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The study on the integrated control system for curtain wall building facade cleaning robot

Authors
Lee, Yong-SeokKim, Sang-HoGil, Myeong-SuLee, Seung-HoonKang, Min-SungJang, Sung-HoonYu, Bo-HyunRyu, Byung-GabHong, DaehieHan, Chang-Soo
Issue Date
10월-2018
Publisher
ELSEVIER SCIENCE BV
Keywords
Curtain wall building cleaning robot; Integrated control system; Built-in guide rail; Building facade cleaning robot
Citation
AUTOMATION IN CONSTRUCTION, v.94, pp.39 - 46
Indexed
SCIE
SCOPUS
Journal Title
AUTOMATION IN CONSTRUCTION
Volume
94
Start Page
39
End Page
46
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/72620
DOI
10.1016/j.autcon.2017.12.030
ISSN
0926-5805
Abstract
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 facade maintenance are being applied. In South Korea, facade 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 facade 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 facade cleaning robots and its efficiency was verified compared with existing high-rise building cleaning methods.
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공과대학 (기계공학부)
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