Study and Design of an Autonomous Mobile Robot Applied to Underwater Cleaning

Study and Design of an Autonomous Mobile Robot Applied to Underwater Cleaning

Lafaete Creomar Lima Junior (Federal University of Rio de Janeiro, Brazil), Armando Carlos de Pina Filho (Federal University of Rio de Janeiro, Brazil) and Aloísio Carlos de Pina (Federal University of Rio de Janeiro, Brazil)
Copyright: © 2014 |Pages: 13
DOI: 10.4018/978-1-4666-4607-0.ch044
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Abstract

The chapter describes the stages of an autonomous mobile robot project, in this case, an underwater cleaning robot. First, the authors analyze the products already available for costumers, mainly focusing on the tasks they can perform (instead of the systems they use), in order to define the requirements of their project. Then, they build some models, based in the literature available. Based on them, the authors dimension the parts and systems by evaluating the results of these models. Finally, the authors use all information gathered to create a prototype, modeled with a CAE system.
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Pre-Project

The first step is to determine what features the robot will offer based on others available and on the market and consumer needs.

As an essential feature, our equipment has to clean the pool floor because this characteristic is available in all pool-cleaning robots.

However, on second thought, if the owner has to clean the walls by himself, he will not be inclined to buy this equipment, so the pool wall cleaning is an important feature too. Besides, since the customer looks for convenience, the equipment must also be autonomous.

Thus, only these few requirements guide our project.

Pool floor cleaning will demand brushes and pool wall cleaning will need a floater. The robot will also need a pump and a filter. For autonomy, the robot will require some sensors and some control devices.

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