墙壁清理机器人

墙壁清理机器人:角落清理的移动装置的方案T.Miyake，H.Ishihara 著黄昌显译摘要：本次研究的目的是为了开发一种用于清洗一个大玻璃窗（如清洗一个展览窗）的机器人。

为了使此机器人能用于现实当中，需要以下几个要求：1.能够清洗窗户的角落，因为污垢经常残留在那里。

2.能够连续地清扫玻璃窗，防止条纹图案留在玻璃窗上。

该机械装置的关键是围绕其他部分移动部件的旋转和连续的运动能达到上述的要求。

前者使得机器人在窗户的角落可以改变方向，以保持其位置和角度的适中。

后者对于预防在窗户玻璃上留下条纹图案是必须的。

我们设计通过两个轮子的运动达到连续的运动以及通过利用吸盘吸附在玻璃窗上。

机器人原型的尺寸大约是300毫米×300毫米×100毫米，没有电池的时候重量约为两公斤。

这个原型在垂直光滑的窗户玻璃上的基本实验结果是，垂直方向向上的移动速度为0.08米/秒，垂直向下的移动速度是0.14米/秒，水平方向移动速度为0.11米/秒。

这篇文章的第一章提到了研究的背景和此次研究的目标，以及介绍墙上清理机器人的概念。

第二章讨论了附着和运行的机械装置。

第三章在实验的基础上论述了其基本特性。

最后，在第四章当中讨论了未来的工程与难题。

关键词：移动机械机构，机器人1 前言最近，我们对于建筑物外部表面的自动清洗有许多要求。

一些特制的窗口清洗机已经被安装应用于建筑物保养领域的实际当中。

然而，从一开始它们几乎都是安装在建筑物当中，而且他们需要非常昂贵的费用。

因此，在建筑维修领域当中，要求体积小、重量轻、便携式窗口清洁机器人也正在发展。

清洁公司对窗户清洁机器人需求的现场调查研究结果表明，为了使窗户清洁机器人用于实际当中，需要满足以下几点：1.为了便于携带，它的尺寸应当小，重量应当轻。

2.能够清洁窗户的角落，因为那里往往遗留污垢。

3.能连续地清扫玻璃窗，防止条纹图案留在玻璃窗上。

该移动装置的选择必须满足这些要求，尤其是后两项。

这个移动装置是由粘吸机构、移动机构和方向改变机构组合而成。

各种各样运动机制的爬墙机器人的研究已经被报道。

然而他们不完全符合以上三点。

例如，通过用脚行走的爬壁机器人不能实现连续行走，而且它的转弯能力低。

我们专注于应用于单一窗口的清洁机器人。

为了能再任何窗口上使用，跨越窗框或者窗口链接处显然是必要的，但是正如一个展览窗户的单窗玻璃上也可作为一种重要的应用。

根据上述考虑，我们采用两个轮子的运动和一个粘附的吸盘机构，本文主要论述了这个机构和功能尤其，在清洗角落窗口的功能。

首先要求按以下说明来设计窗户保洁机器人。

—体重:5公斤，包括电池和洗涤水，—大小:300毫米×300毫米×100毫米。

这些也是按保洁公司调查结果的要求定义的。

本文提出的体积小、重量轻、便携式窗户清洁机器人的名字叫墙壁清理器, 正如前面提到的，它被设计来满足市场的需求。

该文章提议这个尺寸小，重量轻，便于携带的，为了满足上述市场要求而设计窗口清洁机器人取名叫WallWalker。

WallWalker附着在玻璃窗上，在大玻璃窗上一边运动一边清洗。

本文章论述了清洁器运动机械装置的效果。

第二章讨论了机器人的运动装置，并插图说明了样机测试所提出的移动机理。

第三章在试验的基础上论述了其基本的性能。

图1. 墙上一个小型窗口清洁机器人2 移动装置各种不同的运动装置的窗户清洁机器人的研究成果曾被报告过。

然而他们不满足我们基于以上市场需求而规定技术条件。

例如，通过用脚行走的爬壁机器人不能实现连续行走，而且它的转弯能力低。

爬壁机器人爬行机制允许连续运动，但其旋转能力和其行走能力一样低，甚至低于行走能力。

爬行机制的窗户清洁机器人已经被Shraft等人发展成熟 (尺寸:440×400×180毫米，重量:6.5公斤，最高速度2厘米/秒)。

它为了改变行驶方向，必须要自行的爬行和旋转。

该机制需要强劲的吸附力量去支持整个系统的在垂直面同时抬起移动装置，这也需要很长时间来完成这个改变方向的过程。

行走和爬行机制都需要复杂的结构，因此很难减轻重量和缩小尺寸。

根据这些考虑，我们采用两个轮子的运动和一个粘附的吸盘机构。

图二显示WallWalker的概念结构，其中包括两个驱动轮、一个吸盘放入机器人的中心，一个空气调节器、一个小真空泵、图2. 小型窗口的清洁机器人概观一些电子电路和打扫设备。

