CN110531757B - 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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- CN110531757B CN110531757B CN201910697749.9A CN201910697749A CN110531757B CN 110531757 B CN110531757 B CN 110531757B CN 201910697749 A CN201910697749 A CN 201910697749A CN 110531757 B CN110531757 B CN 110531757B
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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 invention relates to the technical field of crawler-type window cleaning robots, in particular to a path planning method and device based on a crawler-type window cleaning robot.
Background
The crawler-type window cleaning robot is provided with two crawler motors for driving two crawlers to enable the robot to walk. When walking, the walking stick can only move forwards and backwards, but can not directly move towards the left side and the right side. The robot can rotate a certain angle to the side surface by adjusting the rotating speeds of the two crawler belts, and then can move to the side surface by rotating the same angle in the opposite direction. The two tracks can rotate in place at the same speed and in opposite directions, so that the steering is realized. The existing crawler-type window cleaning robot moves and rotates in such a way, the used path plans are different and the principles are approximately the same, and the aim is to ensure that the robot can realize full coverage of the window cleaning range as much as possible. The existing path planning mode is difficult to realize full coverage, and some path planning modes can realize full coverage, but the path planning mode is too complex, so that the same place is repeatedly wiped for many times, and the efficiency is influenced.
However, the inventors found that at least the following problems exist in the prior art:
the existing path planning scheme based on the crawler-type window cleaning robot generally comprises the steps that the robot rotates to the side by a certain angle by adjusting the rotating speed of two crawler belts, then the robot rotates to the side by the same angle in the opposite direction, and the robot can move to the side by adjusting the two crawler belts to rotate in place at the same speed and in opposite directions, so that the robot turns to the direction.
Disclosure of Invention
In view of the above, the present invention aims to provide a path planning method and a device based on a tracked window wiping robot, which can implement that the tracked window wiping robot can fully cover a path to wipe a window, simplify a planned path, avoid repeated wiping of the same place, and improve window wiping efficiency.
According to one aspect of the invention, a path planning method based on a crawler-type window cleaning robot is provided, and comprises the following steps:
the crawler-type window cleaning robot acquires a current position as a first starting position;
controlling to walk from the first starting position to a frame position according to the obtained first current position as the starting position;
planning a window wiping path in the horizontal direction, and wiping a window according to the planned window wiping path in the horizontal direction;
and planning a window wiping path in the vertical direction, and wiping the window according to the planned window wiping path in the vertical direction.
The crawler-type window cleaning robot controls the crawler-type window cleaning robot to walk from the first starting position to the fifth frame position according to the obtained first current position as the starting position, and the method comprises the following steps:
and the crawler-type window cleaning robot controls the crawler-type window cleaning robot to rotate from the starting point to a specified direction in situ according to the acquired current position I as the starting point position, controls the crawler-type window cleaning robot to move upwards to a frame position II and then downwards to a position III, controls the crawler-type window cleaning robot to rotate anticlockwise by 90 degrees to a position IV, and moves to a frame position V after rotating twice along the edge.
Wherein, the window path of wiping on the horizontal direction of crawler-type window wiping robot planning to according to the window path of wiping of planning on the horizontal direction wipes the window, includes:
the crawler-type window wiping robot adopts the modes of moving to the upper left corner position six from the left, moving to the upper right corner position seven from the right, rotating to the position eight from the left, moving to the frame position nine from the left, rotating to the position ten from the two times, rotating to the position eleven from the right, rotating to the position twelve from the two times, moving to the position thirteen from the left, circulating the modes of rotating to the position ten from the two times, rotating to the position eleven from the right, rotating to the position twelve from the two times, rotating to the position thirteen from the left and moving to the position fourteen from the left, planning the window wiping path in the horizontal direction, and wiping the window according to the planned window wiping path in the horizontal direction.
Wherein, the window path of wiping on the vertical direction of crawler-type window cleaning robot planning to according to the window path of wiping of planning on the vertical direction wipes the window, includes:
the crawler-type window-cleaning robot adopts the modes that the crawler-type window-cleaning robot moves rightwards to the lower right corner position fifteen, moves leftwards to the lower left corner position sixteen, rotates twice to the position seventeen, retreats to the position eighteen away from the preset distance of the frame and rotates 90 degrees clockwise to the position nineteen, rotates twice to lean on the side to the frame position twenty and circulates the retreats to the position eighteen away from the preset distance of the frame and rotates 90 degrees clockwise to the position nineteen, rotates twice to lean on the side to the frame position twenty until the lower right corner position twenty one, plans a window-cleaning path in the vertical direction, and cleans windows according to the planned window-cleaning path in the vertical direction.
The method comprises the following steps that after the crawler-type window cleaning robot plans a window cleaning path in the vertical direction and cleans a window according to the planned window cleaning path in the vertical direction, the method further comprises the following steps:
and the crawler-type window cleaning robot returns to twenty-two starting positions.
Wherein, crawler-type window cleaning robot returns starting point position twenty-two, includes:
the crawler-type window cleaning robot moves up to twenty-three frame positions, the vertical distance from the starting point is a preset distance, and the crawler-type window cleaning robot rotates twice to twenty-four frame positions, rotates 90 degrees anticlockwise to twenty-five frame positions and moves left to return to twenty-two frame positions.
