KR101305954B1 - Apparatus and method for grasping position and establishing map of gondola robot through image matching - Google Patents

Abstract

The present invention relates to an apparatus and method for locating and constructing a map through image matching of a gondola robot, and to constructing a map of a building exterior wall while grasping the location of the gondola robot in real time through registration of images taken of the building exterior wall. . The location and map construction apparatus of the gondola robot according to the present invention includes a movement detector, an information acquisition unit, and a controller. The movement detector detects the movement of the length of the rope of the gondola robot, which is hanging on the rope of the rope cart and manages the exterior wall of the building. The information acquisition unit acquires the movement information and the posture information of the gondola robot according to the change in the length of the rope, and acquires the image information of the outer wall of the building at the point where the gondola robot is located. The controller determines the location of the gondola robot based on the obtained movement information and attitude information, and constructs a building exterior wall map by matching the acquired images.

Description

Apparatus and method for grasping position and establishing map of gondola robot through image matching}

The present invention relates to an intelligent robot system for maintenance of a building exterior wall and its operation method, and more particularly, to construct a map of a building exterior wall while grasping the location of a gondola robot in real time through registration of images taken of the building exterior wall. The present invention relates to a device and a method for location determination and map construction through image matching of a gondola robot.

As urbanization proceeds rapidly with the development of industry, various buildings of large scale are entering the center of the city. In addition, with the urbanization, the problem of environmental pollution is also increasing.

For this reason, the exterior walls of buildings exposed to external environments are easily contaminated by dust, rain, smoke, etc., so it is necessary to clean them periodically. The cleaning of the exterior walls of these buildings is performed manually by the janitor descending from the top of the building in a rope or gondola, and there is always a risk of a safety accident such as a fall of the janitor during the cleaning.

To solve these problems, an intelligent robot system for maintenance of exterior walls of various kinds of buildings has been introduced as a substitute for the role of a cleaning unit. Most intelligent robots for exterior wall maintenance introduced in the related art have a problem that the cleaning area is relatively small because the exterior robot of the building is cleaned while being attached to the exterior wall and moving.

In addition, since the intelligent robot for external wall maintenance is provided with a driving unit and a management unit for external wall maintenance, the robot is heavy and has a slow motion, which causes a considerable time for maintenance of the external wall.

In order to solve the problems of the existing intelligent robot for exterior wall maintenance, an object of the present invention is to provide a gondola type gondola robot system that can clean or paint the exterior wall of the building more quickly.

Another object of the present invention is to provide an apparatus and method for locating and constructing a gondola robot capable of constructing a map of the building exterior wall while grasping the location of the gondola robot in real time through registration of images of the exterior wall of the building. .

In order to achieve the above object, the present invention provides a method for locating and mapping a gondola robot, the movement of detecting the movement according to the change in the length of the rope of the gondola robot hanging on the rope of the rope cart to perform the management of the building outer wall Sensing step; An information acquiring step of acquiring movement information and attitude information of the gondola robot according to a change in the length of the rope, and acquiring image information of an outer wall of a building at the point where the gondola robot is located; And identifying the location of the gondola robot based on the obtained movement information and posture information, and identifying the location of the gondola robot by constructing a building exterior wall map by matching the acquired images. Provide a map building method.

In the method of determining the location and map of the gondola robot according to the present invention, the step of determining the location and the map may include: determining the location of the gondola robot based on the obtained movement information and attitude information; Matching the acquired images by correcting a degree of distortion between the acquired images based on the identified positions of the gondola robots; And building an outer wall map of the building using the matched image.

In the method of determining the location of the gondola robot and the map construction method according to the present invention, the step of determining the location of the gondola robot may include: determining an initial position of the gondola robot on an outer wall of the building from the obtained movement information; And correcting the initial position based on the acquired posture information to determine a position on the outer wall of the gondola robot.

In the method for locating and constructing a gondola robot according to the present invention, the locating and constructing a map may include: constructing a building exterior wall map by matching the acquired images; And determining the location of the gondola robot based on the constructed building exterior wall map, the obtained movement information, and the attitude information.

