清洗机器人研究现状与关键技术综述

周利坤; 刘宏昭; 李悦

doi:10.13433/j.cnki.1003-8728.2014.0503

清洗机器人研究现状与关键技术综述

doi: 10.13433/j.cnki.1003-8728.2014.0503

1.
西安理工大学机仪学院, 西安 710048;
2.
武警工程大学装备运输系, 西安 710086

基金项目:

陕西省重点学科建设专项基金项目(102-00X903)资助

详细信息

作者简介:
周利坤(1970-)，副教授，硕士研究生导师，博士研究生，研究方向为石油储运、智能机器人等，zhoulikun89@sohu.com

计量
- 文章访问数: 269
- HTML全文浏览量: 42
- PDF下载量: 15
- 被引次数: 0
出版历程
- 收稿日期: 2012-05-15
- 刊出日期: 2015-06-10

Summary for the Key Technologies and Research Status of the Cleaning Robot

1.
The Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048;
2.
Equipment and Transportation Department, Engineering University of CAPF, Xi'an 710086

摘要

摘要: 清洗机器人融合了移动机器人和清洗技术,成为服务机器人领域中的一种新型高技术产品,具有良好的市场前景,近年来正逐步成为一个新的研究热点。讨论了清洗机器人的组成、分类及特点,系统综述了国内外清洗机器人的研究开发现状及其关键技术,指出了未来清洗机器人的研究方向。
- 清洗机器人 /
- 清洗技术 /
- 传感技术 /
- 路径规划
Abstract: The cleaning robots is gradually becoming a new hot spot which integrated the characteristics of mobile robots and the cleaning technology to become a new high-tech products in service robots with good market prospects in recent years. The composition,classification and characteristics of the cleaning robot werer discussed and the research and development status of the cleaning robot at home and abroad were systemically summarized and the key technologies and the development trend of cleaning robot were presented.
- cleaning robot /
- cleaning /
- collision avoidance /
- extended Kalman filters

HTML全文

参考文献(44)