According to one aspect of the present invention, there is provided a tracked window wiping robot comprising:
the system comprises an acquisition module, a walking module, a horizontal path window wiping module and a vertical path window wiping module;
the acquisition module is used for acquiring a current position as a starting position I;
the walking module is used for controlling walking from the first starting position to the frame position according to the acquired first current position as the starting position;
the horizontal path window wiping module is used for planning a window wiping path in the horizontal direction and wiping windows according to the planned window wiping path in the horizontal direction;
the vertical path window wiping module plans a window wiping path in the vertical direction and wipes windows according to the planned window wiping path in the vertical direction.
Wherein, the walking module is specifically used for:
and controlling the original position to rotate to a specified direction from the initial position according to the acquired first current position as the initial position, controlling the original position to move upwards to a second frame position and then downwards to a third position, controlling the original position to rotate anticlockwise by 90 degrees to a fourth position, and controlling the original position to walk to a fifth frame position after rotating along the edge twice.
Wherein, horizontal path window wiping module is specifically used for:
planning a window wiping path in the horizontal direction in a mode of moving to the position six at the upper left corner, moving to the position seven at the upper right corner in a left-hand mode, rotating to the position eight at the position nine at the position on the frame in a left-hand mode, rotating to the position ten at the position, rotating to the position eleven at the position twice, rotating to the position twelve at the position thirteen at the left at the position thirteen at the position fourteen at the position twice, and wiping windows according to the planned window wiping path in the horizontal direction.
Wherein, the vertical path window wiping module is specifically configured to:
and planning a window wiping path in the vertical direction by adopting a mode of rightwards moving to a lower right corner position fifteen, leftwards moving to a lower left corner position sixteen, twice rotating to a position seventeen, retreating to a position eighteen away from a frame by a preset distance, clockwise rotating by 90 degrees to a position nineteen, twice rotating by leaning on an edge to a frame position twenty, and circulating the mode of retreating to a position eighteen away from the frame by the preset distance, clockwise rotating by 90 degrees to a position nineteen, twice rotating by leaning on an edge to a frame position twenty until a lower right corner position twenty one, and wiping the window according to the planned window wiping path in the vertical direction.
Wherein, window robot is wiped to crawler-type still includes:
a return module;
and the returning module is used for returning twenty-two starting positions.
Wherein, the return module is specifically configured to:
moving up to frame position twenty three, the vertical distance from the starting point is the preset distance, and rotating twice to position twenty four and rotating 90 degrees counterclockwise to position twenty five and moving left back to the starting position twenty two.
According to a further aspect of the present invention there is provided a tracked window wiping apparatus comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any of the track-mounted window cleaning robot-based path planning methods described above.
According to a further aspect of the present invention, there is provided a computer-readable storage medium storing a computer program which, when executed by a processor, implements the method for path planning based on a tracked window wiping robot according to any one of the above.
According to the scheme, the crawler-type window wiping robot acquires the current position as the first starting position, can control the crawler-type window wiping robot to walk to the frame position from the first starting position according to the acquired current position as the first starting position, can plan the window wiping path in the horizontal direction, can wipe the window according to the planned window wiping path in the horizontal direction, can plan the window wiping path in the vertical direction, and wipe the window according to the planned window wiping path in the vertical direction, so that the crawler-type window wiping robot can wipe the window in the full-coverage path, the planned path can be simplified to the greatest extent, the phenomenon that the same place is wiped repeatedly is avoided, and the window wiping efficiency is improved.
Further, according to the scheme, the crawler-type window cleaning robot can control the crawler-type window cleaning robot to rotate to the designated direction from the starting point position in situ according to the acquired current position I as the starting point position, control the crawler-type window cleaning robot to move upwards to the frame position II and then move downwards to the position III, control the crawler-type window cleaning robot to rotate anticlockwise by 90 degrees to the position IV, and control the crawler-type window cleaning robot to walk to the frame position V after rotating for two times close to the side.
Further, in the above scheme, the crawler-type window-cleaning robot can plan the window-cleaning path in the horizontal direction by adopting the modes of moving to the upper left corner position six, moving to the upper right corner position seven, rotating to the position eight twice, rotating to the frame position nine, rotating to the position ten twice, rotating to the position eleven twice, rotating to the position twelve twice, rotating to the position thirteen left twice, and circulating the two rotations to the position ten, the right movement to the position eleven, the two rotations to the position twelve, and the left movement to the position thirteen until the position fourteen, and the window is wiped according to the planned window wiping path in the horizontal direction, so that the crawler-type window wiping robot can fully cover the path in the horizontal direction for wiping the window, the planned path in the horizontal direction can be simplified to the greatest extent, the same place on the path in the horizontal direction is prevented from being repeatedly wiped, and the window wiping efficiency in the horizontal direction is improved.
Further, according to the scheme, the crawler type window wiping robot can plan the window wiping path in the vertical direction in a mode of moving to the lower right corner position fifteen rightwards, moving to the lower left corner position sixteen leftwards, rotating to the position seventeen twice, retreating to the position eighteen away from the frame by a preset distance, rotating 90 degrees clockwise to the position nineteen clockwise, rotating to the position twenty right lower corner position twenty one twice, rotating to the position twenty side by two times, circulating the window wiping path in the vertical direction backwards, wiping the window according to the planned window wiping path in the vertical direction, and has the advantages that the crawler type window wiping robot can fully cover the path wiping window in the vertical direction, the planned path in the vertical direction can be simplified to the greatest extent, the situation that the same place is repeatedly wiped on the path in the vertical direction is avoided, the efficiency of wiping the window in the vertical direction is improved.
