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

Mishel Benavides; Ariel Coronel; Jonathan Castillo; Luis Serpa-Andrade; Roberto Garcia-Velez; Santiago Moscoso-Bernal

doi:10.1007/978-3-031-99965-9_34

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

Mishel Benavides
, Ariel Coronel
, Jonathan Castillo
, Luis Serpa-Andrade
, Roberto Garcia-Velez
, Santiago Moscoso-Bernal

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	Intelligent Systems and Applications - Proceedings of the 2025 Intelligent Systems Conference IntelliSys
Editors	Kohei Arai
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	555-571
Number of pages	17
ISBN (Print)	9783031999642
DOIs	https://doi.org/10.1007/978-3-031-99965-9_34
State	Published - 2025
Event	11th Intelligent Systems Conference, IntelliSys 2025 - Amsterdam, Netherlands Duration: 28 Aug 2025 → 29 Aug 2025

Publication series

Name	Lecture Notes in Networks and Systems
Volume	1554 LNNS
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	11th Intelligent Systems Conference, IntelliSys 2025
Country/Territory	Netherlands
City	Amsterdam
Period	28/08/25 → 29/08/25

Bibliographical note

Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Embedded system
IoT
Lass cleaning robot
Reverse engineering

Access to Document

10.1007/978-3-031-99965-9_34

Cite this

Benavides, M., Coronel, A., Castillo, J., Serpa-Andrade, L., Garcia-Velez, R., & Moscoso-Bernal, S. (2025). Support for the Autonomy of a Glass Cleaning Robot Through Reverse Engineering. In K. Arai (Ed.), Intelligent Systems and Applications - Proceedings of the 2025 Intelligent Systems Conference IntelliSys (pp. 555-571). (Lecture Notes in Networks and Systems; Vol. 1554 LNNS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-99965-9_34

Benavides, Mishel ; Coronel, Ariel ; Castillo, Jonathan et al. / Support for the Autonomy of a Glass Cleaning Robot Through Reverse Engineering. Intelligent Systems and Applications - Proceedings of the 2025 Intelligent Systems Conference IntelliSys. editor / Kohei Arai. Springer Science and Business Media Deutschland GmbH, 2025. pp. 555-571 (Lecture Notes in Networks and Systems).

@inproceedings{f8b792425b09463ea0ed41ffc94ec4b9,

title = "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.",

keywords = "Embedded system, IoT, Lass cleaning robot, Reverse engineering",

author = "Mishel Benavides and Ariel Coronel and Jonathan Castillo and Luis Serpa-Andrade and Roberto Garcia-Velez and Santiago Moscoso-Bernal",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.; 11th Intelligent Systems Conference, IntelliSys 2025 ; Conference date: 28-08-2025 Through 29-08-2025",

year = "2025",

doi = "10.1007/978-3-031-99965-9\_34",

language = "English",

isbn = "9783031999642",

series = "Lecture Notes in Networks and Systems",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "555--571",

editor = "Kohei Arai",

booktitle = "Intelligent Systems and Applications - Proceedings of the 2025 Intelligent Systems Conference IntelliSys",

address = "Germany",

}

Benavides, M, Coronel, A, Castillo, J, Serpa-Andrade, L , Garcia-Velez, R & Moscoso-Bernal, S 2025, Support for the Autonomy of a Glass Cleaning Robot Through Reverse Engineering. in K Arai (ed.), Intelligent Systems and Applications - Proceedings of the 2025 Intelligent Systems Conference IntelliSys. Lecture Notes in Networks and Systems, vol. 1554 LNNS, Springer Science and Business Media Deutschland GmbH, pp. 555-571, 11th Intelligent Systems Conference, IntelliSys 2025, Amsterdam, Netherlands, 28/08/25. https://doi.org/10.1007/978-3-031-99965-9_34

Support for the Autonomy of a Glass Cleaning Robot Through Reverse Engineering. / Benavides, Mishel; Coronel, Ariel; Castillo, Jonathan et al.
Intelligent Systems and Applications - Proceedings of the 2025 Intelligent Systems Conference IntelliSys. ed. / Kohei Arai. Springer Science and Business Media Deutschland GmbH, 2025. p. 555-571 (Lecture Notes in Networks and Systems; Vol. 1554 LNNS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Support for the Autonomy of a Glass Cleaning Robot Through Reverse Engineering

AU - Benavides, Mishel

AU - Coronel, Ariel

AU - Castillo, Jonathan

AU - Serpa-Andrade, Luis

AU - Garcia-Velez, Roberto

AU - Moscoso-Bernal, Santiago

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

PY - 2025

Y1 - 2025

N2 - 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.

AB - 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.

KW - Embedded system

KW - IoT

KW - Lass cleaning robot

KW - Reverse engineering

UR - https://www.scopus.com/pages/publications/105017234533

U2 - 10.1007/978-3-031-99965-9_34

DO - 10.1007/978-3-031-99965-9_34

M3 - Conference contribution

AN - SCOPUS:105017234533

SN - 9783031999642

T3 - Lecture Notes in Networks and Systems

SP - 555

EP - 571

BT - Intelligent Systems and Applications - Proceedings of the 2025 Intelligent Systems Conference IntelliSys

A2 - Arai, Kohei

PB - Springer Science and Business Media Deutschland GmbH

T2 - 11th Intelligent Systems Conference, IntelliSys 2025

Y2 - 28 August 2025 through 29 August 2025

ER -

Benavides M, Coronel A, Castillo J, Serpa-Andrade L , Garcia-Velez R, Moscoso-Bernal S. Support for the Autonomy of a Glass Cleaning Robot Through Reverse Engineering. In Arai K, editor, Intelligent Systems and Applications - Proceedings of the 2025 Intelligent Systems Conference IntelliSys. Springer Science and Business Media Deutschland GmbH. 2025. p. 555-571. (Lecture Notes in Networks and Systems). doi: 10.1007/978-3-031-99965-9_34