Cleaning Robot Research Articles

IoT Based Floor Cleaning Robot

Abstract: Cleaning the dust from the floor is one of the daily tasks that must be completed. This is a common practice not only at home, but also at companies and shopping malls. Due to the fact that dust-cleaning operations take a long time, other activities are sometimes disregarded [6]. To eradicate this problem, we came up with this project based on cleaning mechanism, our robot can reach out to places where human access is not possible. Taking the advantage of advancements achieved in mechanical technology innovation have made human life much easier and more pleasant. Today's clinics are becoming more sophisticated and automated. Homegrown robots are making their way into people's homes and daily lives, although the sector is still in its infancy. Regardless, a shift is expected, and the adoption of indigenous robots is moving forward. There are a few mechanical vacuum cleaners on the market, but only a handful of them can clean wet floors. Using a remote mechanical cleaning framework, this robot makes floor cleaning simple and rapid. This remote framework includes a transmitter app that sees a surge in demand for an android portable app that allows the robot to follow directions supplied by the client via the transmitter app. The floor cleaner robot is designed to make cleaning interactions easier than they would be if done manually. The main purpose of this project is to design and build a cleaning robot model using NodeMCU. Keywords: NodeMCU, Moping, Servo, Robot, Automation.

Towards Next Generation Cleaning Tools: Factors Affecting Cleaning Robot Usage and Proxemic Behaviors Design

Among all healthcare sectors and working processes, the janitorial section is a prominent source of work-related injuries due to its labor-intensive nature and rising need for a hygienic environment, thus requiring extra attention for prevention strategies. Advancement in robotic technology has allowed autonomous cleaning robots to be a viable solution to ease the burden of janitors. To evaluate the application of commercial-grade cleaning robots, a video-based survey was developed and distributed to participants. Results from 117 participants revealed that: 1) participants were less tolerant when their personal space was invaded by humans compared with the cleaning robot, 2) it is better to inform the surrounding humans that the cleaning robot has been sanitized to make them feel safe and comfortable during the pandemic, and 3) to make the interaction more socially acceptable, the cleaning robot should respect human personal space, especially when there is ample space to maneuver. The findings of the present study provide insight into the usage and Proxemic behaviors design of future cleaning robots.

Design and implementation of a cost effective vacuum cleaner robot

Robot vacuum cleaners are among the first service robots to enter daily life. However, robot vacuum cleaners are currently inaccessible to many due to their high cost. In order for these robots to become widespread, they must be cheap and functional. In this study, the design and production of a low-cost, high-performance vacuum cleaner robot that can be controlled by smartphones is presented. This autonomous robot moves around the obstacles, vacuums the dust from the floor, performs basic navigation and also it is manually controllable. Designing of a vacuum cleaner robot is divided into three parts which are the mechanical, electrical and software design. In the mechanical design; the robot chassis and cleaning system have been designed and realized. In the electrical design; the electrical components such as batteries, motors, drivers, sensors and microcontroller have been selected and the power system has been designed by considering electrical requirements. In the software design; an easy to use Android application for remote control has been created, autonomous algorithms such as random walk and snake algorithms have been designed. Remote controlling of the robot has been provided by using Bluetooth connection between the Raspberry Pi and Android smartphone.

Research related to the Appearance Design of Water Surface Cleaning Robot based on Bionics

This thesis analyzes five representative water cleaning robots selected from three countries and combines the top-down design process of bionics and the basic elements of product design to clarify the problematic points of existing water waste cleaning robots and propose a bionic design solution. The results of the analysis show that the shape design is not optimized according to the shape of the hull, and the environmental and aesthetic aspects are not satisfactory. By applying the three bionic principles of color, form and material to the appearance of the robot, a robot that meets the needs of cleaning small urban waters is designed and derived. This proposal is an optimized solution to solve the existing defects of the product and complete the solution that meets the modern market demand, aesthetic patterns, and production methods.

S-Sacrr: A Staircase and Slope Accessing Reconfigurable Cleaning Robot and its Validation

The next giant leap in the commercial robot cleaning market is cleaning the staircases and slope structures, leading to full-fledged building maintenance. So far, numerous robotic designs have been proposed to execute cleaning tasks on the staircase and slope surfaces. However, most existing robot designs could only perform cleaning in any one of the mentioned surfaces, often without any reconfiguring feature that expands its ability to perform the area coverage on both structures. In this letter, we introduce a novel robotic platform called s-Sacrr: A staircase and slope accessing reconfigurable cleaning robot that can traverse surfaces such as the floor, staircase, and slope by changing its morphology for area-coverage operation. s-Sacrr was designed as a three-stage traversing platform that consists of three modules connected with a vertical linear actuator which aids in reconfiguration as required during steps and slopes access. Specifically, the morphological transformation feature maintains the stability and evades the toppling effect of the robot. We evaluated the s-Sacrr robot’s smooth traversing and area-coverage ability on the staircase and slope surfaces. The experimental result demonstrates the s-Sacrr ability to access stairs and inclined surfaces.

