CN111990921A - Window cleaning robot movement control method, device, equipment and storage medium - Google Patents
Window cleaning robot movement control method, device, equipment and storage medium Download PDFInfo
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- CN111990921A CN111990921A CN202010856464.8A CN202010856464A CN111990921A CN 111990921 A CN111990921 A CN 111990921A CN 202010856464 A CN202010856464 A CN 202010856464A CN 111990921 A CN111990921 A CN 111990921A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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Abstract
The application discloses a window-cleaning robot movement control method, device, equipment and storage medium, wherein the method is applied to a movement control device of a window-cleaning robot, two non-contact anti-drop sensors are assembled on the window-cleaning robot, and the two anti-drop sensors are both positioned on one side of the window-cleaning robot and are distributed along the rotation direction of a driving wheel of the window-cleaning robot; the method comprises the following steps: responding to the movement control request, and acquiring the current position and the preset movement path of the window cleaning robot on the glass to be cleaned; controlling the window cleaning robot to move to the initial starting point based on the current position and the initial starting point of the preset moving path; the window cleaning robot is controlled to move along the preset moving path in the preset moving mode, and the technical problem that the cost of the whole window cleaning robot is high due to the fact that 4 non-contact anti-falling sensors are adopted in the moving process of the window cleaning robot is solved.
Description
Technical Field
The application relates to the technical field of path planning, in particular to a window-cleaning robot movement control method, device, equipment and storage medium.
Background
With the development of science and technology, the necessity of using window-cleaning robots in high-rise and super-high-rise buildings is generally accepted. In the moving process of the window cleaning robot, in order to prevent the window cleaning robot from falling, the gap and the frameless glass cliff are detected by the anti-falling sensor.
In the prior art, 4 non-contact anti-drop sensors are placed at the bottom of a machine body, detection of cliffs and gaps is realized by adopting ultrasonic waves, lasers, proximity sensors and the like, the anti-drop sensor is small in size, high in stability, detection capability and accuracy, but the cost is high, and the whole window cleaning robot is high in cost.
Disclosure of Invention
The application provides a window cleaning robot movement control method, device, equipment and storage medium, and solves the technical problem that the cost of the whole window cleaning robot is high due to the fact that 4 non-contact anti-falling sensors are adopted in the movement process of the window cleaning robot, and the cost is high.
In view of the above, a first aspect of the present application provides a method for controlling movement of a window cleaning robot, which is applied to a movement control device of a window cleaning robot, where the window cleaning robot is equipped with two non-contact anti-drop sensors, and both the two anti-drop sensors are located at one side of the window cleaning robot and distributed along a rotation direction of a driving wheel of the window cleaning robot;
the method comprises the following steps:
responding to a movement control request, and acquiring the current position and the preset movement path of the window cleaning robot on the glass to be cleaned;
controlling the window-wiping robot to move to an initial starting point based on the current position and the initial starting point of the preset moving path;
controlling the window cleaning robot to move along the preset moving path according to a preset moving mode, wherein the preset moving mode is as follows: the relative relation between the falling-prevention sensor and the moving direction of the window cleaning robot is kept unchanged.
Optionally, the two anti-falling sensors are respectively located at two corners of the left side of the bottom of the window cleaning robot body.
Optionally, the initial starting point of the preset moving path is located at the lower left corner of the glass to be wiped.
Optionally, the preset moving path is an N-type path;
and controlling the window cleaning robot to move along the preset moving path according to a preset moving mode, wherein the preset moving mode is as follows: the relative relationship between the falling prevention sensor and the moving direction of the window cleaning robot is kept unchanged, and the method specifically comprises the following steps:
s1, controlling the window cleaning robot to move upwards;
s2, when the falling-prevention sensor detects the frameless cliff of the glass to be wiped, controlling the window wiping robot to retreat in an arc shape by a first preset distance;
s3, controlling the window cleaning robot to turn left, so that the head of the body of the window cleaning robot is vertically downward;
s4, controlling the window cleaning robot to move downwards;
s5, when the falling-prevention sensor detects the lower frameless cliff of the glass to be wiped, controlling the window wiping robot to retreat in an arc shape by the first preset distance;
s6, controlling the window cleaning robot to turn right, enabling the head of the body of the window cleaning robot to be vertically upward, and returning to the step S1 until the window cleaning robot detects the right boundary of the glass to be cleaned;
and S7, moving along the right boundary by using the falling prevention sensor.