本章的内容涉及具体的结构测试的原型设计和机制。

2.1 运行机构Wallwalker通过两轮与打孔表面吸盘在窗玻璃上移动。

该机械装置最重要的是吸盘的摩擦系数和轮胎能紧紧贴在玻璃表面，例如轮胎和窗口表面之间的高摩擦力能传递力矩。

吸盘和窗户表面之间的低摩擦力，它实现整机保持在窗子上移动机器人。

我们选了聚四氟乙烯作为吸盘的表面材料，和硅橡胶作为轮胎的材料。

2.2 转向装置转向装置是一个清洁窗户角落的关键。

图3镜头展示了机器人的在角落改变它的运动方向的场景。

图3(a)显示了一个平常的转弯方式如汽车的转弯。

在这个情况，由于机器人改变方向如同描绘一条弧线一样，所以它达不到窗口的角落尽头。

这样的机器人需要如下的复杂过程，去达到窗户的角落：第一，机器人进入一个角落，其次它移动回原来的距离，然后它像画弧线一样改变方向。

如果机器人可以如图3(b)所示在角落尽头改变它的方向，机器人就能够轻易快速地清洁每一个角落。

圆形机器人很容易可以在墙角转弯，但它不能达到角落尽头。

另一方面，一个方形的机器人可以清洁角落,但从不将自己转向。

为了得到如图3(b)所示的改变方向的功能，如图2所示我们设计了一个可转动连接在中心轴处的移动平台和清洗部分的机构。

所推荐的机械装置由一个支持的部分，一个清洁部分和移动部分组成。

支持的部分是由被聚四氟乙烯覆盖的吸盘和真空泵构成。

清洁的部分固定在支持的部分上。

移动的部分用两轮驱动机构，该部分与支持部分的中心轴用悬架弹簧连接。

(a)常规的传动策略(b)新的转向策略，这样可以清洁到角落图3. 在一个窗口角落的转向机构2.3 悬挂的装置用足够产生摩擦力来移动机器本身的力按轮胎使其贴紧支持表面是非常重要的。

因为吸盘在真空的条件下改变其自身形状，如同真空状态，致使其最初无法计算机器人靠在附着表面的姿态。

也就是说，轮胎推在附着平面上的力必须对附着力是可调节的。

WallWalker的弹簧悬架被看作为调节机构。

他们被安装在移动部分和支撑部分之间，而且能够使轮胎以一个合适的力接触附着面并使之产生摩擦。

2.4 移动装置的原型图4的照片展示了被推荐的用于实验的原型机转动装置图片。

这个原型的尺寸大约是300毫米×300毫米×100毫米，其重量不含电池大约两公斤。

其底盘是由正方形的铝合金制成，其内部是被掏空，用来放能够改变移动方向的旋转移动部分。

这包含两个直流电机、悬挂机制、真空泵(-23 千帕)和直径是150毫米吸盘，空气调节器和一些电子电路。

这个机器人目前是通过电缆从外部控制的，其电力能源也由一个电源插排提供的。

图4. 成熟的样机3 实验结果起初，基本性质已经在垂直光滑的玻璃窗上测试过了。

实验结果表明，上升方向的移动速度是0.08米/秒，下降方向是0.14米/秒和水平方向0.11米/秒(图5)。

同时，机器人在移动过程中能够保持身体在窗户上的稳定移动而不跌倒。

这些结果证实了其基本性能满足基于现场调查所定义的性能规范。

接下来,旋转原型机在窗户角落里的工作通过实验。

图6展示了原型机利用论文所提到的转向机构在拐角处转弯的连续照片。

正如这些照片所显示的那样，我们已经证实了该模型可以顺利改变它的移动方向。

(a)原型机爬窗户 (b)原型机的背面图5. 原型机的机动性测量图6. 原型机在窗户角落里的旋转测试4 结论提议中的WallWalker提供了在垂直窗玻璃上的连续移动以及在窗户拐角处改变自身运动方向方案，该机器人专为清扫窗户死角而设计的。

