• 반도체디스플레이기술학회지
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• 제18권3호
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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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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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.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2014년도 추계학술대회
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• pp.899-901
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• 2014

본 논문은 청소용 로봇의 전방향 주행이 가능하도록 하기위한 새로운 구동장치를 제안하였다. 제안된 구조는 2차 평면에서 3자유도 모션제어가 가능하고 잉여도를 갖지 않는 세게의 상호작용 엑츄에이터로 구성하였다. 또한, 로봇의 운동메카니즘을 해석하기 위하여 전방위 구동장치의 기구학을 해석하였으며 구동 메카니즘을 제안하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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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.

• 한국정보통신학회논문지
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• 제20권2호
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• pp.385-393
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• 2016

본 논문에서는 선체 청소로봇의 자동화를 위한 새로운 위치추정 방법을 제안하였으며, 제안한 위치추정 방법을 실제 선체 청소로봇에 적용 가능성을 평가하기 위해 동일한 주행방법을 가지는 소형로봇에 적용하여 위치추정 실험을 수행하였다. 위치추정 실험을 통해 광 변위센서를 사용한 위치추정 방법이 회전 엔코더를 사용한 방법보다 더 정확하게 위치를 추정하는 것을 확인하였으며, 더불어 제안한 위치추정 방법을 통해 로봇 주행방향 또한 기존의 회전 엔코더 방식보다 정확하게 계산되는 것을 확인하였다. 이후의 연구에서 제안한 위치추정 방법에 오차보정을 위한 센서를 추가하여 위치추정 정확도를 보완하고, 이를 실제 선체 청소로봇에 적용하여 사용할 계획이다.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2012년도 추계 학술논문 발표대회
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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.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2011년도 추계 학술논문 발표대회
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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.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2012년도 춘계 학술논문 발표대회
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.293-294
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• 2012

• Journal of Advanced Marine Engineering and Technology
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• 제37권4호
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• pp.391-398
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• 2013

선체 청소를 통해 선박에서 소비되는 연료량을 감소시킬 수 있으며 최근에는 이러한 작업을 산업용 로봇을 사용하여 수행한다. 선체를 청소하는 로봇에 있어서 안정적으로 선체에 부착되어 주행하는 것이 가장 중요하므로 본 연구에서는 안정적으로 선체 청소로봇을 구동할 수 있는 주행 제어시스템을 개발하였다. 이와 더불어 보다 편리하게 로봇을 운용할 수 있도록 주행 제어시스템에 작업자의 편의를 반영하여 주행 제어시스템을 구성하였다. 개발된 주행 제어시스템의 주행 제어성능과 편의성은 선체와 동일하게 제작된 구조물에서 실험을 통해 입증하였다.