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The study on the integrated control system for curtain wall building facade cleaning robot

机译：幕墙建筑立面清洗机器人集成控制系统的研究

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摘要

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.
机译：最近，随着城市中越来越多的高层建筑，人们对建筑物外墙维护的兴趣日益增加。现有的清洁高层建筑外墙的方法取决于使用绳索，吊船和绞车系统的工人的方法。然而，最近，BMU（建筑物维护单元）已经开发并应用于解决安全问题并提高工作效率。在德国，美国，法国和其他国家/地区，正在应用各种类型的机器人系统进行建筑立面维护。在韩国，还开发了带有幕墙的外墙清洁机器人。在本文中，我们提出了一种集成控制系统，用于通过建筑物外墙清洁技术稳定控制机器人。所提出的控制系统可以分为三个阶段，例如准备阶段，清洁阶段和返回阶段。每个独立的机器人系统根据每个阶段执行诸如清洁，移动和障碍物检测之类的任务。提出了一种用于机器人之间稳定通信的无线通信系统，并将其应用于控制机器人系统。所提出的集成控制系统被应用于建筑物外墙清洁机器人，并且与现有高层建筑清洁方法相比，其效率得到了验证。

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