[1]	Prassler E，Ritter A，Schaeffer C，et al. A shot history of cleaning robots[J]．Autonomous Robots，2000，9(3): 211-226
[2]	Briones L，Bustamante P，Serna M A. Wall climbing robot for inspection in nuclear power plants[C]// Proceedings of IEEE International Conference on Robotics and Automation，1994
[3]	谈士力，沈林勇．垂直壁面行走机器人系统研制[J]．机器人，1996，18(4): 232-237 Tan S L，Shen L Y. Vertical wall walking system development of robot[J]. Robot，1996，18(4): 232-237 (in Chinese)
[4]	高学山．壁面清洗机器人及实用技术的研究[D]．哈尔滨: 哈尔滨工业大学，2002 Gao X S. The wall cleaning robot and practical technology[D]. Harbin: Harbin Institute of Technology，2002 (in Chinese)
[5]	王巍．灵巧擦窗机器人相关问题研究[D]．北京: 北京航空航天大学，2000 Wang W. The research on related problems of window cleaning robot [D]. Beijing: Beihang University，2000 (in Chinese)
[6]	唐世明，张启先．又一种擦窗机器人问世[J]．机器人技术与应用，1999，(1): 23 Tang S M，Zhang Q X. A window cleaning robots[J]．Robot Technique and Application，1999，(1): 23 (in Chinese)
[7]	马培荪，陈佳品，余翔．油罐容积检测用爬壁机器人的研制[J]．上海交通大学学报，1996，30(11): 159-164 Ma P S，Chen J P，Yu X. The development of wall climbing robot for measuring oil tank' s volume [J]．Journal of Shanghai Jiao Tong University，1996，30(11): 159-164 (in Chinese)
[8]	邓霞大型冷凝器清洗机器人的虚拟现实遥操作系统研究[D]．长沙: 湖南大学，2009 Deng X. Virtual reality remote condenser cleaning robot operating system [D]. Changsha:Hunan University，2009 (in Chinese)
[9]	张伟，陈宁，彭伟，等．火电厂凝汽器高压水射流在线清洗机器人技术介绍[J]．内蒙古电力技术，2008，26(5): 30-32 Zhang W，Chen N，Peng W，et al. The thermal power plant condenseronline cleaning robot of high pressure water jet technology[J]. Inner Mongolia Electric Power Technology，2008，26(5): 30-32 (in Chinese)
[10]	何琴．中央空调管道清洗机器人控制系统设计[J]．机电工程，2011，28(8): 944-947 He Q. Central air conditioning duct cleaning robotcontrol systemdesign of [J]. Mechanical and Electrical Engineering，2011，28(8): 944-947 (in Chinese)
[11]	陈继文，杨红娟，范文利，等．中央空调管道清洗机器人设计[J]. 现代制造工程，2010，(6): 133-135 Chen J W，Yang H J，Fan W L，et al. The central air-conditioning duct cleaning robot design [J]. Modern Manufacturing Engineering，2010，(6): 133-135 (in Chinese)
[12]	金松，毛立民，过玉清，等．非等径、变截面管道清洗机器人控制系统研究[J]．电气传动，2006，36(7): 26-29 Jin S，Mao L M，Guo Y Q，et al. Non equal diameter，variable system control section pipe cleaning robot[J]．Electric Drive，2006，36(7): 26-29 (in Chinese)
[13]	巩玉滨，陈继文，范文利，等．油烟管道清洗机器人设计[J]．组合机床与自动化加工技术，2011，(10): 84-89 Gong Y B，Chen J W，Fan W L，et al. The smoke pipe cleaning robot design [J]. Modular Machine Tool and Automatic Manufacturing Technique，2011，(10): 84-89 (in Chinese)
[14]	赵德薇．中央空调主风管清扫机器人可调双滚刷立体清扫装置[P]．中国: ZL 200820003815. 5 Zhao D W. The central air conditioning main air duct cleaning robot adjustable double rolling brush solid cleaning device[P] China:ZL 200820003815.5 (in Chinese)
[15]	施卫东，王敏，曹卫东，等．清洗机器人过流部件流动分析与优化设计[J]．排灌机械，2009，27(2): 78-82 Shi W D，Wang M，Cao W D，et al. The cleaning robot over-current components of flow analysis and optimal design of[J]. Drainage and Irrigation Machinery，2009，27(2): 78-82 (in Chinese)
[16]	邓三鹏，李充宁，张兴会，等．储油罐油泥清理机器人[J]．油气田地面工程，2011，30(4): 100-101 Deng S P，Li C N，Zhang X H，et al. The oil tank sludge cleaning robot [J]. Oil And Gas Field Surface Engineering，2011，30(4): 100-101 (in Chinese)
[17]	Kochan A. Robot cleans glass roof of Louvre pyramid[J].Industrial Robot:An International Joural，2005，5(32):380-382
[18]	Imaoka N，Roh Se-gon，Yusuke N. SkyScraper-I: tethered whole windows cleaning robot[C]//The 2010 IEEE/RSJ International Conference on Intelligent Robot and Systems，2010
[19]	Shin Kyung-Chul. Robot cleaner[P]. European Patent Application，EP2243412A2. 2010-10-27
[20]	Mital A，Kulkzmi M，Huston R. Robot cleaning of underground liquid storage tanks: feasibility and design considerations[J]. Robotics and Autonomous System，1997，4(20): 49-60
[21]	Gorelik，Shpitzer，Yakobovitch. Swimming pool robot[P].European Patent Application，EP1916359A2. 2008-4-30
