Cleaning Robot Research Articles

Design and analysis of a wheel-leg compound variable curvature ship hull cleaning robot

Underwater robotic cleaning devices are promising in ship hull maintenance for biofouling removal, but there are still some challenges for commercial application. Due to the complex surface of the ship hull, larger adsorptive force is needed for climbing robots to solve the problem of poor fitting between rigid structure and ship hull, which calls for more driving power. To mitigate the gap, this paper proposed a flexible wheel-leg composite moving mechanism for ship hull cleaning robots. The designed adjustable wheel leg, which is composed of three leg frames on the rotating shaft, eliminates the magnetic wheel's position constraints and expands the movement space. The relation equations of flip angle, pitching angle, turning angle, and hull curvature radius are generated and analyzed based on the robot's posture and steering motion. The mechanical properties of anti-slippage and anti-shedding under different motion states were studied so that the robot's critical point and limit adsorption force could be determined and verified. Simulation results show that the robot has good motion stability.

The Impact of Soiling on PV Module Performance in Saudi Arabia

Solar photovoltaic (PV) deployment is rapidly expanding around the world. However, the soiling factor has an impact on its performance. Saudi Arabia has high solar irradiation and plans to diversify its energy mix for electricity generation by deploying more solar PV across the country. However, it is located in an arid and desert environment, making it a challenging project due to dust accumulation on solar modules. The soiling and PV performance in Saudi Arabia are examined in this paper. Furthermore, it highlights several mitigation techniques that can be used to maintain PV performance through preventive and restorative measures. Furthermore, this study looks into the size and characterization of dust in Saudi Arabia, as well as the entire life cycle of dust accumulation on PV modules. In this review study, the performance of solar PV systems is evaluated under soiling in different regions of Saudi Arabia. Depending on the local environment and other factors, the PV performance has been reduced by somewhere between 2% and 50%. A single sandstorm reduced the module power output by 20%. As revealed in Dhahran, the PV module was exposed to an outdoor environment and not cleaned for 6 months resulting in a power drop of more than 50%. It is strongly advised to clean PV panels once a month or fewer to maintain a high-performance system. However, in the event of a dust storm, it is advised to clean the system immediately to avoid a major decline in PV performance. The bi-facial PV solar panels technology associated with solar trackers and utilizing robotic cleaning systems have maximized the received solar irradiation and minimized the soiling loss efficiently. The most common elements found in dust particles are primarily derived from the natural desert. It has been noted that the composition and sizes of dust particles depend heavily on the location of the PV module. It is concluded that dust accumulation and cleaning costs are not a significant barrier to large-scale, cost-effective solar PV deployments in Saudi Arabia, particularly in the central region, which is considered a high-suitable region for utility-size PV plants due to many factors. The results of this study are essential for enlightening the PV engineering community, investors, and the research community about how soiling may affect regions with significant solar potential, such as Saudi Arabia, and what potential soiling mitigation strategies may be considered to maintain high-performance solar PV projects.

Leveraging Expert Demonstration Features for Deep Reinforcement Learning in Floor Cleaning Robot Navigation.

In this paper, a Deep Reinforcement Learning (DRL)-based approach for learning mobile cleaning robot navigation commands that leverage experience from expert demonstrations is presented. First, expert demonstrations of robot motion trajectories in simulation in the cleaning robot domain are collected. The relevant motion features with regard to the distance to obstacles and the heading difference towards the navigation goal are extracted. Each feature weight is optimized with respect to the collected data, and the obtained values are assumed as representing the optimal motion of the expert navigation. A reward function is created based on the feature values to train a policy with semi-supervised DRL, where an immediate reward is calculated based on the closeness to the expert navigation. The presented results show the viability of this approach with regard to robot navigation as well as the reduced training time.