In the method of determining the location and map of the gondola robot according to the present invention, Compensation step of correcting the position of the gondola robot using the constructed map, which is performed after the location and map construction step; And correcting the position of the gondola robot using the acquired posture information and the constructed map. It may further include one of the.

The present invention also provides a device for locating and constructing a gondola robot including a movement detector, an information acquirer, and a controller. The movement detecting unit detects the movement of the length of the rope of the gondola robot hanging on the rope of the rope cart to perform the management of the outer wall of the building. The information acquisition unit acquires the movement information and the attitude information of the gondola robot according to the change in the length of the rope, and obtains the image information of the outer wall of the building where the gondola robot is located. The controller determines the location of the gondola robot based on the obtained movement information and attitude information, and constructs a building exterior wall map by matching the acquired images.

In the device for locating and constructing a gondola robot according to the present invention, the controller constructs a building exterior wall map by matching the acquired images, and constructs the constructed exterior wall map, the acquired movement information, and posture information. Based on the location of the gondola robot can be determined.

In the device for locating and mapping a gondola robot according to the present invention, the controller is configured to correct the position of the gondola robot by using the constructed map, or by using the acquired posture information and the constructed map. The position of the gondola robot can be corrected.

And in the method of determining the location and map of the gondola robot according to the present invention, the information acquisition unit, a movement information acquisition unit for obtaining movement information of the gondola robot according to the change in the length of the rope; A posture information acquisition unit for obtaining posture information of the gondola robot; And an image information acquisition unit for acquiring image information of the outer wall of the building at the point where the gondola robot is located. In this case, the attitude information acquisition unit may include at least one of a tilt sensor, a gyro sensor, and a gravity sensor. The image information acquisition unit may include at least one of a camera array in which a plurality of cameras are arranged, a camera module having a pan tilt module coupled to the camera, and a wide angle camera.

According to the present invention, the positioning and map building device can build a building exterior wall map while grasping the location of the gondola robot in real time through matching of images taken of the building exterior wall. That is, by using the sensor value through the information acquisition unit installed in the gondola robot, the position of the gondola robot can be accurately identified in real time the movement information of the rope connected to the gondola robot and the location of the gondola robot on the building's outer wall. In addition, building exterior wall maps can be constructed through image matching of the exterior walls of the building based on movement and posture information of the gondola robot. In addition, the positioning and map building device may correct the position of the gondola robot by using the matched image as a map.

In addition, the positioning and map building apparatus can accurately identify the location of the gondola robot on the building exterior wall in real time, thereby improving the maintenance efficiency of the exterior wall of the gondola robot. That is, when the location of the gondola robot is not accurately determined when the exterior wall of the building is managed using, for example, painting or cleaning by using the exterior wall management unit of the gondola robot, an area where the cleaned area is not cleaned or not cleaned is generated. Can be. However, by accurately grasping the position of the gondola robot as in the present invention, it is possible to suppress the occurrence of an area that is not cleaned or cleaned again.

In addition, the positioning and map building device accurately grasps the location of the gondola robot on the building's exterior wall in real time, and utilizes the image of the building's exterior wall, thereby managing the exterior wall of the building according to the current location, for example, changing color and cleaning of the paint. Tool changes can be made.

In addition, since the location and map construction device performs the map construction on the building wall while accurately identifying the gondola robot position on the building wall in real time, monitoring and consumption of consumables according to the management of the building wall based on the map construction Monitoring of the status can be performed.

In addition, the operator can use the matched images received from the gondola robot through the remote control to check the status of the building's exterior wall and work progress.

1 is a view showing a gondola robot system according to an embodiment of the present invention.
2 is a view showing a state in which the gondola robot of FIG. 1 is installed on the outer wall of the building.
FIG. 3 is a block diagram illustrating a configuration of a gondola robot including a location determination and map building device of FIG. 2.
4 is a diagram illustrating an example of the image information acquisition unit of FIG. 3.
5 is a flowchart illustrating a method for locating and constructing a map through image matching of a gondola robot according to an embodiment of the present invention.

