Façade cleaning of high-rise buildings requires automation due to the risk and inefficiency of a fall accident for human workers. Recently, due to the need for automation, various types of façade cleaning robots have been developed. In our previous study, the gondola-mounted type cleaning robot was developed, and it showed several issues. In this article, we propose an improved design feature to solve the issues. First, we modularized the robot design for lightweight and maintainability. Second, we implemented passive obstacle overcoming mechanism with tri-star wheel and compliant manipulator for minimizing uncleaned area near obstacles. Third, we developed the position sensing device for measurement and compensation of lateral disturbance occurred by swinging gondola. To verify the cleaning performance of the robot, experiments were conducted with different scenarios of cleaning general plane surface, obstacle overcoming, and lateral disturbance applied and compensated. Experimental results of both lab test and field-test performed on a real-world building were analyzed and summarized in this article.

中文翻译：

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贡多拉上配备操纵和传感装置的Fa莽ade清洁机器人


由于工人坠落事故的风险和效率低下，高层建筑的外墙清洁需要自动化。近年来，由于自动化的需要，开发了各种类型的外墙清洁机器人。在我们之前的研究中，开发了吊篮式清洁机器人，它表现出了几个问题。在本文中，我们提出了一种改进的设计功能来解决这些问题。首先，我们将机器人设计模块化，以实现轻量化和可维护性。其次，我们采用了三星轮和柔性机械臂的被动越障机制，以最大限度地减少障碍物附近的未清洁区域。第三，我们开发了位置传感装置，用于测量和补偿摆动吊篮产生的侧向扰动。为了验证机器人的清洁性能，在清洁一般平面、克服障碍、施加横向扰动和补偿等不同场景下进行了实验。本文对实验室测试和在真实建筑上进行的现场测试的实验结果进行了分析和总结。