Design and development of an autonomous glass cleaning robot

• المؤلف الرئيسي: Ma, Jun
• مؤلفون آخرون: Er Meng Joo
• التنسيق: Final Year Project
• اللغة: English
• منشور في: 2014
• الموضوعات: DRNTU::Engineering
• الوصول للمادة أونلاين: http://hdl.handle.net/10356/60862
• المؤسسة: Nanyang Technological University

At present, there are more and more high-rise buildings in modern cities, whose curtain walls require constant cleaning. Glass cleaning is usually carried out with the help of a permanent gondola system hanging from the roof of the building. However, safety is the biggest concern to those human operators who work high above the ground. Therefore, glass cleaning and maintenance of high-rise buildings is becoming one of the most appropriate fields for robotization. This project proposes the design and development of a four-wheeled autonomous glass cleaning robot which is able to climb on the glass through the onboard vacuum suction motor. The robot is featured with single-sided design, a wall following algorithm, particle filter localization and omnidirectional locomotion.