Tuesday, March 14, 2006
U0300654 Li Junbin SIRIUS is an autonomous climbing robot intended for moving on any vertical surface, regardless of the angle. The robot can be equipped with tools to execute many of the service-sector tasks such as façade cleaning, building and ship coating, ship welding, inspection work on tanks, and so on. It is a modular system, and the robot can adapt to almost any surface, independent of the surface material or obstacles. The robot stays attached to the surface via suction cup feet or magnetic grippers, and moves vertically on four linear guides that are coupled in two pairs. The new kinematics of the robot allow it to walk continuously in all directions. The robot overcomes obstacles by sensing their position and generating the necessary step length in order to maximize the number of suction cups attached to the surface while walking over the obstacle. Basically, SIRIUS cleans one vertical panel at a time, cleaning as it goes up so as to not leave any tracks. It starts at the top and travels quickly down the side of the façade. In the next phase, it walks up the façade, cleaning it along the way. After cleaning an entire vertical strip, SIRIUSC is then moved sideways by the gantry and begins the process anew on the next panel of the façade. The robot can clean up to 120 metre square per hr, including the time it takes to move the robot down and sideways on the façade. Besides that, SIRIUS has linear guides that are 1.2m long, and is capable of overcoming obstacles up to one meter long. On the top of that, other tools can be mounted on the robot to perform different tasks on the surface. A very sophicated cleaning tool is used by SIRIUS, which is outfitted with special features to aid in cleaning of facades. Due to the fact that there is difficulty in supplying water through a hose when cleaning a tall building, hence the water is located in an on-board water tank. The cleaning tool performs competently and with brushes and water. Furthermore, it is also environmental-friendly. On the top of that, after the glass has been cleaned, the water is not dripped down as it is drawn off the facade surface through a vacuum pump, filtered and then reused.