CN110531757A - Path planning method and device based on crawler-type window cleaning robot - Google Patents
Path planning method and device based on crawler-type window cleaning robot Download PDFInfo
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- CN110531757A CN110531757A CN201910697749.9A CN201910697749A CN110531757A CN 110531757 A CN110531757 A CN 110531757A CN 201910697749 A CN201910697749 A CN 201910697749A CN 110531757 A CN110531757 A CN 110531757A
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- window
- wiping
- path
- planning
- crawler type
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The invention discloses a path planning method and device based on a crawler-type window cleaning robot. Wherein the method comprises the following steps: the crawler-type window cleaning robot acquires a current position as a first starting position, controls the crawler-type window cleaning robot to walk from the first starting position to a frame position according to the acquired current position as the first starting position, plans a window cleaning path in the horizontal direction, cleans a window according to the planned window cleaning path in the horizontal direction, plans a window cleaning path in the vertical direction, and cleans the window according to the planned window cleaning path in the vertical direction. By the aid of the mode, the crawler-type window cleaning robot can clean windows in a full-coverage path, a planned path can be simplified to the greatest extent, repeated cleaning of the same place is avoided, and window cleaning efficiency is improved.
Description
Technical field
The present invention relates to crawler type window wiping robot technical fields more particularly to a kind of based on crawler type window wiping robot
Paths planning method and equipment.
Background technique
Crawler type window wiping robot makes robot ambulation there are two two crawler belts of crawler belt motor driven.When walking, Zhi Nengxiang
It is moved forward and backward, it cannot directly side movement to the left and right.Make robot to side rotation one by adjusting the revolving speed of two crawler belts
Determine angle, then opposite direction rotates equal angular, is just able to achieve mobile to side.The speed of two crawler belts is identical, it is contrary can
Realization rotates in place, to turn to.Existing crawler type window wiping robot is all to realize mobile, rotation in this way, is made
Path planning is different, and principle is much the same, and purpose is all to realize robot as far as possible to wipe all standing of window range.It is existing
Some path planning modes are generally difficult to realize all standing, although what is had may be implemented all standing, path planning mode mistake
In complexity, causes to be repeated several times and wipe same place, influence efficiency.
But at least there are the following problems in the prior art for inventor's discovery:
The existing path planning scheme based on crawler type window wiping robot, generally by the revolving speed for adjusting two crawler belts
So that robot is rotated by a certain angle to side, then opposite direction rotates equal angular, be just able to achieve mobile to side, passes through adjusting
The speed of two crawler belts is identical, it is contrary can be achieved to rotate in place, to turn to, although crawler type window wiping robot can be complete
Overlay path wipes window, but path planning mode is excessively complicated, and repetition is easily caused to wipe same place, influences to wipe window efficiency.
Summary of the invention
In view of this, it is an object of the invention to propose a kind of paths planning method based on crawler type window wiping robot with
And equipment, can be realized crawler type window wiping robot can all standing path wipe window, planning path can be made most simplified, avoided out
It now repeats to wipe same place, improves and wipe window efficiency.
According to an aspect of the present invention, a kind of paths planning method based on crawler type window wiping robot is provided, comprising:
Crawler type window wiping robot obtains current location as start position one；
It is used as start position according to the current location one of the acquisition, control runs to frame position from the start position one
It sets；
The wiping window path of planning in the horizontal direction, and window is wiped by the wiping window path in the horizontal direction of the planning；
The wiping window path of planning in vertical direction, and window is wiped by the wiping window path in vertical direction of the planning.
Wherein, the crawler type window wiping robot according to the current location one of the acquisition be used as start position, control from
The start position one runs to bezel locations five, comprising:
The crawler type window wiping robot is used as start position according to the current location one of the acquisition, controls from described
Point position rotates in place assigned direction, moves on to bezel locations two in control on the assigned direction, and move down into position again
Three, and be rotated by 90 ° counterclockwise to position four, it keeps to the side to run to bezel locations five after rotating twice.
Wherein, the wiping window path of crawler type window wiping robot planning in the horizontal direction, and exist by the planning
Wipe window in wiping window path in horizontal direction, comprising:
The crawler type window wiping robot is using moving left to upper left position six and be shifted to the right to upper right Angle Position seven and twice
It is rotated in place eight and moves left to bezel locations nine and be rotated in place ten twice and be shifted to the right to position 11 and rotate to twice
Position 12 and move left to position 13 and circulation is described is rotated in place ten twice and described is shifted to the right to position 11 and institute
State be rotated in place twice 12 and the position 13 that moves left to until the mode of position 14, plan in the horizontal direction
Window path is wiped, and wipes window by the wiping window path in the horizontal direction of the planning.
Wherein, the wiping window path of crawler type window wiping robot planning in vertical direction, and exist by the planning
Wipe window in wiping window path in vertical direction, comprising:
The crawler type window wiping robot, which uses, to be shifted to the right to lower right position 15 and moves left to 16 He of lower-left Angle Position
It is rotated in place 17 twice and backs to the position 18 apart from frame pre-determined distance and rotates clockwise 90 degree to position ten
Nine and twice rotation keep to the side to bezel locations 20 and circulation described in back to 18 He of position apart from frame pre-determined distance
It is described rotate clockwise 90 degree to position 19 and it is described twice rotation keep to the side to bezel locations 20 until lower right position two
11 mode is planned wiping window path in vertical direction, and is wiped by the wiping window path in vertical direction of the planning
Window.