Furthermore, according to the scheme, the crawler-type window cleaning robot can return to twenty-two of the starting point position, so that the crawler-type window cleaning robot can return to the starting point position, the crawler-type window cleaning robot can clean windows according to the planned window cleaning path in the horizontal direction and the planned window cleaning path in the vertical direction, the situation that the same place is repeatedly cleaned is avoided, and the window cleaning efficiency is improved.
Furthermore, according to the scheme, the crawler-type window cleaning robot can move up to the twenty-three frame position, the vertical distance from the starting point is the preset distance, the crawler-type window cleaning robot rotates twice to the twenty-four frame position and rotates 90 degrees anticlockwise to the twenty-five frame position, and the crawler-type window cleaning robot moves left to return to the twenty-two frame position.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a symbol definition schematic diagram of a path planning method based on a crawler type window cleaning robot in the invention;
FIG. 2 is a schematic flow chart of an embodiment of a path planning method based on a crawler-type window-cleaning robot according to the present invention;
FIG. 3 is a schematic diagram illustrating a full coverage path according to an embodiment of the path planning method based on the tracked window-cleaning robot;
FIG. 4 is a schematic diagram illustrating a track-mounted window-cleaning robot-based path planning method for planning a window-cleaning path in a horizontal direction according to an embodiment of the present invention;
FIG. 5 is a schematic view illustrating a vertical window-cleaning path planned by an embodiment of the track-type window-cleaning robot-based path planning method of the present invention;
FIG. 6 is a schematic flow chart of another embodiment of the path planning method based on the crawler-type window-cleaning robot of the present invention;
FIG. 7 is a schematic structural diagram of an embodiment of a tracked window-cleaning robot according to the present invention;
FIG. 8 is a schematic structural view of another embodiment of a tracked window-cleaning robot according to the present invention;
FIG. 9 is a schematic structural view of one embodiment of the tracked window wiping apparatus of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be noted that the following examples are only illustrative of the present invention, and do not limit the scope of the present invention. Similarly, the following examples are only some but not all examples of the present invention, and all other examples obtained by those skilled in the art without any inventive work are within the scope of the present invention.
The invention provides a path planning method based on a crawler-type window wiping robot, which can realize that the crawler-type window wiping robot can wipe windows in a full-coverage path, can simplify the planned path to the utmost extent, avoids the occurrence of repeated wiping of the same place, and improves the window wiping efficiency.
Referring to fig. 1, fig. 1 is a schematic symbol definition diagram of a path planning method based on a crawler-type window cleaning robot according to the present invention. As shown in fig. 1, the tracked window cleaning robot has the reference numbers 1-3, the reference numbers represent position serial numbers moved to different positions, a is the side length of the tracked window cleaning robot, B is the distance between two track motors, R is the rotation radius, namely the distance from the center of the circle to the center of the tracked window cleaning robot, and v1 and v2 are the speeds of the two tracks. The crawler motor of the crawler type window cleaning robot needs to complete lateral deviation through two rotations, Ds is the lateral deviation, Df is the positive deviation, a is the rotation angle, Ra is the rotation radius of the vertex angle at the far end of the crawler type window cleaning robot, and W is the rotation protrusion distance.
As shown in fig. 1, k ═ v1/v2(-1< ═ k <1) may be set. When k is equal to-1, the crawler type window cleaning robot rotates in situ, and R is equal to 0; when-1 < k <0, v1 and v2 are reversed, 0< R < B/2; when k is 0, v1 is 0, R is B/2; when 0< k <1, R > B/2.
The formula is as follows:
Ds＝2R(1-cosa) (5)；
Df＝2Rsina (6)。
as shown in fig. 1, when setting the parameters, we can select appropriate R and a, and calculate W by using equations (3) and (4), so that W is as small as possible and the corresponding Df cannot be too large, and if it is too large, it will cause the frame to be hit during rotation. And simultaneously selecting proper R and a to enable Ds to be less than A and close to A, so that wiping paths are not overlapped as much as possible. After R is selected, k is determined by equation (2) to calculate the speeds v1 and v2 of the two track motors.
As shown in fig. 1, when the tracked window cleaning robot rotates in place, the minimum distance from the window cleaning machine to the frame is L, otherwise the window cleaning machine will touch the frame:
as shown in FIG. 1, the turning radius of the crawler-type window cleaning robot near the frame is different from that of the crawler-type window cleaning robot far away from the frame, and if the turning radius near the frame is Rb and the turning radius far away from the frame is Rf, Rb is larger than Rf.
As shown in fig. 1, the lateral offset and the forward offset corresponding to Rb and Rf may be Dsb, Dfb, Dsf, and Dff, respectively. Generally Dsb is larger than L, so when the crawler-type window cleaning robot needs to switch between horizontal movement and vertical movement, the crawler-type window cleaning robot only needs to leave the frame Dsb, rotate 90 degrees on site and then lean against the edge.
