Apparatus and method for grasping position and establishing map of gondola robot

摘要

PURPOSE: An apparatus and a method for grasping the position of a gondola robot and establishing a map of the outer wall of a building are provided to grasp the position of the gondola robot and to establish the map of the outer wall of the building by recognizing window glasses installed on the outer wall of the building. CONSTITUTION: An apparatus and a method for grasping the position of a gondola robot and establishing a map of the outer wall of a building is as follows: a step of detecting the movement of the gondola robot(S52); a step of obtaining information on the movement and altitude of the gondola robot and the outer wall of a position where the gondola robot is positioned(S55); and a step of grasping the position of the gondola robot based on the information on the movement and altitude of the gondola robot and establishing the map of the outer wall of the building based on the information on the outer wall of the building and the position of the gondola robot(S57). [Reference numerals] (AA) Start; (BB) End; (S51) Gondola robot is on standby by hanging on a rope of a rope cart; (S53) Sense the movement of the gondola robot according to a length change of the rope; (S55) Obtain information on the movement and altitude of the gondola robot according to the length change of the rope and information on an outer wall of a building at a position where the gondola robot is positioned; (S57) Grasp the position of the gondola robot based on the obtained gondola robot movement and altitude information and establish a map of the building outer wall based on the obtained building outer wall information and the grasped gondola robot position; (S59) End?