CN110558891B - Full-coverage path method, device and equipment based on crawler-type window cleaning robot - Google Patents
Full-coverage path method, device and equipment based on crawler-type window cleaning robot Download PDFInfo
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- CN110558891B CN110558891B CN201910693968.XA CN201910693968A CN110558891B CN 110558891 B CN110558891 B CN 110558891B CN 201910693968 A CN201910693968 A CN 201910693968A CN 110558891 B CN110558891 B CN 110558891B
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- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
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- A47L1/02—Power-driven machines or devices
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Abstract
The invention discloses a full-coverage path method, a full-coverage path device and full-coverage path equipment based on a crawler-type window cleaning robot. Wherein the method comprises the following steps: acquiring the current position of a crawler-type window cleaning robot as a first starting position, controlling the crawler-type window cleaning robot to walk to a frame position from the first starting position according to the acquired current position of the crawler-type window cleaning robot as the first starting position, planning a window cleaning path of the crawler-type window cleaning robot in the horizontal direction, enabling the crawler-type window cleaning robot to clean windows according to the planned window cleaning path in the horizontal direction, planning a window cleaning path of the crawler-type window cleaning robot in the vertical direction, and enabling the crawler-type window cleaning robot to clean windows according to the planned window cleaning path in the vertical direction. By the aid of the mode, the crawler-type window wiping robot can wipe windows in a full-coverage path, a planned path can be simplified to the greatest extent, repeated wiping of the same place is avoided, and window wiping efficiency is improved.
Description
Technical Field
The invention relates to the technical field of crawler-type window cleaning robots, in particular to a method, a device and equipment for a full-coverage path 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 scheme based on the full-coverage path of 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.
Disclosure of Invention
In view of the above, the invention aims to provide a method, a device and equipment for wiping a full-coverage path based on a crawler-type window wiping robot, which can enable the crawler-type window wiping robot to wipe windows in the full-coverage path, simplify the planned path to the utmost extent, avoid repeated wiping of the same place and improve the window wiping efficiency.
According to one aspect of the invention, a full-coverage path method based on a crawler-type window wiping robot is provided, and comprises the following steps:
acquiring the current position of the crawler-type window cleaning robot as a first starting position;
controlling the crawler-type window cleaning robot to walk to a frame position from the first starting position according to the obtained first current position of the crawler-type window cleaning robot as the first starting position;
planning a window wiping path of the crawler-type window wiping robot in the horizontal direction, and enabling the crawler-type window wiping robot to wipe windows according to the planned window wiping path in the horizontal direction;
and planning a window wiping path of the crawler-type window wiping robot in the vertical direction, and enabling the crawler-type window wiping robot to wipe the window according to the planned window wiping path in the vertical direction.
The step of controlling 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 of the crawler-type window cleaning robot as the starting position comprises the following steps:
and controlling the crawler-type window cleaning robot to rotate from the starting point to a specified direction in situ according to the obtained first current position of the crawler-type window cleaning robot as the starting point position, controlling the crawler-type window cleaning robot to move up to a second frame position and then move down to a third position in the specified direction, and rotate 90 degrees anticlockwise to a fourth position, and walk to a fifth frame position after rotating twice close to the edge.
The method for planning the window cleaning path of the crawler-type window cleaning robot in the horizontal direction and enabling the crawler-type window cleaning robot to clean the window according to the planned window cleaning path in the horizontal direction comprises the following steps:
planning a window wiping path of the crawler-type window wiping robot in the horizontal direction in a mode of enabling the crawler-type window wiping robot to move to the upper left corner position six, move to the upper right corner position seven in a left mode, rotate twice to the position eight, rotate twice to the frame position nine, rotate twice to the position ten, rotate twice to the position eleven, rotate twice to the position twelve and move left to the position thirteen until the position fourteen, and enabling the crawler-type window wiping robot to wipe windows according to the planned window wiping path in the horizontal direction.
The method for planning the window cleaning path of the crawler-type window cleaning robot in the vertical direction and enabling the crawler-type window cleaning robot to clean the window according to the planned window cleaning path in the vertical direction comprises the following steps:
planning a window wiping path of the crawler type window wiping robot in the vertical direction by adopting a mode that the crawler type window wiping robot moves to the lower right corner position fifteen and moves to the lower left corner position sixteen to the right corner position sixteen to rotate twice to the position seventeen to retreat to the position eighteen at a preset distance from a frame and rotates 90 degrees clockwise to the position nineteen to rotate twice to lean against the frame to the position twenty-one at the lower right corner position twenty, and circulating the crawler type window wiping robot to retreat to the position eighteen at the preset distance from the frame and rotate 90 degrees clockwise to the position nineteen to rotate clockwise to lean against the frame to rotate twice to the position twenty-one at the lower right corner, and wiping the crawler type window wiping robot wipes windows according to the planned window wiping path in the vertical direction.
