• Proceedings of the Korean Institute of Building Construction Conference
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• 2018.11a
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• pp.138-139
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• 2018

The purpose of this study is to analyze the work of the existing manpower dependent cleaning method by investigating the window cleaning site. In this study, detailed work contents were confirmed by on-site investigation and interview with experts, and the relationship, procedure, repetition work, and time required for each work were analyzed. The future analysis results will be used as a basic data for comparative analysis of productivity and economical efficiency with the window cleaning device to be developed.

• Journal of the Korea Institute of Building Construction
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• v.20 no.6
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• pp.537-543
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• 2020

The window cleaning works are manpower-dependent and are performed in an unstable posture at high altitude, so that there is a risk of falling. Therefore, there is an urgent need to improve the safety of workers. In this study, a conceptual design was proposed for the cleaning of exterior windows of a building, and the economic feasibility of the proposed conceptual model was analyzed. The proposed model is designed to avoid protrusions such as window frames, and to be able to respond even if the shapes of the upper and lower parts are different. As a result of analyzing the economic feasibility of the designed conceptual model, the benefit cost ratio was 4.48, which was significantly higher than 1. Therefore, the economic feasibility of the proposed window cleaning device is expected to be sufficient. The results analyzed in this paper will be used in the development and marketing of the window cleaning device.

• Archives of design research
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• v.18 no.2 s.60
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• pp.155-164
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• 2005

Home-service robots need to have sufficient spatial information about the surroundings for interacting with human intelligently and performing services efficiently. It is very important to investigate the efficient interaction style that supports map building task through human-robot collaboration. We first analyzed map building task with a cleaning robot and drew 4 design factors and tentative solutions, including map building procedure (task-preferred procedure/space- preferred procedure), LCD display installation (robot/robot+remote control), navigation method (push type/pull type), feedback modality(GUI/GUI+TTS). The design factors and tentative solutions were defined as independent variables and levels. This research investigated how those variables affect to the human task performance and behavior in map building tast. 8 kinds of experiment prototypes were built and usability test among 16 house wives was conducted for acquiring empirical data. As the experiment result, in terms of map building procedure, space-preferred procedure indicated better task performance than task-proffered procedure as we expected. For the LCD display installation factor, remote control with LCD display indicated higher task performance and subjective satisfaction. In robot navigation method, it was very difficult to find a significant difference between push type and pull type which contrary to our expectation. In fact, push type indicated higher subjective satisfaction. Also in feedback modality, we have acquired negative feedback an additional TTS operation guidance. It seems that robot's autonomy before achieving spatial information is rudiment condition which means users are just interacting with a mobile appliance. Thus they prefer remote-control-based interaction style in robot map building process as they used in traditional appliance control.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.255-262
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• 2011

Many intelligent robots have to be given environmental information to perform tasks. In this paper an intelligent robot, that is, a cleaning robot used a sensor fusing method of two sensors: LRF and StarGazer, and then was able to obtain the information. Throughout wall following using laser displacement sensor, LRF, the working area is built during the robot turn one cycle around the area. After the process of wall following, a path planning which is able to execute the work effectively is established using flow network algorithm. This paper describes an algorithm for minimal turning complete coverage path planning for intelligent robots. This algorithm divides the whole working area by cellular decomposition, and then provides the path planning among the cells employing flow networks. It also provides specific path planning inside each cell guaranteeing the minimal turning of the robots. The proposed algorithm is applied to two different working areas, and verified that it is an optimal path planning method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.452-455
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• 2017

As the number of high - rise buildings has increased recently, this research society has become interested in the method of cleaning the external wall required. When cleaning these areas, an accident occurs every year when a person uses dangerous manual labor using a gondola. The main goal of this work is to enable people to manipulate the robot with simple operation without dangerous manual operation when working in a vertical structure. As the altitude increases, the concept of the mechanism attaching to the vertical structure while enduring the external resistance in the increase of the wind strength is applied, and the additional attachment device is attached to the end of the leg based on the existing four- According to the control, the development result of the robot having the function of detachable to the glass is presented.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.4
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• pp.390-396
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• 2013

Due to the development of technology, there is a considerable increase in the number of skyscrapers in the world. Accordingly, there are rapid growing requests about maintenances such as cleaning, painting, and inspection. However, it is extremely dangerous working the walls of buildings, and crashes from buildings have accounted for large proportion of constructional accidents. Especially, as the number of buildings with irregular shapes increases, the accident rate during the maintenance work increases each year, and most of the accidents lead to death. An alternative solution must be developed with the commercialization of automatic systems. In this research, a fundamental research has been conducted for drafting and commercializing an automation tool that is carried in the built-in guide system, which can perform cleaning.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.785-798
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• 2004

