Full coverage path method, device and equipment based on crawler-type window cleaning robot

Abstract

The invention discloses a full-coverage path method, device and equipment based on a crawler-type window-cleaning robot. Wherein, the method includes: obtaining the current position of the crawler-type window-cleaning robot as the starting position 1, and according to the obtained current position of the crawler-type window-cleaning robot as the starting position 1, controlling the crawler-type window-cleaning robot to start from the starting position One walks to the frame position, and plans the window cleaning path of the tracked window cleaning robot in the horizontal direction, and makes the tracked window cleaning robot clean the windows according to the planned window cleaning path in the horizontal direction, and plans the tracked window cleaning robot The track-type window-cleaning robot cleans the window in the vertical direction, and makes the track-type window-cleaning robot clean the window according to the planned window-cleaning path in the vertical direction. Through the above method, it is possible to realize that the crawler-type window cleaning robot can completely cover the path of window cleaning, which can simplify the planned path, avoid repeated cleaning of the same place, and improve the efficiency of window cleaning.

Description

technical field [0001] The present invention relates to the technical field of crawler-type window-cleaning robots, in particular to a method, device and equipment based on a crawler-type window-cleaning robot covering a full path. Background technique [0002] The crawler window cleaning robot has two crawler motors to drive the two crawlers to make the robot walk. When walking, it can only move forward and backward, not directly to the left and right sides. By adjusting the rotational speed of the two crawlers to make the robot rotate to a certain angle to the side, and then rotate the same angle in the opposite direction, the movement to the side can be realized. The speed of the two crawlers is the same and the direction is opposite, so that the original rotation can be realized, so as to turn. Existing crawler-type window-cleaning robots move and rotate in this way. The path planning used is different, but the principle is roughly the same. The purpose is to make the ...

AI Technical Summary

Problems solved by technology

[0004] The existing solution based on the full coverage path of the crawler-type window cleaning robot generally rotates the robot to the side by a certain angle by adjusting the speed of the two crawlers, and then rotates the same angle in the opposite direction to move to the side. The speed of the track is the same and the direction is opposite, so that it can rotate on the spot and turn to turn. Although the tracked window cleaning robot can cover the entire path of window cleaning, the path planning method is too complicated, which will easily cause repeated cleaning of the same place, affecting the efficiency of window cleaning

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