Portable Autonomous Window Cleaning Robot

A portable, autonomous, urban reconnaissance robot

Portable mobile robots, in the size class of 20 kg or less, could be extremely valuable as autonomous reconnaissance platforms in urban hostage situations and disaster relief. We have developed a prototype urban robot on a novel chassis with articulated tracks that enable stair climbing and scrambling over rubble. Autonomous navigation capabilities of the robot include stereo vision-based obsta...

Autonomous Pool Cleaning: Self Localization and Autonomous Navigation for Cleaning

Cleaning is a major problem associated with pools. Since the manual cleaning is tedious and boring there is an interest in automating the task. This paper presents methods for autonomous localization and navigation for a pool cleaner to enable full coverage of pools. Path following cannot be ensured through use of internal position estimation methods alone; therefore sensing is needed. Sensor b...

Occupational hazards in window cleaning.

Accidental falls involving window cleaners treated at the Middlesex Hospital over five years are reviewed. Failure to use safety belts and the lack of suitable anchorage points were contributary factors in all 20 patients. The use of protective equipment and the provision of anchorage points should be enforced. While the doctor's duty is to treat injuries he also has the opportunity to draw att...

Development of Small-size Window Cleaning Robot by Wall Climbing Mechanism

The objective of this research is to develop the small-size and light weight window cleaning robot. The prototype of window cleaning robot has been developed. The dimensions of prototyped robot are approximately 300mm x 300mm x 100mm and its weight is approximately 3 kg. The prototyped robot consists of two independently driven wheels and an active suction cup. The control system which includes...

Dense topological maps and partial pose estimation for visual control of an autonomous cleaning robot