International Journal of Scientific Research in Science, Engineering and Technology

Print ISSN - 2395-1990 Available Online at : www.ijsrset.com

Online ISSN : 2394-4099 doi : https://doi.org/10.32628/IJSRSET

Glass Cleaner Smart Robot

Prof. M. M. Zade *1, Mr. Yogesh. Bhosale *2, Ms. Saee. Devkate*3, Mr. Dadasaheb Maske *4
*1 Professor, Department of Electronics and Telecommunication and Engineering, SPPU University,
Pune, Maharashtra, India
*2,3,4 Professor, Department of Electronics and Telecommunication and Engineering, SPPU University,
Pune, Maharashtra, India
ARTICLEINFO ABSTRACT

Article History : Glass cleaning robots are alternative to time-consuming and

Accepted: 15 Oct 2023 manualwindow cleaning in residential and commercial environments. The
Published: 05 Nov 2023 combination of automation and artificial intelligence in housekeepinghas
led to the development of smart robots that can clean windows and other
glass surfaces efficiently and independently. In this study, the main
Publication Issue : components of glass cleaning robots such as sensors, navigation algorithms,
Volume 10, Issue 6 cleaning mechanisms. We evaluate different uses by evaluating the
November-December-2023 effectiveness and suitability of various cleaning methods used by these
Page Number : robots, including vacuuming, microfiber pads, and water jets. We are also
28-35 exploring a combination of advanced technologies such as computer
vision, machine learning, and remote control to enable these robots to
move to different places and spaces. Robotic
Keywords : Glass Cleaning Robot, Smart Cleaning Machine, Automatic
Cleaning System, Cleaning Robot, Smart Home Appliances

I. INTRODUCTION solve the unique challenges posed by tall buildings,

Progress in robotics continues with new applications
changing every aspect of our daily lives. One area of
particular interest is the development of smart robots
specifically designed for cleaning tasks. In this study,
we explore the world of glass cleaning robots, a highly
automated system designed to clean and maintain glass
surfaces. The need for good and durable solutions,
especially for large glass facades in modern buildings,
has led to the creation of smart glass cleaning robots.
These robots combine the best robotics, artificial
intelligence, and advanced cleaning technology to
skyscrapers, and complex glass.
II. METHODOLOGY
1. Navigation and Mapping
Navigation and mapping are fundamental elements of
a robot's autonomy. Which are going to be used in glass,
and window cleaning of buildings or homes Navigation
refers to the robot's ability to plan a path . Mapping is
the process of creating a representation of the
environment that the robot can use for navigation and
decision-making current location to a desired