Wherein, the wiping window path in crawler type window wiping robot planning in vertical direction, and by the planning
It wipes after window in wiping window path in vertical direction, further includes:
The crawler type window wiping robot return to origin position 22.
Wherein, the crawler type window wiping robot return to origin position 22, comprising:
Move on to bezel locations 23 on the crawler type window wiping robot, the vertical range apart from starting point be it is default away from
From, and be rotated in place 24 twice and be rotated by 90 ° to position 25 counterclockwise and move to left return to origin position 20
Two.
According to an aspect of the present invention, a kind of crawler type window wiping robot is provided, comprising:
It obtains module, walking module, horizontal route and wipes window module and vertical-path wiping window module；
The acquisition module, for obtaining current location as start position one；
The walking module is controlled for being used as start position according to the current location one of the acquisition from the starting point
Position one runs to bezel locations；
The horizontal route wipes window module, for plan wiping window path in the horizontal direction, and press the planning
Wipe window in wiping window path in horizontal direction；
The vertical-path wipes window module, plans wiping window path in vertical direction, and by the planning vertical
Wipe window in wiping window path on direction.
Wherein, the walking module, is specifically used for:
It is used as start position according to the current location one of the acquisition, control is rotated in place from the start position to specified
Direction moves on to bezel locations two in control on the assigned direction, and moves down into position three again, and be rotated by 90 ° counterclockwise
Position four keeps to the side to run to bezel locations five after rotating twice.
Wherein, the horizontal route wipes window module, is specifically used for:
Using move left to upper left position six and be shifted to the right to upper right Angle Position seven and be rotated in place twice eight with move left to
Bezel locations nine and be rotated in place twice ten and be shifted to the right to position 11 and be rotated in place twice 12 with move left to position
13 and circulation is described is rotated in place ten twice and described be shifted to the right to position 11 and described be rotated in place 12 twice
With the position 13 that moves left to until the mode of position 14, wiping window path in the horizontal direction is planned, and press the rule
Wipe window in the wiping window path in the horizontal direction drawn.
Wherein, the vertical-path wipes window module, is specifically used for:
Using being shifted to the right to lower right position 15 and move left to lower-left Angle Position 16 and be rotated in place 17 Hes twice
It backs to the position 18 apart from frame pre-determined distance and rotates clockwise 90 degree and rotated to position 19 and twice by edge to edge
Position 18 apart from frame pre-determined distance is backed to described in frame position 20 and circulation and described rotated clockwise 90 degree and is arrived
Position 19 and the rotation twice keep to the side to plan until the mode of lower right position 21 vertical to bezel locations 20
Wiping window path on direction, and window is wiped by the wiping window path in vertical direction of the planning.
Wherein, the crawler type window wiping robot, further includes:
Return module；
The return module is used for return to origin position 22.
Wherein, the return module, is specifically used for:
On move on to bezel locations 23, the vertical range apart from starting point is pre-determined distance, and is rotated in place two twice
It 14 and is rotated by 90 ° to position 25 counterclockwise and moves to left return to origin position 22.
According to a further aspect of the invention, a kind of crawler type wiping window apparatus is provided, comprising:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes so that at least one described processor be able to carry out it is described in any of the above embodiments based on crawler type window cleaning equipment device
The paths planning method of people.
According to a further aspect of the invention, a kind of computer readable storage medium is provided, computer program is stored with, institute
It states and realizes the path planning described in any of the above embodiments based on crawler type window wiping robot when computer program is executed by processor
Method.
It can be found that above scheme, crawler type window wiping robot obtains current location as start position one, and can root
According to the current location of the acquisition as start position one, control runs to bezel locations from the start position one, and can plan
Wiping window path in the horizontal direction, and window is wiped by the wiping window path in the horizontal direction of the planning, and can plan
Wiping window path in vertical direction, and window is wiped by the wiping window path in vertical direction of the planning, it can be realized crawler type wiping
Window robot can all standing path wipe window, planning path can be made most simplified, avoid the occurrence of repetition wipe same place, improve
Wipe window efficiency.
Further, above scheme, crawler type window wiping robot can be used as starting point according to the current location one of the acquisition
Position, control are rotated in place from the start position to assigned direction, move on to bezel locations two in control on the assigned direction, and
Position three is moved down into again, and is rotated by 90 ° counterclockwise to position four, keeps to the side to run to bezel locations five after rotating twice, it is such
Benefit, which is that by crawler type window wiping robot, to run to designated position from start position, convenient for carrying out to wiping window process
Complete coverage path planning.
Further, above scheme, crawler type window wiping robot can use and move left to upper left position six and be shifted to the right to
Upper right Angle Position seven and be rotated in place twice eight and move left to bezel locations nine and be rotated in place twice ten with move to right in place
Set 11 and be rotated in place twice 12 and move left to position 13 and recycle this be rotated in place twice ten and this move to right
It is rotated in place 12 twice with this to position 11 and moves left to position 13 until the mode of position 14 with this, plans in water
Square upward wiping window path, and window is wiped by the wiping window path in the horizontal direction of the planning, such benefit is can be real
Existing crawler type window wiping robot can the path in all standing horizontal direction wipe window, planning path in horizontal direction can be made most
Simplify, avoids the occurrence of and repeat to wipe same place on path in the horizontal direction, improve wiping window efficiency in the horizontal direction.
