A public restroom cleaning robot based on a redundant dual-arm robot

Yong-Tao Wu; Chao Li; Jia-Lin Li; Qi-Lin Long; Jia-Hang Lai

doi:10.1117/12.3010841

1 December 2023 A public restroom cleaning robot based on a redundant dual-arm robot

Yong-Tao Wu, Chao Li, Jia-Lin Li, Qi-Lin Long, Jia-Hang Lai

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129401W (2023) https://doi.org/10.1117/12.3010841
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

Public restroom cleaning robot has broad commercial application prospects, but there are still some challenges in practical application. Especially for the cleaning tasks in areas with stubborn stains such as washbasins and urinals in restrooms, the complexity is high, and the requirements for the flexibility of robots in the cleaning process are also strict. It is difficult to meet the requirements using traditional cleaning mechanism design. To address this issue, a design scheme for an intelligent sweeping, dragging, and cleaning integrated robot based on redundant dual arms is proposed; The designed cleaning module based on a dual arm robot is located at the front of the robot. By clamping the spray gun, cleaning operations are carried out on areas with stubborn stains. By switching between clean water and cleaning solution for continuous spraying, further deep cleaning is achieved; Then, the dirt collection and storage are completed by the collection device and the closing structure. While completing the three-dimensional structure design, based on the robot's motion posture and path planning, the urdf rigid body model was established, kinematics and work spatial analysis were carried out, and the weighted path planning was completed. The completed simulation results indicate that the robot has good motion stability and will not experience jumps during the motion process; Weighted path planning demonstrates the feasibility of robot cleaning with high coverage. Finally, we verified the feasibility of the toilet cleaning robot in kinematics and path planning, providing a feasible idea for the follow-up improvement of the toilet cleaning robot.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yong-Tao Wu, Chao Li, Jia-Lin Li, Qi-Lin Long, and Jia-Hang Lai "A public restroom cleaning robot based on a redundant dual-arm robot", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129401W (1 December 2023); https://doi.org/10.1117/12.3010841

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KEYWORDS

Kinematics

Monte Carlo methods

Solids

Design and modelling

Lithium

Computer simulations

Robotic systems

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