In the following description, only parts necessary for understanding the embodiments of the present invention will be described, and the description of other parts will be omitted so as not to obscure the gist of the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and the inventor is not limited to the meaning of the terms in order to describe his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely preferred embodiments of the present invention, and are not intended to represent all of the technical ideas of the present invention, so that various equivalents And variations are possible.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a view showing a gondola robot system according to an embodiment of the present invention. 2 is a view showing a state in which the gondola robot of FIG. 1 is installed on the outer wall of the building.

1 and 2, the gondola robot system 100 according to the present embodiment includes a rope cart 10 and a gondola robot 20, a rope cart 10, or a gondola robot 10 connected via a rope 18. And a remote controller 40 for performing wireless communication with 20). At this time, the gondola robot 20 is provided with a location and map building device 30 of the gondola robot 20. The rope cart 10 is fixedly installed on the roof 81 of the building 80, and adjusts the position of the gondola robot 20 through the length of the rope 18. The gondola robot 20 is connected to the end of the rope 18 to perform maintenance on the outer wall 83 of the building 80. The gondola robot 20 is fixed to the outer wall 83 of the building 80 by using the outer wall absorbing unit 23, and is fixed to the outer wall 83 of the building 80 by using the outer wall managing unit 25. Perform maintenance. In addition, the location and map construction device 20 of the gondola robot 20 detects the location of the gondola robot 20 in real time through matching of images taken of the outer wall 83 of the building 80 to map the building exterior wall map. Build.

Here, the remote controller 40 remotely controls the driving of the rope cart 10 and the gondola robot 20 through wireless communication with the rope cart 10 or the gondola robot 20. The remote controller 40 may receive a matched image of the building exterior wall 83 from the gondola robot 20 and provide it to the manager. The manager may check the state of the building exterior wall 83 and the work progress through checking the matched image.

The rope cart 10 may include a cart body 12, a winch 14, a rope 18, and a transceiver 19. The transceiver 19 communicates with the communication unit 24 of the gondola robot 20 installed in the cart body 12. The cart body 12 is fixedly installed on the rooftop 81 of the building 80, and performs length reduction of the rope 18 at the request of the gondola robot 20 through the transceiver 19. The winch 14 is spaced apart from the cart body 12 via the winch support 16 and installed below the outer wall 83 of the building 80. The rope 18 connects the cart body 12 and the gondola robot 20 and is supported by the winch 14. At this time, the cart body 12 has a roll for winding or unwinding the rope 18, and a motor for providing a rotational force to the roll, and performs the length of the rope 18 through the communication with the gondola robot 20 do. Meanwhile, the rope cart 10 may directly perform wireless communication with the remote controller 40 of the manager, and may add or decrease the length of the rope 18 according to a control signal of the remote controller 40.

In addition, the gondola robot 20 maintains the outer wall 83 of the building 80 using the outer wall manager 25 while being fixed to the outer wall 83 of the building 80 by using the outer wall absorbing part 23. When performing the management, the location of the gondola robot 20 is identified in real time through the location and map construction device 30, and at the same time, the building exterior wall map is constructed. Map construction by such a location and map building apparatus 30 is also called SLAM (Simultaneous Localization And Map-Building). SLAM uses the sensors attached to the gondola robot 20 as the gondola robot 20 moves around the unknown environment (here, the outer wall 83 of the building 80) to create an accurate building exterior wall map of the environment without outside assistance. Work is one of the key technologies for autonomous driving.

Referring to Figures 1 to 4 with respect to the location and map construction device 30 of the gondola robot 20 according to this embodiment as follows. 3 is a block diagram showing the configuration of the gondola robot 20 including the location and map building device 30 of FIG. 4 is a diagram illustrating an example of the image information acquisition unit 39 of FIG. 3.