Further, above scheme, crawler type window wiping robot can use and be shifted to the right to lower right position 15 and move to left
To lower-left Angle Position 16 and it is rotated in place 17 twice and backs to position 18 and the up time apart from frame pre-determined distance
Needle is rotated by 90 ° to position 19 and rotation twice is kept to the side to bezel locations 20 and recycle this back to it is default apart from frame
The position 18 of distance and this rotate clockwise 90 degree to position 19 with this rotate twice keep to the side to bezel locations 20 until
The mode of lower right position 21, plan wiping window path in vertical direction, and by the planning in vertical direction
Wipe window path and wipe window, such benefit be that by crawler type window wiping robot can the path in all standing vertical direction wipe
Window can make the planning path in vertical direction most simplified, avoid the occurrence of and repeat to wipe same place on the path of vertical direction,
Improve wiping window efficiency in vertical direction.
Further, above scheme, crawler type window wiping robot can be with return to origin position 22, such benefit
Can be realized crawler type window wiping robot return to origin position, convenient for crawler type window wiping robot can according to the planning it is good
The good wiping window path wiping window in vertical direction of window path and the planning is wiped in horizontal direction, it is identical to avoid the occurrence of repetition wiping
Place improves and wipes window efficiency.
Further, above scheme, crawler type window wiping robot can on move on to bezel locations 23, apart from starting point
Vertical range is pre-determined distance, and is rotated in place 24 twice and is rotated by 90 ° to position 25 and moves to left counterclockwise
Return to origin position 22, such benefit are that by crawler type window wiping robot return to origin position, are convenient for crawler belt
Formula window wiping robot can be good in vertical direction according to the good wiping window path in the horizontal direction of the planning and the planning
Wiping window path wipe window, avoid the occurrence of repetition wipe same place, improve wipe window efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the symbol definition schematic diagram the present invention is based on the paths planning method of crawler type window wiping robot；
Fig. 2 is the flow diagram of one embodiment of paths planning method the present invention is based on crawler type window wiping robot；
Fig. 3 is the one of all standing path of one embodiment of paths planning method the present invention is based on crawler type window wiping robot
Example schematic；
Fig. 4 is that the present invention is based on one embodiments of paths planning method of crawler type window wiping robot to plan in the horizontal direction
Wipe an example schematic in window path；
Fig. 5 is that the present invention is based on one embodiments of paths planning method of crawler type window wiping robot to plan in vertical direction
Wipe an example schematic in window path；
Fig. 6 is that the present invention is based on the flow diagrams of another embodiment of the paths planning method of crawler type window wiping robot；
Fig. 7 is the structural schematic diagram of one embodiment of crawler type window wiping robot of the present invention；
Fig. 8 is the structural schematic diagram of another embodiment of crawler type window wiping robot of the present invention；
Fig. 9 is the structural schematic diagram that crawler type of the present invention wipes one embodiment of window apparatus.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is described in further detail.It is emphasized that following implement
Example is merely to illustrate the present invention, but is not defined to the scope of the present invention.Likewise, following embodiment is only portion of the invention
Point embodiment and not all embodiments, institute obtained by those of ordinary skill in the art without making creative efforts
There are other embodiments, shall fall within the protection scope of the present invention.
The present invention provides a kind of paths planning method based on crawler type window wiping robot, can be realized crawler type window cleaning equipment
Device people can all standing path wipe window, planning path can be made most simplified, avoid the occurrence of repetition wipe same place, improve wiping window
Efficiency.
Referring to Figure 1, Fig. 1 is that the present invention is based on the signals of the symbol definition of the paths planning method of crawler type window wiping robot
Figure.As shown in Figure 1, there is the label of 1-3 on crawler type window wiping robot, label represents the position number for being moved to different location, A
It is crawler type window wiping robot side length, B is the distance of two crawler belt motors, and R is that the radius of turn i.e. center of circle heart to crawler type wipes window
The distance at robot center, v1, v2 are the speed of two crawler belts.The crawler belt motor of crawler type window wiping robot is needed by twice
It rotates to complete laterally offset, Ds is laterally offset, and Df is forward migration, and a is rotation angle, and Ra is crawler type window wiping robot
Distal end apex angle radius of turn, W are to rotate prominent distance.
As shown in Figure 1, k=v1/v2 (- 1≤k < 1) can be set.Work as k=-1, crawler type window wiping robot rotates in place, R
=0；When -1 < k < 0, v1 and v2 are reversed, 0 < R < B/2；Work as k=0, v1=0, R=B/2；As 0<k<1, R>B/2.
Formula is as follows:
Ds=2R (1-cosa) (5)；
Df=2Rsina (6).
As shown in Figure 1, can choose suitable R and a when setting parameter, W is calculated with formula (3) and (4), makes W as far as possible
Small and corresponding Df cannot be too big, touches frame when if will cause very much rotation greatly.Simultaneous selection suitable R and a, make Ds < A and
Close to A, it is overlapped wiping path not as far as possible.After choosing R, then with formula (2) k is determined, to calculate two crawler belt motors
Speed v1 and v2.
As shown in Figure 1, minimum range of the window cleaning equipment apart from frame is L, no when crawler type window wiping robot rotates in place
Can then frame be encountered:
As shown in Figure 1, crawler type window wiping robot is different with the turning radius far from frame near frame, if frame is attached
Close turning radius is Rb, and the turning radius far from frame is Rf, then Rb > Rf.
As shown in Figure 1, the corresponding laterally offset of Rb, Rf can be set, forward migration is Dsb, Dfb, Dsf, Dff respectively.It is logical
Normal Dsb > L, therefore when crawler type window wiping robot needs switch between moving horizontally and vertically moving, it need to only leave frame
Dsb, 90 degree are rotated in place, then kept to the side.
