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

摘要

PURPOSE: An apparatus and a method for grasping the position of a gondola robot and establishing the map of the outer wall of a building through image matching are provided to prevent the generation of sections not to be cleaned or cleaned again by accurately grasping the position of the gondola robot. CONSTITUTION: A method for grasping the position of a gondola robot and establishing the map of the outer wall of a building through image matching is as follows: a step of detecting the movement of the gondola robot according to the length of a rope(S53); a step of obtaining information on the movement and altitude of the gondola robot according to the length variation of the gondola robot and information on the image of the outer wall of the building at positions where the gondola robot is located(S55); 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(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 image 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 by matching the image; (S59) Correct the position of the gondola robot using the established map; (S61) End?