Cleaning activities are monotonous and expensive but essential to comply with sanitation standards or to ensure optimal operation of systems. If the element that needs to be cleaned is located at a high altitude, it represents an important risk for a human operator. This is the case of metal ceilings of food industries and arrays of panels of a photovoltaic installation. These systems have several common properties such as containing metal structures and forming rectangular areas. This proposal proposes the development of a semi-automated robotic system that aims to reduce the costs and risks associated with the cleaning of metal ceilings and arrays of photovoltaic panels. The project will be developed jointly with the company Ecokhemia who will be covering all the operational expenses of the project