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빌딩 외벽 청소로봇에 적용 가능한 청결도 판별 센서모듈에 관한 연구
지창욱(Changuk Ji),강민성(Min-Sung Kang),길명수(Myeongsu Gil),하지우(Jiwoo Ha),선동익(Dong-Ik Sun),한창수(Changsoo Han) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
This study proposes the cleanness estimation sensor module for built-in-guide type building façade cleaning robot. The built-in-guide type building façade cleaning robot is divided into a vertical moving module and an horizontal moving module. The cleanness estimation sensor module is attached to the horizontal moving module to estimate the cleanness of building façade. In this study, IR sensors are used for the cleanness estimation. The principle is that window reflects the emitted infrared light from IR transmitter, IR receiver receives the reflected infrared light and it is possible to estimate the cleanness of building facade by measuring the reflected infrared light. To verify this idea, a test bed was built. IR sensors were attached to 1 degrees of freedom motion system moving from side to side. Chalk powder was used to construct contamination environment. Then, the reflected infrared light was measured while IR sensors were moving from side to side. As a result, the more clean sample was used, the lower tendency of measurand was. To apply the cleanness estimation sensor module to the robot, field tests are expected. Also, quantitative index for the cleanness state of building facade should be founded.
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