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Support for the Autonomy of a Glass Cleaning Robot Through Reverse Engineering

Abstract:

This study develops an embedded system based on the ESP32, integrating optimized hardware and software to create an autonomous window cleaning robot. The system aims to optimize energy consumption, especially in regions facing energy crises, while improving user comfort through an automated battery-powered solution. A custom-designed printed circuit board, developed at Altium Designer, ensures efficient power distribution and signal routing, improving system reliability and performance. The ESP32 microcontroller is leveraged for its low power consumption, multitasking capability and connectivity. The navigation system incorporates ultrasonic sensors for edge detection, while an ESP32-CAM module captures and transmits images to a cloud-based platform such as Telegram for remote monitoring. The robot is powered by two 7.4 V batteries in series, which provide a stable 14.8 V power supply to the 24 V, 3 A motors that drive movement and cleaning. Remote operation is facilitated by optocouplers, which ensure safe and isolated control signals. The software implementation, developed in Arduino IDE, manages sensor data processing, motor control and real-time communication, ensuring seamless integration between hardware components.