Development of Autonomous Indoor Floor Cleaning Robot

- Cleanliness plays an important role in everyday life. It is the most popular method of maintaining our surroundings free of contaminants and illnesses, as well as for social and academic well-being. Recently, a few cleaning-arrangements have become available to maintain your home dust-free. Machine-Controlled For the betterment of humanity, floor cleaners were given. In recent years, cleanliness has been a critical aspect in improving one's own health, so we are developing a robotic Automated floor cleaner that would safely clean the premises. Expert support robots, such as client care and indoor robots, account for a large portion of these robots. One of these robots' most basic requirements is the ability to explore in environments where a GPS system cannot be used. The robot should also be able to detect barriers and quickly reroute to reach the desired destination. While getting at the goal, the robot will also be cleaning the floor simultaneously and independently. The robot depends on Robot Operating System (ROS) structure. The SLAM (Simultaneous Localization and Mapping) would aid in creating a crash-free path for the robot from start to finish.

Human Acceptance of the Cleaning Robot in Grocery Environments During the COVID-19 Pandemic

Cleaning work is a labor-intensive job that frequently exposes workers to substantial occupational hazards. Unfortunately, the outbreak of coronavirus disease 2019 (COVID-19) has increased the pressure on janitors and cleaners to meet the rising need for a safe and hygienic environment, particularly in grocery stores, where the majority of people get their daily necessities. To reduce the occupational hazards and fulfill the new challenges of COVID-19, autonomous cleaning robots, have been designed to complement human workers. However, a lack of understanding of the new generation of cleaning tools’ acceptance may raise safety concerns when they’re deployed. Therefore, a video-based survey was developed and distributed to 32 participants, aiming to assess human acceptance of the cleaning robot in grocery environments during the COVID-19 pandemic. Moreover, the effects of four factors (gender, work experience, knowledge, and pet) that may influence human acceptance of the cleaning robot were also examined. In general, our findings revealed a non-negative human acceptance of the cleaning robot, which is a positive sign of deploying cleaning robots in grocery stores to reduce the workload of employees and decrease COIVID-related anxiety and safety concerns of customers. Furthermore, prior knowledge of robotics was observed to have a significant effect on participants’ acceptance of the cleaning robot ( p = 0.039).

A Review Paper on Google Assistance Based Consumer Vacuum Suction Dusting Robot

Abstract: In modern days as automation is taking place thereby reducing the time required for doing household chores that results in increasing time utilization for other stuffs. One of such automated device is Vacuum Cleaner. While vacuum cleaners have made life easier in household chores, they are noisy as well as bulky. Hence it is required to improve the technology of vacuum cleaning to overcome these deficiencies. Here, is an attempt to achieve the same objective to develop a compact and efficient vacuum cleaner robot for office and home use. The proposed robot is disk-shaped, controlled by NodeMCU and work on Google voice command. The proposed system comprises of Node MCU, motor driving IC L239D, DC motors and IR sensor. Node MCU will be controlling the entire operation with the help of control signals, motors along with the help of motor driving IC will be helping in motion of the robot in any direction and IR sensors will be helping in detection of barriers for the navigation of the robot. To provide the commands to the robot we will make use of Google Assistant which can engage in two way communication. The PCB designing will be done with the help of Diptrace PCB design software and the programming part will be done with the Arduino IDE programming software. As the robot is working on voice commands it won’t be involving human efforts and time thereby making it a fully autonomous robot.

Design and realization of an aeronautical cleaning robot for aircraft maintenance 4.0 based on artificial intelligence

