【摘要】 本文简述了擦窗机器人智能化的主要概念．介绍了Ｃｌｅａｎｂｏｔ－Ｉ擦窗机器人系统的结构特点、主要组成部分、工作原理，操作方式，未知局部环境的模型建立，各类内、外传感器的结构、原理和信息融合技术，以及路径规划的方法．更多还原

【Abstract】 The authors have been studying an autonomous mobile robot for glass-wall cleaning of high-rise buildings. In this paper, the concepts of intelligence of glass-wall cleaning robot are discussed. We propose a unique mechanism structure for glass-wall cleaning robot Cleanbot-I, study its components, principle of operation, operating modes, modeling of local-unknown environment, the structure of unique sensors developed by ourselves, multiple sensor fusion technologies. In addition, the question of path planning also is discussed.更多还原