CN109129499A - Method for controlling window cleaning robot to walk, window cleaning robot and storage medium - Google Patents
Method for controlling window cleaning robot to walk, window cleaning robot and storage medium Download PDFInfo
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- CN109129499A CN109129499A CN201810791067.XA CN201810791067A CN109129499A CN 109129499 A CN109129499 A CN 109129499A CN 201810791067 A CN201810791067 A CN 201810791067A CN 109129499 A CN109129499 A CN 109129499A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention is suitable for the technical field of intelligent robots, and provides a method for controlling a window cleaning robot to walk, the window cleaning robot and a computer readable storage medium, wherein the method comprises the following steps: walking along a first boundary of a rectangular working area, and detecting whether a first boundary sensor arranged on the front side of a body of the window cleaning robot and close to the first boundary triggers a boundary signal; if so, stopping advancing, and backing in a mode that the speed of the travelling wheels close to the first boundary is greater than that of the travelling wheels far away from the first boundary; and detecting whether an included angle between the machine body and the first boundary reaches a preset angle, if so, stopping retreating, adjusting the orientation of the machine body to be parallel to the first boundary, and then walking along the first boundary edge, so as to judge the boundary of the vertical frameless cliff and the boundary of the horizontal frameless cliff.
Description
Technical field
The invention belongs to method, the window cleaning equipments in intelligent robot technology field, more particularly to control window wiping robot walking
Device people and computer readable storage medium.
Background technique
The one kind of window wiping robot as controlling intelligent household appliances, for automatic and easily clear up glass pane.It wipes
Window robot judges to be cleaned by using border sensor specified without frame region in walking cleaning process
Steep cliff boundary, to realize being cleaned to specified region for task.
In the practical cleaning process of window wiping robot, when being cleaned to right angle without frame region, since right angle is without frame region
In the presence of vertical rimless steep cliff boundary and horizontal rimless steep cliff boundary, window wiping robot is generally by against vertical rimless steep cliff boundary
(or horizontal rimless side) walking, the border sensor on the robot front end left side (or the right) is only able to detect whether there is or not steep cliff at this time,
But it cannot distinguish between and judge whether be vertical rimless steep cliff boundary or horizontal rimless steep cliff boundary, be easy to cause window cleaning equipment device
People's walking path occurs abnormal, or even has the risk fallen from steep cliff boundary, thus can not achieve to by the region of proximal border into
Row cleans completely.
Therefore provide a kind of window wiping robot judge the method on vertical rimless steep cliff boundary and horizontal rimless steep cliff boundary at
For urgent problem to be solved.
Summary of the invention
In view of this, the embodiment of the invention provides method, window wiping robot and the calculating of control window wiping robot walking
Machine readable storage medium storing program for executing cannot judge that vertical rimless steep cliff boundary and level are rimless outstanding to solve window wiping robot in the prior art
The problem of precipice boundary.
The first aspect of the embodiment of the present invention provides a kind of method of control window wiping robot walking, comprising:
The first boundary welt along rectangular active regions domain is walked, and is detected and be set on front side of the fuselage of the window wiping robot
Whether the first border sensor close to first boundary triggers sideband signal；
If so, halting, and to be greater than close to the speed of the traveling wheel on first boundary far from first side
The mode of the speed of the traveling wheel on boundary retreats；
Whether the angle detected between the fuselage and first boundary reaches predetermined angle, if so, stop retreating,
And by the fuselage towards adjusting to being walked after parallel with first boundary along first boundary welt；
Detect whether first border sensor triggers sideband signal within a preset time or in mobile pre-determined distance, if
It is then to determine currently to have been moved into the second boundary adjacent with first boundary.
The second aspect of the embodiment of the present invention provides a kind of window wiping robot, and the window wiping robot includes the first boundary
Sensor and the second boundary sensor, first border sensor and the second boundary sensor are located at the window wiping robot machine
Body front end two sides, for triggering sideband signal；
Two traveling wheels move forward or back in rectangular active regions domain for controlling the window wiping robot；
Gyroscope, for detecting between the fuselage of the window wiping robot and each boundary in the rectangular active regions domain
Angle；
Detection device, for detecting the travel time or travel distance of the window wiping robot；
The step of window wiping robot is for realizing the above method.
