Facade Cleaning Robot

1. Research Topic



Development of a robotic system for façade cleaning
 









 

                                        < Goal of our research >


2. Research Contents



The objective of this study is to develop a robot system that can clean external walls of buildings, which not only have a variety of forms, but also are made from various materials. Since cleaning faces of exterior walls has been done by people who support themselves against the rope, the workers’ safety and work efficiency always have been the big issue. Thus, diverse robots for cleaning external walls have been tried to be developed. However, utilizing the robots in the field always has some limits because it was impossible for them to be adhered to the walls made from various materials, and also to get obstacles out of the way.
To solve the problems our research is focusing on development of the new type climbing robot platform for exterior walls with innovative cleaning unit.


1. Previous work

 














         < Prototype of façade cleaning robot >

The robot platform driven on the rope installed walls by supporting itself against the rope is developed. This robot platform can move on the exterior walls made from various materials, such as, glass, concrete, marble, and aluminum panels, and also has a fascinating feature that the robot can get obstacles, which have deviation of less than 100mm on the walls, such as, windows frame, and stepped surface, out of the way. The size of robot platform is 1440×878×918(length×width×height), and its weight is 75kgf. In addition, it can climb the wall by the speed of 15m/min with maximum 20kgf’s payload.
The exterior wall cleaning unit loaded on the robot platform, possible to clean windows, is developed. The clean unit can clean 1.5m’s width of windows at a time with the speed of 200m2/hour by the rags with diatomite. The size of clean unit is 1500×300×400 (length×width×height), and its weight is 17kgf. The robot can move and clean windows with cleaning unit on the walls simultaneously even though the robot platform’s motion exists because the contact force between cleaning unit and wall surface is controlled to be sustained within the certain range by force feedback control algorithm.




                                            < Moving of façade cleaning robot >





                               < Cleaning work of façade cleaning robot (2x) >



2. Present work

For the façade cleaning robot, our research is focusing on the following issues.
 
A. Stability analysis of façade cleaning robot while the robot go over various obstacles.
B. Hybrid force/position control of cleaning unit for façade cleaning robot.


3. Publication



• Kunchan Seo, Sunme Cho, Taegyun Kim, Jongwon Kim, Hwa Soo Kim "Design and stability analysis of a novel wall-climbing robotic platform (ROPE RIDE)" MECHANISM AND MACHINE THEORY70189-208  2013 [PDF]

• 서근찬, 박준환, 조선미, 김태균, #김종원 "로프 등강기를 구비한 등반로봇의 설계" 한국정밀공학회 2011 추계학술대회  2011 [PDF]

• Hwang Kim, Dongmok Kim, Hojoon Yang, Kyouhee Lee, Kunchan Seo, Doyoung Chang, Prof. Jongwon Kim "Development of a wall-climbing robot using a tracked wheel mechanism" KSME International Journal 221490-1498  2008 [PDF]

• 김태균, 전영재, 김종원, 김화수 "외벽등반 로봇 플랫폼을 위한 청소유닛의 설계 및 기능 검증" ICROS 2014Daegu  30 5. 2014 [PDF]

• 전영재, 김화수, 김태균, 배장호, 김종원 "벽면 등반 로봇 플랫폼을 위한 도장유닛의 설계" 한국정밀공학회Changwon  31 10 2014 [PDF]

• 김태균, 김화수, 전영재, 김제혁, 김종원 "모듈형 외벽 등반 로봇 플랫폼의 설계" 한국정밀공학회Changwon  31 10 2014 [PDF]

• Taegyun Kim, Kunchan Seo, Jongwon Kim, HwaSoo Kim "Adaptive Impedance Control of a Cleaning Unit for a Novel Wall-Climbing Mobile Robotic Platform (ROPE RIDE)" AIM 2014Besancon  11 07 2014 [PDF]

• 조선미, 서근찬, 김태균, 김종원, 김화수 "삼각트랙이 장착된 외벽 등반로봇 플랫폼의 기구학 해석" 한국정밀공학회 2012년도 춘계 학술 대회Jeju  12 2012 [PDF]

• 김태균, 서근찬, 조선미, 김종원, 김화수 "수직벽면을 등반하는 로봇 플랫폼을 위한 청소유닛의 설계" 한국정밀공학회 2012년도 춘계 학술 대회Jeju  12 2012 [PDF]