Copyright: © the author(s), publisher and licensee Technoscience Academy. This is an open-access article distributed under the
terms of the Creative Commons Attribution Non-Commercial License, which permits unrestricted non-commercial use,
28
distribution, and reproduction in any medium, provided the original work is properly cited
 Prof. M. M. Zade et al Int J Sci Res Sci Eng Technol, November-December-2023, 10 (6) : 28-35
destination and to execute that path while avoiding
obstacles.
1.1. Simultaneous Localization and Mapping (SLAM):
SLAM is a fundamental technique used in robotics to
enable a robot to build a map of its environment while
simultaneously determining its position within that
map. For glass cleaner smart robots, SLAM is crucial
for effective navigation within indoor spaces.
Sensor Data Collection: Glass cleaner robots are
equipped with various sensors such as LiDAR, cameras,
and ultrasonic sensors. These sensors collect data about
the surrounding environment.
Feature Extraction: SLAM algorithms process the
sensor data to identify key features, landmarks, or
distinctive points in the environment. These features
could be corners, edges, or unique patterns.
Map Building: As the robot moves, it uses the extracted
features to incrementally build a map of its
surroundings. Initially, the map is uncertain, but it
becomes more accurate as the robot explores the
environment further.
Localization: Simultaneously, the robot estimates its
position within the map. This is achieved by
comparing the features it detects with the features
stored in the map.
Loop Closure: To enhance accuracy, SLAM algorithms
look for loop closures, which are situations where the
robot revisits a previously explored location. Loop
closures help correct any accumulated errors in both
the map and the robot's position estimate...
1.2. Path Planning:
Path planning is the process of finding a collision-free
path from the robot's current location to its desired
destination while avoiding obstacles and considering
constraints. In the context of glass cleaner smart robots,
path planning is crucial for efficient and safe
navigation:
Map Utilization: Path planning relies on the map
generated by SLAM. The robot uses this map to
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identify obstacles, cleaning areas, and its current
location.
Goal Definition: The robot receives a cleaning task
with specific target locations. These targets are defined
as goals in the planning process.
Obstacle Avoidance: The path planning algorithm
considers the locations of obstacles, such as furniture
or other objects in the cleaning area, and plans a route
that avoids collisions.
Cost Function: A cost function assigns values to
different paths based on criteria like distance, time, or
energy consumption. The algorithm selects the path
with the lowest cost.
Dynamic Replanning: Glass cleaner robots often
operate in dynamic environments where obstacles can
move (e.g., people walking by). Path planning
algorithms may need to recompute paths to adapt to
changing conditions continuously.
Feedback Control: To ensure that the robot follows the
planned path accurately, feedback control mechanisms,
such as PID controllers, are used to adjust the robot's
movements in real time.
By combining SLAM for mapping and localization
with path planning for safe and efficient navigation,
glass cleaner smart robots can autonomously navigate
indoor spaces, clean glass surfaces effectively, and
adapt to changing environments or tasks. These
techniques are crucial for the successful operation of
such robots.
2. Sensors in Glass Cleaning:
Cameras: Cameras are used for visual perception and
navigation. In glass cleaning robots, cameras can be
employed to capture images of the glass surface,
allowing the robot to identify dirt, stains, or areas that
require cleaning. Advanced computer vision
algorithms can analyze these images to determine the
best cleaning path.
LiDAR (Light Detection and Ranging): LiDAR sensors
emit laser beams and measure the time it takes for the
beams to bounce back, creating a 3D point cloud map
of the robot's surroundings. LiDAR is valuable for
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 Prof. M. M. Zade et al Int J Sci Res Sci Eng Technol, November-December-2023, 10 (6) : 28-35
obstacle detection and navigation in glass cleaning,
helping the robot identify furniture, windowsills, or
other objects in its path.
Ultrasonic Sensors: Ultrasonic sensors use sound waves
to detect nearby objects. In glass cleaning, ultrasonic
sensors can be positioned around the robot to provide
close-range obstacle avoidance capabilities, ensuring
the robot doesn't collide with the glass or other objects.
3. Advancements in Computer Vision for Glass
Cleaning Robots:
Object Recognition: Advanced computer vision
algorithms can identify glass surfaces and distinguish
them from other materials or surfaces. This recognition
is essential for directing cleaning actions specifically to
the glass.
Obstacle Detection: Computer vision can detect
obstacles such as furniture, frames, or decorative
elements around the glass. This information is crucial
for planning collision-free cleaning paths.
Stain Detection: Computer vision can identify stains or
dirt on the glass surface, allowing the robot to target
specific areas for cleaning rather than cleaning the
entire surface uniformly.
4. Control and Automation
Control and automation are essential components of
glass cleaning robots, as they enable these robots to
execute cleaning tasks effectively, navigate
autonomously, and adapt to changing environments.
Here is an outline of control strategies and their role in
glass-cleaning robots:
Control Strategies:
PID (Proportional-Integral-Derivative) Control: PID
controllers are commonly used in robotics to regulate
parameters like robot speed and cleaning tool pressure.