The third aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
The step of media storage has computer program, and the above method is realized when the computer program is executed by processor.
Existing beneficial effect is the embodiment of the present invention compared with prior art: pasting on the first boundary along rectangular active regions domain
Side walking, and the first border sensor detected on front side of the fuselage for being set to the window wiping robot close to first boundary is
No triggering sideband signal；If so, halting, and to be greater than close to the speed of the traveling wheel on first boundary far from described
The mode of the speed of the traveling wheel on the first boundary retreats；Whether the angle detected between the fuselage and first boundary reaches
Predetermined angle, if so, stop retreating, and by the fuselage towards adjust to after parallel with first boundary along described first
The walking of boundary welt；Detect whether first border sensor triggers boundary letter within a preset time or in mobile pre-determined distance
Number, if so, determine currently to have been moved into the second boundary adjacent with first boundary, and window wiping robot will terminate along the
The movement that the walking of one boundary welt cleans enables window wiping robot to complete to clean to all areas close to the first boundary, makes
Comprehensive cleaning can be can be carried out to the region cleaned by obtaining window wiping robot, significantly improve the effect of cleaning.And default
In time or the first border sensor is not detected in mobile pre-determined distance and triggers sideband signal again, then illustrates window wiping robot
The sideband signal for detecting the triggering of the first border sensor for the first time is sideband signal corresponding to the first boundary.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the implementation process schematic diagram of the method for the control robot ambulation that first embodiment of the invention provides；
Fig. 2 is the implementation process schematic diagram of the method for the control robot ambulation that second embodiment of the invention provides；
Fig. 3 is the implementation process schematic diagram of the method for the control robot ambulation that third embodiment of the invention provides；
Fig. 4 is the mobile schematic diagram of the window wiping robot in third embodiment of the invention；
Fig. 5 is the schematic diagram for the window wiping robot that fourth embodiment of the invention provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Referring to Fig.1, Fig. 1 is a kind of realization of the method for control window wiping robot walking that first embodiment of the invention provides
Flow chart, the executing subject of the method in the present embodiment for controlling window wiping robot walking are window wiping robot.
In practical applications, the method for control window wiping robot walking provided in an embodiment of the present invention can be applied to wipe window
Robot cleans the scenes such as glass pane.It is mainly cleaned below in the method for controlling window wiping robot walking applied to window wiping robot
For the scene of glass pane, the method for control window wiping robot walking provided in an embodiment of the present invention is described in detail.
The method of control window wiping robot walking as shown in Figure 1 may include following steps:
Step S101, the first boundary welt along rectangular active regions domain is walked, and is detected and be set to the window wiping robot
Fuselage on front side of close to first border sensor on first boundary whether trigger sideband signal.
Before cleaning to glass pane to be cleaned, need first to determine the region to be cleaned of glass pane to be cleaned, to clear
The region to be cleaned for sweeping glass pane refers to the region being made of each steep cliff boundary of glass to be cleaned.In practical applications,
The region to be cleaned of glass pane to be cleaned is usually the rectangular active regions domain of rule, and wherein the steep cliff boundary in rectangular active regions domain can
To include vertical steep cliff boundary and horizontal steep cliff boundary.In the embodiment of the present invention, window wiping robot to rectangular active regions domain into
When row cleans, welt walking is generally carried out along some steep cliff boundary with welt walking manner to be cleaned by elder generation, wherein
Welt walking mode be window wiping robot the direction of motion it is parallel with some steep cliff boundary in rectangular active regions domain and close to this
Steep cliff boundary, to be cleaned to the region close to the boundary, can using the steep cliff boundary of the welt as the first boundary,
When being walked along the first boundary with welt walking manner, window wiping robot can be moved to adjacent with the first boundary another outstanding
Precipice boundary can also hang parallel with the second boundary using another steep cliff boundary vertical with the first boundary as the second boundary
Precipice boundary is as third boundary, using the steep cliff boundary parallel with the first boundary as the 4th boundary.If window wiping robot has moved
At the second boundary, window wiping robot should terminate the movement cleaned of walking along the first boundary welt, therefore window wiping robot
It needs to detect the second of rectangular active regions domain according to the first border sensor on front side of the fuselage being set on window wiping robot
Boundary, the first border sensor will all trigger sideband signal when detecting the either boundary in rectangular active regions domain.
