Search results

1 – 10 of over 3000
Article
Publication date: 19 June 2009

Teodor Akinfiev, Manuel Armada and Samir Nabulsi

The purpose of this paper is to develop a climbing cleaning robot with reasonably high productivities for vertical surfaces.

1521

Abstract

Purpose

The purpose of this paper is to develop a climbing cleaning robot with reasonably high productivities for vertical surfaces.

Design/methodology/approach

The paper analyzes the reasons for the low productivities or unreliable work of cleaning robots for vertical surfaces. Based on this analysis, a design of a new robot is created. Pilot studies were performed of laboratory and industrial prototypes of a new robot.

Findings

The paper shows that the new design provides a reliable and high‐performance work of the cleaning robot for vertical surfaces. Thus, the new design provides increasing in productivities more than ten times compared with the known robot.

Research limitations/implications

In this paper, it is assumed that the speed of the robot during the process of surface cleaning is constant. For future research the algorithm is proposed that automatically maintains such speed of the robot, which depends on the degree of dirtiness and is optimal for the surface to be cleaned.

Practical implications

The results of the research have been used in the manufacture of the robot TITO 500 industrial prototype. Currently, the company RatioForem is implementing small‐lot production of the robots TITO 500.

Originality/value

A new design has been developed for a high‐performance climbing robot for vertical surfaces cleaning, and algorithms for control of the robot.

Details

Industrial Robot: An International Journal, vol. 36 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 17 October 2019

Yu Yan, Wei Jiang, An Zhang, Qiao Min Li, Hong Jun Li, Wei Chen and YunFei Lei

This study aims to the three major problems of low cleaning efficiency, high labor intensity and difficult to evaluate the cleaning effect for manual insulators cleaning in ultra…

Abstract

Purpose

This study aims to the three major problems of low cleaning efficiency, high labor intensity and difficult to evaluate the cleaning effect for manual insulators cleaning in ultra high voltage (UHV) converter station, the purpose of this paper is to propose a basic configuration of UHV vertical insulator cleaning robot with multi-freedom-degree mechanical arm system on mobile airborne platform and its innovation cleaning operation motion planning.

Design/methodology/approach

The main factors affecting the insulators cleaning effect in the operation process have been analyzed. Because of the complex coupling relationship between the influencing factors and the insulators cleaning effect, it is difficult to establish its analytical mathematical model. Combining the non-linear mapping and approximation characteristics of back propagation (BP) neural network, the insulator cleaning effect evaluation can be abstracted as a non-linear approximation process from actual cleaning effect to ideal cleaning effect. An evaluation method of robot insulator cleaning effect based on BP neural network has been proposed.

Findings

Through the BP neural network training, the robot cleaning control parameters can be obtained and used in the robot online operation control, so that the better cleaning effect can be also obtained. Finally, a physical prototype of UHV vertical insulator cleaning robot has been developed, and the effectiveness and engineering practicability of the proposed robot configuration, cleaning effect evaluation method are all verified by simulation experiments and field operation experiments. At the same time, this method has the remarkable characteristics of sound versatility, strong adaptability, easy expansion and popularization.

Originality/value

An UHV vertical insulator cleaning robot operation system platform with multi-arm system on airborne platform has been proposed. Through the coordinated movement of the manipulator each joint, the manipulator can be positioned to the insulator strings, and the insulator can be cleaned by two pairs high-pressure nozzles located at the double manipulator. The influence factors of robot insulator cleaning effect have been analyzed. The BP neural network model of insulator cleaning effect evaluation has been established. The evaluation method of robot insulator cleaning effect based on BP neural network has also been proposed, and the corresponding evaluation result can be obtained through the network training. Through the system integration design, the robot physical prototype has been developed. For the evaluation of other operation effects of power system, the validity and engineering practicability of the robot mechanism, motion planning and the method for evaluating the effect of robot insulator cleaning have been verified by simulation and field operation experiments.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 27 July 2021

Xiaokun Li and Xin Li

Autonomous mobile cleaning robots are widely used to clean solar panels because of their flexibility and high efficiency. However, gravity is a challenge for cleaning robots on…

Abstract

Purpose

Autonomous mobile cleaning robots are widely used to clean solar panels because of their flexibility and high efficiency. However, gravity is a challenge for cleaning robots on inclined solar panels, and robots have problems such as high working power and short battery life. This paper aims to develop a following robot to improve the working time and efficiency of the cleaning robot.

