2010
DOI: 10.1108/01439911011063290
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Robotic cleaning system for glass facade of high‐rise airport control tower

Abstract: Purpose -The purpose of this paper is to describe the development of a robotic cleaning system for applying on the glass facade of the control tower at the Guangzhou Airport, in Guangzhou, China. Design/methodology/approach -Four similar robotic cleaning systems are designed for a reversed cone-shape glass facade at the top of the control tower. One system is composed of a robot moving along and cleaning the facade, and an automatic conveyer positioning, securing, supplying energy and water to, and recycling t… Show more

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Cited by 33 publications
(19 citation statements)
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“…The solution can be obtained using the previous results of equations (6) and (7). Finally, we control the manipulator using the desired joint angles, q 1 ; q 2 ; q 3 ; q 4 ; q 5 , which were just derived.…”
Section: Vision-based Grasping Schemementioning
confidence: 99%
See 1 more Smart Citation
“…The solution can be obtained using the previous results of equations (6) and (7). Finally, we control the manipulator using the desired joint angles, q 1 ; q 2 ; q 3 ; q 4 ; q 5 , which were just derived.…”
Section: Vision-based Grasping Schemementioning
confidence: 99%
“…Figure 12 shows the image processing, deriving two slopes and two intercepts. Using the algorithm in the previous section, we could calculate the variables, D x ; D y ; x ; y , and obtain the transformation, ROB Pipe T ; thus we could command the robot manipulator with joint angles q 1 , q 2 , q 3 , q 4 , and q 5 after solving the inverse kinematics of equation (16) with equations (6) and (7). Figure 12 shows the image processing procedure to obtain the line equation of the objective pipe edge.…”
Section: Experimental Procedures Of Visual Graspingmentioning
confidence: 99%
“…Therefore, many researchers have developed outer wall cleaning robots that replace the humans who perform this task manually [2,3,4,5,6,7]. Equipping these cleaning robots with systems that detect contaminants on outer walls will enable them to perform a greater variety of tasks.…”
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%