Window Shape Estimation for Glass Façade-Cleaning Robot-Reference-Cited by-同舟云学术

Window Shape Estimation for Glass Façade-Cleaning Robot

Published:2023-01-27 Issue:2 Volume:11 Page:175
ISSN:2075-1702
Container-title:Machines
language:en
Short-container-title:Machines

Author:

Nemoto Takuma¹^ORCID,Nansai Shunsuke²^ORCID,Iizuka Shohei³,Iwase Masami¹³,Itoh Hiroshi²

Affiliation:

1. Department of Robotics and Mechatronics, School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, Japan

2. Department of Advanced Machinery Engineering, School of Engineering, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, Japan

3. Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, Japan

Abstract

This paper presents an approach to the estimation of a window shape for increasing the adaptability of glass façade-cleaning robots to different buildings. For this approach, a window scanning robot equipped with a 2D laser range scanner installed perpendicularly to a window surface is developed for the testbed, and a method for the window shape estimation is proposed, which consists of the robot’s pose estimation with an extended Kalman filter (EKF) and the loop closure based on the robot’s pose estimated. The effectiveness of the proposed approach is demonstrated through an experiment that is carried out on a window placed on a floor. The experimental results show that the window scanning robot can acquire a window shape, moving on a window surface, and the proposed approach is effective in increasing the accuracy of the window shape estimation.

Funder

Research Institute for Science and Technology of Tokyo Denki University

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering

Link

https://www.mdpi.com/2075-1702/11/2/175/pdf

Reference49 articles.

1. (BBC News, 2015). BBC. Shanghai window cleaning cradle swings out of control, BBC News.

2. (BBC News, 2014). BBC. Window washers rescued from high up world trade center, BBC News.

3. Elkmann, N., Hortig, J., and Fritzsche, M. (2009). Springer Handbook of Automation, Springer.

4. Survey on glass and façade-cleaning robots: Climbing mechanisms, cleaning methods, and applications;Seo;Int. J. Precis. Eng.-Manuf.-Green Technol.,2019

5. Elkmann, N., Felsch, T., Sack, M., Saenz, J., and Hortig, J. (October, January 30). Innovative service robot systems for facade cleaning of difficult-to-access areas. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.

Cited by 2 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Structural design and control strategy of a cable-driven robot under high-altitude facade conditions with large span and multiple constraints;Industrial Robot: the international journal of robotics research and application;2024-07-02

2. WiBot 1.0: A Modular Reconfigurable Glass Cleaning Robot for High-rise Buildings;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13