Design/methodology/approach

The mechanical structure of the robot is designed so that it can carry a large-capacity battery and continuously power the cleaning robot. The robot determines its position and orientation relative to the edge of solar panel by using optoelectronic sensors. Based on the following distance, the robot changes its state between moving and waiting to ensure that supply cable will not drag.

Findings

Prototype following robot test results show that the following robot can stably follow the cleaning robot and supply continuous power to cleaning robot. The linear error of the following robot moving along the solar panel is less than 0.3 m, and the following distance between the robot and the cleaning robot is in 0.5–1.5 m.

Practical implications

The working time of cleaning robots and working efficiency is improved by using following robot, thereby reducing the labor intensity of workers and saving the labor costs of cleaning.

Originality/value

The design of the following robot is innovative. Following robot works with the existing cleaning robots to make up for shortcomings of the existing cleaning system. It provides a more feasible and practical solution for using robots to clean solar panels.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 13 March 2007

Houxiang Zhang, Jianwei Zhang, Wei Wang, Rong Liu and Guanghua Zong

This paper presents the design of climbing robots for glass‐wall cleaning.

2401

Abstract

Purpose

This paper presents the design of climbing robots for glass‐wall cleaning.

Design/methodology/approach

A systemic analysis of the basic functions of a glass‐wall cleaning system is given based on the research of working targets. Then the constraints for designing a glass‐wall cleaning robot are discussed. The driving method, the attachment principle, mechanical structure and unique aspects of three pneumatic robots named Sky Cleaners follow. In the end a summary of the main special features is given. All three climbing robots are tested on site.

Findings

Our groups spent several years in designing and developing a series of robots named Sky Cleaners which are totally actuated by pneumatic cylinders and sucked to the glass walls with vacuum grippers in mid‐air. It was found that they can meet the requirements of glass‐wall cleaning.

Research limitation/implications

The air source, cleaning liquid and control signals should be provided by the supporting vehicle stationed on the ground. Even if the robots are intelligent, the suitable working height is below 50 m because the weight of the hoses has to be taken into account when the robots work in mid‐air.

Practical implications

The cleaning robotic systems can avoid workers presence in a hazardous environment and realize an automatic cleaning, furthermore reduce operation costs and improve the technological level and productivity of the service industry in the building maintenance.

Originality/value

Sky Cleaner robots can move and do cleaning on the plane glass wall or the special curve wall with a small angle between the glasses. The first two prototypes are mainly used for research and the last one is a real product designing for cleaning the glass surface of Shanghai Science and Technology Museum.

Details

Industrial Robot: An International Journal, vol. 34 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 12 August 2014

Jiang Jin-gang, Zhang Yong-de and Zhang Shu

The purpose of this paper is to implement a glass-curtain-wall cleaning robot driven by a double flexible rope, so as to replace manual cleaning. The glass-curtain-wall, because…

Abstract

Purpose

The purpose of this paper is to implement a glass-curtain-wall cleaning robot driven by a double flexible rope, so as to replace manual cleaning. The glass-curtain-wall, because of its excellent daylighting performance, damp-proofing characteristics, heat insulation properties and aesthetics, is widely used in modern city buildings. For glass-curtain-wall buildings, regular cleaning of the glass-curtain-wall is necessary to ensure that the surface of the building appears clean and tidy, which in turn contributes toward preserving the overall aesthetic appearance of the city. Currently, the primary method of cleaning glass curtain walls is manual cleaning by workers on a suspended platform.

Design/methodology/approach

The mechanical structure of the proposed glass-curtain-wall cleaning robot driven by a double flexible rope is inspired by the way a spider moves by pulling its silk draglines in the air. For self-locking protection and increased rope friction, the robot’s moving section includes a worm reducer and multislot master–slave roller. The cleaning section comprises a water tank, control valve, shower nozzle and brush. The wall adsorbing section is realized by a double rotor. The workspace of the robot is analyzed. Flexible rope winding and unreeling control of the cleaning robot is deduced. The force of the cleaning robot when the double rotor is working is analyzed and calculated. The prototype of the glass-curtain-wall cleaning robot model driven by a double flexible rope is established, and experiments wherein the robot moves along a preset track, as well as cleaning experiments, are performed.