Referring to fig. 2 and fig. 3, fig. 2 is a schematic flow chart of an embodiment of the path planning method based on the tracked window-cleaning robot, and fig. 3 is an exemplary view of a full-coverage path of an embodiment of the path planning method based on the tracked window-cleaning robot. It should be noted that the method of the present invention is not limited to the flow sequence shown in fig. 2 if the results are substantially the same. As shown in fig. 2, the method comprises the steps of:
s201: the crawler-type window cleaning robot acquires the current position as a starting position I1.
In this embodiment, the tracked window cleaning robot may acquire the current position as the starting position in a position positioning manner, or may acquire the current position as the starting position in a measurement manner, which is not limited in the present invention.
S202: and controlling the crawler-type window cleaning robot to walk to the frame position from the starting point position I1 according to the acquired current position I1 as the starting point position.
Wherein, the tracked window-cleaning robot controls the tracked window-cleaning robot to walk from the starting position 1 to the frame position five 5 according to the acquired current position 1 as the starting position, which may include:
the crawler-type window cleaning robot is controlled to rotate from the starting point to a specified direction in situ according to the acquired current position I1 as the starting point position, and is controlled to move upwards to a frame position II 2, move downwards to a position III 3, rotate anticlockwise by 90 degrees to a position IV 4 in the specified direction, and walk to a frame position V5 after rotating twice close to the edge.
S203: the crawler-type window wiping robot plans a window wiping path in the horizontal direction and wipes windows according to the planned window wiping path in the horizontal direction.
The tracked window wiping robot plans a window wiping path in the horizontal direction, and wipes a window according to the planned window wiping path in the horizontal direction, and the tracked window wiping robot may include:
the crawler-type window-cleaning robot adopts the mode of moving to the upper left corner position six 6 from the left, moving to the upper right corner position seven 7 from the right, rotating to the position eight 8 from the left, moving to the frame position nine 9 from the left, rotating to the position ten 10 from the left, rotating to the position eleven 11 from the right, rotating to the position twelve 12 from the two times, moving to the position thirteen 13 from the left, and circulating the mode of rotating to the position ten 10 from the two times, moving to the position eleven 11 from the right, rotating to the position twelve 12 from the two times, moving to the position thirteen 13 from the left until the position fourteen 101 to plan the window-cleaning path in the horizontal direction, and the window is wiped according to the planned window wiping path in the horizontal direction, so that the crawler-type window wiping robot can fully cover the path in the horizontal direction for wiping the window, the planned path in the horizontal direction can be simplified to the greatest extent, the same place on the path in the horizontal direction is prevented from being repeatedly wiped, and the window wiping efficiency in the horizontal direction is improved.
In the embodiment, please refer to fig. 4, fig. 4 is an exemplary illustration of the method for planning a path of a window cleaner in a horizontal direction according to an embodiment of the method for planning a path based on a tracked window cleaner robot of the present invention. As shown in fig. 4, the crawler-type window wiping robot plans a window wiping path in the horizontal direction, and wipes a window according to the planned window wiping path in the horizontal direction, so that the crawler-type window wiping robot can completely cover the path window in the horizontal direction, the planned path in the horizontal direction can be simplified to the greatest extent, the situation that the same place is repeatedly wiped on the path in the horizontal direction is avoided, and the window wiping efficiency in the horizontal direction is improved.
S204: the crawler-type window cleaning robot plans a window cleaning path in the vertical direction and cleans the window according to the planned window cleaning path in the vertical direction.
The crawler-type window cleaning robot plans a window cleaning path in the vertical direction, and cleans a window according to the planned window cleaning path in the vertical direction, and the crawler-type window cleaning robot may include:
the crawler type window wiping robot adopts the modes of moving rightwards to a lower right corner position fifteen 102, moving leftwards to a lower left corner position sixteen 103, rotating twice to a position seventeen 104, retreating to a position eighteen 105 which is away from the frame by a preset distance, rotating 90 degrees clockwise to a position nineteen 106, rotating twice close to the frame to a position twenty 107, circulating the position eighteen 105 retreating to the frame by the preset distance, rotating clockwise to the position nineteen 106, rotating twice close to the frame to the position twenty 107 until the lower right corner position twenty-one 201, planning the window wiping path in the vertical direction, and wiping the window according to the planned window wiping path in the vertical direction, so that the crawler type window wiping robot can fully cover the path wiping window in the vertical direction, the planned path in the vertical direction can be simplified to the utmost, and the repeated wiping on the same place on the path in the vertical direction is avoided, the efficiency of wiping the window in the vertical direction is improved.
In the embodiment, please refer to fig. 5, fig. 5 is an exemplary schematic view illustrating a path planning method based on a tracked window-cleaning robot for planning a window-cleaning path in a vertical direction according to an embodiment of the present invention. As shown in fig. 5, the crawler-type window wiping robot plans a window wiping path in the vertical direction, and wipes windows according to the planned window wiping path in the vertical direction, so that the crawler-type window wiping robot can completely cover the path window in the vertical direction, the planned path in the vertical direction can be simplified to the greatest extent, the same place on the path in the vertical direction is prevented from being repeatedly wiped, and the window wiping efficiency in the vertical direction is improved.
