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6th International Conference on Advances in Civil and Ecological Engineering Research

作者： Xu, Jie Chen, Zhifang Hong, Weixing Altabey, Wael A. Guangzhou Transportat Investment Urban Rd Constru Guangzhou Peoples R China Nanjing Zhixing Informat Technol Co Ltd Nanjing Peoples R China Alexandria Univ Dept Mech Engn Fac Engn Alexandria Egypt

ISBN: (纸本)9789819616299;9789819616275;9789819616268

As an important window area of a city, the urban expressway is clean and tidy without blind spots, which is particularly important for maintaining the image of the city. At present, urban high-speed cleaning is mainly through the collaborative work of mechanical sweepers and sanitation personnel, large and medium-sized cleaning equipment can't be covered on both sides of the bridge and both sides of the specific section, and the sediment along the stubborn sprinkling is high in cost and efficiency, and the operation safety risk is high. This paper studies a set of miniature "square face" road cleaning robots to realize the mechanization, self-service, and intelligent evaluation management of cleaning operations in specific sections of urban expressways, presents its production principle and method, and realizes the effective coverage and management of cleaning operations and effects in specific sections such as blind spots and difficulties.

关键词： cleaning robot Specific road sections Determining the track and route cleaning evaluation

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cleaning robot navigation using panoramic views and particle clouds as landmarks

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robotICS AND AUTONOMOUS SYSTEMS 2013年第12期61卷 1415-1439页

作者： Moeller, Ralf Krzykawski, Martin Gerstmayr-Hillen, Lorenz Horst, Michael Fleer, David de Jong, Janina Univ Bielefeld Fac Technol D-33594 Bielefeld Germany Univ Bielefeld Ctr Excellence Cognit Interact Technol D-33594 Bielefeld Germany

The paper describes a visual method for the navigation of autonomous floor-cleaning robots. The method constructs a topological map with metrical information where place nodes are characterized by panoramic images and by particle clouds representing position estimates. Current image and position estimate of the robot are interrelated to landmark images and position estimates stored in the map nodes through a holistic visual homing method which provides bearing and orientation estimates. Based on these estimates, a position estimate of the robot is updated by a particle filter. The robot's position estimates are used to guide the robot along parallel, meandering lanes and are also assigned to newly created map nodes which later serve as landmarks. Computer simulations and robot experiments confirm that the robot position estimate obtained by this method is sufficiently accurate to keep the robot on parallel lanes, even in the presence of large random and systematic odometry errors. This ensures an efficient cleaning behavior with almost complete coverage of a rectangular area and only small repeated coverage. Furthermore, the topological-metrical map can be used to completely cover rooms or apartments by multiple meander parts. (C) 2013 Elsevier B.V. All rights reserved.

关键词： cleaning robot Visual navigation Particle filter Topological-metrical map

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Operation Mode Decision of Indoor cleaning robot Based on Causal Reasoning and Attribute Learning

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IEEE ACCESS 2020年 8卷 173376-173386页

作者： Li, Yapeng Zhang, Dongbo Yin, Feng Zhang, Ying Xiangtan Univ Coll Automat & Elect Informat Xiangtan 411105 Peoples R China Xiangtan Univ Natl Engn Lab Robot Vis Percept & Control Technol Xiangtan 411105 Peoples R China

At present, the cleaning robots on market generally have the defects of simple operation mode and weak intelligence. In order to improve the intelligent degree and operation ability of cleaning robots, this paper proposes a decision method for cleaning robot's operation mode. Firstly, use the hierarchical expression ability of deep network to obtain the attributes of garbage such as state, shape, distribution, size and so on. Then the causal relationship between the attributes and the operation modes can be built by using joint learning of association attributes with depth network model and causal inference. Based on this, a fuzzy inference network for operation mode decision is designed. With the help of causal analysis, the structure of the decision model is greatly simplified. Compared with conventional fuzzy neural networks, the total parameters of the model are reduced by 2 / 3. The method proposed in this paper imitates the way that human dispose of different types of garbage and has good interpretability. The experimental results verify the effectiveness of the proposed method.

关键词： cleaning Cognition robot sensing systems Mathematical model Decision making Semantics Attributes learning causal reasoning cleaning robot fuzzy inference network joint learning

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The multi-mode operation decision of cleaning robot based on curriculum learning strategy and feedback network

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NEURAL COMPUTING & APPLICATIONS 2022年第12期34卷 9955-9966页

作者： Fu, Panbo Zhang, Dongbo Yin, Feng Tang, Hongzhong Xiangtan Univ Coll Automat & Elect Informat North 2nd Ring Rd Xiangtan 411105 Hunan Peoples R China

In this paper, the model and its curriculum learning method of garbage hierarchical classification and corresponding operation mode decision in home environment are proposed from the perspective of cleaning robot. In order to realize the hierarchical learning of garbage attribute concept, this paper designs a learning model with iterative feedback network as the backbone network. In the early stage of iteration, the model focuses on learning the state of garbage, in the middle stage, it focuses on the appearance attributes of garbage, and the specific categories of garbage in the later stage. At the same time, the attention module is introduced to achieve different levels of feature expression learning, which further improves the performance of the model. The evaluation was conducted on the collected garbage data set and the public CIFAR-100 and Stanford Cars data sets, which verified the effectiveness and wide applicability of the proposed method.

