Facade Cleaning Robot Path Adaptation Using Multi-Dimensional Mapping
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Solution Overview
Problem
Current building facade cleaning systems are inflexible and require customization for each building, making them costly and unable to adapt to dynamic changes such as newly opened windows, limiting their applicability to different structures.
Innovation Solution
A computer-implemented method and system that uses a multi-dimensional map to generate an ordered sequence of instructions for robotic arms and elevator platforms, allowing for dynamic adaptation of the cleaning pattern and path to match the building facade, including real-time updates and sensor data integration for precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robot is designed for a specific building with pre-programmed routines, then cleaning precision and reliability are improved, but adaptability to different buildings deteriorates and device complexity increases
Solution Approach 1:
The system dynamically adjusts the cleaning path and robot movements based on real-time facade detection data. The pre-programmed routine is modified on-the-fly to accommodate actual window positions, sizes, and spacing variations, allowing the same robot to adapt to different buildings while maintaining cleaning reliability through dynamic parameter adjustment rather than static pre-programming
Solution Approach 2:
The system uses sensors to detect the actual facade geometry and provides feedback to the control system, which then adjusts the cleaning path in real-time. This closed-loop feedback mechanism allows the robot to compensate for deviations from the pre-programmed path and adapt to actual building conditions, resolving the contradiction between following a fixed reliable routine and adapting to variable building structures
2Manufacturing precision
If pre-programmed cleaning routines are used for specific buildings, then cleaning precision is improved, but the cost and time for customization increase
Solution Approach 1:
The system performs preliminary detection of the facade geometry using sensors before executing the cleaning routine. By capturing the actual building characteristics in advance and using this data to generate the cleaning path, the system eliminates the need for time-consuming manual customization while maintaining precision through data-driven path planning
Solution Approach 2:
The system replaces manual programming and customization processes with automated sensor-based detection and algorithmic path generation. Instead of manually measuring and programming each building's geometry, the system uses sensors to automatically capture facade data and computes the cleaning path, dramatically reducing customization time while maintaining precision
3Area of stationary object
If the crane changes elevation to cover different areas, then cleaning coverage area increases, but the ability to respond to dynamic changes in facade configuration deteriorates
Solution Approach 1:
The system continuously monitors facade conditions and provides feedback to adjust the cleaning path in real-time, enabling the robot to respond to dynamic changes such as open windows or varying facade geometries while maintaining comprehensive coverage through adaptive path planning
Solution Approach 2:
The cleaning path is dynamically adjusted based on real-time detection data rather than following a fixed pre-programmed route. The system can modify elevation changes, horizontal movements, and cleaning patterns on-the-fly to accommodate actual building conditions while ensuring complete coverage of the facade surface
Data Source
AI summary
Disclosed is a method for controlling cleaning at least a portion of a building facade (104a). A multi-dimensional map of a facade (104a) is cleaned from an elevator platform (200) of an elevator system is received. According to the map, an ordered sequence of instructions is determined. The instructions comprise robotic arm instructions and elevator platform instructions that are temporally intertwined to execute a cleaning pattern covering at least part of facade (104a). The robotic arm instructions are forwarded to control one or more robotic arms (206) and the elevator platform instructions are forwarded to control the elevation of the elevator platform (200). A corresponding device (221, 213) and non-transient memory (223), and a system having the device, are also disclosed.