玻璃攀爬式清洁机器人外文文献.pdfVIP

Mechatronics 14 (2004) 1089–1104 A visual sensing application to a climbing cleaning robot on the glass surface Dong Sun *, Jian Zhu, Chiming Lai, S.K. Tso Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, 83 Tat Chee Avenue, Kowloon, Hong Kong Receive d26 November 2003; accepte d29 June 2004 Abstract This paper describes a visual sensing application to a climbing robot that provides cleaning service on the glass wall of high-rise buildings. The robot uses suction cups to stick on the glass, moves with a translation mechanism, an dadjusts its orientation by rotating a flexible waist. A visual sensor, compose dof an oriente dCCD camera an dtwo laser diodes, is use to measure the robots position an dorientation relative to the window frame on the glass sur- face. The visual sensor is also use dto locate the dirt spot to be cleaned. The mathematical model an dthe measure methodology of the visual sensing system are discussed. Experiments are performe dto calibrate the visual sensor, measure the position an dorientation of the robot, an dmeasure the location of the dirty spot. The experimental results verify the effectiveness of the propose dapproach. 2004 Elsevier Ltd. All rights reserved. Keywords: Climbing robot; Visual sensing; Glass cleaning; Laser diodes * Corresponding author. Tel.: +852 2788 8405; fax: +852 2788 8423. E-mai laddress: medsun@cityu.edu.hk (D. Sun). 0957-4158/$ - see front matter 2004 Elsevier Ltd. All rights reserved. doi:10.1016/j.mechatronics.2004.06.007 1090 D. Sun et al. / Mechatronics 14 (2004) 1089–1104 1. Introduction There exists increasing deman dfor the development of various servi