Complete Coverage Path Planning of Underwater Wall-climbing Cleaning Robot

Abstract Aiming at the special working environment of the underwater wall-climbing cleaning robot and the low efficiency and poor universality of the complete coverage path planning algorithm in this environment, a complete coverage path planning algorithm based on enclosing window is proposed. Firstly, the robot’s floating system is briefly introduced. Then, the grid map method is used to model the environment, and the traversal priority order of the single-layer enclosing window is determined according to different grid maps. Finally, when the robot falls into the dead corner, the diffusible water-ripple enclosing window search algorithm is used to find the escape grid, then the robot escapes from dead corner and continues to traverse until all traversable grids are traversed. The simulation results show that the method in this paper can not only achieve 100% full coverage and 0% repetition rate, but also reduce path length. It has higher planning efficiency in underwater environments, and has better applications.

Review Paper on Automated Domestic Vacuum Cleaner Robot

Abstract: Modern households are moving towards automation, there by delivering convenience and reducing time spent on house chores. While vacuum cleaners have made cleaning easier, they are large, noisy and bulky for everyday use. It is there for necessary to improve the technology of vacuum cleaning to reduce these deficiencies. As of 2021 due to the ongoing pandemic of Covid-19, keeping our living space clean and sanitized has become a high priority. The work load of people is shifted from offline work in offices to online work at home, due to which the workload has increased greatly on many people, which may lead some people to disregard cleaning their surroundings. In the present-day scenario, all members of a family are busy with their work and are to clean the house. The cleaning robot helps to clean and sanitize the floor just by simply pressing a switch. This also cuts down the extra labor used in the house for cleaning purpose. Above being the case, motivated for the design and development of an automatic cleaning robot - “Automated Domestic Vacuum Cleaner Robot” that does all the cleaning and sanitizing work with a simple press of a button. Keywords: Vacuum cleaner, robot, remote control, autonomous cleaning, Arduino uno

Shuchi 1.0: Robotic System For Automatic Segregation of Waste & Floor Cleaning

The advancements made in technology of robotics have made the existence of humankind simpler and comfortable. This work aims at developing a robot for waste collection, segregation and floor cleaning for domestic purpose. The robot expedites and eases the floor cleaning process by employing wire- less technologies. Robot movement is controlled by the end-user through an Android application. The Shuchi 1.0 model can also be configured to work in the semi-autonomous mode, requiring minimum intervention from the end-user. The system is fitted with sensors to detect the obstacles then changes the course of its path, mounted with a camera and LCD screen to ensure its effective work- ing. It is also equipped with an automatic waste segregator, which overcomes the need for manual segregation, thus having a positive impact on health and the environment. With these Shuchi 1.0 working features, it seeks to realize the goal of the Swachh Bharat Abhiyan by capitalizing on the technologies of IoT and Robotics.

Design and fabrication of a novel concept-based autonomous controlled solar powered four-wheeled Floor Cleaning Robot for wet and dry surfaces

Design and fabrication of a novel concept-based autonomous controlled solar powered four-wheeled Floor Cleaning Robot for wet and dry surfaces

Design and Development of Underwater Radioactive Material Cleaning Robot Applied in Pressure Vessel

Design and Development of Underwater Radioactive Material Cleaning Robot Applied in Pressure Vessel

Ultrasonic Cleaner using Two Transducers for Ship Hull Cleaning Robot

Ultrasonic Cleaner using Two Transducers for Ship Hull Cleaning Robot

Biofouling Monitoring Experiments of Underwater Concrete Samples for Offshore Platform Cleaning Robot Development

Biofouling Monitoring Experiments of Underwater Concrete Samples for Offshore Platform Cleaning Robot Development

Motion Control of a Ship Hull Cleaning Robot

Motion Control of a Ship Hull Cleaning Robot

Innovative Design of a Healthy and Environmentally Friendly Intelligent Cleaning Robot in a Smart City Public Environment.

