Windoro: The world's first commercialized window cleaning robot for domestic use

This paper describes the world's first commercialized window cleaning robot named windoro, which is a fully autonomous intelligent window cleaning robot. The windoro adheres to the surface of window glass by means of four permanent magnet pairs between an inner unit and an outer unit rather than using vacuum suckers for the energy efficiency and safety. An inner unit and an outer unit are in charge of navigation and cleaning, respectively. To do this, an inner unit has two driving wheels equipped with silicon tire with the big friction coefficient and an outer unit has four motorized rolling disks with a superfine fiber pad. For the convenience of user, the windoro can recognize the initial starting position and return to that position after finishing cleaning. In addition to this, an inner unit has mechanism for adjusting magnetic force according to the thickness of window glass. Due to this, the windoro is applicable to various kinds of windows. From the several severe experiments, the windoro demonstrated system stability, good mobility, cleaning performance and safety.