The gondola robot 20 includes a robot body 21, a communication unit 24, an outer wall adsorption unit 23, an outer wall management unit 25, a storage unit 26, a positioning and map building device 30. In this case, the location detecting and mapping apparatus 30 may include a movement detecting unit 31, an information obtaining unit 33, and a control unit 38, and may include the communication unit 25 and the storage unit 26 described above. .

The robot body 21 is connected to the rope 18 of the rope cart 10 installed in the building 80 to move. The upper portion of the robot body 21 is provided with a fixed base 27 to which the rope 18 is connected and fixed. The example of the fixing stand 27 is installed on both sides of the upper portion of the robot body 21, but only one may be installed at the center of the upper portion of the robot body 21, two or more may be provided at the upper portion. In this case, the robot body 21 may have a communication unit 24, a storage unit 26, and a location and map construction device 30. The communication unit 24, the storage unit 26, and the control unit 38 may be embedded in the robot body 21 in a form mounted on a printed circuit board. In addition, the communication unit 24 may be installed in the robot body 21 in a form exposed to the outside of the robot body 21.

In addition, the robot body 21 may further include a management material supply unit capable of supplying a management material to the outer wall management unit 25. At this time, the management material supply unit may store the management material or receive the management material from the outside and deliver the management material to the outer wall management unit 25. The management material may include a cleaning agent for cleaning the outer wall 83 of the building 80, a paint for painting, and the like.

The communication unit 24 communicates with the transmission / reception unit 19 of the rope cart 10 under the control of the control unit 38. The communication unit 24 transmits information for requesting the length of the rope 18 required for the vertical movement of the robot body 21 and the position control in the fixed state to the transceiver 19 of the rope cart 10. The communication unit 24 communicates with the remote controller 40 of the manager, and receives the remote control signal of the manager from the remote controller 40 and transmits the signal to the controller 31. The remote control signal of the manager may include various control signals required for remote control of the gondola robot 20, including a start signal and an end signal of the gondola robot 20. At this time, the communication unit 24 may communicate with the transceiver 19 and the remote controller 40 of the rope cart 10 through a communication network. For example, the communication network may be one of a wired communication network, a mobile communication network, a WiBro (Wireless Broadband) network, a high-speed downlink packet access (HSDPA) network, a satellite communication network, and a local area network. It is preferable to use a local area network, and the local area network may be Bluetooth, infrared, Zigbee, UWB, NFC, or Wi-Fi.

The storage unit 26 stores a program necessary for controlling the operation of the gondola robot 20 and data generated while executing the program. The storage unit 26 stores an execution program for performing a function according to a remote control signal of the remote controller 40. The storage unit 26 stores an execution program for constructing a building exterior wall map while grasping the location of the gondola robot 20 in real time through registration of images of the exterior wall 83 of the building 80. In this case, the storage unit 26 may store the constructed outer wall map by matching the identification information of the corresponding building 80.

The outer wall suction unit 23 is installed on the robot body 21 and performs a function of fixing the robot body 21 to the outer wall 83 of the building 80. The outer wall adsorption unit 23 is installed on one surface of the robot body 21 facing the outer wall 83 of the building 80 so as to be fixed to the outer wall 83 of the building 80 by a vacuum adsorption method. At this time, the outer wall suction unit 23 may directly fix the robot main body 21 to the outer wall 83 of the building 80 by a vacuum suction method using a fan. Alternatively, the outer wall adsorption unit 23 may fix the robot body 21 to the outer wall of the building 80 by using the adsorption robot arm.

The outer wall manager 25 is installed in the robot body 21, and manages the outer wall 83 of the building 80 under the control of the controller 38. The outer wall manager 25 is installed on one surface of the robot body 21 facing the outer wall 83 of the building 80. Here, the outer wall manager 25 may be a cleaning device or a painting device. The outer wall management unit 25 may be installed in the robot body 21 in the form of a robot arm, but is not limited thereto.

