High building exterior mirror cleaning robot based on image detection and compression analysis with fuzzy ladder control system

This paper presents the high building mirror cleaning robot control system (HMCR) which is the first step toward a complete implementation of the fully of intelligent exterior building cleaning system (IEBCS). Examples for these techniques are outdoor robots. The system can have three main importance roles that first for detected the signals from mirror detection areas such as image quantity and dirty level relatively with the sensor positions and after that compression process are proposed the image coding algorithms called wavelet transform with system error compensate via vector quantization techniques (VQ). The small bit rates for high-speed data transmission with a small space for data storage are required on wireless transceiver channel. Simultaneously, the peak signal to noise ratio (PSNR) has to be maintained. The shape analysis with a continuous thinning algorithms are used in second step for reduced the sized of data and can be representatives for suitable features data. Finally the cleaning algorithms are designed both for normally mode and intelligent mode that applied by fuzzy rule based algorithms on the programmable logic controller (PLC) with fuzzy ladder control technique (FLC). By applying the proposed method, performance has been improved which indicated by lower bit rate and better PSNR. Some results from natural scenes are shown that system performance can work well and is valid to detect the other kinds of mirror area that would train the mobile robot to perform some task at that place.