SMART WINDORO V1.0: Smart window cleaning robot

This paper describes the smart windoro which is the follow-up model of the windoro. The windoro is the world's first commercialized window cleaning robot, 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. The smart windoro basically has the same system configuration as that of the windoro. However, it additionally adopts an autonomous magnetic force control unit, a vertical position control unit and a corner cleaning mechanism. This paper addresses these additional units of the smart windoro.