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

Yoshio Katsuki, Takeshi Ikeda, Motoji Yamamoto

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

8 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
ホスト出版物のサブタイトルCelebrating 50 Years of Robotics
ページ5133-5138
ページ数6
DOI
出版ステータス出版済み - 12月 29 2011
イベント2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, 米国
継続期間: 9月 25 20119月 30 2011

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

その他

その他2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
国/地域米国
CitySan Francisco, CA
Period9/25/119/30/11

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

フィンガープリント

「Development of a high efficiency and high reliable glass cleaning robot with a dirt detect sensor」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル