Ceilbot midterm review
Ville Rahikka
Juuso Kinnunen
Content:
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Tasks
Features
Requirements
Attaching to the ceiling
Rail structure in the ceiling
Doorway solutions
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 module
o Water module
• Window cleaning
• Watering plants
• Fire extinguishing
o Tool module
• Lamp changing
• Object indicating by
hand or laser
• Telescopic extensions
• Wireless system
o 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 webbased application
Requirements / Issues
• Agile trunk/manipulator
• Trunk navigating in 3D / Avoiding
obstacles
• Trunk has to be stiff enough to resist
torque
• Room mapping
o Different levels of for objects
• Ceiling structure
Attaching
Small rails and drawing wheels
• Easy to build
Rails outside sealing
• fits to most ceiling types
Rails inside sealing
•More esthetic
•Harder to install on houses
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
parts
o path can be formed
beforehand
Doorway solutions
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
Sensors
• Camera
o Identification for preprogrammed objects
o Identification stickers
o Color identification
o Pointing directions with hand or laser
o Placement on trunk
• Extra weight
• Size vs. quality
• Closer look
o Placement on body
• Synchronization with trunk
Sensors
• Laser
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Position
Object recognition
Helping gripper actions
Placement on trunk
• Better collaboration with gripper
• Weight of sick’s versions at least 1 kg
• More difficult positioning of robot
• RFID
o Tags for finding objects
• Practical usefulness
o Price vs. benefit