Optionally, the first preset distance is half of the length of the body of the window wiping robot.
Optionally, the preset moving path is an inverted U-shaped path;
and controlling the window cleaning robot to move along the preset moving path according to a preset moving mode, wherein the preset moving mode is as follows: the relative relationship between the falling prevention sensor and the moving direction of the window cleaning robot is kept unchanged, and the method specifically comprises the following steps:
s1, controlling the window cleaning robot to move upwards;
s2, when the falling-prevention sensor detects the frameless cliff of the glass to be wiped, controlling the window wiping robot to turn right and move a second preset distance;
s3, controlling the window cleaning robot to turn left, and enabling the head of the body of the window cleaning robot to be vertically upward;
s4, controlling the window cleaning robot to move backwards;
s5, when the falling-prevention sensor detects the lower frameless cliff of the glass to be wiped, controlling the window wiping robot to turn right and move a second preset distance;
s6, controlling the window cleaning robot to turn left, enabling the head of the body of the window cleaning robot to vertically face upwards, and returning to the step S1 until the window cleaning robot detects the right boundary of the glass to be cleaned;
and S7, moving along the right boundary by using the falling prevention sensor.
Optionally, the two anti-falling sensors are respectively located at two corners of the right side of the bottom of the window cleaning robot body.
The second aspect of the application provides a movement control device of a window cleaning robot, wherein two non-contact anti-falling sensors are assembled on the window cleaning robot, are positioned on one side of the window cleaning robot and are distributed along the rotation direction of a driving wheel of the window cleaning robot;
the movement control device includes:
the window cleaning robot comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for responding to a movement control request, and acquiring the current position and the preset movement path of the window cleaning robot on the glass to be cleaned;
the first control unit is used for controlling the window cleaning robot to move to the initial starting point based on the current position and the initial starting point of the preset moving path;
the second control unit is used for controlling the window wiping robot to move along the preset moving path according to a preset moving mode, wherein the preset moving mode is as follows: the relative relation between the falling-prevention sensor and the moving direction of the window cleaning robot is kept unchanged.
A third aspect of the present application provides a window-wiping robot movement control apparatus, the apparatus comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the window-wiping robot movement control method according to the first aspect according to instructions in the program code.
A fourth aspect of the present application provides a storage medium for storing program code for executing the window-wiping robot movement control method according to the first aspect.
According to the technical scheme, the embodiment of the application has the following advantages:
the application provides a window-cleaning robot movement control method, which is applied to a movement control device of a window-cleaning robot, wherein the window-cleaning robot is provided with two non-contact anti-drop sensors, and the two anti-drop sensors are both positioned at one side of the window-cleaning robot and are distributed along the rotation direction of a driving wheel of the window-cleaning robot; the method comprises the following steps: responding to the movement control request, and acquiring the current position and the preset movement path of the window cleaning robot on the glass to be cleaned; controlling the window cleaning robot to move to the initial starting point based on the current position and the initial starting point of the preset moving path; controlling the window cleaning robot to move along a preset moving path according to a preset moving mode, wherein the preset moving mode is as follows: the relative relation between the falling-prevention sensor and the moving direction of the window cleaning robot is kept unchanged. According to the window cleaning robot, the two non-contact anti-falling sensors are mounted on the window cleaning robot, and the gap and frameless cliff detection is realized by combining the corresponding path moving method, so that the cost is reduced, and the complexity of the structural design is reduced, thereby solving the technical problem that the cost of the whole window cleaning robot is higher due to the adoption of the 4 non-contact anti-falling sensors in the moving process of the window cleaning robot.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a first embodiment of a window cleaning robot movement control method in an embodiment of the present application;
fig. 2 is a schematic installation diagram of two non-contact fall-prevention sensors in the second embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a second embodiment of the present invention moving from the current position to the initial starting point;
fig. 4 is a movement diagram of a window cleaning robot movement control method in the third embodiment of the present application;
fig. 5 is a schematic structural diagram of an embodiment of a window-cleaning robot movement control device in an embodiment of the present application.
Detailed Description
The embodiment of the application provides a window cleaning robot movement control method, device, equipment and storage medium, and solves the technical problem that the cost of the whole window cleaning robot is high due to the fact that 4 non-contact anti-falling sensors are adopted in the movement process of the window cleaning robot, and the cost is high.
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, a schematic flow chart of a first embodiment of a window cleaning robot movement control method in an embodiment of the present application is shown.
The window cleaning robot movement control method in the embodiment is applied to a movement control device of a window cleaning robot, two non-contact anti-drop sensors are assembled on the window cleaning robot, and the two anti-drop sensors are both positioned on one side of the window cleaning robot and distributed along the rotation direction of a driving wheel of the window cleaning robot;
the method comprises the following steps:
It should be noted that, first, in response to the movement control request, the current position and the preset movement path of the window cleaning robot on the glass to be cleaned are acquired.
And 102, controlling the window cleaning robot to move to the initial starting point based on the current position and the initial starting point of the preset moving path.
In this embodiment, when the current position and the initial starting point are not at the same point, the window-wiping robot moves to the initial starting point, and when the current position and the initial starting point are at the same point, the position of the window-wiping robot is kept unchanged.
It is understood that the manner for controlling the window-wiping robot to move from the current position to the initial starting point may be various manners known in the art, and those skilled in the art may select the manner as needed, which is not described herein again.
103, controlling the window cleaning robot to move along a preset moving path according to a preset moving mode, wherein the preset moving mode is as follows: the relative relation between the falling-prevention sensor and the moving direction of the window cleaning robot is kept unchanged.
After the window cleaning robot moves to the initial starting point, the window cleaning robot is controlled to move along a preset moving path according to a preset moving mode, wherein the preset moving mode is as follows: the relative relation between the anti-falling sensor and the moving direction of the window cleaning robot is kept unchanged, and the anti-falling sensor can be ensured to carry out effective detection.
The window cleaning robot movement control method in the embodiment is applied to a movement control device of a window cleaning robot, two non-contact anti-falling sensors are assembled on the window cleaning robot, and the two anti-falling sensors are both positioned on one side of the window cleaning robot and distributed along the rotation direction of a driving wheel of the window cleaning robot; the method comprises the following steps: responding to the movement control request, and acquiring the current position and the preset movement path of the window cleaning robot on the glass to be cleaned; controlling the window cleaning robot to move to the initial starting point based on the current position and the initial starting point of the preset moving path; controlling the window cleaning robot to move along a preset moving path according to a preset moving mode, wherein the preset moving mode is as follows: the relative relation between the falling-prevention sensor and the moving direction of the window cleaning robot is kept unchanged. According to the window cleaning robot, the two non-contact anti-falling sensors are mounted on the window cleaning robot, and the gap and frameless cliff detection is realized by combining the corresponding path moving method, so that the cost is reduced, and the complexity of the structural design is reduced, thereby solving the technical problem that the cost of the whole window cleaning robot is higher due to the adoption of the 4 non-contact anti-falling sensors in the moving process of the window cleaning robot.
The first embodiment of the window-cleaning robot movement control method provided in the embodiments of the present application is described above, and the second embodiment of the window-cleaning robot movement control method provided in the embodiments of the present application is described below in detail with respect to the mounting positions of the two falling prevention sensors on the basis of the first embodiment.
