Vision Rope Attribute Measurement Sensor for Gondola-Typed Facade Robot

摘要

The purpose of robotics and automation in construction is better working condition of human labours. Safety hazards of high-rise buildings have been cruel for decades. For example, falls of gondola at building sites have carried off a lot of human lives. As an important part of this automation, we proposed an approach to sense pose of the gondola in this paper. A vision camera measures the attributes of the wire rope, and the attributes are converted to the pose of the gondola cage. The pose of the gondola cage is X, Y and Z axis and rotation (Euler angles) of the gondola. Because we use only one CCD camera, the sensor system is compact and inexpensive.