When first boundary welt walking of the window wiping robot along rectangular active regions domain, window wiping robot, which will test, to be set to
Whether the first border sensor on front side of the fuselage of window wiping robot close to the first boundary triggers sideband signal, wherein specific to wipe
Whether window robot is the first border sensor of detection in the first boundary or the second boundary triggering sideband signal, and its object is to keep away
Exempt from window wiping robot and moves out the first boundary or the second boundary.
Step S102, if so, halting, and to be greater than close to the speed of the traveling wheel on first boundary far from institute
The mode for stating the speed of the traveling wheel on the first boundary retreats.
In step s 102, when window wiping robot is moved along the first boundary to the second boundary, in general, window cleaning equipment
Device people can be extremely parallel with the first boundary by rotation adjustment fuselage direction, convenient for carrying out Mobile cleaning towards the second boundary, due to
It is first there is the first border sensor when window wiping robot detects the sideband signal of the first border sensor triggering
The signal triggered at boundary and the signal both of these case triggered at the second boundary；When the first border sensor is
When the signal triggered at two boundaries, all areas close to the first boundary, which have cleaned, to be finished, and window wiping robot can be at this time
Terminate the movement cleaned along the walking of the first boundary welt, but when the first border sensor is among the first boundary at some position
When institute's trigger signal, window wiping robot needs to continue along the walking of the first boundary welt to the region progress close to the first boundary at this time
It cleans, just can guarantee and all areas close to the first boundary are cleaned, be first since window wiping robot cannot distinguish between
The case where signal that the signal triggered at boundary is still triggered at the second boundary, therefore cannot determine whether to continue
It cleans, exception occurs in the walking path that thus may cause window wiping robot.Therefore the first boundary is detected in window wiping robot
It when sensor-triggered sideband signal, will halt, and to be greater than close to the speed of the traveling wheel on the first boundary far from the first side
The mode of the speed of the traveling wheel on boundary retreats, at this time window wiping robot will along camber line move mode far from the first boundary, and with
The movement of window wiping robot, there are angles between fuselage meeting and the first boundary.
Whether step S103, the angle detected between the fuselage and first boundary reach predetermined angle, if so,
Stop retreating, and by the fuselage towards adjusting to walking along first boundary welt after parallel with first boundary.
In step s 103, window wiping robot will test whether the angle between fuselage and the first boundary reaches preset angle
Degree, when window wiping robot detects that the angle between fuselage and the first boundary reaches predetermined angle, then window wiping robot will stop
It retreats, and controls fuselage in a manner of rotating in place towards adjusting to parallel with the first boundary, it can be to avoid window wiping robot
Fallen from the first boundary, and convenient for window wiping robot continue with welt walking manner towards the second boundary move, and then to close to
The region on the first boundary carries out Mobile cleaning, it should be noted that window wiping robot passes through the angle that is set on window wiping robot
Detection device is spent to obtain the angle between the fuselage of window wiping robot and the first boundary, and control window wiping robot with original place
The mode of rotation is by fuselage towards adjusting to parallel with the first boundary, and wherein angle detection device is specifically as follows gyroscope, leads to
Cross control in a manner of rotating in place by fuselage towards adjusting to parallel with the first boundary so that window wiping robot is along the first boundary
Welt walking continues to carry out Mobile cleaning to the non-purging zone close to the first boundary.
Step S104, detects whether first border sensor triggers side within a preset time or in mobile pre-determined distance
Sector signal, if so, determining currently to have been moved into the second boundary adjacent with first boundary.