As shown in the left schematic view of fig. 2, the two non-contact anti-drop sensors in the present embodiment are respectively located at two corners of the left side of the bottom of the window cleaning robot body. It can be understood that, as shown in the right schematic view of fig. 2, the anti-falling sensors are respectively located at two corners of the right side of the bottom of the window wiping robot body.
It is understood that the left and right mounting positions are relative positions.
It should be noted that the initial starting point of the preset moving path in this embodiment is located at the lower left corner of the glass to be wiped.
It is to be understood that, when the initial starting point is located at the lower left corner of the glass to be wiped, and as shown in fig. 2, the current position of the window wiping robot is at the initial position in fig. 3, controlling the window wiping robot to move from the current position to the initial starting point includes:
a. and after the system initialization is finished, the posture of the machine body is adjusted, so that the head of the machine body is vertically upward.
b. And after the falling-prevention sensor positioned on the left side of the head of the machine body detects the upper frameless cliff, the machine body retreats for a short distance.
c. Turning left, and adjusting the posture of the machine body to enable the head of the machine body to walk left horizontally.
d. And after the falling-prevention sensor positioned on the left side of the head of the machine body detects the left frameless cliff, the machine body retreats for a short distance.
e. Turning right, and adjusting the posture of the machine body to enable the head of the machine body to be vertically upward.
f. The machine utilizes the anti-falling sensor on the left side of the machine body to firstly carry out welting, retreat and downwards walk to move to an initial starting point.
In this embodiment, two dropproof sensors homonymies distribute, and distribute along the drive wheel direction of rotation of window-cleaning robot, ensure that dropproof sensor can effectively survey.
The above is an embodiment two of the window-cleaning robot movement control method according to the embodiment of the present application, and the following is an embodiment three of the window-cleaning robot movement control method according to the embodiment of the present application, and the embodiment two is a detailed description of the movement control of the N-type path based on the embodiment two.
If the preset moving path is an N-type path, as shown in fig. 4, the window cleaning robot is controlled to move along the preset moving path in a preset moving mode, where the preset moving mode is: the specific step of keeping the relative relationship between the falling prevention sensor and the moving direction of the window cleaning robot unchanged includes:
s1, controlling the window cleaning robot to move upwards;
s2, when the falling-prevention sensor detects the frameless cliff of the glass to be wiped, controlling the window-wiping robot to retreat in an arc shape by a first preset distance;
s3, controlling the window cleaning robot to turn left, so that the head of the window cleaning robot body is vertically downward;
s4, controlling the window cleaning robot to move downwards;
s5, when the falling-prevention sensor detects the lower frameless cliff of the glass to be wiped, controlling the window wiping robot to retreat in an arc shape by a first preset distance;
s6, controlling the window cleaning robot to turn right, enabling the head of the body of the window cleaning robot to be vertically upward, and returning to the step S1 until the window cleaning robot detects the right boundary of the glass to be cleaned;
and S7, moving along the right boundary by using the falling prevention sensor.
In this embodiment, the first preset distance is half of the length of the body of the window cleaning robot. It is understood that the first preset distance may be set by a person skilled in the art according to his own needs, and will not be described in detail herein.
The above is the third embodiment of the movement control method of the window-cleaning robot according to the embodiment of the present application, and the following is the fourth embodiment of the movement control method of the window-cleaning robot according to the embodiment of the present application, and the fourth embodiment describes in detail the movement control of the inverted U-shaped path based on the second embodiment.
And if the preset moving path is an inverted U-shaped path, controlling the window cleaning robot to move along the preset moving path according to a preset moving mode, wherein the preset moving mode is as follows: the specific step of keeping the relative relationship between the falling prevention sensor and the moving direction of the window cleaning robot unchanged includes:
s1, controlling the window cleaning robot to move upwards;
s2, when the falling-prevention sensor detects the frameless cliff to be wiped, controlling the window wiping robot to turn right and move a second preset distance;
s3, controlling the window cleaning robot to turn left, and enabling the head of the body of the window cleaning robot to be vertically upward;
s4, controlling the window cleaning robot to move backwards;
s5, when the falling-prevention sensor detects the lower frameless cliff of the glass to be wiped, controlling the window wiping robot to turn right and move a second preset distance;
s6, controlling the window cleaning robot to turn left, enabling the head of the body of the window cleaning robot to vertically face upwards, and returning to the step S1 until the window cleaning robot detects the right boundary of the glass to be cleaned;
and S7, moving along the right boundary by using the falling prevention sensor.
It is understood that the second preset distance in this embodiment can be set by one skilled in the art as required, for example, half or equal to the length of the fuselage.
The above is an embodiment of a method for controlling movement of a window-cleaning robot according to an embodiment of the present application, and the following is an embodiment of a device for controlling movement of a window-cleaning robot according to an embodiment of the present application, please refer to fig. 5.
In the embodiment of this application, a window cleaning robot mobile control device's embodiment, window cleaning robot is last to be equipped with two non-contact's dropproof sensor, and two dropproof sensors all are located window cleaning robot's one side, and the drive wheel rotation direction of following window cleaning robot distributes, and this mobile control device includes:
an obtaining unit 501, configured to obtain a current position and a preset moving path of the window cleaning robot on a glass to be cleaned in response to a movement control request;
a first control unit 502, configured to control the window cleaning robot to move to an initial starting point based on the current position and the initial starting point of the preset moving path;
a second control unit 503, configured to control the window cleaning robot to move along the preset moving path according to a preset moving mode, where the preset moving mode is: the relative relation between the falling-prevention sensor and the moving direction of the window cleaning robot is kept unchanged.
In the embodiment, two non-contact anti-drop sensors are mounted on the window cleaning robot, and a corresponding path moving method is combined, so that gap and frameless cliff detection is realized, the cost is reduced, and the complexity of structural design is reduced, so that the technical problem that the cost of the whole window cleaning robot is high due to the fact that 4 non-contact anti-drop sensors are adopted in the moving process of the window cleaning robot is solved.
The embodiment of the application also provides a window-cleaning robot movement control device, which comprises a processor and a memory; the memory is used for storing the program codes and transmitting the program codes to the processor; the processor is configured to execute the window-wiping robot movement control method according to the first embodiment or the second embodiment according to instructions in the program code.
The embodiment of the application also provides a storage medium, wherein the storage medium is used for storing program codes, and the program codes are used for executing the window-cleaning robot movement control method in the first embodiment or the second embodiment.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of a unit is only one logical functional division, and there may be other divisions when implemented, for example, multiple units or components may be combined or integrated into another grid network to be installed, 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 the needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or 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 application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. 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 the like.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A window-cleaning robot movement control method is applied to a movement control device of a window-cleaning robot and is characterized in that the window-cleaning robot is provided with two non-contact anti-drop sensors, and the two anti-drop sensors are positioned at one side of the window-cleaning robot and distributed along the rotation direction of a driving wheel of the window-cleaning robot;
the method comprises the following steps:
responding to a movement control request, and acquiring the current position and the preset movement path of the window cleaning robot on the glass to be cleaned;
controlling the window-wiping robot to move to an initial starting point based on the current position and the initial starting point of the preset moving path;
controlling the window cleaning robot to move along the preset moving path according to a preset moving mode, wherein the preset moving mode is as follows: the relative relation between the falling-prevention sensor and the moving direction of the window cleaning robot is kept unchanged.
2. The window-cleaning robot movement control method according to claim 1, wherein the two anti-drop sensors are respectively located at two corners of the left side of the bottom of the window-cleaning robot body.
