High Rise Building Mirror Cleaning Robot based on Image Detection and Compression Analysis with Fuzzy Ladder Control System

An automated exterior building cleaning system have been studied for many years ago but rarely final manufacturing products even though it provided user with very valuable for cost released and more safety. This paper present the exterior mirror cleaning robot that particularly well suited for cleaning the exterior windows especially on a high rise building system. The construction of the system is deployed on a rooftop rail system traversed by a movable guide rail with motor driving control platform. The handling head supporter is deployed over the edges of the building and lowered on cables for cleaning the window surfaces area and other building elements. The cleaning algorithms are designed for normally cleaning mode and intelligent mode that take an advantage of image detection and compression analysis depends on dirty characteristics that appear on mirror surface. The functions are controlled by programmable logic controller (PLC) with fuzzy ladder control methods that configured for remote monitoring and control by wireless transceivers. By applying the proposed image compression method, performance has been improved which in dicated by lower bit rate and better PSNR. Some results from room experimental of mirror model are shown that system performance can work well and is valid to detect other kinds of real mirror profiles on high rise building that would configures the pic with fuzzy ladder control to perform some task at that place.