W ALL SHAPE RECOGNITION USING LIMIT SWITCH M ODULE

We have researched a gondola typed robot system for building facade maintenance. Its main application is to paint on building facade. To apply a robot system to the painting tool,recognition of building wall shape should be preceded. In this paper, we proposed a limit switch module as a mechanical sensor method. As experiments, we applied the proposed module to window and obstac le on wall with attitude reference sensor (ARS) and laser height sensor (distance sensor).