ROPE CART FOR GONDOLA ROBOT SYSTEM AND METHOD FOR CALCULATING ROPE STATE

摘要

PURPOSE: A rope cart for a gondola robot system and a rope state calculating method thereof are provided to analyze the movement of a roller device moving with the movement of a rope, thereby accurately calculating a position of the rope is calculated by considering a state of a rope cart. CONSTITUTION: A rope cart(20) for a gondola robot system comprises a cart body(12), a rope state measuring unit(17), and a controlling unit. The cart unit comprises a rope driving unit increasing or decreasing the length of a rope(18). The rope state measuring unit comprises a roller device(51), a 3DoF(3 Degrees Of Freedom) rotary bar(55), and a camera unit(56). The roller device is installed in the rope and measures unwinding of the rope. The 3DoF rotary bar connects the cart body and the roller device. The camera unit is installed in the cart body and photographs the roller device. Images photographed by the camera unit according to the movement of the roller device and change information obtained from the movement of the 3DoF rotary bar are analyzed by the controlling unit. The controlling unit calculates a position of the roller according to an analyzed result and a position of the roller penetrating through the roller device based on the calculated position of the roller device.