Facade Cleaning by Service Robots

The paper describes a service robot which has been developed and realized for glass facade cleaning. It is the world-wide 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.