Wall Climbing Robot for Dust Cleaning in a High Risk Buildings

Transcription

1 Wall Climbing Robot for Dust Cleaning in a High Risk Buildings R. Geethanjali, Mr.M.Sudhakaran, Dr.R. Seyezhai PG Student, Department of EEE,G.T.E.C, Vellore , India. Associate Professor, Department of EEE,G.T.E.C, Vellore , India. Associate Professor, Department of EEE, SSN College of Engineering, Chennai , India. Abstract- This paper presents a wall climbing robot for cleaning of dust particle in high risk buildings. The façade cleaning of high risk building by human operator is not safe. The development of a mobile robot which can move on the vertical or overhanging walls of tall buildings, on the side walls of ships etc., has been expected for a long time. The robot could then be utilized to carry rescue tools or does some other work instead of human. To increase operation efficiency and to protect human s we designed a wall climbing robot for cleaning application. The gripping is required to sustain the robot or to move it upwards on the wall. A magnetic force or vacuum pressure can be used to produce the fixing force on the wall and wheels or crawlers are available as parts of the moving mechanism on flat and wide vertical surfaces. A climbing robot with suction cup is more attractive since it can move on a large irregular surface. The microcontroller Atmega2560 is implemented for control application. While climbing in the vertical wall obstacle like windows opening, grills in the wall are detected by using the obstacle sensor. Keywords- Atmega2560, suction cup, vacuum adhesion module I.INTRODUCTION The development of a mobile robot which can move on the vertical wall [1] or inspection of oil tanks, maintenance of high risk building construction, surveillance on the side walls of ships, etc. has been expected for a long time. The robot could then be utilized to carry rescue tools or to do some other work instead of man. In order to realize this robot, frictional force is required to sustain the robot or to move it on the wall. The vacuum pressure can be used to produce the fixing force to the wall, and wheels or crawlers are available as parts of the moving mechanism on flat and wide vertical surfaces. A walking robot with suction cups is more attractive since it can move on a large irregular surface. Many combinations of these ideas can be developed for various applications in the near future. In this paper a suction cup with a vacuum pressure is created for climbing and locomotion. A small amount of air is sucked from the peripheral clearance of the cup, when it is moving on the wall, when the brush and/or flexible skirt are employed to prevent air flow at the periphery of the cup. To increase the operational efficiency and to protect human health and safety in hazardous tasks make the wall climbing robot a useful device. These systems are mainly adopted in such conditions where direct access by human operator is very expensive due to hazardous environment or need of scaffolding. This robot is designed with suction cup to crawl on the vertical surface in the wall. The selection of an adhesion module is an important factor to seal the suction cup in both rough and non porous surface. The vacuum adhesion module will make the robot to seal the suction in smooth manner. The climbing robot should be sucked to the surface on which it is climbing safely and overcome its gravity. That is the first difference between a climbing robot and an ordinary walking robot on the ground. The wall climbing robot should be safe and reliable attachment to the surface and they have ability of crossing obstacles. A quadruped robot though possessing less maneuvering capabilities is theoretically faster and less difficult to build. Most quadruped climbing robots [2][7][8] mimic lizards. However we decided to make a climbing robot that is similar to walking robots. By adding suction cups to the end of the legs we will make the robot literally walk up a wall. The system components of an automatic facade robot [3] influence each other a great deal and cannot be considered as independent parts. The following components are key to all facade robots and are independent of the building shape and facade type are mechanics, kinematics for movement along the facade control system, sensors, navigation, and operator interface means for safeguarding the robot against falling, supplying energy and cleaning materials to the robot cleaning device. The climbing mechanism, called the Sliding Module kinematics, was designed to ensure constant contact between the robot and the facade, to be able to overcome a multitude of typical obstacles, as well as to be able to move quickly along the surface. With this configuration, it is possible for the robot to climb both continuously and discontinuously along the surface, while avoiding obstacles and nonetheless maintaining contact with the surface with as many vacuum grippers as possible. 24