为了验证上述原型机的基本性质能，我们对其进行了改进。

这些结果证明了该原型机满足了第一章中所提到的基本要求。

下一步将是对设施的控制系统及清洗单位的发展。

传感器，例如传感器的姿态，陀螺传感器等，将被安装好以及控制方案都将会得到发展。

最后将对清洁单元的清洁能力进行测试。

致谢这项研究是由Nankai-Ikueikai和Takamatsu, Japan基金会支持的。

在此我们非常感谢他们的支持和鼓励。

.WallWalker: Proposal of LocomotionMechanism Cleaning Evenat the CornerT. Miyake1 2 and H.Ishihara 11 Kagawa Univ. Japan2 MIRAIKIKAI Inc. JapanAbstract. The purpose of this research is to develop the window cleaning robot for cleaning a single large windowpane such as a show window. It requires the following demands to apply the window cleaning robot for the practical use:1. Clean the corner of window because fouling is left there often.2. Sweep the windowpane continuously to prevent making striped patterns on windowpane.The keys of mechanisms are the rotation ability of the mobile part around the other parts and the continuous locomotion in order to achieve the above points. The former enables the robot to change the direction with keeping its position and attitude at the corner of window. The latter is necessary for preventingleaving the striped pattern on the windowpane. We designed the continuous motion using two-wheel locomotion and adhering on the windowpane using a suction cup.The size of prototype is about 300mm × 300mm × 100mm and its weight is about 2 kg without batteries. As the results of basic experiments of the prototype on a vertical smooth window glass, traveling velocity of going up direction was 0.08 m/s, traveling velocity of going down direction was 0.14 m/s and horizontal direction was 0.11 m/s.In this paper the 1st chapter mentions background and objectives of this research and also introduces the concept of WallWalker. The 2nd chapter discusses the adhering and moving mechanism. The 3rd chapter illustrates its basic properties based on the experiments. Finally, problems and future works are discussed in the4th chapter.1 IntroductionRecently, we have had many requests for the automatic cleaning of outside surface of buildings. Some customized window cleaning machines have already been installed into the practical use in the field of building maintenance.However, almost of them are mounted on the building from the beginning and they needs very expensive costs. Therefore, requirements for small, lightweight and portable window cleaning robot are also growing in the field of building maintenance.As the results of surveying the requirements for the window cleaning robot by the field research with the cleaning companies, the following points are necessary for providing the window cleaning robot for practical use:1. It should be small size and lightweight for carried by one person to everywhere.2. Clean the corner of window because fouling is left there often.3. Sweep the windowpane continuously to prevent making striped pattern ona windowpane.The locomotion mechanism must be chosen to satisfy these demands, especially later two subjects. Here locomotion mechanism means the combination of adhering mechanism, traveling mechanism and a mechanism for changing traveling direction.Various researches of locomotion mechanisms on wall climbing robots have been reported [1–5]. However they do not adapt to above three points completely.For example, climbing robot by legged-wall walking can not realize the continuous movement, and also its turn-ability is low [6].We focused on the application of the window cleaning robot on a single windowpane. It is apparently necessary to cross over the window frame or joint line to use it at any window, but the single windowpanes like as a show window also exist as an important application.According to such considerations, we adopted the two-wheel locomotion mechanism with adhering by a suction cup. This paper mainly deals with this mechanism and functions specialized in cleaning the corner of window.First requirement brought the following specifications for designing the window cleaning robot.– Weight: 5 kg, including the weight of battery and washing water,– Size: 300mm × 300mm × 100 mm.These are also defined by the results of surveying the demands from the cleaning companies.This paper proposes the small, light and portable window cleaning robot named WallWalker, which are designed to satisfy the market demands as mentioned above. Figure 1 is the rendering at a scene of practical use of WallWalker. The WallWalker is adhering on a windowpane and cleaning as moving on large windows.This paper discusses the effectiveness of proposed locomotion mechanism. The 2nd chapter discusses the locomotion mechanisms and illustrates the prototype for testing the proposed locomotion mechanism. The 3rd chapter illustrates its basic properties based on the experiments.Fig. 1. Small-size window cleaning robot on a window2 Locomotion MechanismVarious researches of locomotion mechanisms on the window clecaning robots have been reported. However they do not meet our specifications defined based on the market demands above-mentioned. For example, climbing robot by legged-walk cannot realize the continuous movement, and also its turn-ability is low [6]. Climbing robot using crawler mechanism allows continuous movement, but the rotatability is as low as or lower than the legged walk [7]. Window cleaning robot by crawler mechanism had been developed (Size: 440×400×180mm Weight: 6.5 kg maximum speed 2 cm/sec) by Shraft et al. [8]. It must bring its own crawler up from the adhering surface and rotate it in order to change its traveling direction. This mechanism needs strong adhering force to hold the whole system on the vertical plane with lifting the mobile mechanism, and also it takes a long time to finish the process of changing its front.Both of Legged-Walk and Crawler mechanism need the complicated structures, and therefore it is difficult to lighten and downsize it.According to such