The Study on the Integrated Control System for Curtain Wall Building Cleaning Robot

Abstract

-The industry's interest in building façade maintenance is rising with the growing number of new high-rise buildings in the metropolises. The conventional method of cleaning the façade of highrise buildings relies on the use of ropes, gondolas, and the winch system involving human labor. Recently the building maintenance unit (BMU) has been developed and has been applied to building maintenance to prevent safety accidents and to ensure high work efficiency. Diverse robot systems are being applied to building maintenance globally, including in Germany, the United States, and France. In South Korea, the built-in guided robot system was developed. This paper deals with an integrated control system of builtin guided robot system to ensure consistent and stable control. This control system is considered its unique characteristics as a building façade cleaning work. The integrated control system proposed in this paper performs cleaning work in three steps: preparation, cleaning, and return to the initial position, with each module consisting of the robot system performing its task sequentially and independently at each step. In addition, the robot system makes up a network composed mainly of VMR to ensure smooth and stable communication among the different modules. The integrated control system proposed in this paper was applied to the built-in guided robot system for performance verification.

Tradeoff Between Area Coverage and Energy Usage of a Self-Reconfigurable Floor Cleaning Robot Based on User Preference

“…The center of the area method is used for the defuzzification of the two outputs. Thus, the defuzzified output could be obtained as in (5).…”

“…handle diverse cleaning activities, including floor cleaning [3], staircase cleaning [4], facade cleaning [5], and garden cleaning [6].…”

Discussion on Structure Design and Optimization of Building Curtain Wall

“…Under the premise that the calculation accuracy is satisfied, the machine time is shortened as much as possible, and the operation efficiency is improved. As mentioned above, according to the characteristics of the point supported glass curtain wall structure system, finite element analysis model with steel structure glass plate beam element and shell element as the basic element is established, and the reasonable connection and boundary conditions between structures are rationally simulated [4]. In addition, the division grid is considered and determined, and a finite element method analysis model for two schemes is established, shown in Figure 1 and Figure 2, respectively.…”