A Full-Coverage Path-Planning Algorithm for a Glass-Curtain-Wall-Cleaning Robot Driven by Ropes
Rope-driven robots are increasingly being applied for the efficiently cleaning of glass curtain walls. However, increasingly complex wall surfaces and the various shapes of obstacles may block the robot and reduce coverage. In this study, three-DOF rope-driven cleaning robots and a full-coverage pat...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-04-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/8/5052 |
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| author | Dong Zhang Yuao Li Pei Jia Xin Jiao Yueshuo Zheng Guoliang Wang Zhihao Li Minglu Zhang Jingtian Wang Manhong Li |
| author_facet | Dong Zhang Yuao Li Pei Jia Xin Jiao Yueshuo Zheng Guoliang Wang Zhihao Li Minglu Zhang Jingtian Wang Manhong Li |
| author_sort | Dong Zhang |
| collection | DOAJ |
| description | Rope-driven robots are increasingly being applied for the efficiently cleaning of glass curtain walls. However, increasingly complex wall surfaces and the various shapes of obstacles may block the robot and reduce coverage. In this study, three-DOF rope-driven cleaning robots and a full-coverage path-planning algorithm were developed to achieve global operation. The robot adopts a five-rope parallel configuration, and four winches are mounted on the wall and one on the ground to produce 3D motion performance. We used a grid method to build the wall model to mark obstacles, and then we decomposed it according to the wall curvature to better access cleaning subareas. To further increase the cleaning coverage rate, a full-coverage path-planning algorithm based on an improved priority heuristic was designed, which does not ignore the inset area of U-shaped obstacles. By introducing two sets of priority criteria to judge the forward direction, the robot can switch directions to cover a whole area when encountering U-shaped obstacles. Furthermore, by planning a return route requiring the least amount of time when entering a dead zone, an escape strategy was developed to prevent the robot from being unable to choose a direction. The experimental results show that the robot, after applying the proposed path-planning algorithm, could complete the global cleaning of complex glass walls with various obstacles. |
| first_indexed | 2024-03-11T05:15:59Z |
| format | Article |
| id | doaj.art-67aa36155b0d482da9d8cda639811dc5 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T05:15:59Z |
| publishDate | 2023-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-67aa36155b0d482da9d8cda639811dc52023-11-17T18:12:58ZengMDPI AGApplied Sciences2076-34172023-04-01138505210.3390/app13085052A Full-Coverage Path-Planning Algorithm for a Glass-Curtain-Wall-Cleaning Robot Driven by RopesDong Zhang0Yuao Li1Pei Jia2Xin Jiao3Yueshuo Zheng4Guoliang Wang5Zhihao Li6Minglu Zhang7Jingtian Wang8Manhong Li9State Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaState Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei University of Technology, Tianjin 300130, ChinaRope-driven robots are increasingly being applied for the efficiently cleaning of glass curtain walls. However, increasingly complex wall surfaces and the various shapes of obstacles may block the robot and reduce coverage. In this study, three-DOF rope-driven cleaning robots and a full-coverage path-planning algorithm were developed to achieve global operation. The robot adopts a five-rope parallel configuration, and four winches are mounted on the wall and one on the ground to produce 3D motion performance. We used a grid method to build the wall model to mark obstacles, and then we decomposed it according to the wall curvature to better access cleaning subareas. To further increase the cleaning coverage rate, a full-coverage path-planning algorithm based on an improved priority heuristic was designed, which does not ignore the inset area of U-shaped obstacles. By introducing two sets of priority criteria to judge the forward direction, the robot can switch directions to cover a whole area when encountering U-shaped obstacles. Furthermore, by planning a return route requiring the least amount of time when entering a dead zone, an escape strategy was developed to prevent the robot from being unable to choose a direction. The experimental results show that the robot, after applying the proposed path-planning algorithm, could complete the global cleaning of complex glass walls with various obstacles.https://www.mdpi.com/2076-3417/13/8/5052glass wall cleaningrope-driven robotwall modelingfull-coverage path planning |
| spellingShingle | Dong Zhang Yuao Li Pei Jia Xin Jiao Yueshuo Zheng Guoliang Wang Zhihao Li Minglu Zhang Jingtian Wang Manhong Li A Full-Coverage Path-Planning Algorithm for a Glass-Curtain-Wall-Cleaning Robot Driven by Ropes Applied Sciences glass wall cleaning rope-driven robot wall modeling full-coverage path planning |
| title | A Full-Coverage Path-Planning Algorithm for a Glass-Curtain-Wall-Cleaning Robot Driven by Ropes |
| title_full | A Full-Coverage Path-Planning Algorithm for a Glass-Curtain-Wall-Cleaning Robot Driven by Ropes |
| title_fullStr | A Full-Coverage Path-Planning Algorithm for a Glass-Curtain-Wall-Cleaning Robot Driven by Ropes |
| title_full_unstemmed | A Full-Coverage Path-Planning Algorithm for a Glass-Curtain-Wall-Cleaning Robot Driven by Ropes |
| title_short | A Full-Coverage Path-Planning Algorithm for a Glass-Curtain-Wall-Cleaning Robot Driven by Ropes |
| title_sort | full coverage path planning algorithm for a glass curtain wall cleaning robot driven by ropes |
| topic | glass wall cleaning rope-driven robot wall modeling full-coverage path planning |
| url | https://www.mdpi.com/2076-3417/13/8/5052 |
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