机械 机器人 外文文献 英文文献 墙壁清理器 可实现角落清理的移动装置的方案

WallWalker: Proposal of Locomotion
Mechanism Cleaning Even
at the Corner
T. Miyake1 2 and H. Ishihara1
1 Kagawa Univ. Japan
2 MIRAIKIKAI Inc., Japan
Abstract. The purpose of this research is to develop the window cleaning robot forcleaning a single large windowpane such as a show window. It requires the followingdemands 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 awindowpane.
The keys of mechanisms are the rotatability of the mobile part around the otherparts and the continuous locomotion in order to achieve the above points. The formerenables the robot to change the direction with keeping its position and attitude at the
corner of window. The latter is necessary for preventing leaving the striped patternon a windowpane. We designed the continuous motion using two-wheel locomotionwith adhering on the windowpane using a suction cup.
The size of prototype is about 300mm × 300mm × 100mm and its weight isabout 2 kg without batteries. As the results of basic experiments of the prototype ona vertical smooth window glass, traveling velocity of going up direction was 0.08 m/s,one 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 discussesthe 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 Introduction
Recently, we have had many requests for the automatic cleaning of outsidesurface of buildings. Some customized window cleaning machines have alreadybeen 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 robotby the field research with the cleaning companies, the following points arenecessary 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 combinationof adhering mechanism, traveling mechanism and a mechanism for changinga 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 realizethe continuous movement, and also its turn-ability is low [6].
We focused on the application of the window cleaning robot on a singlewindowpane. It is apparently necessary to cross over the window frame orjoint line to use it at any window, but the single windowpanes like as a showwindow 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 thewindow 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 thecleaning 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 window
2 Locomotion Mechanism
Various researches of locomotion mechanisms on the window cleaning 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 leggedwalk [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 Mechanism
WallWalker 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 robot
the 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 Mechanism
Turning 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 clean
the 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 corner
Fig. 3. Turning mechanism at a window Corner
cleaning 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 Mechanism
It 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 Mechanism
Figure 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 prototype
3 Experimental Results
At 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 prototype
Fig. 5. Mobility measuring of prototype
Fig. 6. Test of rotatability of prototype at the corner of window
4 Conclusion
Proposed WallWalker, which provides the continuous motion on the vertical indowpane and rotatability that the robot can change its traveling direction t 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 eveloped. Those results proved that the prototype fill the basic requirements entioned 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 ounted and control scheme will be developed. Finally, the cleaning be tested with some cleaning units. Acknowledgements
This research was supported by Foundation of Nankai-Ikueikai, Takamatsu, Japan. We greatly appreciate their support and encouragement.
墙壁清理器:可实现角落清理的移动装置的方案
T.Miyake，H.Ishihara 著
许璠译
摘要：本次研究的目的是为了开发一种能清洗窗口的机器人，用于清洗一个大玻璃窗，如清洗一个展览窗。

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。

我们通过两个轮子的运动与一种具有吸力的玻璃杯相结合来设计以达到连续的运动。

这个原型的尺寸大约是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，向上行驶的速度为0.08米/秒，向下行驶的速度是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，以及介绍墙上清理器的概念。

第二章讨论了附着和运行的机制。

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正在发展。

通过这个研究领域的清洁公司对窗户清洁机器人需求的调查结果，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，它应当尺寸小重量轻。

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。

对于不同运动机理的爬墙机器人的研究已经被报道。

然而他们不适应以上三点。

例如，爬壁机器人的行走机构不能实现连续行走，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。

跨越窗框或使用它在任何窗口的关节显然是必要的，但是像一个展览窗户的单窗玻璃上也可作为一种重要的应用。

根据要求，我们采用两个轮子的运动和一个粘吸机构的结合，本文主要论述了这个机构和功能在清洗角落窗口的应用。

首先要求按以下规格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、便携式窗口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。

该文章论述了清洁器运动原理的效果。

第二章讨论了机器人的运动机理，并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 移动机理
不同运动机理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的规格定义。