Fig. 2 and Fig. 3 are referred to, Fig. 2 is one embodiment of paths planning method the present invention is based on crawler type window wiping robot
Flow diagram, Fig. 3 is all standing road of one embodiment of paths planning method the present invention is based on crawler type window wiping robot
One example schematic of diameter.It is noted that if having substantially the same as a result, method of the invention is not with shown in Fig. 2
Process sequence is limited.As shown in Fig. 2, this method comprises the following steps:
S201: crawler type window wiping robot obtains current location as start position 1.
In the present embodiment, it can obtain current location by position positioning method, crawler type window wiping robot and be used as
Point position, can also be by measurement method, and crawler type window wiping robot obtains current location as start position, and the present invention is not added
To limit.
S202: crawler type window wiping robot is used as start position according to the current location 1 of the acquisition, controls the crawler type
Window wiping robot runs to bezel locations from the start position 1.
Wherein, which is used as start position according to the current location 1 of the acquisition, controls the crawler belt
Formula window wiping robot runs to bezel locations 55 from the start position 1, may include:
Crawler type window wiping robot is used as start position according to the current location 1 of the acquisition, controls from the start position
Assigned direction is rotated in place, moves on to bezel locations 22 in control on the assigned direction, and moves down into position 33 and inverse again
Hour hands are rotated by 90 ° to position 44, keep to the side to run to bezel locations 55 after rotating twice, such benefit is that by shoe
Belt window wiping robot can run to designated position from start position, convenient for carrying out complete coverage path planning to wiping window process.
S203: the wiping window path of crawler type window wiping robot planning in the horizontal direction, and by the planning in level side
Wipe window in upward wiping window path.
Wherein, the wiping window path of crawler type window wiping robot planning in the horizontal direction, and by the planning in level
Window is wiped in wiping window path on direction, may include:
Crawler type window wiping robot, which uses, to be moved left to upper left position 66 and is shifted to the right to upper right Angle Position 77 and revolves twice
It goes to position 88 and moves left to bezel locations 99 and be rotated in place 10 twice and be shifted to the right to position 11 and revolve twice
Go to position 12 and move left to position 13 and recycle this be rotated in place twice 10 and this be shifted to the right to position ten
One 11 are rotated in place 12 with this twice moves left to position 13 until the mode of position 14 with this, and planning exists
Wiping window path in horizontal direction, and window is wiped by the wiping window path in the horizontal direction of the planning, such benefit is can
Realize crawler type window wiping robot can the path in all standing horizontal direction wipe window, the planning path in horizontal direction can be made
It is most simplified, it avoids the occurrence of and repeats to wipe same place on path in the horizontal direction, improve wiping window efficiency in the horizontal direction.
In the present embodiment, Fig. 4 is referred to, Fig. 4 is that the present invention is based on the paths planning methods of crawler type window wiping robot
One embodiment plans the example schematic for wiping window path in the horizontal direction.As shown in figure 4, crawler type window wiping robot is planned
Wiping window path in the horizontal direction, and window is wiped by the wiping window path in the horizontal direction of the planning, it can be realized crawler type
Window wiping robot can the path in all standing horizontal direction wipe window, the planning path in horizontal direction can be made most simplified, kept away
Exempt to occur repeating on path in the horizontal direction wiping same place, improves wiping window efficiency in the horizontal direction.
S204: the wiping window path of crawler type window wiping robot planning in vertical direction, and by the planning in Vertical Square
Wipe window in upward wiping window path.
Wherein, the wiping window path of crawler type window wiping robot planning in vertical direction, and by the planning vertical
Window is wiped in wiping window path on direction, may include:
Crawler type window wiping robot, which uses, to be shifted to the right to lower right position 15 and moves left to lower-left Angle Position 16
It is rotated in place 17 twice and backs to the position 18 apart from frame pre-determined distance and rotates clockwise 90 degree
To position 19 and twice rotation keeps to the side to bezel locations 20 and recycles this and back to apart from frame pre-determined distance
Position 18 and this rotate clockwise 90 degree and rotate keep to the side to bezel locations 20 twice with this to position 19
Until the mode of lower right position 21, wiping window path in vertical direction is planned, and by the planning in Vertical Square
Window is wiped in upward wiping window path, and such benefit is that by crawler type window wiping robot can be in all standing vertical direction
Window is wiped in path, and the planning path in vertical direction can be made most simplified, is avoided the occurrence of and is repeated to wipe phase on the path of vertical direction
With place, wiping window efficiency in vertical direction is improved.
In the present embodiment, Fig. 5 is referred to, Fig. 5 is that the present invention is based on the paths planning methods of crawler type window wiping robot
One embodiment plans the example schematic for wiping window path in vertical direction.As shown in figure 5, crawler type window wiping robot is planned
Wiping window path in vertical direction, and window is wiped by the wiping window path in vertical direction of the planning, it can be realized crawler type
Window wiping robot can the path in all standing vertical direction wipe window, the planning path in vertical direction can be made most simplified, kept away
Exempt to appear in and repeat to wipe same place on the path of vertical direction, improves wiping window efficiency in vertical direction.
Wherein, the wiping window path in crawler type window wiping robot planning in vertical direction, and hanging down by the planning
After window is wiped in the upward wiping window path of histogram, can also include:
Crawler type window wiping robot return to origin position 22, such benefit are that by crawler type and wipe window
Robot return to origin position, the road Ca Chuan in the horizontal direction that can be good according to the planning convenient for crawler type window wiping robot
Window is wiped in the good wiping window path in vertical direction of diameter and the planning, is avoided the occurrence of repetition and is wiped same place, is improved and is wiped window effect
Rate.
