Development of a high efficiency and high reliable glass cleaning robot with a dirt detect sensor

Yoshio Katsuki, Takeshi Ikeda, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Cleaning of glass windows for buildings is a dangerous work for human. Automatic cleaning for glass windows has been, thus, expected. Authors have developed an autonomous small-sized robot which can be used for glass window's cleaning even on not fully-flat walls. There are two major ways for the motion control of the autonomous cleaning mobile robot, which are reaction-based control method and model-based control method. Efficiency of the cleaning using the reaction-based method is lower than one using the model-based method. This study aims to develop a high efficiency and high reliable glass cleaning robot. Thus, we adopt the model-based method for the control of the cleaning robot. For the efficient and reliable cleaning, the robot should follow a desired path accurately. However, the trajectory tracking on a window is not so easy because of gravity and other dynamical effects. Moreover, even if the robot follows the desired path exactly, the robot can not assure a complete cleaning of the glass window. Therefore, the paper discusses a trajectory tracking control problem on the glass window, and also proposes a novel dirt detect sensor and a motion control method to guarantee the completeness of glass window cleaning. The validity of those proposed methods is confirmed by experiments using a window cleaning robot which attracts a window by magnetic force.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages5133-5138
Number of pages6
DOIs
Publication statusPublished - Dec 29 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Katsuki, Y., Ikeda, T., & Yamamoto, M. (2011). Development of a high efficiency and high reliable glass cleaning robot with a dirt detect sensor. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 5133-5138). [6048784] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048784