Wall Shape Recognition Using Limit Switch Module

Abstract

We have researched a gondola typed robot system for building façade maintenance. Its main application is to paint on building façade. To apply a robot system to the painting tool, recognition of building wall shape should be preceded. In this paper, we proposed a limit switch module as a mechanical sensor method. As experiments, we applied the proposed module to window and obstacle on wall with attitude reference sensor (ARS) and laser height sensor (distance sensor).