Method, device and equipment for achieving full-coverage path based on crawler-type window-cleaning robot

Abstract

The invention discloses a method, device and equipment for achieving a full-coverage path based on a crawler-type window-cleaning robot. The method comprises the steps of acquiring the current position of the crawler-type window-cleaning robot as a first start position; controlling the crawler-type window-cleaning robot to walk from the start position to a frame position according to the first start position which is the current position of the crawler-type window-cleaning robot; planning a window-cleaning path of the crawler-type window-cleaning robot in a horizontal direction, and enabling the crawler-type window-cleaning robot to clean a window according to the window-cleaning path planned in the horizontal direction; and planning a window-cleaning path of the crawler-type window-cleaning robot in a vertical direction, and enabling the crawler-type window-cleaning robot to clean the window according to the window-cleaning path planned in the vertical direction. According to the abovementioned mode, the crawler-type window-cleaning robot can clean the window in the full-coverage path, the planned paths can be mostly simplified, a same place is prevented from being cleaned repeatedly, and 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 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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