In the present embodiment, parameter can be accurately calculated, while realizing level side using mathematical formulae (1)-(7)
It is wiped to wiping with vertical direction, realizes all standing, and the step of using is minimum.
In the present embodiment, it only can be realized to turn to 4 steps and kept to the side, rollback distance can calculated with formula (5), make original
After ground is rotated by 90 ° counterclockwise, realized by rotating twice just close to upper side frame.
In the present embodiment, it only can switch to vertically wipe with the wiping of 3 step realization levels, machine can be calculated with formula (5)
People is to the distance of frame, after so that original place is rotated clockwise 90 degree, is realized by rotating twice just close to left frame.
In the present embodiment, it can only be realized with 4 steps from vertical wiping and return to starting point, can calculated with formula (6) vertically
Direction is to the distance of starting point, and when making after rotating twice to position 203, vertical direction in place, only needs original place to rotate counterclockwise
It is after 90s, it moves to left to starting point, that is, completes to return to starting point.
In the present embodiment, suitable R and a can be selected when parameter is arranged, W can be calculated with formula (3) and (4),
Keep W as small as possible and corresponding Df is from too greatly, touching frame when if will cause very much rotation greatly.
In the present embodiment, it can choose suitable R and a, make Ds < A and close to A, make to wipe window path and be not overlapped.
In the present embodiment, k can be determined with formula (2), to calculate crawler type window wiping robot after choosing R
Two crawler belt motors speed v1 and v2.
It can be found that in the present embodiment, crawler type window wiping robot obtains current location as start position one, and can
Using according to the current location of the acquisition, as start position one, control runs to bezel locations from the start position one, and can be with
The wiping window path of planning in the horizontal direction, and window is wiped by the wiping window path in the horizontal direction of the planning, and can advise
Wiping window path in vertical direction is drawn, and wipes window by the wiping window path in vertical direction of the planning, can be realized crawler belt
Formula window wiping robot can all standing path wipe window, planning path can be made most simplified, avoid the occurrence of repetition wipe same place, mention
High wiping window efficiency.
Further, in the present embodiment, crawler type window wiping robot can be according to one conduct of current location of the acquisition
Start position, control are rotated in place from the start position to assigned direction, move on to bezel locations in control on the assigned direction
Two, and position three is moved down into again, and is rotated by 90 ° counterclockwise to position four, it keeps to the side to run to bezel locations five after rotating twice,
Such benefit, which is that by crawler type window wiping robot, to run to designated position from start position, convenient for wiping window mistake
Cheng Jinhang complete coverage path planning.
Further, in the present embodiment, crawler type window wiping robot can use and move left to upper left position six and the right side
It moves on to upper right Angle Position seven and is rotated in place eight twice and moves left to bezel locations nine and be rotated in place ten twice and move to right
It is rotated in place 12 to position 11 and twice and moves left to position 13 and recycles this and is rotated in place ten twice and should
It is shifted to the right to position 11 and this is rotated in place 12 twice and moves left to position 13 until the mode of position 14, planning with this
Wiping window path in the horizontal direction, and window is wiped by the wiping window path in the horizontal direction of the planning, such benefit is energy
Enough realize crawler type window wiping robot can the path in all standing horizontal direction wipe window, the planning road in horizontal direction can be made
Diameter is most simplified, avoids the occurrence of and repeats to wipe same place on path in the horizontal direction, improves wiping window effect in the horizontal direction
Rate.
Further, in the present embodiment, crawler type window wiping robot can use and be shifted to the right to 15 He of lower right position
It moves left to lower-left Angle Position 16 and is rotated in place 17 twice and backs to 18 He of position apart from frame pre-determined distance
90 degree of to position 19 and twice rotations are rotated clockwise to keep to the side to bezel locations 20 and recycle this and back to apart from frame
The position 18 of pre-determined distance and this rotate clockwise 90 degree and rotate keep to the side to bezel locations 20 twice with this to position 19
Until the mode of lower right position 21, wiping window path in vertical direction is planned, and by the planning in vertical direction
On wiping window path wipe window, such benefit is that by crawler type window wiping robot being capable of road in all standing vertical direction
Diameter wipe window, the planning path in vertical direction can be made most simplified, avoid the occurrence of repeat to wipe on the path of vertical direction it is identical
Place improves wiping window efficiency in vertical direction.
Fig. 6 is referred to, Fig. 6 is that the present invention is based on the streams of another embodiment of the paths planning method of crawler type window wiping robot
Journey schematic diagram.In the present embodiment, method includes the following steps:
S601: crawler type window wiping robot obtains current location as start position 1.
Can be as above described in S201, therefore not to repeat here.
S602: crawler type window wiping robot is used as start position according to the current location 1 of the acquisition, controls the crawler type
Window wiping robot runs to bezel locations from the start position 1.
Can be as above described in S202, therefore not to repeat here.
S603: the wiping window path of crawler type window wiping robot planning in the horizontal direction, and by the planning in level side
Wipe window in upward wiping window path.
Can be as above described in S203, therefore not to repeat here.
S604: the wiping window path of crawler type window wiping robot planning in vertical direction, and by the planning in Vertical Square
Wipe window in upward wiping window path.
Can be as above described in S204, therefore not to repeat here.
S605: crawler type window wiping robot return to origin position 22.
