Motion analysis of screw drive in-pipe cleaning robot

2022 ◽  
pp. 095440622110612
Author(s):  
Zheng Zhang ◽  
Linghui Hu ◽  
Xiuhong Li ◽  
Xinyu Hu
Keyword(s):  
Complex Structure ◽  
Stable Operation ◽  
Force Analysis ◽  
Screw Drive ◽  
Curved Pipes ◽  
Cleaning Robot ◽  
Kinematics Modeling ◽  
Simulation And Experiment ◽  
New Type ◽  
Cleaning Robots

In-pipe cleaning robots often need to carry cleaning tools, and their tails are connected with cables such as water pipes and air pipes. Especially when cleaning vertical straight pipes and curved pipes, a greater traction is required. Therefore, a new type of screw drive in-pipe cleaning robot was designed in this paper. The robot solves the problems of small traction, complex structure, and unstable motion of the in-pipe cleaning robot. The kinematics modeling was carried out on the screw drive in-pipe cleaning robot’s screw module for generating traction, and the force analysis was performed on this basis. The function model of the torque, air pressure, and traction of the screw module was established, which was verified by the simulation and experiment. The results show that the screw in-pipe cleaning robot has a large traction, stable operation, and can be well adapted to the vertical straight pipes and curved pipes.

A New Air-Conditioning Pipeline Cleaning Robot System

2011 ◽  
Vol 464 ◽  
pp. 313-317
Author(s):  
Zhi Xiang Li ◽  
Heng Wu Li ◽  
Zhi Hui Li
Keyword(s):  
Air Conditioning ◽  
The Self ◽  
Working Process ◽  
Robot System ◽  
Variable Diameter ◽  
Cleaning Robot ◽  
Circular Pipes ◽  
New Type ◽  
Cleaning Robots ◽  
Different Diameters

Presently most of the air-conditioning pipeline cleaning robots in the market do not have the self-adaptive capacity to variable diameter pipelines, and clean the circular pipeline incompletely, have the whipping problems in the working process. For this case, this paper developed a new type of pipe robot; the robot adopts the umbrella-like open-and-close mechanism, scissors lifting mechanism and tail location and navigation device. It can align the center of the circular pipes with different diameters automatically, and sweep 360° one-time, improve the efficiency and stability of the robot greatly.

Adaptive PID Controller Based on Single Neuron

2012 ◽  
Vol 466-467 ◽  
pp. 981-985 ◽  
Author(s):  
Xin Yun Qiu ◽  
Yuan Gao
Keyword(s):  
Pid Controller ◽  
Control Algorithm ◽  
Single Neuron ◽  
Variable Parameter ◽  
Fast Response ◽  
Control Law ◽  
Parameters Tuning ◽  
Application Condition ◽  
Simulation And Experiment ◽  
New Type

An adaptive PID controller based on single neuron is proposed. The properties, control algorithm, parameters tuning, the control law and the application condition of the controller are studied in the paper. To satisfy the properties of the requirements of the control system in an electromotor group, such as a broad dynamic changing range, a fast response, a little overshoot and time-variable parameter, a new-type self-optimizing PID controller based on artificial neural networks is proposed and studied. It is verified that the controller has few adjustable parameters and excellent robust performance. The results of simulation and experiment prove that the controller is superior to the traditional PID controller.

scholarly journals Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot

2018 ◽  
Vol 2018 ◽  
pp. 1-16 ◽  
Author(s):  
Muhammad Ilyas ◽  
Shi Yuyao ◽  
Rajesh Elara Mohan ◽  
Manojkumar Devarassu ◽  
Manivannan Kalimuthu
Keyword(s):  
Autonomous Navigation ◽  
Controller Design ◽  
Mechanical Design ◽  
Recognition Algorithm ◽  
Controlled Environment ◽  
System Modelling ◽  
Flat Surfaces ◽  
Cleaning Robot ◽  
Surrounding Environment ◽  
Cleaning Robots

The mechanical, electrical, and autonomy aspects of designing a novel, modular, and reconfigurable cleaning robot, dubbed as sTetro (stair Tetro), are presented. The developed robotic platform uses a vertical conveyor mechanism to reconfigure itself and is capable of navigating over flat surfaces as well as staircases, thus significantly extending the automated cleaning capabilities as compared to conventional home cleaning robots. The mechanical design and system architecture are introduced first, followed by a detailed description of system modelling and controller design efforts in sTetro. An autonomy algorithm is also proposed for self-reconfiguration, locomotion, and autonomous navigation of sTetro in the controlled environment, for example, in homes/offices with a flat floor and a straight staircase. A staircase recognition algorithm is presented to distinguish between the surrounding environment and the stairs. The misalignment detection technique of the robot with a front staircase riser is also given, and a feedback from the IMU sensor for misalignment corrective measures is provided. The experiments performed with the sTetro robot demonstrated the efficacy and validity of the developed system models, control, and autonomy approaches.

