抄録
Cleaning of glass windows for buildings is a dangerous work for human. Automatic cleaning for glass windows has been, thus, expected. Small-sized window cleaning robots have been proposed. For reliable tasks of the purpose, the robots should follow a desired path accurately. So we have proposed a path tracking control for the window cleaning robot. Therefore the robot can clean efficiently. However, it is uncertain that the window is actually clean. In this paper, a dirt sensor for the window cleaning robot is proposed to improve reliability of cleaning. The sensor has a light emitting section and a light receiving section. It detects dirt by measuring amount of reflected light which increases in dirty place. Furthermore, a method using the dirt sensor loaded onto the robot to improve quality of window cleaning is proposed. The experimental results confirm the validity of the proposed method.
