• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1612-1616
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• 2005

In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of the self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulator, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and HMR. Finally, the good performance of the designed HMR is confirmed through the results of the mess clean-up and arrangement.

• Journal of the Semiconductor & Display Technology
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• v.18 no.3
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• pp.144-149
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• 2019

This paper describes the results of a study on the unmanned maintenance robot that simultaneously performs the cleaning and inspection of the photovoltaic panels. The robot has a special adsorptive device, an infrared sensor, a vacuum level sensor and a camera. The robot uses two SSC (Sliding Suction Cup) adsorptive devices to move up and down the slope. First, the forces generated when the robot moves up the slope are mechanically analyzed, and the required design and control of the adsorption system are suggested. The robot was designed and manufactured to operate stably by using the presented results. Next, the normal force between the panel and the wheel was measured to confirm that the robot was manufactured and operated as intended, and the robot motion was tested on the inclined panel. It has been proven that robots are well designed and built to clean and inspect sloped panels.

• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.252-254
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• 2005

Completer coverage path planning requires the robot path to cover every part of the workspace, which is an essential issue in cleaning robots and many other robotic applications such as vacuum robots and painter robots. In this paper, a novel Water Flowing Algorithm (WFA) is proposed for cleaning robots to complete coverage path planning in unknown environment without obstacles. The robot covers the whole workspace just like that water fills up a container. First the robot goes to the lowest point in the workspace just like water flows to the bottom of the container. At last the robot will come to highest point in the workspace just like water overflows from the container and simultaneously the robot has covered the whole workspace. The computer simulation results show that the proposed algorithm enable the robot to plan complete coverage paths.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.899-901
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• 2014

This paper presents design of a cleaning robot with an omni-directional mobility. The cleaning robot driven with three wheels has been developed and Those omni-wheels enable the robot to move in any directions so that lateral movement is possible. Three wheels mechanism using ball-type tire has been developed to realize a holonomic omni-diredctional robot.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2019-2023
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• 2005

In this paper, an autonomous omni directional cleaning robot which recognizes an obstacle and a battery charger is introduced. It utilizes a robot vision, ultra sonic sensors, and infrared sensors information along with appropriate algorithm. Three omni-directional wheels make the robot move any direction, enabling a faster maneuvering than a simple track typed robot. The robot system transfers command and image data through Blue-tooth wireless modules to be operated in a remote place. The robot vision associated with sensor data makes the robot proceed in an autonomous behavior. An autonomous battery charger searching is implemented by using a map-building which results in overcoming the error due to the slip on the wheels, and camera and sensor information.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.2
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• pp.385-393
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• 2016

This paper presents the new position estimation method which contains the optical displacement sensor and the dead reckoning based position estimation algorithm for automation of hull cleaning robot. To evaluate feasibility of the proposed position estimation method on the hull cleaning robot, it was applied on the small scale robot model which has an identical drive method with the hull cleaning robot and then a set of the position estimation experiments were performed. The experimental results of the position estimation demonstrate that the estimated results with the optical displacement sensors is more accurate than used rotary encoder method. In addition, it continuously calculated the robot position quite close to the real robot driving path. In a follow-up study, the proposed position estimation method will be complemented and exploited on the actual hull cleaning robot by adding additional sensor modules that correct measurement errors.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2012.11a
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• pp.185-187
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• 2012

Recently increasing high-rise building cleaning on the exterior walls of high-rise buildings, there has been increased interest. Building exterior cleaning is cleaned by a cleaning robot and how to clean the exterior walls of the building and exterior glass cleaned by personnel. Number of stories in the building increases, being carried out by personnel cleaning the outer wall as there is a limit order to overcome this method. therefor, this study is a new exterior wall cleaning device has been proposed.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2011.11a
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• pp.197-198
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• 2011

Most of buildings' exterior walls are curtain wall systems and in the respect, the cleaning robot system is the main research item for cleaning and maintenance of them. We have structurely analysed the cases to review on the structural stability of the mullion members where the cleaning robot is attached. The result is showing that the largest stress is formed by the basic wind speed, which is specified in Korean Building Code-Structural.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2012.05a
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• pp.157-159
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• 2012

In recent years, the number of high-rise buildings has been on the rise. As buildings have become larger in scale, significantly different issues related to their construction and maintenance have emerged. In addition, the automation and mechanization of the cleaning work for the curtain wall, one of the most frequently-performed tasks in building maintenance, is required as a fundamental measure. For this reason, a guide-rail type cleaning robot system is emerging as one of the measures in response to external factors, including gust. The major objective of this study is to propose an economic feasibility forecasting model and to apply the a building facade cleaning robot which is now under development.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.293-294
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• 2012