Wherein, the crawler type window wiping robot return to origin position 22 may include:
Bezel locations 23 are moved on on crawler type window wiping robot, the vertical range apart from starting point is pre-determined distance,
It is rotated in place 24 twice and is rotated by 90 ° to position 25 counterclockwise and moves to left return to origin position
22, such benefit is that by crawler type window wiping robot return to origin position, is convenient for crawler type window cleaning equipment device
People can be good according to the planning wiping window path in the horizontal direction and the good wiping window path in vertical direction of the planning
Window is wiped, repetition is avoided the occurrence of and wipes same place, improve and wipe window efficiency.
It can be found that in the present embodiment, crawler type window wiping robot can be such good with return to origin position 22
Place is that by crawler type window wiping robot return to origin position, can be according to the planning well convenient for crawler type window wiping robot
In the horizontal direction wipe window path and window is wiped in the good wiping window path in vertical direction of the planning, avoid the occurrence of repetition wiping
Same place improves and wipes window efficiency.
Further, in the present embodiment, crawler type window wiping robot can on move on to bezel locations 23, distance rises
The vertical range of point is pre-determined distance, and be rotated in place 24 twice and be rotated by 90 ° counterclockwise to position 25 and
Return to origin position 22 is moved to left, such benefit is that by crawler type window wiping robot return to origin position, is convenient for
Crawler type window wiping robot can be good in Vertical Square according to the good wiping window path in the horizontal direction of the planning and the planning
Window is wiped in upward wiping window path, is avoided the occurrence of repetition and is wiped same place, improves and wipe window efficiency.
The present invention also provides a kind of crawler type window wiping robots, and can be realized crawler type window wiping robot being capable of all standing road
Diameter wipes window, and planning path can be made most simplified, avoids the occurrence of repetition and wipes same place, improves and wipe window efficiency.
Fig. 7 is referred to, Fig. 7 is the structural schematic diagram of one embodiment of crawler type window wiping robot of the present invention.In the present embodiment,
The crawler type window wiping robot 70 includes obtaining module 71, walking module 72, horizontal route to wipe window module 73 and vertical-path wiping
Window module 74.
The acquisition module 71, for obtaining current location as start position 1.
The walking module 72 controls the crawler type and wipes window for being used as start position according to the current location 1 of the acquisition
Robot runs to bezel locations from the start position 1.
The horizontal route wipes window module 73, for planning wiping window path in the horizontal direction, and by the planning in water
Square upward wiping window path wipe window.
The vertical-path wipes window module 74, plans wiping window path in vertical direction, and by the planning in Vertical Square
Wipe window in upward wiping window path.
Optionally, the walking module 72, can be specifically used for:
It is used as start position according to the current location 1 of the acquisition, control is rotated in place from the start position to designated parties
To moving on to bezel locations 22 in control on the assigned direction, and move down into position 33 again, and be rotated by 90 ° in place counterclockwise
44 are set, keeps to the side to run to bezel locations 55 after rotating twice.
Optionally, which wipes window module 73, can be specifically used for:
Using move left to upper left position 66 and be shifted to the right to upper right Angle Position 77 and be rotated in place twice 88 with move to left
To bezel locations 99 and it is rotated in place 10 twice and is shifted to the right to position 11 and is rotated in place 12 and a left side twice
Move on to position 13 and recycle this be rotated in place twice 10 and this be shifted to the right to position 11 and this rotate to twice
Position 12 moves left to position 13 until the mode of position 14 with this, plans the road Ca Chuan in the horizontal direction
Diameter, and window is wiped by the wiping window path in the horizontal direction of the planning.
Optionally, which wipes window module 74, can be specifically used for:
Using being shifted to the right to lower right position 15 and move left to lower-left Angle Position 16 and be rotated in place twice
It 17 and backs to position 18 apart from frame pre-determined distance and rotates clockwise 90 degree to position 19 and two
Secondary rotation keeps to the side to bezel locations 20 and recycles this and back to position 18 apart from frame pre-determined distance and should
Rotate clockwise 90 degree to position 19 and this rotate keep to the side to bezel locations 20 until lower right position two twice
11 mode is planned wiping window path in vertical direction, and is wiped by the wiping window path in vertical direction of the planning
Window.
Fig. 8 is referred to, Fig. 8 is the structural schematic diagram of another embodiment of crawler type window wiping robot of the present invention.It is different from
One embodiment, crawler type window wiping robot 80 described in the present embodiment further includes return module 81.
The return module 81 is used for return to origin position 22.
Optionally, the return module 81, can be specifically used for:
On move on to bezel locations 23, the vertical range apart from starting point is pre-determined distance, and is rotated in place twice
It 24 and is rotated by 90 ° to position 25 counterclockwise and moves to left return to origin position 22.
Each unit module of the crawler type window wiping robot 70/80 can execute corresponding step in above method embodiment respectively
Suddenly, therefore each unit module is not repeated herein, refers to the explanation of the above corresponding step.
The present invention provides a kind of crawler type wiping window apparatus again, as shown in Figure 9, comprising: at least one processor 91；And
With the memory 92 of at least one processor 91 communication connection；Wherein, be stored with can be by least one processor 91 for memory 92
The instruction of execution, instruction executed by least one processor 91 so that at least one processor 91 be able to carry out it is above-mentioned based on
The paths planning method of crawler type window wiping robot.