In step S104, above-mentioned preset time is a lesser time value, is continued in window wiping robot along the first side
When welt walking in boundary's cleans, within the time, window wiping robot can only move lesser distance, wherein the equipment tool of detection time
Body can be clock.Due to window wiping robot for the first time detect the first border sensor triggering sideband signal when, can not
Judgement is sideband signal corresponding to sideband signal corresponding to the first boundary or the second boundary.And continue in window wiping robot
When walking cleaning along the first boundary welt, if window wiping robot detects that the first border sensor triggers side within a preset time again
Sector signal is detecting that the sideband signal of the first border sensor triggering is the second side in window wiping robot before explanation for the first time
Sideband signal corresponding to boundary, to just be able to achieve the boundary that can detect the triggering of the first border sensor again within a preset time
Signal, it is possible thereby to determine that window wiping robot currently has been moved at the second boundary；It should be noted that window wiping robot may be used also
With by determining mobile distance, thus to judge whether trigger sideband signal in mobile pre-determined distance, wherein detecting distance
Equipment be specifically as follows odometer；It is detecting first border sensor within a preset time or in mobile pre-determined distance
When no triggering sideband signal, it can specifically be detected by the comparator being set in window wiping robot.When window cleaning equipment device
When people determines currently to have been moved into the second boundary, window wiping robot will terminate the movement cleaned along the walking of the first boundary welt,
Enable window wiping robot to complete to clean to all areas close to the first boundary, enables window wiping robot clear to needing to carry out
The region swept can be carried out comprehensive cleaning, significantly improve the effect of cleaning.And it does not examine within a preset time or in mobile pre-determined distance
The first border sensor triggering sideband signal is measured, then illustrates that window wiping robot detects that the first border sensor triggers for the first time
Sideband signal be the first boundary corresponding to sideband signal.
Further, step S104, comprising:
Record first border sensor within a preset time or the number of mobile preset distance internal trigger sideband signal；
If the number is greater than preset times, determine currently to have been moved into the second boundary.
In order to accurately determine to obtain whether window wiping robot reaches the second boundary, it can recorde and sensed by the first boundary
The number for the sideband signal that device is triggered, when record detects that the first boundary senses within a preset time or in mobile preset distance
It when the number for the sideband signal that device is triggered, then controls window wiping robot and halts, and close to the traveling wheel on the first boundary
Speed be greater than the mode of speed of the traveling wheel far from the first boundary and retreat；If window wiping robot detects fuselage and the first side
Angle between boundary is predetermined angle, then stops retreating and by fuselage towards adjusting to parallel with the first boundary, and is continued along the
One boundary welt walking Mobile cleaning, and detect whether the first border sensor touches within a preset time or in mobile pre-determined distance
Hair side sector signal, if window wiping robot detects the first border sensor within a preset time or mobile pre-determined distance internal trigger side
Sector signal then continues the number for recording the sideband signal triggered by the first border sensor, when record number still less than
When preset times, then continue to repeat the above steps.It should be noted that when being had been moved at the second boundary in window wiping robot
When, even if above steps may be repeated multiple times, the first border sensor of front fuselage is set to due to reaching at the second boundary, so
Sideband signal corresponding to the second boundary can be triggered always, therefore the number of record is compared with preset times can be accurate
Ground determines whether window wiping robot reaches at the second boundary.When the number of record is greater than preset times, then window wiping robot will be tied
The movement that beam is cleaned along the walking of the first boundary welt, wherein preset times can be set to twice or thrice, guaranteeing window cleaning equipment
While device people cleans all areas close to the first boundary, it can terminate to paste along the first boundary in time after the completion of cleaning
The movement that side walking cleans.In addition, needing to carry out welt walking to other boundaries in rectangular active regions domain in window wiping robot clear
When sweeping, window wiping robot can reset the number of record at this time, convenient for re-starting record.
Referring to Fig.2, Fig. 2 is the implementation process of the method for the control window wiping robot walking that second embodiment of the invention provides
Schematic diagram.The present embodiment and the difference of a upper embodiment are, further include step S201 before step S101 in the present embodiment
~S203.In step s 201, when the first boundary welt walking along the rectangular active regions domain, window wiping robot, which detects, to be set
When the second boundary sensor being placed on front side of the fuselage of the window wiping robot far from first boundary, step will be executed
Otherwise S202 will execute step S203~S207.Wherein the step S101 in step S204~S207 and a upper embodiment~
S104 is identical, referring specifically to the associated description of step S101~S104 in a upper embodiment, does not repeat herein.S201~S203
It is specific as follows:
S201, the first boundary welt along the rectangular active regions domain are walked, and detection is set to the window wiping robot
Whether the second boundary sensor on front side of fuselage far from first boundary triggers sideband signal.
