The invention relates to the technical field of
robot control, in particular to a
control system and method for a general window-cleaning
robot, and the
system comprises an equipment driving layer, a
hardware abstraction layer, an
application logic layer and an RTOS
system layer, the
hardware abstraction layer is connected with the equipment driving layer, and the
application logic layer is connected with the
hardware abstraction layer and the RTOS
system layer; the equipment driving layer provides an underlying hardware
interaction interface with the motor, the sensor and the communication module; the
hardware abstraction layer abstracts the hardware difference of the bottom layer, provides a unified hardware access interface for the upper layer, and adapts to different hardware forms by replacing the
hardware abstraction layer; the
application logic layer comprises core
business logic of a path planning mechanism, a state
machine management mechanism, a task scheduling mechanism and an
exception handling mechanism; in this way, the technical problems that in the prior art, a window cleaning
robot control mode is difficult to be suitable for a
round window cleaning robot and a
square window cleaning robot at the same time, so that the development cost is high, the system
reusability and
maintainability are poor, and the development efficiency is low are solved.