Wherein, memory 92 is connected with processor 91 using bus mode, and bus may include any number of interconnection
Bus and bridge, bus is by one or more processors 91 together with the various circuit connections of memory 92.Bus can also incite somebody to action
Together with various other circuit connections of management circuit or the like, these are all abilities for such as peripheral equipment, voltage-stablizer
Well known to domain, therefore, it will not be further described herein.Bus interface is provided between bus and transceiver and is connect
Mouthful.Transceiver can be an element, is also possible to multiple element, such as multiple receivers and transmitter, provides for passing
The unit communicated on defeated medium with various other devices.The data handled through processor 91 are carried out on the radio medium by antenna
Transmission, further, antenna also receives data and transfers data to processor 91.
Processor 91 is responsible for management bus and common processing, can also provide various functions, including timing, periphery connects
Mouthful, voltage adjusting, power management and other control functions.And memory 92 can be used for storage processor 91 and execute behaviour
Used data when making.
The present invention provides a kind of computer readable storage medium again, is stored with computer program.Computer program is processed
Device realizes above method embodiment when executing.
It can be found that above scheme, crawler type window wiping robot obtains current location as start position one, and can root
According to the current location of the acquisition as start position one, control runs to bezel locations from the start position one, and can plan
Wiping window path in the horizontal direction, and window is wiped by the wiping window path in the horizontal direction of the planning, and can plan
Wiping window path in vertical direction, and window is wiped by the wiping window path in vertical direction of the planning, it can be realized crawler type wiping
Window robot can all standing path wipe window, planning path can be made most simplified, avoid the occurrence of repetition wipe same place, improve
Wipe window efficiency.
Further, above scheme, crawler type window wiping robot can be used as starting point according to the current location one of the acquisition
Position, control are rotated in place from the start position to assigned direction, move on to bezel locations two in control on the assigned direction, and
Position three is moved down into again, and is rotated by 90 ° counterclockwise to position four, keeps to the side to run to bezel locations five after rotating twice, it is such
Benefit, which is that by crawler type window wiping robot, to run to designated position from start position, convenient for carrying out to wiping window process
Complete coverage path planning.
Further, above scheme, crawler type window wiping robot can use and move left to upper left position six and be shifted to the right to
Upper right Angle Position seven and be rotated in place twice eight and move left to bezel locations nine and be rotated in place twice ten with move to right in place
Set 11 and be rotated in place twice 12 and move left to position 13 and recycle this be rotated in place twice ten and this move to right
It is rotated in place 12 twice with this to position 11 and moves left to position 13 until the mode of position 14 with this, plans in water
Square upward wiping window path, and window is wiped by the wiping window path in the horizontal direction of the planning, such benefit is can be real
Existing crawler type window wiping robot can the path in all standing horizontal direction wipe window, planning path in horizontal direction can be made most
Simplify, avoids the occurrence of and repeat to wipe same place on path in the horizontal direction, improve wiping window efficiency in the horizontal direction.
Further, above scheme, crawler type window wiping robot can use and be shifted to the right to lower right position 15 and move to left
To lower-left Angle Position 16 and it is rotated in place 17 twice and backs to position 18 and the up time apart from frame pre-determined distance
Needle is rotated by 90 ° to position 19 and rotation twice is kept to the side to bezel locations 20 and recycle this back to it is default apart from frame
The position 18 of distance and this rotate clockwise 90 degree to position 19 with this rotate twice keep to the side to bezel locations 20 until
The mode of lower right position 21, plan wiping window path in vertical direction, and by the planning in vertical direction
Wipe window path and wipe window, such benefit be that by crawler type window wiping robot can the path in all standing vertical direction wipe
Window can make the planning path in vertical direction most simplified, avoid the occurrence of and repeat to wipe same place on the path of vertical direction,
Improve wiping window efficiency in vertical direction.
Further, above scheme, crawler type window wiping robot can be with return to origin position 22, such benefit
Can be realized crawler type window wiping robot return to origin position, convenient for crawler type window wiping robot can according to the planning it is good
The good wiping window path wiping window in vertical direction of window path and the planning is wiped in horizontal direction, it is identical to avoid the occurrence of repetition wiping
Place improves and wipes window efficiency.
Further, above scheme, crawler type window wiping robot can on move on to bezel locations 23, apart from starting point
Vertical range is pre-determined distance, and is rotated in place 24 twice and is rotated by 90 ° to position 25 and moves to left counterclockwise
Return to origin position 22, such benefit are that by crawler type window wiping robot return to origin position, are convenient for crawler belt
Formula window wiping robot can be good in vertical direction according to the good wiping window path in the horizontal direction of the planning and the planning
Wiping window path wipe window, avoid the occurrence of repetition wipe same place, improve wipe window efficiency.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can
To realize by another way.For example, device embodiments described above are only schematical, for example, 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, 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.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can select some or all of unit therein according to the actual needs to realize the mesh of present embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can integrate in one processing unit, it 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.
It, can if integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product
To be stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention substantially or
Say that all or part of the part that contributes to existing technology or the technical solution can embody in the form of software products
Out, which is stored in a storage medium, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) or processor (processor) execute each implementation of the present invention
The all or part of the steps of methods.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. it is various
It can store the medium of program code.
The foregoing is merely section Examples of the invention, are not intended to limit protection scope of the present invention, all utilizations
Equivalent device made by description of the invention and accompanying drawing content or equivalent process transformation are applied directly or indirectly in other correlations
Technical field, be included within the scope of the present invention.
Claims (10)
1. a kind of paths planning method based on crawler type window wiping robot characterized by comprising
Crawler type window wiping robot obtains current location as start position one；
It is used as start position according to the current location one of the acquisition, control runs to bezel locations from the start position one；
The wiping window path of planning in the horizontal direction, and window is wiped by the wiping window path in the horizontal direction of the planning；
The wiping window path of planning in vertical direction, and window is wiped by the wiping window path in vertical direction of the planning.