S202, if so, determining currently to have been moved into and the second boundary.
S203, if it is not, then determining that reaching detection is set on front side of the fuselage of the window wiping robot close to the first boundary
Whether the first border sensor triggers the condition of sideband signal.
In first boundary welt walking of the window wiping robot along rectangular active regions domain, i.e., window wiping robot is along the first boundary
Welt walking, when cleaning towards the second boundary is mobile to the region close to the first boundary, window wiping robot be will test by machine
Whether the second boundary sensor on front side of body far from first boundary triggers sideband signal.Since window wiping robot is along the first side
Boundary's welt walking, when being cleaned towards the second boundary is mobile to the region close to the first boundary, when window wiping robot detects
When the second boundary sensor-triggered sideband signal, necessarily explanation is that the second side is reached on front side of the fuselage for being set to window wiping robot
Boundary, therefore illustrate that window wiping robot currently has been moved at the second boundary at this time, to illustrate that window wiping robot has been completed pair
Close to the cleaning in the region on the first boundary, therefore at this time, window wiping robot will terminate to move along what the walking of the first boundary welt cleaned
Make.
And the second boundary sensor-triggered sideband signal is not detected in window wiping robot, then determines that reaching detection is set to institute
The condition whether the first border sensor on front side of the fuselage of window wiping robot close to the first boundary triggers sideband signal is stated, window is wiped
Robot will test be set on window wiping robot the first border sensor triggering sideband signal, i.e., when window wiping robot not
Detect the sideband signal of the second boundary sensor-triggered.
When window wiping robot is walked along the first boundary welt, towards the second boundary it is mobile to the region close to the first boundary into
Row clean when, when window wiping robot due to other accidental causes lead to fuselage with the first boundary is not to be substantially parallel when, that is, wipe window
The fuselage of robot is biased to the first boundary or fuselage is biased to fourth boundary parallel with the first boundary；When the machine of window wiping robot
It, can there is what is fallen from the first Boundary Moving when window wiping robot is moved towards the second boundary when body is biased to the first boundary
Can, when the fuselage of window wiping robot is biased to four boundaries, when window wiping robot is moved towards the second boundary, there is from the
The possibility that two Boundary Movings are fallen, therefore, it is necessary to the sideband signals triggered by the first border sensor to carry out detection first
Boundary or the second boundary avoid window wiping robot so that window wiping robot can judge the first boundary and the second boundary
There is the danger fallen from the first boundary or the second boundary.
It is the implementation process of the method for the control window wiping robot walking that third embodiment of the invention provides refering to Fig. 3, Fig. 3
Schematic diagram.The present embodiment and the difference of a upper embodiment be, further include before step S101 in the present embodiment S301~
S302, S303~S306 are identical as step S101~S104 in a upper embodiment, referring specifically to step in a upper embodiment
The associated description of S101~S104, does not repeat herein.S301~S302 is specific as follows:
S301, rotate in place it is parallel with the vertical line on first boundary to fuselage, towards first Boundary Moving.
S302 stops if detecting first border sensor or the second boundary sensor-triggered sideband signal
It only moves, and by the fuselage towards adjusting to parallel with first boundary in the rectangular active regions domain, and along described the
The walking of one boundary welt.
Window wiping robot is placed in certain of rectangular active regions domain to be cleaned due to the other cleaning tasks of execution or by user
At one position, lead to window wiping robot not and can determine that the position of oneself, when window wiping robot needs the along rectangular active regions domain
One boundary welt walking, when being cleaned towards the second boundary is mobile to the region close to the first boundary, it is required that its fuselage
Towards the parallel and fuselage with the direction on the first boundary close to the first boundary.Therefore in window wiping robot along the first boundary welt row
It walks, before cleaning towards the second boundary movement to the region close to the first boundary, window wiping robot needs to first pass through original place
The mode of rotation is parallel with the vertical line on the first boundary to fuselage, thus the direction direction first that the vertical line along the first boundary is parallel
Boundary Moving.
