Skip to main content
SpringerLink
Log in

Quadruple-Pad Floor-Mopping Robot

  • Regular Paper
  • Published:
International Journal of Precision Engineering and Manufacturing Aims and scope Submit manuscript

Abstract

A floor-mopping robot with quadruple mopping pads was designed and implemented in this research. The proposed robot does not require driving mechanisms, such as wheels to obtain driving forces. Instead, the friction between the floor and the mopping pads was utilized to generate the driving force. The direction of the friction force can be controlled by adjusting the rotation direction of the pad, which enables the robot to generate the omnidirectional motion. In this work, a dynamic model of a mopping pad using a sponge was derived to design a new type of mopping robot with quadruple pads. The relationship between the driving force for the robot and control variable of the robot was then achieved to control the movement of the floor-mopping robot in a desired direction. A prototype mopping robot with the proposed scheme was built and tested to verify the dynamic model. The proposed robot presents a new structure for floor cleaning, and proves that it can effectively clean while operating with omnidirectional motion.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17
Fig. 18
Fig. 19
Fig. 20

Similar content being viewed by others

References

  1. Prassler, E., Ritter, A., Schaeffer, C., & Fiorini, P. (2000). A short history of cleaning robots. Autonomous Robots,9(3), 211–226.

    Article  Google Scholar 

  2. Hong, Y., Sun, R., Lin, R., Yu, S., & Sun, L. (2014). Mopping module design and experiments of a multifunction floor cleaning robot. In Proceedings of the 11th world congress on intelligent control and automation (pp. 5097–5102).

  3. Kongsin, W., & Kirita, S. (2012). Navigation algorithm for floor-mopping robot. Procedia Engineering,31, 874–878.

    Article  Google Scholar 

  4. Palacin, J., Salse, J. A., Valgañón, I., & Clua, X. (2004). Building a mobile robot for a floor-cleaning operation in domestic environments. IEEE Transactions on Instrumentation and Measurement,53(5), 1418–1424.

    Article  Google Scholar 

  5. Prabakaran, V., Elara, M. R., Pathmakumar, T., & Nansai, S. (2018). Floor cleaning robot with reconfigurable mechanism. Automation in Construction,91, 155–165.

    Article  Google Scholar 

  6. Gao, X., Li, K., Wang, Y., Men, G., Zhou, D., & Kikuchi, K. (2007). A floor cleaning robot using Swedish wheels. In IEEE international conference on robotics and biomimetics (pp. 2069–2073).

  7. Parween, R., Shi, Y., Parasuraman, K., Vengadesh, A., Sivanantham, V., Ghanta, S., et al. (2019). Modeling and analysis of Honeycomb—a polyhex inspired reconfigurable tiling robot. Energies,12(13), 2517–2535.

    Article  Google Scholar 

  8. Shin, D. H., & Kim, H. J. (2000). Twin brush floor polishing robot. Journal of Intelligent and Robotic Systems,29(3), 295–308.

    Article  Google Scholar 

  9. Kim, K., Park, B., & Kim, H. (2008). Force reflecting remote robotic mopping system. In International conference on control, automation and systems (pp. 2091–2094).

  10. Shin, D. H., Kim, H. J., Lee, H. G., & Kim, H. S. (1998). Omni-directional self-propulsive trowelling robot. In IEEE international conference on robotics and automation (pp. 2689–2696).

  11. Furiya, H., & Kiyohiro, N. (1995). Floor polishing robot driven by self propulsive force. Journal of the Robotics Society of Japan,13(6), 854–859.

    Article  Google Scholar 

  12. Zhang, X. G., Zhang, W., Li, H., Liu, M. Q., & Lyu, S. (2018). Level set based path planning using a novel path optimization algorithm for robots. International Journal of Precision Engineering and Manufacturing,19(9), 1331–1338.

    Article  Google Scholar 

  13. Fuse, Y., Furuya, M., Nishimura, M., Yoshimura, C., Watanabe, H., Tanzawa, T., et al. (2011). Indoor localization using infrared global vision system and LRF for twin brushes floor polishing robots. In IEEE international conference on mechatronics and automation (pp. 1757–1762).

  14. Byun, K. S., & Song, J. B. (2003). Design and construction of continuous alternate wheels for an omnidirectional mobile robot. Journal of Robotic Systems,20(9), 569–579.

    Article  Google Scholar 

  15. Dickerson, S. L., & Lapin, B. D. (1991). Control of an omni-directional robotic vehicle with Mecanum wheels. In National telesystems conference proceedings (pp. 323–328).

  16. Chu, B. (2017). Position compensation algorithm for omnidirectional mobile robots and its experimental evaluation. International Journal of Precision Engineering and Manufacturing,18(12), 1755–1762.

    Article  Google Scholar 

  17. Chen, C. H., & Song, K. T. (2005). Complete coverage motion control of a cleaning robot using infrared sensors. In IEEE international conference on mechatronics (pp. 543–548).

  18. Lang, S. Y., & Chee, B. Y. (1998). Coordination of behaviours for mobile robot floor cleaning. In IEEE/RSJ international conference on intelligent robots and systems (pp. 1236–1241).

  19. Hofner, C., & Schmidt, G. (1995). Path planning and guidance techniques for an autonomous mobile cleaning robot. Robotics and Autonomous Systems,14(2–3), 199–212.

    Article  Google Scholar 

  20. Hasan, K. M., & Reza, K. J. (2014). Path planning algorithm development for autonomous vacuum cleaner robots. In IEEE international conference on informatics, electronics and vision (pp. 1–6).

  21. Yang, T., Sun, N., Chen, H., & Fang, Y. (2019). Neural network-based adaptive antiswing control of an underactuated ship-mounted crane with roll motions and input dead zones. IEEE Transactions on Neural Networks and Learning System, 1–14.

  22. Duc, T. M., Hoa, N. V., & Dao, T. P. (2018). Adaptive fuzzy fractional-order nonsingular terminal sliding mode control for a class of second-order nonlinear systems. Journal of Computational and Nonlinear Dynamics,13(3), 031004.

    Article  Google Scholar 

  23. Sun, N., Liang, D. K., Wu, Y. M., Chen, Y. H., Qin, Y. D., & Fang, Y. C. (2019). Adaptive control for pneumatic artificial muscle systems with parametric uncertainties and unidirectional input constraints. IEEE Transactions on Industrial Informatics, 1–9.

Download references

Author information

Authors and Affiliations

  1. Division of Robotics Convergence, Pusan National University, Busan, 46241, Republic of Korea

    Heum-Yong Park

  2. Department of Smart Electronics, Busan Campus of Korea Polytechnic, Busan, 46550, Republic of Korea

    Heum-Yong Park

  3. Electrical Engineering, Pusan National University, Busan, 46241, Republic of Korea

    Jangmyung Lee

Authors
  1. Heum-Yong Park
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jangmyung Lee
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jangmyung Lee.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Park, HY., Lee, J. Quadruple-Pad Floor-Mopping Robot. Int. J. Precis. Eng. Manuf. 21, 427–436 (2020). https://doi.org/10.1007/s12541-019-00282-y

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12541-019-00282-y

Keywords

Search

Navigation