Findings

The prototype of the glass-curtain-wall cleaning robot model driven by a double flexible rope can move along the preset track, satisfy the design functions and clean effectively. The experimental results verify the validity and practicality of the robot.

Research limitations/implications

The implication of this research is that a glass-curtain-wall cleaning robot model driven by a double flexible rope fulfills the movement strategy and drive-type requirements for cleaning glass curtain walls. The limitation of this research is that it is difficult to implement rapid cleaning.

Originality/value

The traditional method of manual cleaning by workers on a suspended platform will be changed after the glass-curtain-wall cleaning robot is manufactured, and the advent of this cleaning robot for the low- and mid-rise buildings will reduce the cost of cleaning buildings, improve the working environment and enhance production efficiency.

Details

Industrial Robot: An International Journal, vol. 41 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 24 August 2010

Wei Wang, Boyan Tang, Houxiang Zhang and Guanghua Zong

The purpose of this paper is to describe the development of a robotic cleaning system for applying on the glass facade of the control tower at the Guangzhou Airport, in Guangzhou…

1221

Abstract

Purpose

The purpose of this paper is to describe the development of a robotic cleaning system for applying on the glass facade of the control tower at the Guangzhou Airport, in Guangzhou, China.

Design/methodology/approach

Four similar robotic cleaning systems are designed for a reversed cone‐shape glass facade at the top of the control tower. One system is composed of a robot moving along and cleaning the facade, and an automatic conveyer positioning, securing, supplying energy and water to, and recycling the dirty water from the robot. An on‐board controller enables the system to work in a remote control mode or a fully automated mode under the supervision of an operator.

Findings

This paper presents how to integrate the attaching, moving, cleaning and securing functions into one robotic system for the high rise glass facade, and focuses on the kinematics, the control and sensor system and the cleaning navigation. In particular, the real time control method of the vacuum in the cup is discussed to ensure high cleaning quality and security.

Research limitations/implications

Since the cleaning system proposed in this paper is a custom‐built one, the generalization of its design idea should be tested in other applications.

Practical implications

The paper includes the implications for the development of automatic cleaning system for the high‐rise buildings with reversed inclining glass façade.

Originality/value

The robotic cleaning system described in this paper is the first fully automated cleaning machine for the reversed inclining glass facade in China. It works effectively and reliably on the control tower of the Guangzhou airport.

Details

Industrial Robot: An International Journal, vol. 37 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 4 July 2016

B.B.V.L. Deepak, M.V.A. Raju Bahubalendruni and B.B. Biswal

The purpose of this paper is to describe the reviews of past research work on various in-pipe robotic systems and their operations. This investigation has been focussed on the…

Abstract

Purpose

The purpose of this paper is to describe the reviews of past research work on various in-pipe robotic systems and their operations. This investigation has been focussed on the implemented methodologies for performing in-pipe cleaning and inspection tasks.

Design/methodology/approach

This work has been concentrated on review of various sensors used in robots to perform in-pipes inspection operation for determining flaws/cracks, corrosion-affected areas, blocks and coated paint thickness. Various actuators like DC motors, servo motors, pneumatic operated and hydraulic operated are discussed in this review analysis to control the motion of various mechanical components of the robot.

Findings

In the current analysis, categorisation of various pipe cleaning robots according to their mechanical structure has been addressed. A lot of information has been gathered regarding the control of in-pipe robots for performing inspection and cleaning tasks.

Originality/value

In this paper, various in-pipe cleaning and inspection techniques have been studied. Necessary information provided regarding different types of in-pipe robots like PIG, wall-pressed, walking, wheel and inchworm. This investigation provides a through literature on various types of sensors like ultrasonic, magnetic, touch, light amplification by stimulated emission of radiation, X-ray, etc., that have been used for inspection and detection of flaws in the pipe.