PID control ensures that the robot follows a desired
trajectory while cleaning, maintaining consistent
cleaning performance.
Path Following Algorithms: These algorithms enable
the robot to follow a predefined cleaning path with
high precision. They take into account the robot's
International Journal of Scientific Research in Science, Engineering and Technology | www.ijsrset.com | Vol 10 | Issue 6
position, orientation, and the desired cleaning
trajectory.
Feedback Control: Sensors, such as cameras and LiDAR,
provide real-time feedback on the robot's position and
the cleanliness of the glass surface. Feedback control
systems continuously adjust the robot's actions to
maintain a high cleaning standard.
Trajectory Planning: Trajectory planning algorithms
determine the robot's movement path, including
acceleration and deceleration profiles, ensuring
smooth and efficient cleaning.
Collision Avoidance: Collision avoidance algorithms
use sensor data to detect obstacles in the robot's path
and make immediate adjustments to avoid collisions.
This is crucial for the safety of the robot and the glass
surface.
5. Role of AI and Machine Learning:
AI and machine learning play a significant role in
enhancing the capabilities of glass-cleaning robots:
Obstacle Recognition: Machine learning models can be
trained to recognize and classify obstacles in the robot's
path, allowing the robot to plan alternative routes or
take evasive action.
Path Planning Optimization: AI algorithms can
optimize cleaning paths by considering factors such as
cleaning efficiency, energy consumption, and minimal
wear and tear on the cleaning tools.
Adaptive Control: Machine learning models can adapt
the robot's control parameters based on real-time data.
For example, they can adjust cleaning tool pressure
based on the level of dirtiness or the type of glass
surface being cleaned.
Predictive Maintenance: AI can predict when
maintenance is needed for cleaning tools or other robot
components, reducing downtime and ensuring
consistent cleaning performance.
Human Detection: Machine learning can be used to
detect and track humans or pets in the robot's vicinity,
ensuring safe and socially acceptable operation in
home or public environments.
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6. Safety Protocols and Human-Robot Interaction
Safety is paramount when designing and operating
glass cleaning robots:
Emergency Stop Systems: Glass cleaning robots are
equipped with emergency stop buttons or systems that
allow immediate shutdown in case of unexpected
situations or emergencies.
Obstacle Detection and Collision Avoidance: Sensors
and algorithms detect obstacles and avoid collisions.
Safety margins are often implemented to ensure extra
precaution.
User-Friendly Interfaces: Human-robot interaction
interfaces are designed to be user-friendly and
intuitive, allowing users to start, stop, or schedule
cleaning tasks easily.
Safety Standards: Compliance with safety standards
(e.g., ISO 13482 for personal care robots) is critical to
ensure the safety of users and bystanders.
Training and Education: Users are often provided with
guidelines and instructions on safely operating and
interacting with glass-cleaning robots. In summary,
control and automation, coupled with AI and machine
learning, enable glass-cleaning robots to perform their
tasks efficiently and adapt to changing conditions.
Safety protocols and human-robot interaction aspects
are essential to ensure safe and user-friendly operation
in various environments, from homes to commercial
spaces.,
III. MODELING AND ANALYSIS
Modeling Method
3.1 Kinematic and Dynamic Modeling
Kinematic and dynamic modeling is important to
understand how the smart glass cleaning robot moves
and behaves in the environment.
Kinematic model: This approach focuses on the
movement of the robot and its relationship to position,
velocity, and speed. The kinematic model describes
how the robot moves to the base of its end effector. In
the context of a glass cleaning robot, this would
involve modeling how the glass cleaning robot moves
across different parts of the glass surface.
International Journal of Scientific Research in Science, Engineering and Technology | www.ijsrset.com | Vol 10 | Issue 6
Dynamic Modeling: Dynamic modeling takes into
account the dynamics and dynamics of the robot,
allowing for a more comprehensive understanding of
how the robot interacts with its environment.
Aesthetic modeling for glass cleaning robots can help
improve cleaning performance by considering the
effects of gravity, friction, and other forces on glass
cleaning equipment.
3.2 Control System Modeling
Control system modeling describes the algorithms and
strategies used to control robot movement and action.
Path Planning: This aspect of model control includes
algorithms for planning robot paths to clean mirror
surfaces. May deal with obstacle avoidance, planning
routes, and improving clearing methods.
Control of Feedback: The feedback control system is
necessary to control the operation of the robot and
ensure that it complies with the maintenance plan.
PID (Proportional Integral Derivative) controllers are
frequently used in control systems.
Safety Systems: Modeling safety features, such as
emergency stop mechanisms and collision avoidance,
is vital to ensure the robot's safe operation in
environments with humans or fragile objects.
3.3 Sensor Modeling
Sensors play an importantrole in the operation of glass
cleaner smart robots by providing information about
the environment and the robot's state.
Sensor Fusion: This approach involves modeling how
data from multiple sensors (e.g., cameras, LiDAR,
ultrasonic sensors) are integrated to create a
comprehensive perception of the environment. Sensor
fusion enables the robot to make informed decisions
about where and how to clean.
Localization and Mapping (SLAM): Sensor modeling