After planning the window cleaning path of the crawler-type window cleaning robot in the vertical direction and enabling the crawler-type window cleaning robot to clean the window according to the planned window cleaning path in the vertical direction, the method further comprises the following steps:
and returning the crawler-type window cleaning robot to the twenty-two starting positions.
Wherein said returning said tracked window wiping robot to a starting position twenty-two comprises:
moving the tracked window cleaning robot up to a frame position twenty-three, the vertical distance from the starting point being a preset distance, and rotating the tracked window cleaning robot twice to a position twenty-four and counterclockwise by 90 degrees to a position twenty-five and moving left back to a starting position twenty-two.
According to one aspect of the invention, a full-coverage path device based on a crawler-type window cleaning robot is provided, which comprises:
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 the current position of the crawler-type window cleaning robot as a first starting position;
the walking module is used for controlling the crawler-type window cleaning robot to walk to the frame position from the first starting position according to the obtained first current position of the crawler-type window cleaning robot as the first starting position;
the horizontal path window wiping module is used for planning a window wiping path of the crawler type window wiping robot in the horizontal direction and enabling the crawler type window wiping robot to wipe windows according to the planned window wiping path in the horizontal direction;
the vertical path window wiping module plans a window wiping path of the crawler type window wiping robot in the vertical direction and enables the crawler type window wiping robot to wipe windows according to the planned window wiping path in the vertical direction.
Wherein, the walking module is specifically used for:
and controlling the crawler-type window cleaning robot to rotate from the starting point to a specified direction in situ according to the obtained first current position of the crawler-type window cleaning robot as the starting point position, controlling the crawler-type window cleaning robot to move up to a second frame position and then move down to a third position in the specified direction, and rotate 90 degrees anticlockwise to a fourth position, and walk to a fifth frame position after rotating twice close to the edge.
Wherein, horizontal path window wiping module is specifically used for:
planning a window wiping path of the crawler-type window wiping robot in the horizontal direction in a mode of enabling the crawler-type window wiping robot to move to the upper left corner position six, move to the upper right corner position seven in a left mode, rotate twice to the position eight, rotate twice to the frame position nine, rotate twice to the position ten, rotate twice to the position eleven, rotate twice to the position twelve and move left to the position thirteen until the position fourteen, and enabling the crawler-type window wiping robot to wipe windows according to the planned window wiping path in the horizontal direction.
Wherein, the vertical path window wiping module is specifically configured to:
planning a window wiping path of the crawler type window wiping robot in the vertical direction by adopting a mode that the crawler type window wiping robot moves to the lower right corner position fifteen and moves to the lower left corner position sixteen to the right corner position sixteen to rotate twice to the position seventeen to retreat to the position eighteen at a preset distance from a frame and rotates 90 degrees clockwise to the position nineteen to rotate twice to lean against the frame to the position twenty-one at the lower right corner position twenty, and circulating the crawler type window wiping robot to retreat to the position eighteen at the preset distance from the frame and rotate 90 degrees clockwise to the position nineteen to rotate clockwise to lean against the frame to rotate twice to the position twenty-one at the lower right corner, and wiping the crawler type window wiping robot wipes windows according to the planned window wiping path in the vertical direction.
Wherein, based on crawler-type window-cleaning robot covers path device entirely, still include:
a return module;
and the returning module is used for returning the crawler type window cleaning robot to twenty-two starting positions.
Wherein, the return module is specifically configured to:
moving the tracked window cleaning robot up to a frame position twenty-three, the vertical distance from the starting point being a preset distance, and rotating the tracked window cleaning robot twice to a position twenty-four and counterclockwise by 90 degrees to a position twenty-five and moving left back to a starting position twenty-two.
According to a further aspect of the invention, there is provided a full coverage path apparatus based on a tracked window wiping robot, 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-based window wiping robot full coverage path 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 crawler-based window-wiping robot full-coverage path method according to any one of the above.
It can be found that, with the above scheme, the current position of the crawler-type window cleaning robot can be acquired as the starting position one, and the crawler-type window cleaning robot can be controlled to walk from the starting point position I to the frame position according to the acquired current position of the crawler-type window cleaning robot as the starting point position I, and a window cleaning path of the crawler-type window cleaning robot in the horizontal direction can be planned, and the crawler-type window wiping robot wipes the window according to the planned window wiping path in the horizontal direction, the crawler-type window cleaning robot can clean the window according to the planned window cleaning path in the vertical direction, the crawler-type window cleaning robot can completely cover the path to clean the window, the planned path is simplified to the greatest extent, the same place is prevented from being repeatedly cleaned, and the window cleaning efficiency is improved.