Preventive and corrective maintenance of aircraft are key elements in the aviation industry, with the aim of keeping the aircraft in good condition and available to personnel when they are needed. To do this, maintenance operations must be carried out rigorously and with great precision. The cleaning of an aircraft is a critical task in the preventive maintenance of the aircraft. This operation requires a human intervention after each stopover which causes unexpected material failures such as shocks on the fuselage in addition to a bad execution of the operation of cleaning of the seats evoking problems between the crew of the aircraft and the teams of cleaning, this causes a delay in the planning of the flights and financial overloads for the airline companies.In this study, we presented the design and realization of a cleaning robot that performs most of the tasks done by the cleaning teams such as vacuuming the carpet and collecting large waste. This robot is equipped with a camera and an artificial intelligence program installed on a raspbery4 board. We expect robotics to be one of the keys to replacing humans in the heart of production facilities in the Factory of the Future. As they can perform their tasks with infinite perfection in a precise time. Preventive and corrective maintenance of aircraft are key elements in the aviation industry, with the aim of keeping the aircraft in good condition and available to personnel when they are needed. To do this, maintenance operations must be carried out rigorously and with great precision. The cleaning of an aircraft is a critical task in the preventive maintenance of the aircraft. This operation requires a human intervention after each stopover which causes unexpected material failures such as shocks on the fuselage in addition to a bad execution of the operation of cleaning of the seats evoking problems between the crew of the aircraft and the teams of cleaning, this causes a delay in the planning of the flights and financial overloads for the airline companies.

AI BASED LAKE CLEANING ROBOT

Recently, water pollution has become a global problem. Water resources such as lakes, rivers and lakes are polluted due to the accumulation of domestic, industrial, medical and sewage. The AI Based Lake Cleaning Robot project addresses this issue by providing an efficient and environmentally friendly remote pool cleaning machine. This project has two operating modes which are Manual or Android operating modes and default mode. In manual mode the device is used by the user, the android app is used to control the device to collect garbage. In automatic mode, AI technology that assists the wireless fidelity camera and ultrasonic sensors are used, the camera captures a real-time image of a liquid body and sends it to the Convolutional Neural Network (CNN) for image analysis and CNN will control the boat's performance. The device is equipped with a waste bin. The device is designed to detect any obstacles through the use of ultrasonic sensors to avoid damage. A pool cleaning robot reduces a man's effort by performing an automatic cleaning process. The use of this function can be done in rivers, lakes, lakes and other areas of water to clean up surface water waste.

Indoor Place Category Recognition for a Cleaning Robot by Fusing a Probabilistic Approach and Deep Learning.

Indoor place category recognition for a cleaning robot is a problem in which a cleaning robot predicts the category of the indoor place using images captured by it. This is similar to scene recognition in computer vision as well as semantic mapping in robotics. Compared with scene recognition, the indoor place category recognition considered in this article differs as follows: 1) the indoor places include typical home objects; 2) a sequence of images instead of an isolated image is provided because the images are captured successively by a cleaning robot; and 3) the camera of the cleaning robot has a different view compared with those of cameras typically used by human beings. Compared with semantic mapping, indoor place category recognition can be considered as a component in semantic SLAM. In this article, a new method based on the combination of a probabilistic approach and deep learning is proposed to address indoor place category recognition for a cleaning robot. Concerning the probabilistic approach, a new place-object fusion method is proposed based on Bayesian inference. For deep learning, the proposed place-object fusion method is trained using a convolutional neural network in an end-to-end framework. Furthermore, a new recurrent neural network, called the Bayesian filtering network (BFN), is proposed to conduct time-domain fusion. Finally, the proposed method is applied to a benchmark dataset and a new dataset developed in this article, and its validity is demonstrated experimentally.

A Tethered Façade Cleaning Robot Based on a Dual Rope Windlass Climbing Mechanism: Design and Experiments

Cleaning tasks for vertical structures, such as building façades and walls on construction sites, are dangerous; there is a high risk of fall accidents among workers engaged in such tasks. Hence, research on the automation of wall-cleaning tasks based on robotics technology has been actively conducted in recent years. However, existing wall-cleaning robots have limitations, such as poor mobility performance or the need for additional infrastructure for operation. In this article, we designed a novel rope-driven wall-cleaning robot Edelstro-M2 with two innovative characteristics. First, both vertical and horizontal movements on the wall are possible by implementing a dual rope climbing mechanism and parallel kinematics. Second, except for a rope fixing arrangement, additional infrastructure, such as winch and building management unit systems, is not required for operation. A prototype model was developed, and real-world experiments were conducted to verify the mobility and cleaning performance of the robot. In the experiment, the robot was controlled by manual remote control. We plan to study automatic control of the robot in the future works.