considerations, we adopted the two-wheel locomotion mechanism with adhering by suction cup. Figure 2 shows conceptual structure of WallWalker, which includes two driving wheels, a suction cup put in the center of robot, an air regulator, a small vacuum pump, some electronic circuits and some cleaning units. This chapter deals with the details of structures and the prototype designed for testing the proposed mechanism.2.1 Traveling MechanismWallWalker moves on windowpane by two wheels with holing the body on the surface using a suction cup. The most important point in the mechanism is Fig. 2. Overview of small-size window cleaning robotthe friction coefficient of suction cup and tire against the adhering surface, e.g. high friction between the tire and the surface of window transmits the torque, and low friction between the suction cup and the surface of window. It achieves to move the robot with holding the body on the window. We selected PTFE (Polytetrafluoroethylene) for the materials of surface of a suction cup, and silicon rubber for the material of tires.2.2 Turning MechanismTurning mechanism is a key to clean even at the corner of window. Figure 3 shows the scenes that the robot changes its traveling direction at the corner. Figure 3(a) shows a usual turning way like as turning of motorcars. In this case, since the robot changes a direction as tracing an arc, it can not reach the end of corner of window. It needs the complicated process as follows to cleanthe corner by such robot: first, the robot goes into a corner, next it moves back the distance to turn, then it changes its direction as tracing an arc. In case that the robot can change its direction at the end of corner as shown in Fig. 3(b), the robot can clean a corner easily and rapidly. Round-shape robot is easily able to turn at the corner, but it unable to reach the end of corner. On the other hand, a quadrangular robot can clean to the end of corner, but never turn itself there.To get a function to change direction as shown in Fig. 3(b), we designed the mechanism that a mobile unit and a cleaning part are rotatably connected at the center shaft as shown in Fig. 2. Proposed mechanism consists of an adhering part, a cleaning part and a mobile part. The adhering part is constructed of a suction cup covered with PTFE and a vacuum pump. The（a）Conventional turning strategy（b）Novel turning strategy, which enables to clean a cornerFig. 3. Turning mechanism at a window Cornercleaning part is fixed to the adhering part. The mobile part uses two-wheel driving mechanism and is connected to the center shaft of the adhering part with suspension springs.2.3 Suspension MechanismIt is very important to press the tires on the adhering surface with the force enough to generate the friction to move itself. Because the suction cup deforms its own shape by the condition of vacuum such as a vacuum pressure, it is impossible to calculate the posture of robot against the adhering surface initially. That is, the force that the tire is pushed on the adhering plane must be adjustable to the adhering force.WallWalker is introduced suspension springs into as an adjusting mechanism. They are placed between the mobile part and the adhering part, and enable to touch the tires on the adhering plane with a suitable force for the generating the friction.2.4 Prototype of Locomotion MechanismFigure 4 shows the photograph of prototype developed to test the proposed turning mechanism. The size of prototype is about 300mm × 300mm × 100mm and its weight is about 2 kg without batteries. The chassis that is made of aluminum alloy is formed square, and its inner area is hollowed to rotate mobile part at changing traveling direction. This contains two DC motors, suspension mechanism, a vacuum pump (−23 KPa) a suction cup which diameter is 150 mm, an air regulator and some electronic circuits. This robot is currently controlled from outside via cables and electric energy is also supplied by a power strip.Fig. 4. Developed prototype3 Experimental ResultsAt first the basic properties on a vertical smooth window glass have been tested. As the experimental results, traveling speed of going up direction was 0.08 m/s, one of going down direction was 0.14 m/s and horizontal direction was 0.11m/s (Fig. 5). Also, the robot kept its body on the window stably and did not fall down during moving. These results proved its basic performance satisfies the specifications defined based on the field surveying.Next, rotatability of prototype at the corner of window was confirmed by the experiment. Figure 6 shows sequential photographs when the prototype turns at the corner using turning mechanism proposed in this paper. As shown by these photographs, it was verified that the prototype can change its traveling direction at rights smoothly.(a)Prototype is climbing up a window (b) Back side of prototypeFig. 5. Mobility measuring of prototypeFig. 6. Test of rotatability of prototype at the corner of window4 ConclusionProposed WallWalker, which provides the continuous motion on the vertical windowpane and rotatability that the robot can change its traveling directionat the corner of window, was designed for cleaning the end of corner of window. In order to verify the basic properties about above abilities, the prototype was developed. Those results proved that the prototype fill the basic requirements mentioned in 1st chapter.As the next development, the installations of control system and cleaning nit are planed. Sensors such as the posture sensor, e.g. gyro sensor, will be counted and control scheme will be developed. Finally, the cleaning be tested with some cleaning units.AcknowledgementsThis research was supported by Foundation of Nankai-Ikueikai, Takamatsu, Japan. We greatly appreciate their support and encouragement.。