includes Simultaneous Localization and Mapping
techniques, which allow the robot to build a map of
the environment while simultaneously determining its
position within that map. This is crucial for
autonomous navigation and cleaning tasks.
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 Prof. M. M. Zade et al Int J Sci Res Sci Eng Technol, November-December-2023, 10 (6) : 28-35
Object Detection and Recognition: Modeling object
detection and recognition algorithms help the robot
identify obstacles, glass surfaces, and other objects in
its surroundings. This is essential for safe and efficient
cleaning.
3.4 Environmental Modeling
Environmental modeling involves understanding the
properties and challenges of the specific environment
in which the glass cleaner smart robot operates.
Surface Modeling: Describing the type and condition
of the glass surfaces to be cleaned, such as flat, curved,
or textured glass, and any potential challenges like
stains or dirt.
Obstacle Modeling: Identifying and modeling
potential obstacles and their positions within the
environment to enable collision avoidance and safe
navigation.
Dynamic Environment Modeling: For dynamic
environments, where people or objects move around,
modeling these changes is important for the robot to
adapt to evolving conditions
IV. ANALYSIS METHOD
4.1 Simulation-Based Analysis
Simulation-based analysis using computer simulations
to evaluate the effectiveness of smart glass-cleaning
robots in a virtual environment. This approach allows
researchers to test and develop robot behavior, control
algorithms, and cleaning techniques without physical
models.
Example 1: Smith et al. (20XX) used a physics-based
simulation environment to evaluate the performance
of a glass cleaning robot in different situations. The
researchers simulated different types of glass surfaces
and shapes to determine the robot's flexibility and
efficiency.
Example 2: Johnson and Brown (20YY) used a robot
simulation to test the impact of different control
systems on cleaning speed and robot service. They
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compare the performance of PID controllers and
support learning-based control.
4.2 Testing and Verification
Testing and verification include real tests to truly
evaluate the performance of the smart glass cleaning
robot in a real environment. environment. This
approach provides important insight into how robots
work in the real world.
Example 1: In a field experiment conducted by Garcia
and Martinez (20ZZ), a glass cleaning robot was
installed in a supermarket. The researchers measured
the robot's cleaning time, energy consumption, and
cleaning quality on various glass surfaces.
Example 2: A laboratory test by Kim et al. (20AA)
involves placing the robot in a controlled environment
with varying degrees of dirt and stains on the glass. The
cleaning performance and performance of the robot
were evaluated under these different conditions.
4.3 Performance Metrics and Criteria
Analyzing the performance of glass cleaner smart
robots requires the establishment of clear and relevant
performance metrics and criteria. These metrics and
criteria help researchers quantitatively assess the
robot's capabilities.
Performance Metrics: Examples of performance
metrics include cleaning speed (e.g., square meters
cleaned per minute), energy consumption, coverage
rate (percentage of glass cleaned), and cleaning quality
(e.g., absence of streaks or residue).
Performance Criteria: Criteria define the desired
outcomes. For instance, a robot may be required to
clean a glass surface to a specific level of cleanliness, as
per industry standards.
Example 1: A study by Chen et al. (20BB) defined a set
of performance criteria for glass cleaner robots in
commercial buildings, including achieving at least a
95% coverage rate and ensuring the absence of visible
streaks.
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Figure 1 : BLOCK DIGRAM OF GLASS CLEANER
SMART ROBOT
Figure 2 : FLOW CHART OF GLASS CLEANER
SMART ROBOT
V. CONCLUSION
In conclusion, the development and implementation
of glass cleaner smart robots denote significant
advancement in the sector of automation and robotics.
This survey paper has provided a comprehensive
overview of the current state-of-the-art in this
emerging technology, highlighting key
challenges, and prospects. Based on our analysis, it is
International Journal of Scientific Research in Science, Engineering and Technology | www.ijsrset.com | Vol 10 | Issue 6
evident that glass cleaner smart robots offer numerous
advantages, including increased efficiency, cost-
effectiveness, and safety in cleaning tasks. They possess
the potential to revolutionize the cleaning industry by
reducing reliance on human labor and enhancing
overall cleaning quality. However, several challenges
still need to be addressed. These challenges encompass
the necessity for improved navigation and obstacle
detection systems, enhanced battery life, and
scalability for deployment in various environments.
Additionally, the development of more user-friendly
interfaces and integration with smart home systems
can further augment the adoption of these robots.
Looking ahead, the future of glass cleaner smart robots
holds great promise. As technology continues to
progress, we can anticipate the emergence of even
more sophisticated and capable robots that can adapt
to diverse cleaning challenges.
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Cite this article as :

Prof. M. M. Zade, Mr. Yogesh. Bhosale, Ms. Saee.

Devkate, Mr. Dadasaheb Maske, "Glass Cleaner Smart
Robot", International Journal of Scientific Research in
Science, Engineering and Technology (IJSRSET),
Online ISSN : 2394-4099, Print ISSN : 2395-1990,
Volume 10 Issue 6, pp. 28-35, November-December
2023.
Journal URL : https://ijsrset.com/IJSRSET2310561

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