When window wiping robot along the parallel direction of vertical line on the first boundary towards the first Boundary Moving when, if detection the
One border sensor or the second boundary sensor-triggered sideband signal then illustrate that window wiping robot reaches the first boundary, wipe at this time
Window robot is extremely parallel with first boundary in rectangular active regions domain by stop motion adjustment fuselage direction, and along first boundary
Welt walking.
Preferably, in order to enable window wiping robot can be more close to the first boundary, window wiping robot will also be by with downlink
Mode is walked to run to the state of the first boundary welt walking along rectangular active regions domain, refering to Fig. 4, Fig. 4 is third of the present invention
The schematic diagram of window wiping robot movement in embodiment, according to the mobile schematic diagram of Fig. 4 window wiping robot to above-mentioned walking manner
It is specifically described.It is mobile to close to the first boundary towards the second boundary when window wiping robot is walked along the first boundary welt
When region is cleaned, it is required that its fuselage is towards the parallel and fuselage with the direction on the first boundary close to the first boundary.Therefore
It walks in window wiping robot along the first boundary welt, the region close to the first boundary is carried out cleaning it towards the second boundary movement
Before, it is parallel with the vertical line on the first boundary to fuselage that window wiping robot needs to first pass through the mode that rotates in place, thus along the first side
Parallel direction the first Boundary Moving of direction of the vertical line on boundary.
When window wiping robot along the parallel direction of vertical line on the first boundary towards the first Boundary Moving when, if detection the
One border sensor or the second boundary sensor-triggered sideband signal then illustrate that window wiping robot reaches the first boundary, wipe at this time
Stop motion will be retreated stop motion after pre-determined distance along with the vertical line on the first boundary by window robot, retreat it is default away from
From purpose be to facilitate into window wiping robot and enter to machine so that there is a certain distance on the first boundary with a distance from window wiping robot
The body direction state of parallel and fuselage close to the first boundary with the direction on the first boundary.
Therefore, before window wiping robot will be less than the speed of the traveling wheel far from the other side with the speed of side traveling wheel at this time
Into to be moved along camber line move mode towards the first boundary and the second boundary.When window wiping robot detects fuselage direction
When parallel with the first boundary, then illustrate that the fuselage direction of window wiping robot at this time is parallel with the vertical line direction of the second boundary.It needs
Illustrate, the distance on the first boundary of fuselage distance of window wiping robot or larger, in order to more close to the first boundary, wipe window
Robot is after detecting that fuselage direction is parallel with the first boundary, and window wiping robot is by stop motion and close to the first boundary
The mode that the speed of traveling wheel is less than the speed of the traveling wheel far from the first boundary retreats, at this time the rear end position of window wiping robot
It place will be along camber line move mode close to the first boundary.It should be pointed out that third border sensor is set to window wiping robot machine
Side behind, the third border sensor third side of side close to the first boundary behind the first boundary, window wiping robot detection machine
Whether boundary's sensor triggers sideband signal, when detecting third border sensor detection trigger signal, then illustrates window wiping robot
Border sensor on rear side of fuselage close to the first boundary detects the sideband signal on the first boundary, and window wiping robot will move at this time
First boundary out.Window wiping robot stop motion and can rotate in place at this time, and adjustment fuselage leads to towards to parallel with the first boundary
Crossing aforesaid way can make the distance on the first boundary of fuselage distance smaller, so that window wiping robot can be more close to the first side
Boundary, it is ensured that the effect that the region close to the first boundary is cleaned completely.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
The embodiment of the present invention also proposed a kind of window wiping robot, the window wiping robot include the first border sensor and
The second boundary sensor, first border sensor and the second boundary sensor are located at the window wiping robot front fuselage two
Side, for triggering sideband signal.