Wherein, after the crawler-type window-cleaning robot plans the window-cleaning path in the vertical direction and cleans the window according to the planned window-cleaning path in the vertical direction, the method can further comprise:
the crawler-type window cleaning robot returns to the twenty-two 205 starting point positions, so that the crawler-type window cleaning robot can return to the starting point positions, the crawler-type window cleaning robot can clean windows according to the planned window cleaning path in the horizontal direction and the planned window cleaning path in the vertical direction, the same place is prevented from being repeatedly cleaned, and the window cleaning efficiency is improved.
In this embodiment, mathematical formulas (1) - (7) can be used to accurately calculate the parameters, and horizontal wiping and vertical wiping are simultaneously performed, so that full coverage is achieved, and the number of steps used is minimal.
In this embodiment, the turning and side leaning can be realized by only 4 steps, and the backspacing distance can be calculated by formula (5), so that the upper frame can be just close to by two rotations after the pivot is rotated 90 degrees counterclockwise.
In the embodiment, the horizontal wiping can be changed into the vertical wiping only by 3 steps, the distance from the robot to the frame can be calculated by the formula (5), and the robot can be just close to the left frame by rotating twice after rotating 90 degrees clockwise in place.
In this embodiment, the vertical wiping back to the starting point can be realized by only 4 steps, and the distance from the vertical direction to the starting point can be calculated by formula (6), so that when the two rotations are performed to the position 203, the vertical direction is already in place, and the original point is moved to the starting point to the left after being rotated 90 times in the counterclockwise direction, and the original point is completely returned to the starting point.
In this embodiment, when setting the parameters, select the appropriate R and a, and calculate W by using equations (3) and (4), so that W is as small as possible and the corresponding Df cannot be too large, and if it is too large, it will cause the frame to hit during rotation.
In this embodiment, appropriate R and a may be selected such that Ds < A and close to A, such that the wipe paths do not overlap.
In this embodiment, k may be determined by equation (2) after R is selected, thereby calculating the speeds v1 and v2 of the two track motors of the track type window cleaning robot.
It can be found that, in this embodiment, the crawler-type window wiping robot acquires the current position as a first starting position, and can control to walk from the first starting position to the frame position according to the acquired current position as a first starting position, and can plan the window wiping path in the horizontal direction, and wipe the window according to the planned window wiping path in the horizontal direction, and can plan the window wiping path in the vertical direction, and wipe the window according to the planned window wiping path in the vertical direction, so that the crawler-type window wiping robot can wipe the window in the full-coverage path, the planned path can be simplified to the greatest extent, the occurrence of repeated wiping of the same place can be avoided, and the window wiping efficiency is improved.
Further, in this embodiment, the crawler-type window cleaning robot may control, according to the obtained first current position as a starting position, to rotate in place from the starting position to a specified direction, control, in the specified direction, to move up to the second frame position, and then move down to the third position, and rotate counterclockwise by 90 degrees to the fourth position, and walk to the fifth frame position after rotating by two sides, which is beneficial to enabling the crawler-type window cleaning robot to walk from the starting position to the specified position, so as to facilitate the full-coverage path planning of the window cleaning process.
Further, in the present embodiment, the crawler type window-cleaning robot may plan the window-cleaning path in the horizontal direction in such a manner that it moves left to the upper left corner position six and right to the upper right corner position seven and rotates twice to the position eight and rotates left to the frame position nine and rotates twice to the position ten and rotates right to the position eleven and rotates twice to the position twelve and rotates left to the position thirteen and rotates twice to the position twelve and rotates twice to the position thirteen and rotates twice to the position fourteen, and the window is wiped according to the planned window wiping path in the horizontal direction, so that the crawler-type window wiping robot can fully cover the path in the horizontal direction for wiping the window, the planned path in the horizontal direction can be simplified to the greatest extent, the same place on the path in the horizontal direction is prevented from being repeatedly wiped, and the window wiping efficiency in the horizontal direction is improved.
Further, in this embodiment, the crawler type window cleaning robot may plan the window cleaning path in the vertical direction in a manner of moving right to the lower right corner position fifteen, moving left to the lower left corner position sixteen, rotating twice to the position seventeen, retreating to the position eighteen a preset distance away from the frame, rotating 90 degrees clockwise to the position nineteen, rotating twice close to the frame position twenty, circulating the position eighteen a preset distance away from the frame, rotating 90 degrees clockwise to the position nineteen, rotating twice close to the frame position twenty to the lower right corner position twenty one, and cleaning the window according to the planned window cleaning path in the vertical direction, which has the advantages that the crawler type window cleaning robot can fully cover the path in the vertical direction, the planned path in the vertical direction can be simplified to the greatest extent, and the repeated cleaning of the same place on the path in the vertical direction can be avoided, the efficiency of wiping the window in the vertical direction is improved.
Referring to fig. 6, fig. 6 is a schematic flow chart of a path planning method based on a tracked window-cleaning robot according to another embodiment of the present invention. In this embodiment, the method includes the steps of:
s601: the crawler-type window cleaning robot acquires the current position as a starting position I1.
As described above in S201, further description is omitted here.
S602: and controlling the crawler-type window cleaning robot to walk to the frame position from the starting point position I1 according to the acquired current position I1 as the starting point position.
As described above in S202, which is not described herein.