CLEAN SWEEP: The Floor Cleaning Robot

Abstract: Modern households are getting increasingly automated and intelligent. Home automation makes life more convenient and gives individuals more free time. Domestic robots are becoming more prevalent in homes and in people's daily lives, yet the market is still young and in its infancy. But a rise is anticipated, and the use of household robots is changing. There are many robotic vacuum cleaners on the market, but very few of them wet-clean floors. This project's goal is to create and use a vacuum robot with two cleaning modes. Through a phone application, autonomous and manual modes are available. Instead of using a manual vacuum, a robot vacuum cleaner is designed to make cleaning easier. This project's goal is to build and put into action a vacuum robot with two cleaning modes: autonomous and manual, the latter of which may be accessed via a phone application.

Automated Domestic Vacuum Cleaner Robot

Abstract: Modern homes are moving to automation to provide convenience and reduce the time spent on household chores Vacuum cleaners make cleaning easier, but they are big, noisy, and bulky in everyday use.Therefore, vacuum cleaner technology needs to be improved to reduce these shortcomings. As of 2021, the Covid-19 pandemic continues, so keeping our living space clean and disinfecting is a top priority. People's workload is shifting from offline work in the office to online work at home, and the workload of many people has increased significantly, so some people may neglect to clean the environment. there is. In today's scenario, the whole family is busy with work and is supposed to clean the house. The cleaning robot helps you clean and disinfect the floor with the push of a switch. This also reduces the extra effort of housekeeping for cleaning purposes. Furthermore, we are enthusiastic about designing and developing an automatic cleaning robot "household automatic vacuum cleaner robot" that performs all cleaning and disinfection work with the push of a button.

Design and Manufacturing of Solar Panel Cleaning Robot

With growing costs of electricity and concern for the environmental impact of fossil fuels, implementation of eco-friendly energy sources like solar power are rising. The main method for harnessing solar power is with arrays made up of photovoltaic (PV) panels. Accumulation of dust and debris on even one panel in an array reduces their efficiency in energy generation considerably and emphasizes the need to keep the panels’ surface as clean as possible. The goal of our project is to create an automated solar panel cleaner that will address the adverse impact of soiling on commercial photovoltaic cells. Specifically, we hoped to create a device that increases the maximum power output of a solar panel by 10% (recovering the amount of power lost). Furthermore, autonomous cleaning robots are often only economical on a larger scale due to both installation costs and the fact that custom-made parts are needed to fit the plant.

RANCANG BANGUN ROBOT PEMBERSIH RUANGAN BERBASIS ARDUINO UNO DENGAN KENDALI APLIKASI ANDROID

The development of science and technology is currently very rapid, especially in the field of technology that affects people's lives to move forward, one of which is using robotics, in principle, the purpose of creating robots is to facilitate human work, especially since the progress of the times demands effective and efficient human work. For example, in cleaning the house, a robot was made that can help someone clean his house. This robot will later clean the floor of the house from dirt in the form of dust. This cleaning robot will be controlled with an Android application. That has been made previously and will be combined with a wireless robot control using the HC-05 Bluetooth module, which will transmit control from android to Arduino Uno as the brain of this room cleaning robot, and will process data. From android applications such as forward and backward, and turn commands and also the command to turn on and turn off the vacuum cleaner which can also be controlled from this Android application. For the movement of the robot itself, it will use a PG28 DC Motor which will be controlled by the BTS7960 Driver. From the results of tests

Hand Gesture Recognition and Cleaning Robot

Abstract: We know that technology changes and develops every day, and humans need change as well. Human-Robot Interaction (HRI) has become a popular and in-demand technology in the recent decade. One-way humans can interact with robots is through hand gestures. The use of hand gestures as a method of communication with machines, robots, and gadgets is becoming more and more common. This paper will focus on how we can use machines in our day-to-day lifestyle and how to communicate with them for helping purposes. The robot will be equipped with a variety of sensors, a motor driver, and the NodeMCU. Keywords: Human-Robot Interaction, Hand Gesture, Household, Sensors, Motor Driver, NodeMCU

