Development of Small-Size Window Cleaning Robot A traveling direction control on Vertical surface Using accelerometer

The purpose of this research is to develop the window cleaning robot for cleaning a single large windowpane such as a show window. It requires the following demands to apply the window cleaning robot for the practical use: 1) Clean the corner of window because fouling is left there often. 2) Sweep the windowpane continuously to prevent making striped patterns on a windowpane. The keys of mechanisms are the rotatability of the mobile part around the other parts and the continuous locomotion in order to achieve the above points. The former enables the robot to change the direction with keeping its position and attitude at the corner of window. The latter is necessary for preventing leaving the striped pattern on a windowpane. We designed the continuous motion using two-wheel locomotion with adhering on the windowpane using a suction cup. The dimensions of prototype are approximately 300 mm times 300 mm times 100 mm and its weight is approximately 3 kg. In order to achieve autonomous operation, attitude control system has been developed and its effect has measured on the vertical window with prototyped robot. Result of some experiments, the robot trajectory has been recorded, and effects has discussed. This paper includes five chapters. The first chapter mentions background and objectives of this research, and also introduces the concept of window cleaning robot. The second chapter illustrates prototyped mechanical systems used for experiments and moving path of window cleaning. The third chapter explains statics model of the window on the vertical window and developed moving control system. The fourth chapter shows experimental result of basic traveling control and window wiping motion by comparing to with or without of motioned control system and says some discussions in each experiment. The fifth chapter gives a conclusion