Fall prevention system for the hatch cover cleaning robot

Name: Morimoto, Tatsuhiro

Organization : Mie University. Dept. of Mechanical Engineering

Name: Matsui, Hirokazu

Organization : Mie University. Dept. of Mechanical Engineering

Name: Yano, Ken'ichi

Organization : Mie University. Dept. of Mechanical Engineering

Email : yanolab@robot.mach.mie-u.ac.jp

Name: Someya, Hidekazu

Organization : Shinagawa Furnace Co., Ltd.

Name: Arima, Toshihiko

Organization : Shinagawa Furnace Co., Ltd.

Name: Hukui, Shigeru

Organization : Shinagawa Furnace Co., Ltd.

keyword: Hatch Cover

ThaSH: Mobile robots -- Design and construction

; Cleaning robot

ThaSH: Robots -- Control systems

Abstract: Currently, cargo such as iron ore and coal are transported by ship. Meanwhile, these loads are not packed for mass transportation. Therefore, during unloading, a small amount of cargo sometimes falls on the hatch cover. If dropped cargo is left where it falls, it will blown into the sea, causing marine pollution. As a countermeasure, workers currently clean hatch covers with a scoop. However, the hatch cover is about 20 m above the bottom of the hatch space, and workers may be required to clean the cover at night or in rainy weather. Accidents have occurred due to the harsh work environment. To address this problem, efforts are underway to develop a mobile robot to clean the covers. Examples of mobile cleaning robots include the Track-Ominidozer (Movex Innovation, Inc.). These robots are designed for the mass transportation of soil and sand; they are large and heavy to generate the frictional force necessary for transportation. However, the decks of transport ships are narrow. Therefore, it is difficult to find space for machinery to transport the robot. Examples of mobile robots that can avoid falling include the Roomba 980 (iRobot Corporation). These robots can detect steps using, for example, an infrared sensor. However, under a harsh environment like a hatch cover with dust and water, emitted infrared rays could be obstructed by dust and rain, and therefore unable to accurately detect an edge. The purpose of this study was to develop a compact, lightweight, cleaning robot able to work without falling down even in a dusty and rainy environment such as a hatch cover. We first design a robot of a size and weight that could be moved without machinery in a narrow space. We then propose a fall-prevention system using a limit switch with high environmental resistance. Finally, we show the effectiveness of the proposed cleaning robot and its fall- prevention system in an experiment on a simulated hatch cover.

King Mongkut's University of Technology North Bangkok. Central Library

Address: BANGKOK

Email: library@kmutnb.ac.th

Created: 2018

Modified: 2025-06-25

Issued: 2025-06-25

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BibliograpyCitation : In Thammasat University Faculty of Engineering. The 9th TSME International Conference on Mechanical Engineering 2018 (TSME-ICoME9) (pp.504-510) Pathum Thani : Thammasat University

eng

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