Building facade cleaning robot

Building facade cleaning robot with center-of-gravity control via shifting rope tension points

This technology features a facade cleaning robot that controls its center of gravity by shifting the point of application of rope tension. It utilizes an LM guide installed on the upper part of the robot body, along which a moving unit travels, allowing the robot to selectively lift specific wheels away from the wall surface when navigating obstacles.

Existing wheel-based robots require wheels larger than the obstacles themselves, propeller-based models suffer from complex control and low energy efficiency, and legged robots are hindered by slow speeds and poor efficiency.

This technology uses a moving unit equipped with an LM guide and ball screw to physically shift the tension application point, while obstacle detection sensors and a control unit adjust the relative position to lift specific wheels. Applicable to high-rise building facade cleaning and painting, it ensures operational continuity by easily clearing protruding obstacles like window frames.

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Key Features:

• A robot body of a predetermined weight that hangs from a rope to clean building facades
• An LM guide of a predetermined length coupled to the robot body, serving as the travel path for the moving unit
• A moving unit connected to the rope that travels along the LM guide to shift the point of application of the rope's tension
• A control unit that adjusts the relative position of the tension application point with respect to the center of gravity based on the height of the obstacle

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This invention was developed with support from the Ministry of Science and ICT for the development of AI-based adaptive control algorithms for various types of facade cleaning robots.