1A1-D02 汚れ検出センサを用いた窓ガラス清掃ロボットによる清掃品質向上(清掃ロボット)

概要

論文の詳細を見る
Cleaning of glass windows for buildings is a dangerous work for human. Automatic cleaning for glass windows has been, thus, expected. Small-sized window cleaning robots have been proposed. For reliable tasks of the purpose, the robots should follow a desired path accurately. So we have proposed a path tracking control for the window cleaning robot. Therefore the robot can clean efficiently. However, it is uncertain that the window is actually clean. In this paper, a dirt sensor for the window cleaning robot is proposed to improve reliability of cleaning. The sensor has a light emitting section and a light receiving section. It detects dirt by measuring amount of reflected light which increases in dirty place. Furthermore, a method using the dirt sensor loaded onto the robot to improve quality of window cleaning is proposed. The experimental results confirm the validity of the proposed method.
一般社団法人日本機械学会の論文
2011-05-26