The location detecting and map building apparatus 30 may include a movement detecting unit 31, an information obtaining unit 33, and a control unit 38, and may include the communication unit 25 and the storage unit 26 described above.

The movement detecting unit 31 is suspended by the rope 18 of the rope cart 10 and moves according to the change in the length of the rope 18 of the gondola robot 20 which performs management of the outer wall 83 of the building 80. Detect.

The information acquisition unit 33 acquires the movement information and the attitude information of the gondola robot 20 according to the change in the length of the rope 18, and acquires the image information of the outer wall of the building where the gondola robot 20 is located. The information acquisition unit 33 includes a movement information acquisition unit 35, a posture information acquisition unit 37, and an image information acquisition unit 39.

The movement information acquisition unit 35 acquires movement information of the gondola robot 20 according to the change in the length of the rope 18. At this time, the movement information acquisition unit 35 acquires information according to the length variation of the rope 18 from the rope cart 10 through the communication unit 24, and moves the gondola robot 20 from the variation in the length of the rope 18. Information can be obtained. Alternatively, the movement information acquisition unit 33 acquires movement information of the robot body 21 from the information requesting the rope cart 10 to increase or decrease the length of the rope 18 according to the control of the controller 38, and controls the control unit 38. Can be sent to. Meanwhile, in the present exemplary embodiment, the movement information acquisition unit 35 discloses an example of acquiring the movement information of the gondola robot 20, but the movement information of the gondola robot 20 may be directly obtained by the controller 38. In this case, the function of the movement information acquisition unit 35 is included in the control unit 38.

The posture information acquisition unit 37 acquires posture information of the gondola robot 20. In other words, the posture information acquisition unit 37 monitors whether the gondola robot 20 hanging on the rope 18 is shaken in an equilibrium posture, acquires the posture information, and transmits the posture information to the controller 38. In this case, the posture information acquisition unit 37 includes at least one of a tilt sensor, a gyro sensor, and a gravity sensor, and preferably includes a plurality of sensors in order to acquire accurate posture information.

The image information acquisition unit 39 obtains image information of the outer wall 83 of the building where the gondola robot 20 is located and transmits the image information to the control unit 38. The image information acquisition unit 39 performs a photographing function of the subject, and in particular, acquires image information by photographing the building exterior wall 83. In this case, the image information acquisition unit 39 may include an image sensor, a signal processor, and an image processor. The image sensor converts the optical signal of the photographed image into an analog signal. The signal processing unit converts the analog signal into a digital signal. The image processor may obtain image data by processing the image signal input through the signal processor, and output the obtained image data to the controller 38 or store the image data in the storage unit 26.

The image information acquisition unit 39 includes a camera array in which a plurality of cameras are arranged, a camera module in which a pan-tilt module is coupled to the camera, a wide angle camera, and the like. In the present embodiment, as shown in FIG. 4, as the image information acquisition unit 39, a camera array in which a plurality of cameras are arranged may be installed in a direction from the upper part of the robot body 21 toward the outer wall of the building. In this case, a visible light camera or an infrared camera may be used as the camera.

 On the other hand, the image information acquisition unit 39 may be installed on the outer surface of the robot body 21 that can face the outer wall 83 of the building (80). In the present embodiment, an example is provided in a position where the outer wall 83 of the building 80 can be viewed on the upper surface of the robot body 21, but the lower wall of the robot body 21 and the outer wall of the building 80 are disclosed. It may be installed on the surface of the robot body 21 in contact with (83).

The controller 38 is embedded in the robot body 21 and performs a function as a microprocessor for performing overall control operations of the gondola robot 20 including the location and map construction device 30. The controller 38 controls the construction of the building exterior wall map while grasping the position of the gondola robot 20 in real time through registration of the image photographing the exterior wall 83. That is, the controller 38 determines the location of the gondola robot 20 based on the obtained movement information and attitude information, and builds a building exterior wall map by matching the acquired images.