关键词： Curriculum learning cleaning robot Feedback mechanism Channel attention mechanism

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Parameters optimization of the dust absorbing structure for photovoltaic panel cleaning robot based on orthogonal experiment method

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JOURNAL OF CLEANER PRODUCTION 2019年 217卷 724-731页

作者： Cai, Shibo Bao, Guanjun Ma, Xiaolong Wu, Wanqing Bian, Gui-Bin Rodrigues, Joel J. P. C. de Albuquerque, Victor Hugo C. Zhejiang Univ Technol Minist Educ & Zhejiang Prov Key Lab E&M Hangzhou 310032 Zhejiang Peoples R China SIAT CAS Key Lab Human Machine Intelligence Synergy Sy Shenzhen 518055 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Beira Interior Inst Telecomunicacoes Covilha Portugal Natl Inst Telecommun Inatel Santa Rita Do Sapucai MG Brazil Univ Fortaleza UNIFOR Fortaleza Ceara Brazil

Dust accumulation on the photovoltaic (PV) panels is one of the important factors that influence the PV power generation efficiency. Autonomous robot is one of the promising way to clean the PV panels effectively, in which the absorbing flow rate to a large extent determines the cleaning performance and usage effectiveness of power supply. In this paper, the air-solid two-phase flow control equations for the dust absorbing process, the mechanical behavior of the dust particles and the relationship between the pressure distribution and the dust particle velocity are analyzed theoretically for Computational Fluid Dynamics (CFD) simulation. Orthogonal experiment method is employed to optimize the structure parameters for suction inlet of PV panel cleaning robots. The suction inlet height, inlet width, outlet height, outlet width and necking radius are simplified as 16 sets of typical test optimization problem. The fluid calculation software ANSYS Fluent is adopted to execute the simulation. The optimal result is that the inlet width is 650 mm, the inlet height is 6 mm, the outlet width is 175 mm, the outlet height is 100 mm and the necking radius is 350 mm. Experiment based on the optimized structural parameters was carried out, which implies the compatibility with the simulating result. And the average wind speed at the suction inlet is 41.8 m/s, which verifies the structure optimization. (C) 2019 Elsevier Ltd. All rights reserved.

关键词： cleaning robot Orthogonal experiment Parameter optimization Photovoltaics

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Tradeoff Between Area Coverage and Energy Usage of a Self-Reconfigurable Floor cleaning robot Based on User Preference

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IEEE ACCESS 2020年 8卷 76267-76275页

作者： Muthugala, M. A. Viraj J. Samarakoon, S. M. Bhagya P. Elara, Mohan Rajesh Singapore Univ Technol & Design Engn Prod Dev Pillar Singapore 487372 Singapore

Floor cleaning robots have been developed to cope with the issues arisen with conventional cleaning methods that involve extensive human labor. hTetro is a self-reconfigurable floor cleaning robot that has been introduced to improve area coverage. Polyomino tiling theory is utilized by hTetro to plan area coverage. Energy usage and area coverage are distinct for different tiling arrangements, and they are often conflicting entities. Therefore, hTetro needs to maintain the tradeoff between area coverage and energy usage to improve its performance. This paper proposes a novel method to determine the tradeoff between area coverage and energy usage of a tiling theory-based self-reconfigurable floor cleaning robot per user preference. A linguistic option such as "High coverage" that represents user preference has uncertainty since fuzzy linguistic terms do not possess definitive meaning. Moreover, the meaning of such user preference depends on the present status of the robot. Thereby, a novel fuzzy inference system is proposed to determine the tradeoff between area coverage and energy usage by interpreting the meaning of user preference while accounting for the present status of the robot. A Weighted Sum Model (WSM) based Multiple-criteria decision-making (MCDM) method is adapted per user preference interpreted by the fuzzy inference system. The behavior of the proposed system has been evaluated considering heterogeneous test cases. The behavior of the test cases confirms the applicability of the proposed concept for adapting the tradeoff between area coverage and energy usage of a self-reconfigurable floor cleaning robot based on user preference.