例如，爬山机器人不能实现行走连续的运动，而且它的转弯能力低。

爬壁机器人爬行机制允许连续运动，但旋转能力低，或者低于行走能力。

爬行机制的窗户清洁机器人已经被沙诺特等人发展(大小: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。

该机制需要强劲力量去支持整个系统的在垂直面的移动，这也需要很长时间来完成这个过程。

行走和爬行机制都需要复杂的结构，因此很难减轻和精简。

根据要求，我们通过负压杯和秉承机制采用双轮运动。

图二显示机器的概念和结构，其中包括两个驱动轮、抽吸杯放入这个中心，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
一些电子电路和打扫工具。

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
墙壁清洁器通过两轮与打孔表面抽吸杯在窗玻璃上移动。

最重要的机制是和谐的摩擦系数和轮胎，例如高摩擦表面的轮胎和窗口传递扭矩、低摩擦表面吸杯和窗口。

它实现在窗子上移动机器人。

我们选了聚四氟乙烯为材料的表面形成一层负压杯，和硅橡胶材料的轮胎。

2.2 转向机制
转向机构是在墙角清洁窗户的关键。

图3镜头显示了机器人的行驶方向在角落里的变化。

图3(a)显示了一个平常的方式如转弯转向汽车。

在这个情况，由于它无法改变方向，所以它达不到窗口的角落。

它需要如下的复杂过程，去达到墙壁的角落：第一，机器人进入一个角落，其次它移动回原来的距离，然后它将改变方向。

在次年情况：机器人可以改变它的方向的转角，如图3(b)，机器人能够轻易清洁每一个角落。

圆形机器人很容易可以在墙角转弯，但它不能达到角落终点。

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我们设计了一个移动单元和清洗部分在中心轴处转动连接的机构。

所推荐的机制包括一个坚持的部分，一个清洁部分和移动部分。

坚持的部分是由被聚四氟乙烯覆盖的吸杯和真空泵构成。

清洁的部分固定在坚持的部分上。

移动的部分用两轮驱动机构，该部分与坚持部分的中心轴用悬架弹簧连接。

(a)常规的传动策略
(b)小转向的策略，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 悬挂的机制
按轮胎表面的粘吸以产生足够的摩擦力来移动是非常重要的。

由于吸入杯通过改变其自身形状来变形，如真空状态，致使其最初无法计算反对机器人的姿态。

也就是说，坚持推动飞机的轮胎必须与被支持的力量相一致。

墙壁清洁器的弹簧悬架被看作为调节机制。

他们之间的移动和支撑部分相互替换，在坚通过一个合适的飞机的可触摸的轮胎力量产生摩擦。

2.4 原型机的移动机理
图4的照片显示了原型机转动的机制。

这个原型的尺寸大约是300毫米×300毫米×100毫米，其重量在没有电池时大约两公斤。

其底盘是铝合金制，其内部是空的，用来改变移动和旋转的方向。

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

这个机器人电源电能的供应是通过从外面的控制电缆实现的。

图4. 成熟的样机
3 实验结果
最初的基本性质是在垂直光滑的玻璃窗上测试的。

结果表明，上升方向的传播速度是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测量的规格定义。

接下来,旋转原型机在窗户角落里的工作通过实验。

图6连续拍摄显示了原型机在拐角处旋转结合的机理进和评价。

这些照片证实了该模型可以顺利改变它在行驶进行中的方向。

(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
墙壁清理器实现了在垂直窗玻璃上的连续移动和旋转，机器人可以改变在拐角处的行驶方向。

它是专为清扫窗户死角的工具。

为了验证上述原型机的基本性质能，我们做了好多试验。

这些模型机的结果和基本要求已经在第一章中提到。

下一步的将是对设施的控制系统及清洗单位的发展。

例如传感器的姿态，陀螺传感器，传感器安装和控制方案都将会得到发展。

最后将测试清洁单位的清洁能力。

致谢
这项研究是由台南和日本基金会支持的。

在此我们非常感谢他们的支持和鼓励。

.。