S603: the crawler-type window wiping robot plans a window wiping path in the horizontal direction and wipes windows according to the planned window wiping path in the horizontal direction.
As described above in S203, which is not described herein.
S604: the crawler-type window cleaning robot plans a window cleaning path in the vertical direction and cleans the window according to the planned window cleaning path in the vertical direction.
As described above in S204, which is not described herein.
S605: the tracked window wiping robot returns to the starting position twenty-two 205.
Wherein, the returning of the tracked window cleaning robot to the starting position twenty-two 205 may include:
the crawler-type window cleaning robot moves up to twenty-three 202 in the frame position, the vertical distance from the starting point is a preset distance, the crawler-type window cleaning robot rotates to twenty-four 203 in the position twice, rotates 90 degrees anticlockwise to twenty-five 204 in the position and moves leftwards to return to twenty-two 205 in the starting point position, and therefore the crawler-type window cleaning robot can return to the starting point position, the crawler-type window cleaning robot can clean windows according to the planned window cleaning path in the horizontal direction and the planned window cleaning path in the vertical direction conveniently, the same place is prevented from being repeatedly cleaned, and window cleaning efficiency is improved.
It can be found that in the embodiment, the crawler-type window cleaning robot can return to twenty-two of the starting position, which has the advantages that the crawler-type window cleaning robot can return to the starting position, the crawler-type window cleaning robot can clean the window according to the planned window cleaning path in the horizontal direction and the planned window cleaning path in the vertical direction, the same place of repeated cleaning is avoided, and the window cleaning efficiency is improved.
Further, in this embodiment, the crawler-type window cleaning robot can move up to the frame position twenty-three, the vertical distance from the starting point is the preset distance, and the crawler-type window cleaning robot rotates twice to the position twenty-four, rotates counterclockwise by 90 degrees to the position twenty-five, and moves left to return to the starting point position twenty-two, which is beneficial to realizing that the crawler-type window cleaning robot returns to the starting point position, so that the crawler-type window cleaning robot can clean windows according to the planned window cleaning path in the horizontal direction and the planned window cleaning path in the vertical direction, thereby avoiding repeated window cleaning at the same place, and improving the window cleaning efficiency.
The invention also provides a crawler-type window cleaning robot, which can realize that the crawler-type window cleaning robot can clean the window in a full-coverage path, can simplify the planned path to the utmost extent, avoids the occurrence of repeated cleaning of the same place, and improves the window cleaning efficiency.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a crawler-type window cleaning robot according to an embodiment of the present invention. In this embodiment, the tracked window wiping robot 70 includes an acquisition module 71, a walking module 72, a horizontal path window wiping module 73, and a vertical path window wiping module 74.
The obtaining module 71 is configured to obtain the current position as a starting position one 1.
The walking module 72 is configured to control the tracked window cleaning robot to walk from the starting point position 1 to the frame position according to the acquired current position 1 as the starting point position.
The horizontal path window wiping module 73 is configured to plan a window wiping path in the horizontal direction, and wipe a window according to the planned window wiping path in the horizontal direction.
The vertical path window wiping module 74 plans a window wiping path in the vertical direction and wipes the window according to the planned window wiping path in the vertical direction.
Optionally, the walking module 72 may be specifically configured to:
and controlling the original position to rotate to a specified direction from the initial position according to the acquired current position I1 as the initial position, controlling the original position to move upwards to a frame position II 2 and then downwards to a position III 3, controlling the original position to rotate 90 degrees anticlockwise to a position IV 4, and walking to a frame position V5 after rotating twice along the edge.
Optionally, the horizontal path window wiping module 73 may be specifically configured to:
and planning a window wiping path in the horizontal direction in a mode of moving to the upper left corner position six 6, moving to the upper right corner position seven 7, rotating twice to the position eight 8, moving to the frame position nine 9, rotating twice to the position ten 10, rotating twice to the position eleven 11, rotating twice to the position twelve 12, and moving left to the position thirteen 13, and circulating the two rotations to the position ten 10, the right to the position eleven 11, the two rotations to the position twelve 12, and the left to the position thirteen 13 to the position fourteen 101, and wiping the window according to the planned window wiping path in the horizontal direction.
Optionally, the vertical path window wiping module 74 may be specifically configured to:
and planning a window wiping path in the vertical direction by adopting a mode of moving to the lower right corner position fifteen 102, moving to the lower left corner position sixteen 103, rotating to the position seventeen 104 twice, retreating to the position eighteen 105 away from the frame by a preset distance, rotating 90 degrees clockwise to the position nineteen 106, rotating to the position twenty 107 close to the frame twice, circulating the position eighteen 105 retreating to the frame by the preset distance, rotating 90 degrees clockwise to the position nineteen 106, rotating to the position twenty 107 close to the frame twice until the position twenty-one 201 at the lower right corner, and wiping the window according to the planned window wiping path in the vertical direction.
Referring to fig. 8, fig. 8 is a schematic structural view of another embodiment of the tracked window-cleaning robot of the present invention. In contrast to the previous embodiment, the tracked window cleaning robot 80 of the present embodiment further includes a return module 81.
The returning module 81 is configured to return to the starting position twenty-two 205.