scholarly journals Design and Experiment of a Novel Façade Cleaning Robot with a Biped Mechanism

2018 ◽  
Vol 8 (12) ◽  
pp. 2398 ◽  
Author(s):  
Shunsuke Nansai ◽  
Keichi Onodera ◽  
Prabakaran Veerajagadheswar ◽  
Mohan Rajesh Elara ◽  
Masami Iwase
Keyword(s):  
Polynomial Interpolation ◽  
Area Coverage ◽  
Glass Panel ◽  
High Rise ◽  
Cleaning Robot ◽  
Glass Panels ◽  
Glass Facade ◽  
Cleaning Robots ◽  
Real Scenario ◽  
Glass Façade

Façade cleaning in high-rise buildings has always been considered a hazardous task when carried out by labor forces. Even though numerous studies have focused on the development of glass façade cleaning systems, the available technologies in this domain are limited and their performances are broadly affected by the frames that connect the glass panels. These frames generally act as a barrier for the glass façade cleaning robots to cross over from one glass panel to another, which leads to a performance degradation in terms of area coverage. We present a new class of façade cleaning robot with a biped mechanism that is able overcome these obstacles to maximize its area coverage. The developed robot uses active suction cups to adhere to glass walls and adopts mechanical linkage to navigate the glass surface to perform cleaning. This research addresses the design challenges in realizing the developed robot. Its control system consists of inverse kinematics, a fifth polynomial interpolation, and sequential control. Experiments were conducted in a real scenario, and the results indicate that the developed robot achieves significantly higher coverage performance by overcoming both negative and positive obstacles in a glass panel.

scholarly journals Continuous Directional Water Delivery on the 3D-Printed Arrowhead Microstructure Array

Materials ◽  
2019 ◽  
Vol 12 (7) ◽  
pp. 1043 ◽  
Author(s):  
Lihua Liang ◽  
Wei Wang ◽  
Junjun Chen ◽  
Kunpeng Jiang ◽  
Yufeng Sheng ◽  
...  
Keyword(s):  
Complex Structure ◽  
External Energy ◽  
Liquid Transport ◽  
Practical Applications ◽  
Transport Distance ◽  
Transport Length ◽  
Simulation And Experiment ◽  
3D Printed ◽  
The Relationship ◽  
Microstructure Array

Unidirectional transport is attracting increasing attention in the field of microfluidics, because it does not require an external energy supply. However, most of the current self-driving structures are still plagued with persistent problems that restrict their practical applications. These include low transport velocity, short transport distance, and complex structure. This work reports the design of a new arrowhead microstructure array, on which liquid transport can reach speeds of 23 mm/s and the ratio of transport length to channel width (L/R) can reach up to approximately 40. This structure drives liquid through a unique arrow conformation, which can induce capillary force and arrest the reverse motion of the liquid simultaneously. By means of theory, simulation, and experiment, we have studied the mechanism of liquid transport on this structure. We provide a detailed discussion of the relationship between the velocity of liquid transport and the microstructural dimensions. The findings may inspire the design of novel, unidirectional, liquid-spreading surfaces.

scholarly journals Cascaded Machine-Learning Technique for Debris Classification in Floor-Cleaning Robot Application

2018 ◽  
Vol 8 (12) ◽  
pp. 2649 ◽  
Author(s):  
Balakrishnan Ramalingam ◽  
Anirudh Lakshmanan ◽  
Muhammad Ilyas ◽  
Anh Le ◽  
Mohan Elara
Keyword(s):  
Binary Classification ◽  
Support Vector ◽  
Single Shot ◽  
Machine Learning Technique ◽  
Cleaning Robot ◽  
Svm Model ◽  
Learning Technique ◽  
Essential Function ◽  
Cleaning Robots

Debris detection and classification is an essential function for autonomous floor-cleaning robots. It enables floor-cleaning robots to identify and avoid hard-to-clean debris, specifically large liquid spillage debris. This paper proposes a debris-detection and classification scheme for an autonomous floor-cleaning robot using a deep Convolutional Neural Network (CNN) and Support Vector Machine (SVM) cascaded technique. The SSD (Single-Shot MultiBox Detector) MobileNet CNN architecture is used for classifying the solid and liquid spill debris on the floor through the captured image. Then, the SVM model is employed for binary classification of liquid spillage regions based on size, which helps floor-cleaning devices to identify the larger liquid spillage debris regions, considered as hard-to-clean debris in this work. The experimental results prove that the proposed technique can efficiently detect and classify the debris on the floor and achieves 95.5% percent classification accuracy. The cascaded approach takes approximately 71 milliseconds for the entire process of debris detection and classification, which implies that the proposed technique is suitable for deploying in real-time selective floor-cleaning applications.

Design and Damping Force Analysis for Turbine Composite Regenerative Damper

2012 ◽  
Vol 446-449 ◽  
pp. 1360-1365
Author(s):  
Yong Qiang Gao ◽  
Jin Qiu Zhang ◽  
Jie Yue ◽  
Zhi Zhao Peng
Keyword(s):  
Basic Principle ◽  
Electromotive Force ◽  
Load Resistance ◽  
Force Analysis ◽  
Damping Force ◽  
Piston Velocity ◽  
Axial Turbine ◽  
New Type ◽  
The Relationship

Turbine composite regenerative damper is one of new type damper which can regenerate the energy of vibration. The component and principle of generator and regenerate energy for turbine composite regenerative damper is introduce, and based on hydrodynamics and axial turbine basic principle, the relationship between induced electromotive force and piston velocity ,load resistance is induced. At last, the relationship between damping force and piston velocity, load resistance is induced too. The method is meaningful to understand and instruct the design of turbine composite regenerative damper.

scholarly journals Multi-Sensor Orientation Tracking for a Façade-Cleaning Robot

Sensors ◽  
2020 ◽  
Vol 20 (5) ◽  
pp. 1483 ◽  
Author(s):  
Manuel Vega-Heredia ◽  
Ilyas Muhammad ◽  
Sriharsha Ghanta ◽  
Vengadesh Ayyalusami ◽  
Siti Aisyah ◽  
...  
Keyword(s):  
Orientation Angle ◽  
Position Estimation ◽  
Measurement Unit ◽  
Vision Sensor ◽  
Window Frame ◽  
Cleaning Robot ◽  
Heading Angle ◽  
Glass Facade ◽  
Cleaning Robots ◽  
Glass Façade

Glass-façade-cleaning robots are an emerging class of service robots. This kind of cleaning robot is designed to operate on vertical surfaces, for which tracking the position and orientation becomes more challenging. In this article, we have presented a glass-façade-cleaning robot, Mantis v2, who can shift from one window panel to another like any other in the market. Due to the complexity of the panel shifting, we proposed and evaluated different methods for estimating its orientation using different kinds of sensors working together on the Robot Operating System (ROS). For this application, we used an onboard Inertial Measurement Unit (IMU), wheel encoders, a beacon-based system, Time-of-Flight (ToF) range sensors, and an external vision sensor (camera) for angular position estimation of the Mantis v2 robot. The external camera is used to monitor the robot’s operation and to track the coordinates of two colored markers attached along the longitudinal axis of the robot to estimate its orientation angle. ToF lidar sensors are attached on both sides of the robot to detect the window frame. ToF sensors are used for calculating the distance to the window frame; differences between beam readings are used to calculate the orientation angle of the robot. Differential drive wheel encoder data are used to estimate the robot’s heading angle on a 2D façade surface. An integrated heading angle estimation is also provided by using simple fusion techniques, i.e., a complementary filter (CF) and 1D Kalman filter (KF) utilizing the IMU sensor’s raw data. The heading angle information provided by different sensory systems is then evaluated in static and dynamic tests against an off-the-shelf attitude and heading reference system (AHRS). It is observed that ToF sensors work effectively from 0 to 30 degrees, beacons have a delay up to five seconds, and the odometry error increases according to the navigation distance due to slippage and/or sliding on the glass. Among all tested orientation sensors and methods, the vision sensor scheme proved to be better, with an orientation angle error of less than 0.8 degrees for this application. The experimental results demonstrate the efficacy of our proposed techniques in this orientation tracking, which has never applied in this specific application of cleaning robots.

Dynamical Research on a Micro-Displacement Actuator Based on V-Type Guide-Way

2011 ◽  
Vol 305 ◽  
pp. 330-334
Author(s):  
Ji Jie Ma ◽  
Jian Ming Wen ◽  
Ping Zeng ◽  
Jun Wu Kan ◽  
Zhong Hua Zhang
Keyword(s):  
High Resolution ◽  
Electrical Signal ◽  
Loading Capacity ◽  
Kinetic Simulation ◽  
Working Mechanism ◽  
Dynamic Formulation ◽  
Simulation And Experiment ◽  
New Type ◽  
Simulation Results ◽  
Inertial Actuator

A new type of the micro-displacement device based on V-shaped groove by using piezoelectric stack as the driver was presented. The performance characteristic of the driving device was introduced and its working mechanism was discussed. the dynamic formulation of inertial actuator is established, by using matlab software, the kinetic simulation of the actuator is carried out, the structure of newly inertial actuator is designed and manufactured. The simulation and experiment of the actuator is conducted. The simulation results agree well with the experimental results indicates that the simple associated symmetry electrical signal can provide stable stepping movement, the speed of 0.5mm/s, high resolution of 1μm, maximum loading capacity of 600g.

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