Path planning method and device based on crawler-type window cleaning robot

Abstract

The invention discloses a path planning method and device based on a crawler-type window cleaning robot. The method comprises the steps that the crawler-type window cleaning robot obtains a current position as a starting point position I; according to the obtained current position as the starting point position I, the robot is controlled to walk from the starting point position I to a frame position; a window cleaning path in the horizontal direction is planned; a window is cleaned according to the planned window cleaning path in the horizontal direction; a window cleaning path in the verticaldirection is planned; and the window is cleaned according to the window cleaning path in the vertical direction. By means of the mode, the crawler-type window cleaning robot can fully cover the pathto clean the window, and the planned path can be most simplified, so that repeated cleaning of the same place can be avoided, and the window cleaning efficiency is improved.

Description

technical field [0001] The present invention relates to the technical field of crawler-type window-cleaning robots, in particular to a path planning method and equipment based on crawler-type window-cleaning robots. 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 achieved. 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 robot cover as m...

AI Technical Summary

Problems solved by technology

[0004] The existing path planning scheme based on 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 same speed and the opposite direction can achieve in-situ rotation and thus turn. Although the crawler window cleaning robot can cover the entire path of window cleaning, the path planning method is too complicated, which may easily cause repeated cleaning of the same place, affecting the efficiency of window cleaning

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