Two traveling wheels move forward or back in rectangular active regions domain for controlling the window wiping robot.
Gyroscope, for detecting between the fuselage of the window wiping robot and each boundary in the rectangular active regions domain
Angle.
Detection device, for detecting the travel time or travel distance of the window wiping robot.The window wiping robot is used
It is not repeated herein in each step executed in above-described embodiment referring specifically to the associated description in above-described embodiment.
Above scheme, first boundary welt of the window wiping robot along rectangular active regions domain are walked, and detect be set to it is described
Whether the first border sensor on front side of the fuselage of window wiping robot close to first boundary triggers sideband signal；If so,
It halts, and to be greater than the speed of the traveling wheel far from first boundary close to the speed of the traveling wheel on first boundary
Mode retreat；Whether the angle detected between the fuselage and first boundary reaches predetermined angle, if so, after stopping
It moves back, and by the fuselage towards adjusting to being walked after parallel with first boundary along first boundary welt；Described in detection
Whether the first border sensor triggers sideband signal within a preset time or in mobile pre-determined distance, if so, determining currently
It is moved to the second boundary adjacent with first boundary, and window wiping robot will terminate along the walking cleaning of the first boundary welt
Movement enables window wiping robot to complete to clean to all areas close to the first boundary, enables window wiping robot to needs
The region cleaned can be carried out comprehensive cleaning, significantly improve the effect of cleaning.And within a preset time or mobile pre-determined distance
The first border sensor is inside not detected and triggers sideband signal again, then illustrates that window wiping robot detects the first boundary for the first time
The sideband signal of sensor-triggered is sideband signal corresponding to the first boundary.
Fig. 5 is the schematic diagram for the window wiping robot that fourth embodiment of the invention provides.As shown in figure 5, the wiping of the embodiment
Window robot 5 includes: processor 50, memory 51 and is stored in the memory 51 and can transport on the processor 50
Capable computer program 52, such as control the program of the method for window wiping robot walking.The processor 50 executes the calculating
The step in the embodiment of the method for above-mentioned each control window wiping robot walking is realized when machine program 52, such as shown in FIG. 1
Step S101 to S104.Alternatively, the processor 50 realizes above-mentioned each window wiping robot when executing the computer program 52
Function in embodiment.
Illustratively, the computer program 52 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 51, and are executed by the processor 50, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 52 in the window wiping robot 5 is described.
The window wiping robot 5 may include, but be not limited only to, processor 50, memory 51.Those skilled in the art can be with
Understand, Fig. 5 is only the example of window wiping robot 5, does not constitute the restriction of window wiping robot 5, may include more than illustrating
Or less component, certain components or different components are perhaps combined, such as the terminal device can also include that input is defeated
Equipment, network access equipment, bus etc. out.
Alleged processor 50 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 51 can be the internal storage unit of window wiping robot 5, such as the hard disk or interior of window wiping robot 5
It deposits.The memory 51 is also possible to the External memory equipment of the window wiping robot 5, such as matches on the window wiping robot 5
Standby plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD)
Card, flash card (Flash Card) etc..Further, the memory 51 can also be both interior including the window wiping robot 5
Portion's storage unit also includes External memory equipment.The memory 51 is for storing the computer program and the window cleaning equipment
Other programs and data needed for device people.The memory 51, which can be also used for temporarily storing, have been exported or will export
Data.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed window wiping robot and method can pass through it
Its mode is realized.For example, window wiping robot embodiment described above is only schematical, for example, the module or
The division of unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units
Or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, institute
Display or the mutual coupling or direct-coupling or communication connection discussed can be through some interfaces, device or unit
INDIRECT COUPLING or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned
The step of each embodiment of the method.Wherein, the computer program includes computer program code, the computer program code
It can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can
With include: can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk,
CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer
The content that readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice, such as
It does not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium in certain jurisdictions.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (6)
1. a kind of method of control window wiping robot walking characterized by comprising
The first boundary welt along rectangular active regions domain is walked, and is detected close on front side of the fuselage for being set to the window wiping robot
Whether first border sensor on first boundary triggers sideband signal；
If so, halting, and to be greater than close to the speed of the traveling wheel on first boundary far from first boundary
The mode of the speed of traveling wheel retreats；
Whether the angle detected between the fuselage and first boundary reaches predetermined angle, if so, stopping retreating, and will
The fuselage is towards adjusting to being walked after parallel with first boundary along first boundary welt；
Detect whether first border sensor triggers sideband signal within a preset time or in mobile pre-determined distance, if so,
Then determine currently to have been moved into the second boundary adjacent with first boundary.
