended on the methods by workers who used ropes, gondolas, and winch systems. Recently, however, BMU (building maintenance unit) has been developed and applied to resolve safety problems and boost work efficiency. In Germany, USA, France and other countries, various types of robot systems for building façade maintenance are being applied. In South Korea, façade cleaning robots attached with curtain walls are also being developed. In this paper, we propose an integrated control system for the stable control of robots with the building façade cleaning technology. The proposed control system can be divided into three stages such as preparation stage, cleaning stage, and return stage. Each independent robot system performs tasks such as cleaning, moving, and obstacle detection according to each stage. A wireless communication system for stable communication between robots was proposed and applied for controlling the robot system. The proposed integrated control system was applied to building façade cleaning robots and its efficiency was verified compared with existing high-rise building cleaning methods.
KW - Building façade cleaning robot
KW - Built-in guide rail
KW - Curtain wall building cleaning robot
KW - Integrated control system
UR - http://www.scopus.com/inward/record.url?scp=85048166762&partnerID=8YFLogxK
U2 - 10.1016/j.autcon.2017.12.030
DO - 10.1016/j.autcon.2017.12.030
M3 - Article
AN - SCOPUS:85048166762
SN - 0926-5805
VL - 94
SP - 39
EP - 46
JO - Automation in Construction
JF - Automation in Construction
ER -