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Ceilbot midterm review

Ceilbot midterm review. Ville Rahikka Juuso Kinnunen. Content:. Tasks Features Requirements Attaching to the ceiling Rail structure in the ceiling Doorway solutions Sensors. Home cleaning ceilbot:. Tasks: Organizing missplaced objects

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Ceilbot midterm review

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  1. Ceilbot midterm review Ville Rahikka Juuso Kinnunen

  2. Content: • Tasks • Features • Requirements • Attaching to the ceiling • Rail structure in the ceiling • Doorway solutions • Sensors

  3. Home cleaning ceilbot: • Tasks: • Organizing missplaced objects • scan room for objects that aren’t in right place and move them to beforehand defined place • Vacuuming • every day • mainly when nobody is home • Cleaning windows • once a week when nobody is home • Giving water for plants • when sensors inserted in the plants indicates that the plants are too dry • Finding and bringing objects to the operator

  4. Trunk maipulator Modular Vacuuming module Water module Window cleaning Watering plants Fire extinguishing Tool module Lamp changing Object indicating by hand or laser Telescopic extensions Wireless system Microphones in each room for speechcontrol Robot interacts when perfoming tasks Connection to computer with control software Joystic or remote for manipulator control Remote access from either phone or web-based application Features

  5. Requirements / Issues • Agile trunk/manipulator • Trunk navigating in 3D / Avoiding obstacles • Trunk has to be stiff enough to resist torque • Room mapping • Different levels of for objects • Ceiling structure

  6. 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

  7. Attaching to the ceiling

  8. Rail structure in the ceiling • Turntables with two parts • path can be formed beforehand

  9. Doorway solutions • Turning archway • Can be operated using robots manipulator • Oval doorway • Easiest to build • Rising archway • Most structure changes to house • Most esthetic • Lifts • Expensive and slow on doorways • Neccessary on level changes

  10. Camera Identification for preprogrammed objects Identification stickers Color identification Pointing directions with hand or laser Placement on trunk Extra weight Size vs. quality Closer look Placement on body Synchronization with trunk Sensors

  11. Sensors • Laser • 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 • Tags for finding objects • Practical usefulness • Price vs. benefit

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