Abstract
The paper deals with the problem of automatic cleaning of glass windows. A small-sized glass cleaning robot has been proposed by authors. The robot is composed of two units sandwiching the glass by magnetic force. To improve the functional performance of the robot and increase the cleaning reliability, a sensor detecting the level of the glass dirt is introduced. The sensor is composed of light emitting and receiving sections. It detects the dirt by measuring the amount of reflected light which increases in dirty parts and decreases in clean parts of the glass. A signal processing scheme for this sensor is presented, and a motion control method incorporating the dirt sensor measurements is constructed. The validity of the control method and the feasibility of reliable cleaning are tested under experiments.
| Original language | English |
|---|---|
| Pages (from-to) | 557-567 |
| Number of pages | 11 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 78 |
| Issue number | 786 |
| DOIs | |
| Publication status | Published - Apr 16 2012 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Mechanical Engineering
- Mechanics of Materials
- Industrial and Manufacturing Engineering
Cite this
Reliable glass cleaning motion of a wall climbing robot using a dirt detect sensor. / Katsuki, Yoshio; Ikeda, Takeshi; Yamamoto, Motoji.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 78, No. 786, 16.04.2012, p. 557-567.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Reliable glass cleaning motion of a wall climbing robot using a dirt detect sensor
AU - Katsuki, Yoshio
AU - Ikeda, Takeshi
AU - Yamamoto, Motoji
PY - 2012/4/16
Y1 - 2012/4/16
N2 - The paper deals with the problem of automatic cleaning of glass windows. A small-sized glass cleaning robot has been proposed by authors. The robot is composed of two units sandwiching the glass by magnetic force. To improve the functional performance of the robot and increase the cleaning reliability, a sensor detecting the level of the glass dirt is introduced. The sensor is composed of light emitting and receiving sections. It detects the dirt by measuring the amount of reflected light which increases in dirty parts and decreases in clean parts of the glass. A signal processing scheme for this sensor is presented, and a motion control method incorporating the dirt sensor measurements is constructed. The validity of the control method and the feasibility of reliable cleaning are tested under experiments.
AB - The paper deals with the problem of automatic cleaning of glass windows. A small-sized glass cleaning robot has been proposed by authors. The robot is composed of two units sandwiching the glass by magnetic force. To improve the functional performance of the robot and increase the cleaning reliability, a sensor detecting the level of the glass dirt is introduced. The sensor is composed of light emitting and receiving sections. It detects the dirt by measuring the amount of reflected light which increases in dirty parts and decreases in clean parts of the glass. A signal processing scheme for this sensor is presented, and a motion control method incorporating the dirt sensor measurements is constructed. The validity of the control method and the feasibility of reliable cleaning are tested under experiments.
UR - http://www.scopus.com/inward/record.url?scp=84859612213&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84859612213&partnerID=8YFLogxK
U2 - 10.1299/kikaic.78.557
DO - 10.1299/kikaic.78.557
M3 - Article
VL - 78
SP - 557
EP - 567
JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 786
ER -