Optionally, the returning module 81 may be specifically configured to:
up to the frame position twenty-three 202, the vertical distance from the starting point is a preset distance, and two rotations to position twenty-four 203 and 90 degrees counterclockwise to position twenty-five 204 and a left shift back to the starting position twenty-two 205.
Each unit module of the tracked window cleaning robot 70/80 can respectively execute the corresponding steps in the above method embodiments, and therefore, the detailed description of each unit module is omitted here, and please refer to the description of the corresponding steps above.
The present invention further provides a crawler-type window cleaning apparatus, as shown in fig. 9, comprising: at least one processor 91; and a memory 92 communicatively coupled to the at least one processor 91; wherein the memory 92 stores instructions executable by the at least one processor 91, the instructions being executable by the at least one processor 91 to enable the at least one processor 91 to perform the method of path planning based on a tracked window wiping robot as described above.
Where the memory 92 and the processor 91 are coupled in a bus, the bus may comprise any number of interconnected buses and bridges that couple one or more of the various circuits of the processor 91 and the memory 92 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 91 is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 91.
The processor 91 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory 92 may be used to store data used by the processor 91 in performing operations.
The present invention further provides a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
According to the scheme, the crawler-type window wiping robot acquires the current position as the first starting position, can control the crawler-type window wiping robot to walk to the frame position from the first starting position according to the acquired current position as the first starting position, can plan the window wiping path in the horizontal direction, can wipe the window according to the planned window wiping path in the horizontal direction, can plan the window wiping path in the vertical direction, and wipe the window according to the planned window wiping path in the vertical direction, so that the crawler-type window wiping robot can wipe the window in the full-coverage path, the planned path can be simplified to the greatest extent, the phenomenon that the same place is wiped repeatedly is avoided, and the window wiping efficiency is improved.
Further, according to the scheme, the crawler-type window cleaning robot can control the crawler-type window cleaning robot to rotate to the designated direction from the starting point position in situ according to the acquired current position I as the starting point position, control the crawler-type window cleaning robot to move upwards to the frame position II and then move downwards to the position III, control the crawler-type window cleaning robot to rotate anticlockwise by 90 degrees to the position IV, and control the crawler-type window cleaning robot to walk to the frame position V after rotating for two times close to the side.
Further, in the above scheme, the crawler-type window-cleaning robot can plan the window-cleaning path in the horizontal direction by adopting the modes of moving to the upper left corner position six, moving to the upper right corner position seven, rotating to the position eight twice, rotating to the frame position nine, rotating to the position ten twice, rotating to the position eleven twice, rotating to the position twelve twice, rotating to the position thirteen left twice, and circulating the two rotations to the position ten, the right movement to the position eleven, the two rotations to the position twelve, and the left movement to the position thirteen until the position fourteen, and the window is wiped according to the planned window wiping path in the horizontal direction, so that the crawler-type window wiping robot can fully cover the path in the horizontal direction for wiping the window, the planned path in the horizontal direction can be simplified to the greatest extent, the same place on the path in the horizontal direction is prevented from being repeatedly wiped, and the window wiping efficiency in the horizontal direction is improved.
Further, according to the scheme, the crawler type window wiping robot can plan the window wiping path in the vertical direction in a mode of moving to the lower right corner position fifteen rightwards, moving to the lower left corner position sixteen leftwards, rotating to the position seventeen twice, retreating to the position eighteen away from the frame by a preset distance, rotating 90 degrees clockwise to the position nineteen clockwise, rotating to the position twenty right lower corner position twenty one twice, rotating to the position twenty side by two times, circulating the window wiping path in the vertical direction backwards, wiping the window according to the planned window wiping path in the vertical direction, and has the advantages that the crawler type window wiping robot can fully cover the path wiping window in the vertical direction, the planned path in the vertical direction can be simplified to the greatest extent, the situation that the same place is repeatedly wiped on the path in the vertical direction is avoided, the efficiency of wiping the window in the vertical direction is improved.
Furthermore, according to the scheme, the crawler-type window cleaning robot can return to twenty-two of the starting point position, so that the crawler-type window cleaning robot can return to the starting point position, the crawler-type window cleaning robot can clean windows according to the planned window cleaning path in the horizontal direction and the planned window cleaning path in the vertical direction, the situation that the same place is repeatedly cleaned is avoided, and the window cleaning efficiency is improved.
Furthermore, according to the scheme, the crawler-type window cleaning robot can move up to the twenty-three frame position, the vertical distance from the starting point is the preset distance, the crawler-type window cleaning robot rotates twice to the twenty-four frame position and rotates 90 degrees anticlockwise to the twenty-five frame position, and the crawler-type window cleaning robot moves left to return to the twenty-two frame position.