Details

International Journal of Intelligent Unmanned Systems, vol. 4 no. 3
Type: Research Article
ISSN: 2049-6427

Keywords

Article
Publication date: 20 June 2016

Qiang Zhou and Xin Li

Glass-cleaning robots were developed to perform the difficult, time-consuming and dangerous job of cleaning windows that had traditionally been done by humans. The wiping…

Abstract

Purpose

Glass-cleaning robots were developed to perform the difficult, time-consuming and dangerous job of cleaning windows that had traditionally been done by humans. The wiping mechanism is the most important functional component of a glass-cleaning robot, which indirectly affects the design of the adsorption and transport mechanisms. This study aims to compare two types of wiping mechanisms – the drag-wiper and roller-wiper –through an analysis and an actual experiment, providing theoretical and measured data that can be applied to the optimization of the design of future glass-cleaning robots.

Design/methodology/approach

The authors undertook a theoretical force and energy consumption analysis of glass-cleaning robots and, based on the obtained results, undertook an analysis the two wiper types. They verified the theoretical analysis by conducting several experiments including studying the relationship between a wiper’s friction force and rotational speed, measuring the contact normal forces of the suckers, wiper and crawlers relative to the glass wall, measuring the energy consumed to drive the robot and studying the relationship between the vacuum pump’s power consumption and the adsorption force. The authors also compared the wiping efficacy of the drag-wiper robot and roller-wiper robot.

Findings

The drag-wiper offers the advantages of simplicity while being able to wipe the area around the edge of a window frame. Meanwhile, the use of a roller-wiper not only improves the robot’s driving performance and reduces the required adsorption force but can also reduce the amount of energy consumed to drive both the robot itself and also the vacuum pump; in addition, the roller-wiper is more flexible and energy- and time-efficient when dealing with dirt that is difficult to remove.

Originality/value

This study has, through a detailed analysis of the advantages and disadvantages of a drag-wiper and roller-wiper robot, from the three aspects of force analysis, energy consumption and wiping efficacy, obtained theoretical and measured data that can be applied to the optimization of the design of future industrial and household glass-cleaning robots.

Details

Industrial Robot: An International Journal, vol. 43 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 6 March 2009

Xueshan Gao, Yan Wang, Dawei Zhou and Koki Kikuchi

The purpose of this paper is to present an omni‐directional floor‐cleaning robot equipped with four omni‐directional wheels. The research purposes are to design a robot for…

1088

Abstract

Purpose

The purpose of this paper is to present an omni‐directional floor‐cleaning robot equipped with four omni‐directional wheels. The research purposes are to design a robot for cleaning jobs in domestic, narrow and crowded places and to provide a robotics‐study platform in a laboratory.

Design/methodology/approach

The robot system using Swedish wheels, one dust collector (brush) switching device and a sort of air‐bag sensing device is designed. The kinematics and the motion control conditions of the robot are analyzed. Specifically, a design method of wheels is described.

Findings

The configuration of the robot, parameters of the wheel and controlling methods are studied and demonstrated. The smooth locomotion capability and high‐working efficiency are verified by experiments.

Practical implications

The robot can perform its work in semi‐autonomous and tele‐operated mode. Moreover, the robot can pivot around, avoid obstacles and is provided with automatic power management system.

Originality/value

The research target is to provide a kind of robotic cleaner especially for crowded public or narrow places and educational robotics‐study platform in a laboratory.

Details

Industrial Robot: An International Journal, vol. 36 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 1 August 1999

Gisbert Lawitzky

Free navigation in indoor environments is one of the main enabling technologies for many service robot applications. Siemens has developed SINAS, a navigation system which…

Abstract

Free navigation in indoor environments is one of the main enabling technologies for many service robot applications. Siemens has developed SINAS, a navigation system which currently is primarily targeted towards cleaning robot applications. Its suitability for tough everyday operation has been successfully demonstrated since August 1996 on several occasions, e.g. in several chain store supermarkets. The paper discusses the main requirements of a navigation system for cleaning robots, presents the structure and main features of the SINAS system, and reports experiences and results from the field tests.

Details

Industrial Robot: An International Journal, vol. 26 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

1 – 10 of over 3000