2. the method for control window wiping robot walking according to claim 1, which is characterized in that described along rectangular active regions
The first boundary welt in domain is walked, and is detected on front side of the fuselage for being set to the window wiping robot close to the of first boundary
Whether one border sensor triggers before sideband signal, comprising:
The first boundary welt along the rectangular active regions domain is walked, and detection is set to remote on front side of the fuselage of the window wiping robot
Whether the second boundary sensor from first boundary triggers sideband signal；
If so, determining currently to have been moved into and the second boundary；If it is not, then determining that reaching detection is set to the window cleaning equipment
Whether the first border sensor on front side of the fuselage of device people close to the first boundary triggers the condition of sideband signal.
3. the method for control window wiping robot walking according to claim 1, which is characterized in that the detection described first
Whether border sensor triggers sideband signal within a preset time or in mobile pre-determined distance, if so, determining currently to have moved
To the second boundary adjacent with first boundary, comprising:
Record first border sensor within a preset time or the number of mobile preset distance internal trigger sideband signal；
If the number is greater than preset times, determine currently to have been moved into the second boundary.
4. the method for control window wiping robot walking according to claim 2, which is characterized in that described along the rectangle work
Make the first boundary welt walking in region, detection is set on front side of the fuselage of the window wiping robot far from first boundary
Whether the second boundary sensor triggers before sideband signal, comprising:
Rotate in place it is parallel with the vertical line on first boundary to fuselage, towards first Boundary Moving；
If detecting first border sensor or the second boundary sensor-triggered sideband signal, stop motion, and
By the fuselage towards adjusting to parallel with first boundary in the rectangular active regions domain, and along first boundary welt
Walking.
5. a kind of window wiping robot, which is characterized in that the window wiping robot includes that the first border sensor and the second boundary pass
Sensor, first border sensor and the second boundary sensor are located at window wiping robot front fuselage two sides, for touching
Hair side sector signal；
Two traveling wheels move forward or back in rectangular active regions domain for controlling the window wiping robot；
Gyroscope, for detecting the folder between the fuselage of the window wiping robot and each boundary in the rectangular active regions domain
Angle；
Detection device, for detecting the travel time or travel distance of the window wiping robot；
The step of window wiping robot is for realizing any one of such as Claims 1-4 the method.
6. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as Claims 1-4 of realization the method.
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|---|---|---|---|
| CN201810791067.XA CN109129499B (en) | 2018-07-18 | 2018-07-18 | Method for controlling window cleaning robot to walk, window cleaning robot and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810791067.XA CN109129499B (en) | 2018-07-18 | 2018-07-18 | Method for controlling window cleaning robot to walk, window cleaning robot and storage medium |
Publications (2)
| Publication Number | Publication Date |
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| CN109129499A true CN109129499A (en) | 2019-01-04 |
| CN109129499B CN109129499B (en) | 2020-09-22 |
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| CN201810791067.XA Active CN109129499B (en) | 2018-07-18 | 2018-07-18 | Method for controlling window cleaning robot to walk, window cleaning robot and storage medium |
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| WO2020215945A1 (en) * | 2019-04-26 | 2020-10-29 | 科沃斯家用机器人有限公司 | Cleaning method, robotic window cleaner, and storage medium |
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| CN112230644A (en) * | 2019-07-15 | 2021-01-15 | 苏州宝时得电动工具有限公司 | Autonomous robot, edgewise control method and device thereof, and storage medium |
| CN114427310A (en) * | 2022-02-18 | 2022-05-03 | 智橙动力(北京)科技有限公司 | Swimming pool edge cleaning method and device, electronic equipment and computer storage medium |
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