Figures 10 and 11
show the basic design of the P2. In Fig. 10, the
green unit is the cleaning unit, and it changes its
direction around the axis at the center of the robot.
Table 3 shows the respected specification of the P2.
The size of P2 is 300 mm x 300" and its mass
weight is 2 kg. At .this moment, the P2 is being
developed, and it will be demonstrated in the
conference.
Fig. 12 shows the system architecture of the P2.
The P2 includes the two kinds of sensors: One is
the limit switch for detecting the frames of window,
and other is the gyro sensor for measuring the posture
of the robot. The LED and the alarm express the
conditions of robot such as start, end and emergency.
The electromagnetic regulator adjusts the vacuum
pressure to stable the condition of adsorbing on the
glass.