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Built-in Guide형 빌딩 외벽 청소 로봇의 수평 플랫폼 localization 알고리즘에 관한 연구
천보일(Boill Chun),이승훈(Seunghoon Lee),강민성(Min-Sung Kang),신동수(Shin dongsu),강성필(Kang sungpil),한창수(Changsoo Han) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11
High rise building that is defined as higher than 50th floors or 200 meters building tends to be increased gradually due to increasing citizen in downtown and demanding. But, expensive cost of construction and difficulty of maintenance is caused by growing high-rise buildings and large-scale buildings. In specific, maintenance works for high-rise buildings, significantly depend on human labor, unlike other construction processes that are gradually being automated. Thus, economical and social lose because of unsecured high-quality manpower and safety accident is pretty huge. This study proposes the built-in-guide type robotic building maintenance system using additional module such as guidance mullion to the facade. In addition, To enhance the safety and efficiency of the system, herein, the strategy is proposed for localization algorithm to the position control of the robot.