Ceilbot midterm review

Ville RahikkaJuuso Kinnunen

Content:

1. Tasks2. Features3. Requirements4. Attaching to the ceiling5. Rail structure in the ceiling6. Doorway solutions7. Sensors

Home cleaning ceilbot:

• Tasks:o Organizing missplaced objects

• scan room for objects that aren’t in right place and move them to beforehand defined place

o Vacuuming• every day• mainly when nobody is home

o Cleaning windows• once a week when nobody is home

o Giving water for plants• when sensors inserted in the plants indicates that the plants are too dry

o Finding and bringing objects to the operator

Features

• Trunk maipulator• Modular

o Vacuuming moduleo Water module

• Window cleaning• Watering plants• Fire extinguishing

o Tool module• Lamp changing

• Object indicating by hand or laser

• Telescopic extensions

• Wireless systemo Microphones in each room for speechcontrol• Robot interacts when perfoming tasks

o Connection to computer with control software

• Joystic or remote for manipulator control

• Remote access from either phone or web-based application

Requirements / Issues

• Agile trunk/manipulator• Trunk navigating in 3D / Avoiding obstacles

• Trunk has to be stiff enough to resist torque

• Room mappingo Different levels of for objects

• Ceiling structure

Small rails and drawing wheels• Easy to buildRails outside sealing• fits to most ceiling typesRails inside sealing•More esthetic•Harder to install on houses

Attaching

Drawing wheels on rails• Size must be minimized

•Herd to build•Still very unesthetic

Attaching to the ceiling

Rail structure in the ceiling• Turntables with two partso path can be formed beforehand

Rising archway• Most structure changes to house• Most esthetic

Turning archway• Can be operated using robots manipulator

Lifts• Expensive and slow on doorways• Neccessary on level changes

Oval doorway•Easiest to build

Doorway solutions

Sensors• Camera

o Identification for preprogrammed objectso Identification stickerso Color identificationo Pointing directions with hand or lasero Placement on trunk

• Extra weight• Size vs. quality• Closer look

o Placement on body• Synchronization with trunk

Sensors

• Lasero Positiono Object recognitiono Helping gripper actionso Placement on trunk

• Better collaboration with gripper• Weight of sick’s versions at least 1 kg• More difficult positioning of robot

• RFIDo Tags for finding objects

• Practical usefulnesso Price vs. benefit