Kinematics and Sensor and Control Systems of the Fully Automated Facade Cleaning Robot SIRIUSc for Fraunhofer Headquarters in Munich

Elkmann, Norbert; Lucke, Mario; Krüger, Tino; Kunst, Dietmar; Stürze, Thomas

doi:10.1007/978-3-540-75404-6_48

Cited by 4 publications

(6 citation statements)

References 4 publications

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“…The experimental results showed that the system eliminates the scattering and dripping phenomenon and reduces the water usage by 20%. In addition, the SIRIUSc is composed of cleaning tools using steam evaporation [88], [123]. Thus, the water consumption of the cleaning system is very low, only 1.5 L/h.…”

Section: A Water-spraying Mechanismmentioning

confidence: 99%

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A Survey on Techniques and Applications of Window-Cleaning Robots

Tam

2021

IEEE Access

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Maintaining a clean living and working environment is an important means to ensure people's quality of life. As the height of the building increases, the traditional method of cleaning windows by human workers not only takes a long time, but also brings the risk of falling off. It is necessary to replace human workers with robots for carrying out such heavy-duty and dangerous work. Various window-cleaning robots have been applied in cleaning work for certain actual scenarios. In this paper, the state-of-the-art survey of recent developments on window-cleaning robots is presented. The applications of window-cleaning robots in two main domains of domestic use and high-rise building environments are presented and the corresponding technical requirements are summarized. Afterward, the main techniques of window-cleaning robot development including locomotion mechanisms, adhesion mechanisms, cleaning mechanisms, and sensor and controller units are reviewed in detail. The survey provides a reference for the readers to design and develop a window-cleaning robot for specific application.INDEX TERMS Window-cleaning robot, automated machine, locomotion mechanism, adhesion mechanism, cleaning mechanism, sensor and controller.

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Section: A Water-spraying Mechanismmentioning

confidence: 99%

“…For example, Emrem et al adopted the encoder to transmit information, such as the speed and direction of the robot, to the controller [131]. Elkmann et al used two encoders to determine the position of the gantry [123].…”

Section: ) Encoder Applicationmentioning

confidence: 99%

A Survey on Techniques and Applications of Window-Cleaning Robots

Tam

2021

IEEE Access

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“…This system avoids a prominent frame of the exterior wall using photo-electric sensor and perpendicular motion based on linear motor. Similarly, Elkmann et al 14,15 developed the SIRIUS_c that was basically hoisted by a crane system installed on the roof. In addition to this moving method, this system was equipped with an additional mechanism, named 'advanced sliding frame mechanism,' which performs vertical-horizontal motion in a relatively small local region for cleaning work.…”

Section: Introductionmentioning

confidence: 99%

“…Since the building walls are always vertical and are in the direction of gravity, the ability of locomotion on the vertical surface has been important issues. 2,3 Thus, there have been many studies regarding how to generate the holding force against the gravity, such as magnetic force, 4,5 suction force, 6-10 suspended cable, [11][12][13][14][15][16][17][18][19][20] guide rail built-in the building wall facade, [21][22][23][24] and biomimetic adhesion force. [25][26][27] However, only the suspended cable and built-in guide rail based systems have been applied to real buildings, since others are not reliable enough yet.…”

Section: Introductionmentioning

confidence: 99%

Window cleaning system with water circulation for building façade maintenance robot and its efficiency analysis

Moon

Shin

Huh

et al. 2015

Int. J. of Precis. Eng. and Manuf.-Green Tech.

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Most maintenance works on building exterior walls are carried out by human labor and a cable-driven system (gondola). This approach involves a safety problem, motivating many recent studies of exterior wall automated maintenance methods. However, the conventional studies have been concentrated only on moving mechanism and the studies on cleaning method and processing of cleaning materials are insufficient. In addition, most conventional automated systems are composed of a roll-brush and injection nozzle. These systems generate problems such as the scattering and dripping of used water resulting contamination of surrounding areas. In order to solve these problems, a new cleaning tool system with water circulation function is developed to improve cleaning efficiency and reduce water usage in this paper. Using the cleaning tool system with the water circulation (injection-squeeze-suctioncollection-filtering-recharge) and Pulse Width Modulation (PWM) flow control, the scattering and dripping was removed and the water usage was reduced about 20%. Also, this cleaning tool system was compared to manual work by human experts as well as previously developed automated (or semi-automated) cleaning robots through statistical analysis.

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“…31 외벽에서 동 작하는 로봇의 경우 다른 로봇들과 달리 중력에 의 한 영향이 매우 크기 때문에 기존과 다른 방식의 접근이 요구된다. 외벽 접근방식으로 분류하자면 크 게 흡착, [1][2][3][4][5][6][7][8]43,44 자석, 9,10,45 와이어 이동, [11][12][13][14][15][16][17][18][19][20][21][22][23][24][25][26][27][28][29][30][32][33][34][35][36][37][38][39]48,49 가 이드 레일 형태로 40,46,47,[50][51][52][53] 외벽 도장 로봇의 경우 1980 년대 후반부터 일 본에서 가장 활발하게 연구가 진행되었다. [11]…”

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A Survey on Robot Systems for High-rise Building Wall Maintenance

Moon¹,

Huh²,

Lee³

et al. 2013

Journal of the Korean Society of Precision Engineering

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With recent growth of the economy and development of construction technology, the increase of high-rise buildings is appearing rapidly in urban areas. For this reason, the interest in building maintenance has also been increasing. However, it has many safety problems because it is difficult for the workers to access the exterior wall of building. Therefore, the maintenance system of high-rise building stands out as being important issues to be developed, so that a variety of robot systems have been developed to accomplish the building-wall maintenance works. In this paper, the maintenance robots are classified in painting, inspecting, cleaning systems according to the maintenance works. Then, their locomotion and adhesion mechanisms are analyzed including their applicability to the real maintenance works. This study can be used to develop maintenance robotic system that is more efficient and stable than existing ones.

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Kinematics and Sensor and Control Systems of the Fully Automated Facade Cleaning Robot SIRIUSc for Fraunhofer Headquarters in Munich

Cited by 4 publications

References 4 publications

A Survey on Techniques and Applications of Window-Cleaning Robots

A Survey on Techniques and Applications of Window-Cleaning Robots

Window cleaning system with water circulation for building façade maintenance robot and its efficiency analysis

A Survey on Robot Systems for High-rise Building Wall Maintenance

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