KR-102963015-B1 - Robot for monitoring building outer wall

KR102963015B1KR 102963015 B1KR102963015 B1KR 102963015B1KR-102963015-B1

Abstract

The present invention provides a building exterior wall monitoring robot. The building exterior wall monitoring robot according to the present invention is characterized by providing a structure in which the main body frame is connected to and supported by a robot connection wire fixed to the top of the building, and the main body frame is subjected to downward and rearward pressure by a horizontally positioned propeller unit and a vertically positioned propeller unit installed on the main body frame, thereby maintaining the current position of the main body frame in the up-down and left-right directions, so as to be able to accurately and precisely monitor the building exterior wall while maintaining its position even in strong external winds, and thus effectively apply to the monitoring of exterior wall defects of super high-rise buildings.

Inventors

김대건
김은석

Assignees

동서대학교 산학협력단
주식회사 지인이모션

Dates

Publication Date: 20260511
Application Date: 20230105

Claims (3)

A robot connecting wire (100) fixed to the top of the building so as to be horizontally movable; A main body frame (200) that is coupled to the robot connecting wire (100) and supported in a position in the air, moves along the outer wall of a building, and is formed in a shape structure in which a plurality of bars are connected to form a rectangular skeletal frame; A moving wheel (300) installed on the inner rear portion of the main body frame (200) and moving the main body frame (200) up and down while in close contact with the building's outer wall; A wheel drive unit (400) fixed to the main body frame (200) and connected to the moving wheel (300), and inducing rotation of the moving wheel (300); A horizontally positioned propeller unit (500) composed of a central horizontal propeller (510) horizontally positioned at the center of the upper portion of the main body frame (200) and an outer horizontal propeller (520) symmetrically positioned at the edge portion of the upper portion of the main body frame (200), and inducing downward pressure and upward/downward movement on the main body frame (200), while inducing the maintenance of the current upward/downward position of the main body frame (200) through the downward pressure applied to the main body frame (200); A vertically positioned propeller unit (600) composed of vertical propellers (610) arranged vertically and horizontally symmetrically on the outer front portion of the main body frame (200), which induce rearward pressure application and forward/backward movement of the main body frame (200), and induce the maintenance of the current position of the main body frame (200) in the left/right direction through the application of rearward pressure to the main body frame (200); An exterior wall monitoring sensor unit (700) disposed on the inner rear portion of the main body frame (200) and collecting building exterior wall condition information; A building exterior wall monitoring robot characterized by a configuration that enables monitoring of building surface defects, comprising: a control unit (800) that receives building exterior wall status information from the exterior wall monitoring sensor unit (700), stores it internally or transmits it externally, and controls the operation of the wheel drive unit (400), horizontally positioned propeller unit (500), and vertically positioned propeller unit (600).
In Article 1, It further includes an outer wall recognition pressure sensor (900) that is installed to protrude backward from the inner rear portion of the main body frame (200) and senses a pressure value resulting from contact with the outer wall of a building. A building exterior wall monitoring robot characterized in that the control unit (800) executes a building exterior wall proximity mode in which building exterior wall status information is collected by activating the exterior wall monitoring sensor unit (700) when the pressure value input from the exterior wall recognition pressure sensor (900) is greater than or equal to a reference value, and executes a building exterior wall departure mode in which the exterior wall monitoring sensor unit (700) is deactivated when the pressure value input from the exterior wall recognition pressure sensor (900) is less than the reference value.
In Article 1, The above control unit (800) is, A position detection sensor (810) installed on the main body frame (200) to detect the current position information of the outer wall monitoring sensor unit (700) in real time; An exterior wall area information setting module (820) in which location information of the entire area of the building exterior wall is input and stored; A building exterior wall state information storage module (830) that calculates and stores location information linked to building exterior wall state information, wherein the exterior wall monitoring sensor unit (700) and the location detection sensor (810) are connected, and the building exterior wall state information collected in real time by the exterior wall monitoring sensor unit (700) and the current location information of the exterior wall monitoring sensor unit (700) detected in real time by the location detection sensor (810); A sensing target area calculation module (840) that calculates in real time a sensing target area by removing the area where the building exterior wall status information linked to the above location information is calculated from the entire area of the building exterior wall; A building exterior wall monitoring robot characterized by comprising: a drive control module (850) that receives a sensing target area in real time from the sensing target area calculation module (840), calculates a robot movement path for the sensing target area in real time, and controls the operation of the wheel drive unit (400), horizontally positioned propeller unit (500), and vertically positioned propeller unit (600) according to the calculated robot movement path.