A Floor Cleaner with Sweeping and Mopping which Operates Autonomously

Abstract: When complex activities are automated to simplify employment in today's environment, the benefits of automation can be leveraged to accomplish simple domestic duties. Cleaning is one such duty that, despite its negative connotation due to the nature of the job, is vital. Cleanliness promotes a healthy way of life. Cleanliness, on the other hand, has been ignored in today's fast-paced environment. To address this issue, this study proposes a floor cleaner that is controlled wirelessly using an Arduino Nano microprocessor and a Bluetooth module. The cleaner robot can be self-contained or operated manually by an Android device. The SWEEPING and MOPPING features are used to achieve all-around cleaning. Keywords: Arduino nano; Floor Cleaner; Bluetooth; Android; Mopping; Sweeping

Design and Development of Floor Cleaning Robot

Abstract: Robots are being extensively used in various fields of work. They have taken over dangerous, boring, and monotonous jobs. While cleaning is still done with the help of maids and janitors in institutes and big building complexes which strains and tires them. Hence the need for an autonomous floor cleaning robot. The existing floor cleaning robots are bulky and are not very user-friendly. They tend to be on the expensive end. Our project aims at providing a solution at lower cost, better integration with the help of IoT and better overall user-friendliness. Keywords: robots, Autonomous, IoT, user-friendliness, integration

Design and Optimization Technique for Best Suited Solar Panel Cleaning System

Abstract: The project is about the design and development of a PV panel cleaning system. The main object of this design prototype is to clean the solar panel using an Automatic mechanism, such that efficiency or quality of solar panel is not compromised. If the cleaning is performed manually will be very costly and time consuming. This Solar Panel Cleaning Robot aims to maintain the efficiency of Solar power production by making sure the Solar panels are kept clean regularly. Keywords: Solar panel, Electrical Cleaning Mechanism, Rolling brush, Arduino board, DC Gear motor.

Design and Development of Solar Panel Cleaning Robot

Energy is one of the major issues that the we are facing in India, the supply of energy has been one of the major problems for both urban and rural household about 60% to 70% of the energy demand of the country is met by fuel wood and agriculture residues. Solar energy is a renewable source of energy, which has a great potential and it is radiated by the sun. Renewable energy is important to replace the using of electric energy generated by petroleum. Solar power has become a source of renewable energy and solar energy application should be enhanced. The solar PV modules are generally employed in dusty environments which are the case tropical countries like India. The dust gets accumulated on the front surface of the module and blocks the incident light from the sun. It reduces the power generation capacity of the module. The power output reduces as much as by 50% if the module is not cleaned for a month. The cleaning system has been designed cleans the module by controlling the Arduino programming. To remove the dust in the PV modules to improving the power efficiency.

PIPE INSPECTION AND CLEANING ROBOT

The pipe inspection and cleaning robot is one of the most important system developed for a proper maintenance of underground pipes. Due to Large Development and increase in usage of fuel, oil, gas and the pipes used for such process need to be maintained properly. There are many ways to do that so but Biggest problem arises with such maintenance machine are heavy cost and durability to work in and out of the pipes. We have come up with a solution of efficient Underground faulty pipe inspection and even cleaning the pipes by only one single robot. Our goal is to achieve this by using a robot that will be equipped with all necessary sensors and equipments to detect fault and even clean the pipes. The objectives of this project are as follows:  Design and assemble robot that will be carrying sensors and equipments.  Write codes for moving robot and working of sensors.  Adjust the range for ultrasonic sensors to detect the crack.  Test the code and troubleshoot to increase the robot efficiency and accuracy.  Study the shortcomings and improve them.  Test the robot performance with many faults and even increase the cleaning efficiency.  Determine other parameters which would affect robot reliability.