[22]	Dunn S M，Liang T. Geometry guided segmentation[J]. Intelligent Robots and Computer Vision VII，1989，6(2): 194-207
[23]	Ollis M. Perception algorithms for a harvesting robot[D].Pennsylvania: Carnegie Mellon University，1997
[24]	Bergh C，Kennedy B，Matthies L. A compact，low power two-axis scanning laser range finder for mobile robots [C]// The 7th Mechatronics Forum International Conference，Atlanta，Georgia，2000
[25]	Ratner D，McKerrow P. Navigating an outdoor robot along continuous landmarks with ultrasonic sensing[J]．Robot Autonomous Systems，2003，45(2): 73-82
[26]	Dai G Z，Chen T Q. Design on measurement and control system of cleaning robot based on sensor array detection[C]// IEEE International Conference on Control and Automation，Guangzhou: 2007
[27]	Palacín J，Salse J A，Valgan ～ ón I. Building a mobile robot for a floor-cleaning operation in domestic environments[J].IEEE Transactions on Instrumentation and Measurement，2004，5(53): 1418-1424
[28]	Vestlund K，Hellstrom T. Requirements and system designfor a robot performing selective cleaning in young forest stands[J]. Journal of Terramechanics，2006，8(43): 505-525
[29]	Hertzberg H M. Sensor fusion for localizing a mobile robot outside of buildings[C]//Proceedings of the 9th International Symposium on Intelligent Robotic，Toulouse: 2001
[30]	Kurazume R，Hirose S. Development of a cleaning robot system with cooperative positioning system [J]．Autonomous Robots，2000，9(11): 237-246
[31]	Donoso-Aguirre F，Bustos J P，Torres-Torriti M. Mobile robot localization using the hausdorff distance[J]．Robotica，2008，7(26): 129-141
[32]	Lin Hung-Hsing，Tsai Ching-Chih. Improved global localization of an indoor mobile robot via fuzzy extended information filtering[J]. Robotica，2008，6 (26): 241-254
[33]	Baek S，Ahn S，Oh Se-Young. Fast localization algorithm for the cleaning robot by using self-organization map[C]// Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation，Jacksonville: 2007
[34]	Wang M T，Tan S L，Ding J J. Complete coverage path planning of wall-cleaning robot using visual sensor[C]// The Eighth International Conference on Electronic Measurement and Instruments，2007，4(13): 159-164
[35]	Luo C M，Yang S X，Deborah A. Real-time path planning with deadlock avoidance of multiple cleaning robots[C]// Proceedings of the 2003 IEEE International Conference on Robotics and Automation，Taipei: 2003
[36]	Hofner C，Schmidt G. Path planning and guidance techniques for an autonomous mobile cleaning robot[J].Robotics and Autonomous Systems，1995，10(14): 199-212
[37]	Oh J S，Choi Y H，Park J B. Complete coverage navigation of cleaning robots using triangular-cell-based map[J]. Ieee Transactions on Industrial Electronics，2004，3(51): 96-107
[38]	Waheed I，Fotouhi R. Trajectory and temporal planning of awheeled mobile robot an uneven surface [J]. Robotics，2009，4(27): 481-498
[39]	Yi Soo-Yeong. Global ultrasonic system with selective for autonomous navigation of an indoor mobile robot[J]．Robotics，2007，7(26): 277-283
[40]	Chi J R，Yang G W，Yang J. The on-line coverage algorithm and localization technique of the intelligent cleaning robot[J]. Robotics，2007，5(3): 943-948
[41]	Altshuler Y，Yanovski V，Bruckstein A M，et al．Cooperative cleaners: a study in ant robotics[J]. The International Journal of Robotics Research，2008，27(1): 127-151
[42]	Dai J S，Wang D L. Geometric analysis and synthesis of the metamorphic robotic hand[J]. Transactions of ASME，Journal of Mechanical Design，2007，129(11): 1191-1197
[43]	Dai J S，Wang D L，Cui L. Orientation and workspace analysis of the multifingered metamorphic hand-metahand[J]． IEEE Transactions on Robotics，2009，25(4): 942-947
[44]	Dai J S. Robotic hand with palm section comprising several parts able to move relative to each other[P]． U．K，GB20040009548. 2004-04-29