2 The façade cleaning [4] of a wall climbing robot is used for inspection of high risk building construction. The external sensor used in the robot will detect the obstacle in the glass wall and overcome it. The trajectory planning is controlled by manually while climbing in the vertical wall. The above section will discuss the hardware and software description. Suction Cup Vacuum Compressor Zigbee II. HARDWARE IMPLEMENTATION Atmega 2560 Battery Power Supply Figure 1 Block Diagram Current driver Servo motor IR Sensor The Atmega2560 AVR Microcontroller is used for designing the wall climbing robot. The robot is manually controlled by Zigbee remote control. Based on the command given by the Zigbee remote control the robot will drive the movement. The crank mechanism is based on the vacuum pressure created in the compressor. The air is extracted from the vacuum compressor and is given to the volume occupied by space between vacuum cups and wall. The gripping mechanism is implemented with the vacuum cup. The dust in the vertical wall is extracted by vacuum pump in the vacuum compressor. The GP2Y0A02YK is used for detecting obstacle in the vertical wall. When the obstacle is detected the robot will rotate the position from the other position. III. HARDWARE COMPONENTS ATmega2560 It is high performance low power consumption 8-bit advanced RISC Processor of eighty six programmable I/O lines, 32 eight bit general purpose working registers with operating frequency of 16Mhz. The eighty six I/O lines is flexible to interface the peripheral devices. It is a high endurance non volatile memory segments, 256 kilobytes of In-system self programmable flash memory,4 kilobytes of EEPROM, 8 kilobytes of internal SRAM, two eight bit timers, four sixteen bit timers, twelve PWM channels with programmable resolution from 2 to 16 bits, four programmable Serial USART for communication through Zigbee. Suction Cup The flat suction cup is used to stick the cup in the vertical wall for flexible gripping so the robot will not fall or slip. It is easy attachment in the due to the small volume of air to be evacuated. They are excellent for use on fast cycle transfer system for vertical lifting. Pneumatic valve The pneumatic valve are used to control the pressure of compressed gases as well as the rate and direction of flow. This in turn controls the action of the device using the compressed air or gas. The pressure is applied through the pneumatic valve to stick the suction cup in the vertical wall and depressurize in the suction cup for next movement. DC Servo Motor It is a small built-in control circuitry and has good power consumption. The servo motors have been built specially for continuous rotation, make it an easy to move the robot. IR Sensor This sensor is a sharp detection of nearby object. The analog ranger provides the information of distance to an object in the rangers view. The digital detectors provide a digital indication of an object at or closer than a predefined distance. IV. ROBOT MOVEMENT Initially the robot is fixed in the vertical wall using the suction Check the pressure in the entire suction cup Apply the pressure in the suction cup to drive the motor in forward direction If obstacle is detected The process is continuous until the coverage of the vertical wall Stop Figure 2 Flowchart for robot movement Move the robot in horizontal direction in the vertical surface 25

3 Initially the robot is fixed on the wall using the suction cup. To move the robot in the forward direction depressurizes the suction cup using vacuum compressor. Once the suction cup is depressurized we have to stick the robot for next movement again pressurizes the suction cup for some delay. The robot will continue the process for forward and reverse movement. While climbing the robot in the vertical wall if any obstacle is detected through the obstacle detector sensor the robot find the obstacle, turn and in the forward direction. V. CLEANING OF DUST PARTICLE The entire suction cup is fixed in the vertical wall Suck the dust particle in the vertical wall changes the state of the processor's pins, this will be seen by your program code, just as in real life. VIII. CONCLUSION There are several applications the wall climbing robot is using in different locomotion and adhesion. Based on the application the adhesion mechanism is used. The researchers using the various techniques for climbing and adhesion, the suction cup adhesive give the better and flexible gripping in the vertical wall. This simpler, compact and lightweight robotic platform provides a safe and effective means to deal with hazardous duty operations. Within the mechanical area our robust platform, it is developed to climb on relatively smooth surfaces and non porous surface. IX. OUTPUT The motor rotate in forward direction for climbing The climbing and cleaning mechanism is continues till to reach the top of the vertical wall Stop Figure 3 Flowchart for Cleaning Mechanism VI. SIMULATION TOOL Proteus Virtual System Modeling is to facilitate cosimulation of complete microcontroller design and it is easy to simulate and check before designing the prototype. The Proteus Simulation tool is suitable for interfacing AVR microcontroller to the peripheral devices and it is flexible, rapid development of the hardware. The most exciting and important feature of Proteus VSM is its ability to simulate the interaction between software running on a microcontroller and any analog or digital electronics connected to it. Figure 4 Initial position of the robot The micro-controller model sits on the schematic along with the other elements of your product design. It simulates the execution of your object code (machine code), just like a real chip. If the program code writes to a port, the logic levels in circuit change accordingly, and if the circuit 26