3. A window-wiping robot movement control method according to claim 2, characterized in that the initial starting point of the preset movement path is located at the lower left corner of the glass to be wiped.
4. The window-wiping robot movement control method according to claim 3, wherein the preset movement path is an N-type path;
and controlling the window cleaning robot to move along the preset moving path according to a preset moving mode, wherein the preset moving mode is as follows: the relative relationship between the falling prevention sensor and the moving direction of the window cleaning robot is kept unchanged, and the method specifically comprises the following steps:
s1, controlling the window cleaning robot to move upwards;
s2, when the falling-prevention sensor detects the frameless cliff of the glass to be wiped, controlling the window wiping robot to retreat in an arc shape by a first preset distance;
s3, controlling the window cleaning robot to turn left, so that the head of the body of the window cleaning robot is vertically downward;
s4, controlling the window cleaning robot to move downwards;
s5, when the falling-prevention sensor detects the lower frameless cliff of the glass to be wiped, controlling the window wiping robot to retreat in an arc shape by the first preset distance;
s6, controlling the window cleaning robot to turn right, enabling the head of the body of the window cleaning robot to be vertically upward, and returning to the step S1 until the window cleaning robot detects the right boundary of the glass to be cleaned;
and S7, moving along the right boundary by using the falling prevention sensor.
5. The window-wiping robot movement control method according to claim 4, characterized in that the first preset distance is half the length of the window-wiping robot body.
6. The window-wiping robot movement control method according to claim 3, wherein the preset movement path is an inverted U-shaped path;
and controlling the window cleaning robot to move along the preset moving path according to a preset moving mode, wherein the preset moving mode is as follows: the relative relationship between the falling prevention sensor and the moving direction of the window cleaning robot is kept unchanged, and the method specifically comprises the following steps:
s1, controlling the window cleaning robot to move upwards;
s2, when the falling-prevention sensor detects the frameless cliff of the glass to be wiped, controlling the window wiping robot to turn right and move a second preset distance;
s3, controlling the window cleaning robot to turn left, and enabling the head of the body of the window cleaning robot to be vertically upward;
s4, controlling the window cleaning robot to move backwards;
s5, when the falling-prevention sensor detects the lower frameless cliff of the glass to be wiped, controlling the window wiping robot to turn right and move a second preset distance;
s6, controlling the window cleaning robot to turn left, enabling the head of the body of the window cleaning robot to vertically face upwards, and returning to the step S1 until the window cleaning robot detects the right boundary of the glass to be cleaned;
and S7, moving along the right boundary by using the falling prevention sensor.
7. The window-cleaning robot movement control method according to claim 1, wherein the two anti-drop sensors are respectively located at two corners of the right side of the bottom of the window-cleaning robot body.
8. A window cleaning robot movement control device is characterized in that two non-contact anti-drop sensors are assembled on a window cleaning robot, are positioned on one side of the window cleaning robot and are distributed along the rotation direction of a driving wheel of the window cleaning robot;
the movement control device includes:
the window cleaning robot comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for responding to a movement control request, and acquiring the current position and the preset movement path of the window cleaning robot on the glass to be cleaned;
the first control unit is used for controlling the window cleaning robot to move to the initial starting point based on the current position and the initial starting point of the preset moving path;
the second control unit is used for controlling the window wiping robot to move along the preset moving path according to a preset moving mode, wherein the preset moving mode is as follows: the relative relation between the falling-prevention sensor and the moving direction of the window cleaning robot is kept unchanged.
9. A window wiping robot movement control apparatus, characterized in that the apparatus comprises a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the window wiping robot movement control method according to any one of claims 1 to 7 according to instructions in the program code.
10. A storage medium characterized by storing a program code for executing the window wiping robot movement control method according to any one of claims 1 to 7.
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| CN202010856464.8A CN111990921B (en) | 2020-08-24 | 2020-08-24 | Window cleaning robot movement control method, device, equipment and storage medium |
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