TY - GEN
T1 - Development of a high efficiency and high reliable glass cleaning robot with a dirt detect sensor
AU - Katsuki, Yoshio
AU - Ikeda, Takeshi
AU - Yamamoto, Motoji
PY - 2011/12/29
Y1 - 2011/12/29
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84455191524&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455191524&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048784
DO - 10.1109/IROS.2011.6048784
M3 - Conference contribution
AN - SCOPUS:84455191524
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5133
EP - 5138
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -