Abstract
Both the principle of operation and the motion-control system of a suspended robot for surface cleaning in silos are presented in this paper. The mechanical design is a reasonable compromise betwee ...
Highlights
Working in confined spaces is considered to be very risky because of many factors, such as: an unsafe oxygen level, engulfment and biological, mechanical, electrical and atmospheric hazards [1]
The system is based on two hardware blocks: a robotic structure that moves inside the silo transporting the cleaning tool, and a support unit that comprises all of the hardware outside the silo that is required for providing support
The core of the robot-control subsystem is a microcontroller unit programmed for required tasks.The infor‐ mation from the camera is not processed on board the robot; instead, it is sent as it is to the support-unit control subsystem
Summary
Working in confined spaces is considered to be very risky because of many factors, such as: an unsafe oxygen level, engulfment and biological, mechanical, electrical and atmospheric hazards [1]. Two major types of cleaning can be classified for confined spaces. Volume cleaning consists of removing blockages of materials, sucking out sludge and any other process guaranteeing the continuous flow of the stored materials and use of the entire space. The tower silo is the most common type of food silo, in which the bulk material is fed in at the top and taken out at the bottom. It has a cylindrical shape with a cement (b) The robot in the final pose. The paper is organized as follows: Section 2 is devoted to the description of the architecture and the mechanical design of the robot, the robot’s kinematics and the princi‐ ples of its operation.
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