Service robots for facade cleaning

摘要

The paper describes a service robot which has been developed and realized for glass facade cleaning. It is the world's first fully automatic system for cleaning vaulted glass facades. The shape of the building which has to be cleaned is a special semi cylinder of glass and steel. The robot moves through the facade-side mechanical construction of the building and cleans the facade outside. The design, the mode of robot operation and the control concept are described.