Ceilbot midterm review Ville Rahikka Juuso Kinnunen
Content: 1. 2. 3. 4. 5. 6. 7. 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 3 D / 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 o o 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
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