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As the number of high-rise buildings is increasing, more methods of exterior-wall cleaning are being developed. There are a few models based on artificial intelligence that determine the type and level of contamination primarily by moving the cleaning area. In this study, we propose an system using YOLOv3 algorithm, color-detection, to install on fa&#x00E7;ade cleaning robot and brightness-discrimination. There are three types of contaminant-detection parameters: size, color, and brightness, and these parameters are subjected to a robust optimization process to maintain a constant detection rate under different conditions. The three parameters are determined via Taguchi method with signal to noise ratio and noise factors. An environment for algorithm testing is established, and artificial contamination is implemented on the specimen. A field test with the detection algorithm shall be performed in the near future.

Robust Design of Detecting Contaminants in Façade Cleaning Applications