2. the paths planning method as described in claim 1 based on crawler type window wiping robot, which is characterized in that the crawler belt
Formula window wiping robot is used as start position according to the current location one of the acquisition, and control runs to side from the start position one
Frame position five, comprising:
The crawler type window wiping robot is used as start position, control point from described according to the current location one of the acquisition
It sets and rotates in place assigned direction, move on to bezel locations two in control on the assigned direction, and move down into position three again, and
It is rotated by 90 ° counterclockwise to position four, keeps to the side to run to bezel locations five after rotating twice.
3. the paths planning method as described in claim 1 based on crawler type window wiping robot, which is characterized in that the crawler belt
The wiping window path of formula window wiping robot planning in the horizontal direction, and wiped by the wiping window path in the horizontal direction of the planning
Window, comprising:
The crawler type window wiping robot, which uses, to be moved left to upper left position six and is shifted to the right to upper right Angle Position seven and rotates twice
To position eight and moves left to bezel locations nine and be rotated in place ten twice and be shifted to the right to position 11 and be rotated in place twice
12 and move left to position 13 and circulation is described is rotated in place ten twice and described is shifted to the right to position 11 and described two
It is secondary be rotated in place 12 and the position 13 that moves left to until the mode of position 14, plan wiping window in the horizontal direction
Path, and window is wiped by the wiping window path in the horizontal direction of the planning.
4. the paths planning method as described in claim 1 based on crawler type window wiping robot, which is characterized in that the crawler belt
The wiping window path of formula window wiping robot planning in vertical direction, and wiped by the wiping window path in vertical direction of the planning
Window, comprising:
The crawler type window wiping robot is using being shifted to the right to lower right position 15 and move left to lower-left Angle Position 16 and twice
It is rotated in place 17 and backs to the position 18 apart from frame pre-determined distance and rotate clockwise 90 degree to 19 He of position
Rotation twice is kept to the side to backing to position 18 apart from frame pre-determined distance and described described in bezel locations 20 and circulation
90 degree are rotated clockwise to keep to the side to bezel locations 20 to position 19 and the rotation twice until lower right position 21
Mode, plan wiping window path in vertical direction, and wipe window by the wiping window path in vertical direction of the planning.
5. the paths planning method as described in claim 1 based on crawler type window wiping robot, which is characterized in that in the shoe
The wiping window path of belt window wiping robot planning in vertical direction, and press the wiping window path in vertical direction of the planning
After wiping window, further includes:
The crawler type window wiping robot return to origin position 22.
6. the paths planning method as claimed in claim 5 based on crawler type window wiping robot, which is characterized in that the crawler belt
Formula window wiping robot return to origin position 22, comprising:
Bezel locations 23 are moved on on the crawler type window wiping robot, the vertical range apart from starting point is pre-determined distance, and
It is rotated in place 24 twice and is rotated by 90 ° to position 25 counterclockwise and moves to left return to origin position 22.
7. a kind of crawler type window wiping robot characterized by comprising
It obtains module, walking module, horizontal route and wipes window module and vertical-path wiping window module；
The acquisition module, for obtaining current location as start position one；
The walking module is controlled for being used as start position according to the current location one of the acquisition from the start position
One runs to bezel locations；
The horizontal route wipes window module, for planning wiping window path in the horizontal direction, and by the planning in level
Wipe window in wiping window path on direction；
The vertical-path wipes window module, plans wiping window path in vertical direction, and by the planning in vertical direction
On wiping window path wipe window.
8. such as claim 7 crawler type window wiping robot, which is characterized in that the walking module is specifically used for:
It is used as start position according to the current location one of the acquisition, control is rotated in place from the start position to designated parties
To moving on to bezel locations two in control on the assigned direction, and move down into position three again, and be rotated by 90 ° in place counterclockwise
Four are set, keeps to the side to run to bezel locations five after rotating twice.
9. such as claim 8 crawler type window wiping robot, which is characterized in that the horizontal route wipes window module, is specifically used for:
Using move left to upper left position six and be shifted to the right to upper right Angle Position seven and be rotated in place twice eight with move left to frame
Position nine and be rotated in place twice ten and be shifted to the right to position 11 and be rotated in place twice 12 with move left to position 13
And circulation is described is rotated in place ten twice and described be shifted to the right to position 11 and described be rotated in place 12 and institute twice
It states and moves left to position 13 until the mode of position 14, plan wiping window path in the horizontal direction, and by the planning
Wipe window in wiping window path in the horizontal direction.
10. such as claim 7 crawler type window wiping robot, which is characterized in that the vertical-path wipes window module, is specifically used for:
Using be shifted to the right to lower right position 15 and move left to lower-left Angle Position 16 and be rotated in place twice 17 and retrogressing
It keeps to the side to position 19 with rotation twice to frame position to the position 18 apart from frame pre-determined distance with rotating clockwise 90 degree
It sets and backs to position 18 apart from frame pre-determined distance described in 20 and circulation and described rotate clockwise 90 degree to position
19 and it is described twice rotation keep to the side to bezel locations 20 until lower right position 21 mode, plan in vertical direction
On wiping window path, and wipe window by the wiping window path in vertical direction of the planning.
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| CN201910697749.9A CN110531757B (en) | 2019-07-30 | 2019-07-30 | Path planning method and device based on crawler-type window cleaning robot |
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