This paper introduces the development of a range sensor based integrated navigation system for a multi-functional indoor service robot, called PSR (Public Service Robot System). The proposed navigation system includes hardware integration for sensors and actuators, the development of crucial navigation algorithms like mapping, localization, and path planning, and planning scheme such as error/fault handling. Major advantages of the proposed system are as follows: 1) A range sensor based generalized navigation system. 2) No need for the modification of environments. 3) Intelligent navigation-related components. 4) Framework supporting the selection of multiple behaviors and error/fault handling schemes. Experimental results are presented in order to show the feasibility of the proposed navigation system. The result of this research has been successfully applied to our three service robots in a variety of task domains including a delivery, a patrol, a guide, and a floor cleaning task.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.12
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• pp.612-618
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• 2020

In recent years, the demand for external window cleaning has increased, but the process is a very dangerous manpower-dependent operation. In addition, it is difficult to clean at the desired frequency in a business that values cleanliness. Therefore, there is a need to automate this work. This paper presents the concept of a device that can be attached to a specific window and clean the window continuously. The economic feasibility of this device was analyzed. The estimated manufacturing cost of the equipment was approximately 10 million won, but the possible investment cost was at least 9.8 million won for five years of endurance and 103 million won for 10 years of endurance. Therefore, the expected savings well exceed the equipment cost, and it was evaluated as having economic feasibility. Since this study analyzed only quantitative indicators, the expected cost reduction due to a reduction in safety accidents, productivity improvement, construction time reduction, and quality improvement was not considered. Therefore, it is expected that the calculated economic feasibility will be more accurate if the cost reduction effect by the automation equipment is calculated by adding the expected values not considered in this study.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.259-260
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• 2007

본 논문은 건물 외면의 유리창 청소로봇에 관한 것으로, 더욱 세부적으로는 청소 시스템을 갖춘 로봇을 사람이 닦기 힘들거나 위험한 고층건물이나 아파트 둥의 실외 유리창에 흡착시켜 청소로봇을 이용하여 실외 유리창을 자동으로 닦을 수 있게 하는 건물 외면의 유리창 청소로봇에 관한 것이다. 진공펌프를 사용하여 유리창에 안정적으로 흡착할 수 있도록 하였고, 블루투스를 이용하여 무선 조종이 가능하도록 하여 사용자가 원거리에서 로봇의 청소를 제어할 수 있도록 하였다.

• Korean small business review
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• v.43 no.2
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• pp.59-86
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• 2021

The platform concept has been used for business operations in various forms: product platforms, transaction platforms and industry platforms. All these platforms have common characteristics of having 'core' that is reused frequently and 'peripherals' that are less reusable and changed often. Companies use platforms to enable efficient development and creation of product family, transactions and innovation. These platforms provide new opportunities for many small and medium-sized companies (SMEs) by bringing changes to traditional industrial structures focused on the products rather than platforms. The service robotics industry in South Korea is mainly composed of technology-intensive SMEs due to its small market size. Although these SMEs succeed in developing technologies, they have difficulties creating and expanding markets to sell products. Thus, this study addresses the characteristics and problems of the South Korean service robotics industry and analyses how ROBOPRINT, one of the SMEs in the service robotics industry, successfully creates and continuously expands the service robot market by adopting platform concept. The results indicate that ROBOPRINT has been applying two types of platforms: product and transaction platforms. First, ROBOPRINT created art robots that were apartment mural service robots. Rather than selling art robots, the company developed various robots such as painting robots, building exterior wall-cleaning robots by reusing the core technology of the robots. The company also developed various robots according to the buyers request. In addition, the company used the robots to directly provide apartment mural services for customers. This mural service has been extended into various areas, not only in apartments but also in soundproof walls, underground passages, and retaining walls. Besides, ROBOPRINT added new services continuously by developing technologies such as virtual reality. Second, ROBOPRINT mediated mural service buyers and mural designers. This platform reduced buyers' workload, which necessitates requesting mural services to ROBOPRINT and searching for mural designers. For designers, this opened up new opportunities to participate in the mural business. The platform attracted both mural buyers and designers who were scattered before. Finally, ROBOPRINT seeks to expand the platform's scope to outside company. To share internally reused ROBOPRINT's technology with other companies, the company participated in Daegu city's 'New Technology Platform Industry'. Furthermore, ROBOPRINT is trying to share the service platform by leasing robots to other companies. This allows external agents to develop technologies and provide services by reusing resources from ROBOPRINT. This study contributes to existing theories by showing that SMEs continuously create and expand markets by building various platforms. Moreover, it provides useful implications for practitioners by describing the firm's specific platform-building strategy.