With the expansion of modern society, there has been a substantial increase in the number of structures with multiple stories. Skyscrapers are not only the dream of incredible architects that desire to command the sky, but they have also transformed and defined how we live in the modern day. Building walls, on the other hand, are constantly affected by acid rain, dust and mist, meteorites, and bird droppings since they are exposed for lengthy periods of time. Furthermore, the challenges of cleaning at great heights are becoming increasingly critical. Figuring out how to most efficiently maintain the outside surfaces of skyscrapers so as to extend their longevity, as well as their worth in urban contexts, is a major concern for the health and cleanliness of the public environment in modern cities. The creation of “smart cities” offers a huge opportunity to achieve this goal. A PLC control system for an intelligent cleaning robot was presented in this study, together with its wire design, control demands, hardware selection, and control system. Furthermore, it provided a design for a cleaning robot that would operate within the context of a smart city. A PLC system would be used in this design to detect the cleaning position and initiate automatic cleaning. The operation of the system revealed that the PLC-based intelligent cleaning robot control system has high dependability, strong operating efficiency features, and a high promotional value.

Study on Under-constrained Cable-driven Window Cleaning Robot

Study on Under-constrained Cable-driven Window Cleaning Robot

Two-Dimensional Movement Photovoltaic Cleaning Robot with Speed Control

Two-Dimensional Movement Photovoltaic Cleaning Robot with Speed Control

ASL-DWA: An Improved A-Star Algorithm for Indoor Cleaning Robots

The traditional A-star algorithm has many search nodes, and the obtained path has polylines and cannot avoid local unknown obstacles. In response to these problems, this paper proposes a new improved A-star algorithm suitable for indoor cleaning robots, called ASL-DWA (A Star Leading Dynamic Window Approach). First, to solve the problem of many search nodes in the A-star algorithm, a new hybrid heuristic function that combines Euclidean distance and point-to-line distance is proposed, thereby reducing the number of search nodes. Then, to solve the problem that the A-star algorithm has a polyline path and cannot avoid local unknown obstacles, this paper designs the global path yaw angle according to the relationship between the real-time position of the robot and the global path, which is added as a score item to the traditional score function. A decay coefficient with prediction function is also added to the score function to reduce the risk of the algorithm falling into local optima. Finally, a mechanism to adaptively adjust the coefficient according to the distance between the robot and the target point is designed, thereby realizing ASL-DWA. The ASL-DWA algorithm is tested in three indoor environments and compared with traditional algorithms. The experimental results show that ASL-DWA can meet the path planning requirements of mobile robots in indoor environments, and has obvious advantages over traditional algorithms.

Path Simulation Methodology for Robotic Cleaning Systems in Animal Husbandry

The presented paper describes the need for cleaning animal husbandry areas. The specifics of the process are described. The disinfection process and application are noted. A brief description of different automatic and robotic systems for animal husbandry is examined. A methodology for simulating the cleaning process of robots is established. The path for simulating the movement of the robot is presented.

Design of the control system of the laser cleaning robot facing the inner wall of the tiny pipe

In order to solve the problem of cleaning small and micro pipelines, the control system of the cleaning robot for small and micro pipelines is designed using single-chip technology. Draw the circuit design flow chart, use PROTEUS software to design the display and control circuit of the DC adjustable regulated power supply, stepping motor. Write and debug the program that controls the start and stop of the motor, accelerate and decelerate, and rotate forward and reverse in keil4; import the program into the single-chip microcomputer, and use the PROTEUS software for simulation and simulation. The experimental results show that the designed control system can realize the two actions of the pipeline robot going straight in the pipeline and the cleaning head rotating.

Locating, trajectory planning and control of an underwater propeller cleaning manipulator

After a long time of navigation, marine fouling occurs on a ship's hull and propeller, leading to higher frictional resistance of the hull and lower effectual output of the propeller, and it also damages the hull and propeller. Currently, there are extensive studies on robots for underwater cleaning of ship hulls with large areas and relatively regular surfaces. However, robots for underwater cleaning of propellers with complicated spatial surfaces are still in demand. Motivated by this need, a solution for cleaning the propeller by the underwater manipulator is proposed in this study. Coarse registration and iterative closest point fine registration were adopted to improve the propeller's locating accuracy. Non-dominated sorting genetic algorithm-II was applied to optimize the trajectory of the B-spline joint to obtain an optimized trajectory that meets the specific requirements of the underwater manipulator. Finally, sliding mode control was adopted for high trajectory tracking. The integrated task of locating, trajectory planning, and control was simulated. The simulation results demonstrate the effectiveness of the above methods and the feasibility of the proposed scheme. This study serves as a guideline for further research in the analysis and system design of the underwater manipulator for cleaning propellers.