INTELLIGENCE TECHNOLOGIES OF CLEANBOT-Ⅰ GLASS-WALL CLEANING ROBOT

The authors have been studying an autonomous mobile robot for glass-wall cleaning of high-rise buildings. In this paper, the concepts of intelligence of glass-wall cleaning robot are discussed. We propose a unique mechanism structure for glass-wall cleaning robot Cleanbot-I, study its components, principle of operation, operating modes, modeling of local-unknown environment, the structure of unique sensors developed by ourselves, multiple sensor fusion technologies. In addition, the question of path planning also is discussed.