In this case, the controller 38 may determine the location of the gondola robot 20 and construct a map as follows. That is, the controller 38 determines the position of the gondola robot 20 based on the obtained movement information and attitude information. The controller 38 registers the acquired image by correcting the degree of distortion between the acquired images based on the position of the gondola robot 20 that is determined. In addition, the controller 38 may construct a building exterior wall map using the matched image.

The controller 38 may perform image registration in such a manner that the boundary portions of the plurality of images taken by the image information acquirer 39 overlap each other so as to overlap each other. Since a difference may occur in the position of the gondola robot 20 with time, the image may be slightly distorted according to the position of the gondola robot 20 at the time of shooting between the images before registration. Therefore, the obtained image may be registered by correcting the degree of distortion between the acquired images based on the position of the gondola robot 20 determined at the time of image registration. Alternatively, the image information acquisition unit 39 may partially overlap the boundary portions of the plurality of images captured by time, and then perform image registration by arranging a plurality of feature points of an object included in the captured image. have. The position of the gondola robot 20 may be grasped from the distorted information of the second image that is matched with respect to the first image that is a reference when the image is matched.

In addition, the controller 38 may determine the position of the gondola robot 20 and construct a map as follows. That is, the controller 38 determines the initial position on the building outer wall 83 of the gondola robot 20 from the obtained movement information. The controller 38 detects the position of the gondola robot 20 on the building outer wall 38 by correcting the initial position based on the acquired attitude information. The controller 38 constructs a building exterior wall map by matching the acquired images. In addition, the controller 38 may determine the position of the gondola robot 20 based on the constructed outer wall map, the acquired movement information, and the attitude information.

Meanwhile, the controller 38 may correct the position of the gondola robot 20 by using the constructed map. In this case, the controller 38 may correct the position of the gondola robot 20 by using the acquired posture information together.

Referring to FIGS. 1 to 5, a method for identifying a location and a map construction method of the gondola robot 20 using the location and map construction device 30 of the gondola robot 20 according to the present embodiment will be described below. same. 5 is a flowchart illustrating a method for locating and constructing a map through image matching of a gondola robot according to an exemplary embodiment of the present invention.

First, when the gondola robot 20 moves along the length of the rope 18 in the state in which the gondola robot 20 is suspended in the rope 18 in step S51, the location and map building device in step S53 ( 30 detects the movement of the gondola robot 20 according to the fluctuation of the length of the rope 18.

Next, at step S55, the position grasp and map building device 30 obtains the movement information and the attitude information of the gondola robot 20 according to the change in the length of the rope 18, and the building outer wall of the point where the gondola robot 20 is located. Obtain video information.

Subsequently, in step S57, the location determining and map building device 30 determines the location of the gondola robot 20 based on the obtained movement information and attitude information. In addition, the positioning and map building device 30 constructs a building exterior wall map by matching the acquired image information.

Here, the positioning and map building device 30 may determine the location of the gondola robot 20 and construct a map as follows. That is, the location determination and map building device 30 determines the location of the gondola robot 20 based on the obtained movement information and attitude information. Positioning and map building device 30 matches the obtained image by correcting the degree of distortion between the images obtained based on the location of the identified gondola robot 20. In addition, the location determination and map building device 30 may construct a building exterior wall map using the matched image.

At this time, the positioning and map building device 30 detects the initial position on the building outer wall 83 of the gondola robot 20 from the obtained movement information. The location determination and map building device 30 determines the location of the gondola robot 20 on the building exterior wall 38 by correcting the initial location based on the acquired attitude information.

Alternatively, the positioning and map building device 30 may determine the location of the gondola robot 20 and construct a map as follows. That is, the positioning and map building device 30 constructs a building exterior wall map by matching the acquired images. In addition, the location determination and map building device 30 may determine the location of the gondola robot 20 based on the constructed building exterior wall map, acquired movement information, and attitude information.

In operation S59, the location determination and map building device 30 may correct the position of the gondola robot 20 by using the constructed map. At this time, the location determination and map building device 30 may correct the position of the gondola robot 20 by utilizing the acquired attitude information together.