In the several embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be substantially or partially implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a part of the embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes performed by the present invention through the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A path planning method based on a crawler-type window cleaning robot is characterized by comprising the following steps:
the crawler-type window cleaning robot acquires a current position as a first starting position;
controlling to walk from the first starting position to a frame position according to the obtained first current position as the starting position;
planning a window wiping path in the horizontal direction, and wiping a window according to the planned window wiping path in the horizontal direction;
planning a window wiping path in the vertical direction, and wiping a window according to the planned window wiping path in the vertical direction;
the crawler-type window-cleaning robot plans a window-cleaning path in the vertical direction and cleans windows according to the planned window-cleaning path in the vertical direction, and the crawler-type window-cleaning robot comprises:
the crawler-type window wiping robot adopts the modes that the crawler-type window wiping robot moves to the right to the lower right corner position fifteen, moves to the left to the lower left corner position sixteen, rotates twice to the position seventeen, retreats to the position eighteen away from the frame by a preset distance, rotates 90 degrees clockwise to the position nineteen, rotates twice close to the edge to the frame position twenty, and circulates back to the position eighteen away from the frame by the preset distance, rotates 90 degrees clockwise to the position nineteen, rotates twice close to the edge to the frame position twenty-one until the lower right corner position twenty-one, plans a window wiping path in the vertical direction, and wipes windows according to the planned window wiping path in the vertical direction.
2. The track-mounted window cleaning robot-based path planning method according to claim 1, wherein the track-mounted window cleaning robot controls the track-mounted window cleaning robot to walk from the first starting position to the fifth frame position according to the acquired first current position as the starting position, and the method comprises the following steps:
and the crawler-type window cleaning robot controls the crawler-type window cleaning robot to rotate from the starting point to a specified direction in situ according to the acquired current position I as the starting point position, controls the crawler-type window cleaning robot to move upwards to a frame position II and then downwards to a position III, controls the crawler-type window cleaning robot to rotate anticlockwise by 90 degrees to a position IV, and moves to a frame position V after rotating twice along the edge.
3. The tracked window wiping robot based path planning method according to claim 1, wherein the tracked window wiping robot plans a window wiping path in a horizontal direction and wipes windows according to the planned window wiping path in the horizontal direction, and the method comprises the following steps:
the crawler-type window wiping robot adopts the modes of moving to the upper left corner position six from the left, moving to the upper right corner position seven from the right, rotating to the position eight from the left, moving to the frame position nine from the left, rotating to the position ten from the two times, rotating to the position eleven from the right, rotating to the position twelve from the two times, moving to the position thirteen from the left, circulating the modes of rotating to the position ten from the two times, rotating to the position eleven from the right, rotating to the position twelve from the two times, rotating to the position thirteen from the left and moving to the position fourteen from the left, planning the window wiping path in the horizontal direction, and wiping the window according to the planned window wiping path in the horizontal direction.
4. The track-mounted window cleaning robot-based path planning method according to claim 1, wherein after the track-mounted window cleaning robot plans a window cleaning path in a vertical direction and cleans a window according to the planned window cleaning path in the vertical direction, the method further comprises the following steps:
and the crawler-type window cleaning robot returns to twenty-two starting positions.
5. A track-type window cleaning robot-based path planning method according to claim 4, wherein the track-type window cleaning robot returns to twenty-two starting positions, and comprises the following steps:
the crawler-type window cleaning robot moves up to twenty-three frame positions, the vertical distance from the starting point is a preset distance, and the crawler-type window cleaning robot rotates twice to twenty-four frame positions, rotates 90 degrees anticlockwise to twenty-five frame positions and moves left to return to twenty-two frame positions.
6. A tracked window cleaning robot, comprising:
the system comprises an acquisition module, a walking module, a horizontal path window wiping module and a vertical path window wiping module;
the acquisition module is used for acquiring a current position as a starting position I;
the walking module is used for controlling walking from the first starting position to the frame position according to the acquired first current position as the starting position;
the horizontal path window wiping module is used for planning a window wiping path in the horizontal direction and wiping windows according to the planned window wiping path in the horizontal direction;
the vertical path window wiping module plans a window wiping path in the vertical direction and wipes a window according to the planned window wiping path in the vertical direction;
the vertical path window wiping module is specifically configured to:
and planning a window wiping path in the vertical direction by adopting a mode of rightwards moving to a lower right corner position fifteen, leftwards moving to a lower left corner position sixteen, twice rotating to a position seventeen, retreating to a position eighteen away from a frame by a preset distance, clockwise rotating by 90 degrees to a position nineteen, twice rotating by leaning on an edge to a frame position twenty, and circulating the mode of retreating to a position eighteen away from the frame by the preset distance, clockwise rotating by 90 degrees to a position nineteen, twice rotating by leaning on an edge to a frame position twenty until a lower right corner position twenty one, and wiping the window according to the planned window wiping path in the vertical direction.
7. The tracked window wiping robot according to claim 6, wherein the walking module is specifically configured to:
and controlling the original position to rotate to a specified direction from the initial position according to the acquired first current position as the initial position, controlling the original position to move upwards to a second frame position and then downwards to a third position, controlling the original position to rotate anticlockwise by 90 degrees to a fourth position, and controlling the original position to walk to a fifth frame position after rotating along the edge twice.
8. The tracked window wiping robot of claim 7, wherein the horizontal path window wiping module is specifically configured to:
planning a window wiping path in the horizontal direction in a mode of moving to the position six at the upper left corner, moving to the position seven at the upper right corner in a left-hand mode, rotating to the position eight at the position nine at the position on the frame in a left-hand mode, rotating to the position ten at the position, rotating to the position eleven at the position twice, rotating to the position twelve at the position thirteen at the left at the position thirteen at the position fourteen at the position twice, and wiping windows according to the planned window wiping path in the horizontal direction.
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