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Window-cleaning robot movement control method, movement control system and window-cleaning robot

A control method and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems affecting the walking path and navigation planning of robots, and achieve the effect of improving coverage.

Active Publication Date: 2021-08-13
GUANGZHOU COAYU ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These all seriously affect the robot's walking path and navigation planning

Method used

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  • Window-cleaning robot movement control method, movement control system and window-cleaning robot
  • Window-cleaning robot movement control method, movement control system and window-cleaning robot
  • Window-cleaning robot movement control method, movement control system and window-cleaning robot

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Embodiment

[0052] Such as figure 1 As shown, in order to improve the coverage of the window cleaning robot in the working area, the present invention also provides a mobile control method for the window cleaning robot, such as figure 2 In the shown working area, the horizontal direction is taken as the X axis, and the vertical direction is taken as the Y axis, and a plane coordinate system is established to perform traversal walking. according to figure 2 The movement path shown, specifically the movement control method includes the following steps:

[0053] In this embodiment, the collision sensor detection method is taken as an example. The window cleaning robot M moves from point O along the positive direction of the Y axis, and at point F 0 An obstacle is detected by the collision sensor at point F 0 and store it in the storage unit, and then control the window cleaning robot M to translate the distance of one fuselage (or less than one fuselage) along the positive direction of ...

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Abstract

The invention provides a window-cleaning robot, a mobile control system and a mobile control method, combined with a combination of one or more sensors configured on the window-cleaning robot for environmental detection, in the working area of ​​the robot, the horizontal direction is X axis, the vertical direction is the Y axis, establish a plane coordinate system, and judge the window cleaning robot through a mobile control method based on the movement difference between continuous obstacles measured in the positive and negative directions of the Y axis coordinates of the window cleaning robot as a reference. Whether the motion behavior of multiple turning movements is normal to improve the mobile coverage rate of the window cleaning robot when it performs coverage walking in the working area.

Description

technical field [0001] The invention relates to the technical field of cleaning equipment, in particular to a method for controlling the movement of a window-cleaning robot, a movement control system and a window-cleaning robot. Background technique [0002] At present, the existing window cleaning robots mainly use "front and rear mechanical switches" or "wheel set current" to detect frames or obstacles. When the mechanical switch fails, the mechanical switch is not triggered, and the control system does not detect the frame or obstacle, causing the robot to be stuck or stuck; Misjudged as an obstacle. These all seriously affect the robot's walking path and navigation planning. Contents of the invention [0003] The purpose of the present invention is to provide a window cleaning robot movement control method, movement control system and window cleaning robot, which can solve the problems in the prior art. [0004] Specifically, the present invention specifically provi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 文上增王时群刘德郑卓斌王立磊
Owner GUANGZHOU COAYU ROBOT CO LTD