关键词： cleaning robot kinematics Morphology Shape Linguistics Navigation Self-reconfigurable robot cleaning robot energy usage area coverage fuzzy linguistic information user preference human-friendly robotics

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Electric Control System of Smart City Marine Garbage cleaning robot Based on Deep Learning

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JOURNAL OF TESTING AND EVALUATION 2023年第3期51卷 1516-1528页

作者： Xu, Tao Wuyi Univ Coll Mech & Elect Engn & Agr Machinery Intelligent Fujian Prov Key Lab 22 Dongcheng Village Wuyishan 354300 Peoples R China

The problem of water resource security is closely related to human life. How to maintain the safety of water resources and timely clean up water pollutants has become the focus of human attention at this stage. The ocean is an important source of water resources, and marine garbage cleaning is very important. This study will analyze and design an electronic control system of a garbage cleaning robot by a deep learning algorithm. The experimental results show that the access of maximum power point tracking equipment is conducive to maintaining the functional stability of the robot power supply system in different environments;the solar cell maintains the maximum output power and prolongs the robot's endurance time;and the target recognition algorithm based on deep learning can achieve 95 % accuracy rate, 1.25 % false alarm rate, and 5 % false alarm rate respectively, which has high reliability. When people identify and locate the three places and collect garbage, the azimuth error is 8.4 %, 4.6 %, and 3.0 %, and the distance error is 5.6 %, 4.9 %, and 11.1 %, respectively. In conclusion, the electric control system can guide the robot to complete the task of marine garbage cleaning. It is hoped that the research results can provide help for the development of a marine garbage cleaning robot.

关键词： cleaning robot electronic control system deep learning convolution neural network maximum power tracking

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Development of cleaning robot System for Live-line Suspension Insulator Strings

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INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2009年第2期7卷 211-220页

作者： Park, Joon-Young Cho, Byung-Hak Byun, Seung-Hyun Lee, Jae-Kyung Korea Elect Power Res Inst Strateg Technol Lab Taejon 305380 South Korea Korea Elect Power Res Inst Power Generat Lab Taejon 305380 South Korea

A new cleaning robot system for suspension insulator strings was developed to prevent a power failure, which can have severe effects on the national industry and economy. Compared with existing cleaning robots using jets of water or water/air, this robot mechanism is superior in insulation as it uses a porcelain-clamping method, and is more useful in mountainous or salt damage areas by adopting a dry cleaning method without *** addition, in order to increase its cleaning efficiency and to prevent arc generation under live-line conditions, a set of mechanized brush bristles and a voltage-balancing contactor are devised, respectively. Moreover, a manual device for its installation and removal is presented. We confirmed its effectiveness through experiments.

关键词： cleaning robot dry cleaning method live-line maintenance suspension insulator string

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Coverage path planning for cleaning robot based on improved simulated annealing algorithm and ant colony algorithm

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SIGNAL IMAGE AND VIDEO PROCESSING 2024年第4期18卷 3275-3284页

作者： Shi, Kun Wu, Wendi Wu, Zhengtian Jiang, Baoping Karimi, Hamid Reza Suzhou Univ Sci & Technol Sch Elect & Informat Engn Suzhou Peoples R China Politecn Milan Dept Mech Engn Milan Italy

In the field of intelligent buildings, cleaning robots have always been a part of research. This study proposes a traversal algorithm based on the combination of simulated annealing algorithm based on monotonic heating and ant colony algorithm to solve the problem of coverage path planning during operation. Firstly, environmental modelling is conducted. Then, the principles of the two algorithms and their roles in path planning are addressed. The monotonic heating simulated annealing algorithm solves the problem of the traversal order of each part in the area, and it uses the ant colony algorithm to connect them. Simulation results show that the path coverage rate is 100% and the repetition rate is 4.85%. It can completely cover the whole area and has a low repetition rate, which greatly improves the efficiency of the cleaning robot.

关键词： cleaning robot Coverage path planning Improved simulated annealing algorithm Ant colony algorithm

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Development of following robot for supplying power to solar panel cleaning robot

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INDUSTRIAL robot-THE INTERNATIONAL JOURNAL OF robotICS RESEARCH AND APPLICATION 2022年第1期49卷 88-95页

作者： Li, Xiaokun Li, Xin Zhejiang Univ Polytech Inst Hangzhou Peoples R China Zhejiang Univ Dept Mech Engn Hangzhou Peoples R China

Purpose Autonomous mobile cleaning robots are widely used to clean solar panels because of their flexibility and high efficiency. However, gravity is a challenge for cleaning robots on inclined solar panels, and robots have problems such as high working power and short battery life. This paper aims to develop a following robot to improve the working time and efficiency of the cleaning robot. Design/methodology/approach The mechanical structure of the robot is designed so that it can carry a large-capacity battery and continuously power the cleaning robot. The robot determines its position and orientation relative to the edge of solar panel by using optoelectronic sensors. Based on the following distance, the robot changes its state between moving and waiting to ensure that supply cable will not drag. Findings Prototype following robot test results show that the following robot can stably follow the cleaning robot and supply continuous power to cleaning robot. The linear error of the following robot moving along the solar panel is less than 0.3 m, and the following distance between the robot and the cleaning robot is in 0.5-1.5 m. Practical implications The working time of cleaning robots and working efficiency is improved by using following robot, thereby reducing the labor intensity of workers and saving the labor costs of cleaning. Originality/value The design of the following robot is innovative. Following robot works with the existing cleaning robots to make up for shortcomings of the existing cleaning system. It provides a more feasible and practical solution for using robots to clean solar panels.

关键词： Solar panel cleaning Power supply Following robot cleaning robot Positioning Multi-robot system

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