On the other hand, by repeatedly performing the above-described steps S53 to S59 until the end signal is input in step S61, while determining the location of the gondola robot 20 in real time in real time to map the building exterior wall map of the building 80 Can be built.

On the other hand, the embodiments disclosed in the specification and drawings are merely presented specific examples to aid understanding, and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

10: rope cart 12: cart body
14 winch 16 winch support
18: rope 19: transceiver
20: gondola robot 21: robot body
23: outer wall adsorption unit 24: communication unit
25: outer wall management unit 26: storage unit
30: location identification and map building device 31: movement detection unit
33: information acquisition unit 35: mobile information acquisition unit
37: posture information acquisition unit 38: control unit
39: image information acquisition unit 40: remote controller
100: Gondola Robot System

Claims (8)

How to locate and map the gondola robot,
A movement detecting step of detecting a movement caused by a change in the length of the rope of a gondola robot that performs management on a building outer wall by hanging on a rope of a rope cart;
An information acquiring step of acquiring movement information and attitude information of the gondola robot according to a change in the length of the rope, and acquiring image information of an outer wall of a building at the point where the gondola robot is located;
Determining a location of the gondola robot based on the obtained movement information and attitude information, and determining a location of the gondola robot and constructing a building exterior wall map by matching the acquired image;
A correction step of correcting the position of the gondola robot using the constructed building exterior wall map;
Positioning and map building method of the gondola robot comprising a. The method of claim 1, wherein the determining of location and constructing a map comprises:
Determining the position of the gondola robot based on the obtained movement information and attitude information;
Matching the acquired images by correcting a degree of distortion between the acquired images based on the identified positions of the gondola robots;
Constructing a building exterior wall map using the matched image;
Positioning and map building method of the gondola robot comprising a. The method of claim 2, wherein the determining of the position of the gondola robot comprises:
Identifying an initial position on an outer wall of the gondola robot from the obtained movement information;
Determining the position of the gondola robot on the outer wall of the building by correcting the initial position based on the acquired attitude information;
Positioning and map building method of the gondola robot comprising a. The method of claim 1, wherein the determining of location and constructing a map comprises:
Constructing a building exterior wall map by matching the acquired images;
Determining a location of the gondola robot based on the constructed building exterior wall map, the acquired movement information, and attitude information;
Positioning and map building method of the gondola robot comprising a. The method of claim 1, wherein in the correction step,
The method of identifying and mapping the gondola robot, characterized in that for correcting the position of the gondola robot using the acquired attitude information and the constructed map. A movement detecting unit detecting a movement according to a change in the length of the rope of a gondola robot that performs management on a building outer wall by hanging on a rope of a rope cart;
An information obtaining unit obtaining movement information and posture information of the gondola robot according to a change in the length of the rope, and obtaining image information of the outer wall of the building at the point where the gondola robot is located;
A controller for determining the location of the gondola robot based on the obtained movement information and posture information, constructing a building exterior wall map by matching the acquired images, and correcting the location of the gondola robot using the constructed map. ;
Positioning and map building device of the gondola robot comprising a. 7. The apparatus of claim 6,
Building a building exterior wall map by matching the acquired images, identifying the location of the gondola robot based on the constructed building exterior wall map, the acquired movement information, and attitude information;
Positioning and map building device of the gondola robot, characterized in that for correcting the position of the gondola robot using the acquired attitude information and the constructed map. The method of claim 7, wherein the information acquisition unit,
A movement information acquisition unit for obtaining movement information of the gondola robot according to a change in the length of the rope;
A posture information acquisition unit for obtaining posture information of the gondola robot;
And an image information acquisition unit for acquiring image information of the outer wall of the building at the point where the gondola robot is located.
The posture information acquisition unit includes at least one of a tilt sensor, a gyro sensor, a gravity sensor,
The image information obtaining unit includes at least one of a camera array having a plurality of cameras, a camera module having a pan tilt module coupled to the camera, and a wide angle camera.

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