4 Figure 5 Activation of Cleaner Figure 6 Climbing Movement Initialization REFERENCES [1] A.Nishi, Y.Wakasugi and K.Watanabe, "Design of a robot capable of moving on a vertical wall, Advanced Robotics, vol. 1, pp , [2] T.P. Sattar, B. Bridge, S. Chen, and Z. Zhao, "Development of CLAWER system that combines the tasks of monitoring, mobility, manipulation, and measurement for industrial inspection tasks," in Proc. 6th into Con! Climbing Walking Robots Supporting Technologies Mobile Machines, Catania, ltaly, Sept. 2003, pp [3] T. Akinfiev and M. Armada, The influence of gravity on trajectory planning for climbing robots with non-rigid legs," J. intell. Robotic Syst., vol. 35, pp , [4] N. Elkmann, T. Felsch, M. Sack, J. Saenz, and 1. Hortig, "Innovative Service robot systems for facade cleaning of difficult-to-access areas," in ProC IEEE/RSJ Int. Con. Intelligent Robots Systems EPFL,Lausanne, Switzerland, Oct. 2002, pp [5] B. Chu, K. Jung, C. Han, and D. Hong, "A Survey of Climbing Robots: Locomotion and Adhesion", Int. J. Precision Engineering and Manufacturing, Vol. 11, No. 4, pp , 201O.I.S. [6] J. Xiao, A. Sadegh, M. Elliot, A. Calle, A. Persad, and H. Chiu, "Design of Mobile Robots with Wall Climbing Capability", ProC. of the 2005 IEEE/ASME int. Con. on Advanced intelligent Mechatronics, pp , July 24-28, [7] 1. Xiao, A. Calle, A. Sadegh, and M. Elliot, "Modular Wall Climbing Robots with Transition Capability", Proc IEEE international Conference on Robotics and Biomimetics (IEEE ROBIO), pp , 2005 [8] Weimin Shen and Jason Gu, Yanjun Shen, "Proposed Wall Climbing Robot with Permanent Magnetic Tracks for Inspecting Oil Tanks" IEEE international Conference on Mechatronics & Automation, pp , Niagara Falls, Canada July 2005 [9] Weiguang Dong, Hongguang Wang, Zhenhui Li, Yong Jiang, Jizhong Xiao, "Development of a Wall-Climbing Robot with Biped-Wheel Hybrid Locomotion Mechanism", 20i3 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS), pp november 3-7,2013. Tokyo, Japan. [10] Matthew A. Estrada, Elliot W. Hawkes, David L. Christensen, Mark R.Cutkosky, "Perching and Vertical Climbing: Design of a Multimodal Robot", IEEE ICRA 2014 (preprint) [11] A. Albagul, A. Asseni, O. Khalifa, Wall Climbing Robot: Mechanical Design and Implementation in Recent Advances in Circuits, Systems, Signal and Telecommunications [12] A. Nagakubo, S. Hirose, "Walking and running of the Quadruped wall-climbing robot", 1994 IEEE International Conference on Robotics and Automation, pi , [13] H. X. Zhang, J. W. Zhang; and G. H. Zong, Requirements of glass cleaning and development of climbing robot systems, Proceedings 2004 IEEE International Conference on Intelligent Mechatronics and Automation, pp , August [14] Y. Wang, et al, Development and application of wallclimbing robots, Proceedings 1999 IEEE International Conference on Robotics and Automation, vol. 2, pp , May

5 [15] L. Briones, P. Bustamante, and M. Serna (1994) ROBICEN: A wall-climbing pneumatic robot for inspection in nuclear power plants. Robotics and Computer-Integrated Manufacturing 11, [16] R. Lal Tummala, R. Mukherjee, N. Xi, D. Aslam, H. Dulimarta, J. Xiao, M. Minor, and G. Dang, Climbing The Walls, IEEE Robotics and Automation Magazine, vol. 9, no. 4, pp , Dec [17] Young Kouk Song, Chang Min Lee, Ig Mo Koo, Duc Trong Tran, Hyungpil Moon And Hyouk Ryeol Choi Development Of Wall Climbing Robotic System For Inspection Purpose IEEE/RSJ International Conference On Intelligent Robots And System, 2008, pp Geethanjali R received her B.E Degree from Adhiyamaan college of Engineering in Anna University in 2013 and pursuing M.E in Embedded System Technologies in Ganadipathy Tulsi s Jain Engineering College. Her research areas are Embedded systems, Microcontroller, Robotics, ARM. She published her paper in national conference, international conference and journal 28