• 김황, 서근찬, 박준환, 김종원, 김홍석 "벽면간 전환 능력을 가진 다관절 등반로봇의 설계" 한국정밀공학회  06 06 2011 [PDF]

• Hwang Kim, Kunchan Seo, Jongwon Kim, Hongseok Kim "Design of tracked wheel mechanism for wall climbing robot" 한국정밀공학회  0. 10 2010 [PDF]

• H. Kim, K. Seo, K. Lee, J. Kim and H.S. Kim "Development of a multi-body wall climbing robot with tracked wheel mechanism" 13th International conference on Climbing and Walking Robots and the Support Technologies for Mobile MachinesNagoya  9. 09 2010 [PDF]

• 서근찬, 이경훈, 김종원 "Optimal Design of a vacuum adhesive unit capable of attaching to the irregular surface by using Taguchi methodology" 한국정밀공학회  1. 11 2008 [PDF]

• 서근찬, 이경훈, 김종원 "Optimal Design of a vacuum adhesive unit capable of attaching to the irregular surface by using Taguchi methodology" 한국 정밀공학회 2008 추계 학술대회  1. 11 2008 [PDF]

• 서근찬, 장도영, 이경훈, 김황, 이규희, 남우철, 김종원 "불규칙한 수직 벽면 등반로봇용 흡착유닛의 설계" 한국정밀공학회  1. 11 2007 [PDF]

• 서근찬, 장도영, 이경훈, 김황, 이규희, 남우철, 김종원 "불규칙한 수직 벽면 등반로봇용 흡착유닛의 설계" 한국정밀공학회 2007년도 추계학술대회 논문집  1. 11 2007 [PDF]

• 이규희, 김황, 남우철, 서근찬, 장도영, 이경훈, 김종원 "변형 가능한 무한궤도 휠 메카니즘을 이용한 등반로봇 로봇플랫폼의 설계와 시뮬레이션" 한국정밀공학회 2007년도 추계학술대회 논문집  1. 11 2007 [PDF]

• "Hwang Kim, Dongmok Kim, Hojoon Yang, Kyouhee Lee, Kunchan Seo, Doyoung Chang and Jongwon "A wall climbing robot with vacuum caterpillar wheel system operated by mechanical valve" International comference on climbing and walking robots  9. 09 2006 [PDF]

• Hwang Kim, Dongmok Kim, Hojoon Yang, Kyouhee Lee, Kunchan Seo, Doyoung Chang and Jongwon "A wall climbing robot with vacuum caterpillar wheel system operated by mechanical valve" International comference on climbing and walking robots  9. 09 2006 [PDF]

• 김황, 김동목, 양호준, 이규희, 서근찬, 장도영, 김종원 "흡착 캐터필러 시스템을 이용한 수직평면 등반로봇 기구부의 개발" 한국정밀공학회  5. 05 2006 [PDF]

• 김황, 김동목, 양호준, 이규희, 서근찬, 장도영, 김종원 "흡착 캐터필러 시스템을 이용한 수직평면 등반로봇 기구부의 개발" 한국정밀공학회 2006년도 춘계학술대회 논문집  5. 05 2006 [PDF]

• 김종원, 김황, 이규희, 남우철, 서근찬, 장도영, 이경훈 "등반로봇" 제10-2007-0116767  

• 김종원, 서근찬, 장도영, 이경훈, 김황, 이규희, 남우철 "흡착유닛" 제10-2007-0138576  

• 김종원, 김황, 서근찬, 이규희 "인터페이스 유닛과 이를 구비한 등반 로봇" 제10-2009-0004567  

• 김종원, 서근찬, 장도영, 이경훈, 김황, 이규희, 남우철 "흡착유닛" 제10-2009-0124021  

• 김종원, 서근찬, 박준환, 김태균, 조선미 "로프 등강기를 구비한 등반 로봇" 10-2011-0066119  

• 김종원, 서근찬, 장도영, 이경훈, 김황, 이규희, 남우철 "흡착유닛" 제10-2007-0098422  


4. Researcher



Ph.D : Hwang Kim, Kunchan Seo, Taegyun Kim
M. S : Junhwan Park, Sunme Cho