Description

Robot for monitoring building outer wall The present invention relates to a building exterior wall monitoring robot, and more specifically, to a building exterior wall monitoring robot that can be effectively applied to the monitoring of exterior wall defects of super high-rise buildings by providing a structure in which the main body frame is connected to and supported by a robot connection wire fixed to the top of the building, and the main body frame is subjected to downward and rearward pressure by a horizontally positioned propeller unit and a vertically positioned propeller unit installed on the main body frame, thereby maintaining the main body frame's current position in the up-down and left-right directions, and thus enabling accurate and precise monitoring of the building exterior wall while maintaining its position even in strong external winds. Generally, concrete buildings are constructed by filling a framework of reinforcing steel, which possesses excellent tensile strength, with concrete, which offers superior durability and compressive strength. In other words, reinforced concrete structures are a structural method that rationally complements the inherent characteristics of each material by combining concrete, which is strong in compression, with reinforcing steel, which is strong in tension. Because the alkaline nature of concrete forms a passivation film on the reinforcing steel to inhibit corrosion, it is an excellent structural method capable of maintaining a durability of over 100 years. Although concrete buildings are efficient construction materials that rationally combine the characteristics of each material, their structural integrity is currently being threatened by the intensification of air pollution caused by global warming and the resulting environmental changes. Due to frequent acid rain, intensified atmospheric temperature fluctuations, increased air pollutants, and the aftereffects of vibrations from redevelopment projects, concrete buildings are rapidly aging or being affected by deterioration, leading to a weakening of their durability. The aging of concrete buildings not only causes coating peeling but also accelerates deterioration, which can lead to cracking; once cracks form, they grow and propagate rapidly. Conventional exterior wall repair methods involved workers injecting repair agents while suspended from ropes only when cracks grew large enough to be visually identified or when internal leaks occurred. However, manual repair work always carried a constant risk of falling, and the manual nature of the task prevented the expectation of construction efficiency beyond a certain level. Furthermore, since crack detection relied on visual inspection, cracks had already grown to a significant size by the time maintenance was performed, leaving the method insufficient as a fundamental solution for extending the building's lifespan. Therefore, there is an urgent need for a new crack maintenance method that can prevent the risk of falling for building exterior wall maintenance workers, significantly improve work efficiency, and extend the lifespan of a building by maintaining the building exterior wall at the early stages of crack formation. To achieve this, accurate and precise building exterior wall monitoring technology is required. FIG. 1 is a basic configuration block diagram of a building exterior wall monitoring robot according to an embodiment of the present invention; FIG. 2 is an external view of a building exterior wall monitoring robot according to an embodiment of the present invention; FIG. 3(a) is a drawing for showing the vertical movement of a building exterior wall monitoring robot according to an embodiment of the present invention; FIG. 3(b) is a drawing for showing the left and right movement of a building exterior wall monitoring robot according to an embodiment of the present invention; FIG. 4 is a drawing for showing the propeller arrangement structure of an up-and-down thruster according to an embodiment of the present invention; FIG. 5 is a drawing for showing the propeller arrangement structure of a forward and backward moving thruster according to an embodiment of the present invention; FIG. 6 is a detailed block diagram of a control unit according to an embodiment of the present invention. Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. Meanwhile, in the drawings and detailed description, the illustration and mention of configurations and operations that are easily understood by those skilled in the art have been simplified or omitted. In particular, in the drawings and detailed description, detailed descriptions and illustrations of specific technical configurations and operations of elements not directly related to the technical features of the present invention have been omitted, and only the technical configurations related to the present invention have been briefly illus