Walking control method and walking control device of a window cleaning robot
A walking control and robot technology, applied in robot cleaning machines, automatic control of travel motion, two-dimensional position/channel control, etc., can solve the problem of inability to clean the four corners of the glass area, and achieves cleaning dead corners and improving cleaning. Efficiency, the effect of reducing the pressure relief speed
Active Publication Date: 2021-07-20
GUANGZHOU COAYU ROBOT CO LTD
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Problems solved by technology
[0004] In view of this, an embodiment of the present invention provides a walking control method and a walking control device for a window cleaning robot, which can solve the technical problem that the window cleaning robot cannot clean the four corners of the glass well and leave cleaning dead spots in the prior art
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[0025] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are set forth in order to provide a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
[0026] It is to be understood that, when used in this specification and the appended claims, the terms "comprising" and "comprising" indicate the presence of the described features, integers, steps, operations, elements and / or components, but do not exclude one or The presence or addition of a number of other features, integers, steps, operations, elements, components, an...
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The present invention is applicable to the technical field of smart home appliances, and provides a walking control method and a walking control device for a window cleaning robot. The walking control device includes: an air pressure adsorption unit, an air pressure detection unit, and a walking control unit; the air pressure adsorption unit includes The main adsorption air pressure chamber, and a plurality of small hole air pressure chambers arranged around the main adsorption air pressure chamber and communicated with the main adsorption air pressure chamber; change, the position distribution of the small hole air pressure chamber and the moving direction of the window cleaning robot detect the boundary of the contact surface in contact with the window cleaning robot, and plan the walking of the window cleaning robot according to the boundary detection results of the contact surface path to complete the wiping of the entire contact surface; there is no need to additionally set an anti-drop detection rod to detect the boundary of the contact surface, which improves the cleaning efficiency of the window cleaning robot.
Description
technical field [0001] The invention belongs to the technical field of intelligent household appliances, and in particular relates to a walking control method and a walking control device of a window cleaning robot. Background technique [0002] At present, the window cleaning robot generally detects the boundary of the glass through the anti-drop detection rods located at the four corners of the window cleaning robot in the process of cleaning the window, so as to avoid falling due to exceeding the boundary of the glass. For example, when the window cleaning robot walks to the boundary of the frameless glass, the boundary of the glass is detected by the pop-up of the anti-drop detection lever. [0003] However, the detection method of the glass boundary will make the surface of the window cleaning machine installed with the anti-drop detection rod not covered with the mopping cloth, so that the window cleaning robot cannot clean the four corners of the glass well, leaving c...
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Login to View More IPC IPC(8): A47L1/02G05D1/02
CPCA47L1/02A47L2201/00A47L2201/04G05D1/021
Inventor 王时群刘德郑卓斌王立磊
Owner GUANGZHOU COAYU ROBOT CO LTD