The Sirius Robot Platform for Tool Handling on Large Vertical Surfaces

Hortig, Justus; Elkmann, Norbert; Felsch, Torsten; Sack, M.; Böhme, T.

doi:10.22260/isarc2001/0035

Cited by 2 publications

(1 citation statement)

References 2 publications

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“…Several studies are being conducted on ways of automating the process of providing curtain wall care, such as the building maintenance robot (BMR). Several research institutes and companies, including Nihon Bisoh in Japan and Fraunhofer IPA in Germany, are experimenting with the potential application of building maintenance robots for cleaning external wall glasses [2,3]. Those robots, however, simply clean the glasses with a constant pace, without paying attention to the varying extent of contamination of the glass surfaces, which again makes it necessary for human staff to check the cleanness of the glass surfaces after the cleaning as the robots are unable to determine their status.…”

Section: Introductionmentioning

confidence: 99%

Development of a Sensor System for Detecting Window Contamination for the Building Maintenance Robot System

Lee¹,

Kim²,

Lee³

et al. 2016

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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Because of the increasing number of high-rise buildings and large glass facades and the resulting problem of safe and effective maintenance, many studies have been going on progress to develop automated window cleaning systems in the last few years. But the research has not been going on progress to make decision the additional cleaning through the diagnosis of contaminant degree on outer window before or after cleaning. So, the sensor system is proposed to measure the contamination of building's outer-window in this paper. To check the cleaning performance of the window, it is mounted on a Building Maintenance Robot (BMR) which is automated window cleaning system. For detecting the contaminant level of outer window, the sensor module using the IR sensor is proposed. In order to apply the proposed sensor module to BMR system, the mechanism for the horizontal or vertical movement of the sensor module is designed. To improve the diagnostic accuracy of contaminant level, The Algorithm for position control using the proximity sensor is developed to keep a certain distance between sensor and window at the horizontal mechanism. A method detecting the contaminant level is verified by lab test. To validate the mechanism of the proposed sensor module, the field test is executed with the BMR system equipped with the sensor module.

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Section: Introductionmentioning

confidence: 99%