Journal
AUTOMATION IN CONSTRUCTION
Volume 94, Issue -, Pages 39-46Publisher
ELSEVIER SCIENCE BV
DOI: 10.1016/j.autcon.2017.12.030
Keywords
Curtain wall building cleaning robot; Integrated control system; Built-in guide rail; Building facade cleaning robot
Funding
- Industrial Strategic technology development program - Ministry of Trade, Industry and Energy (MOTIE), KOREA [10052965]
- Smart Civil Infrastructure Research Program - Ministry of Land, Infrastructure and Transport (MOLIT) of Korea government [14SCIP-B079344-01]
- Korea Agency for Infrastructure Technology Advancement(KAIA)
- Korea Evaluation Institute of Industrial Technology (KEIT) [10052965] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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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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