Development of Small-size Window Cleaning Robot by Wall Climbing Mechanism

The objective of this research is to develop the small-size and light weight window cleaning robot. The prototype of window cleaning robot has been developed. The dimensions of prototyped robot are approximately 300mm x 300mm x 100mm and its weight is approximately 3 kg. The prototyped robot consists of two independently driven wheels and an active suction cup. The control system which includes traveling direction controller using accelerometer and traveling distance controller using rotary encoder and edge sensors ware installed for autonomous operation. This paper includes background and objectives of this research, prototyped mechanical systems, moving control system, experimental result of basic traveling control and window wiping motion by comparing to with or without of motioned control system, some discussions in each experiment and a conclusion.