Further, according to the scheme, the crawler-type window cleaning robot can be controlled to rotate to the designated direction from the starting point position in situ according to the acquired current position I of the crawler-type window cleaning robot, the crawler-type window cleaning robot is controlled to move up to the second frame position and then move down to the third frame position and rotate 90 degrees anticlockwise to the fourth frame position, and the crawler-type window cleaning robot is controlled to move to the fifth frame position after rotating for two times along the side.
Further, the above solution can adopt the way of making the tracked window-cleaning robot move to the left upper corner position six and move to the right upper corner position seven and rotate twice to the position eight and rotate twice to the frame position nine and rotate twice to the position eleven and rotate twice to the position twelve and move left to the position thirteen, and circulate the two rotations to the position eleven and the position twelve and rotate twice to the position thirteen and move left to the position fourteen, plan the window-cleaning path of the tracked window-cleaning robot in the horizontal direction, and make the tracked window-cleaning robot wipe the window according to the planned window-cleaning path in the horizontal direction, which has the advantages of making the tracked window-cleaning robot fully cover the window in the horizontal direction, making the planned path in the horizontal direction the simplest, avoiding the repeated wiping of the same place on the path in the horizontal direction, the window wiping efficiency in the horizontal direction is improved.
Further, the above solution can adopt a mode of moving the tracked window-cleaning robot to the right to the lower right corner position fifteen, moving the tracked window-cleaning robot to the left to the lower left corner position sixteen, rotating the tracked window-cleaning robot twice to the position seventeen, rotating the tracked window-cleaning robot twice to the position nineteen, rotating the tracked window-cleaning robot twice to the position twenty by side, circulating the tracked window-cleaning robot to the position eighteen, rotating the tracked window-cleaning robot clockwise by 90 degrees to the position nineteen, rotating the tracked window-cleaning robot twice by side to the position twenty until the lower right corner position twenty one, planning the window-cleaning path of the tracked window-cleaning robot in the vertical direction, and enabling the tracked window-cleaning robot to clean the window according to the planned window-cleaning path in the vertical direction, which has the advantages of enabling the tracked window-cleaning robot to fully cover the path window-cleaning in the vertical direction, and enabling the planned path in the vertical direction to be most simplified, the repeated wiping of the same place on the path in the vertical direction is avoided, and the window wiping efficiency in the vertical direction is improved.
Furthermore, the crawler-type window cleaning robot can return to the twenty-two starting point position by the scheme, 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 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 schematic diagram of symbol definition based on a full-coverage path method of a crawler-type window-cleaning robot in the invention;
FIG. 2 is a schematic flow chart diagram of an embodiment of a full-coverage path method based on a crawler-type window-cleaning robot according to the present invention;
FIG. 3 is a schematic view of a full-coverage path of an embodiment of the method for full-coverage path of the tracked window-cleaning robot according to the present invention;
FIG. 4 is a schematic view of an example of the crawler-type window-cleaning robot based full-coverage path 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 of one example of the crawler-type window-cleaning robot based full-coverage path method for planning a window-cleaning path in a vertical direction according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart of another embodiment of a full-coverage-path method based on a crawler-type window-cleaning robot according to the present invention;
FIG. 7 is a schematic structural diagram of an embodiment of a full-coverage path device based on a crawler-type window-cleaning robot of the invention;
FIG. 8 is a schematic structural diagram of another embodiment of a full-coverage path device based on a crawler-type window-cleaning robot, provided by the invention;
fig. 9 is a schematic structural diagram of an embodiment of the full-coverage-path equipment based on the crawler-type window-cleaning robot.
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 full-coverage path method based on a crawler-type window wiping robot, which can realize the full-coverage path window wiping of the crawler-type window wiping robot, simplify the planned path to the utmost extent, avoid repeated wiping of the same place and improve the window wiping efficiency.
Referring to fig. 1, fig. 1 is a schematic symbol definition diagram of a full-coverage path 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, when the crawler type window cleaning robot has different turning radii near the frame and far from the frame, Rb represents the turning radius near the frame and Rf represents the turning radius far from the frame, Rb > 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 > 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 in place and then lean against the edge.
Referring to fig. 2 and fig. 3, fig. 2 is a schematic flow chart of an embodiment of a full-coverage path method based on a crawler-type window-cleaning robot according to the present invention, and fig. 3 is an exemplary illustration of a full-coverage path of an embodiment of a full-coverage path method based on a crawler-type window-cleaning robot according to the present invention. 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: and acquiring the current position of the crawler-type window cleaning robot as a starting point position I1.
In this embodiment, the current position of the tracked window cleaning robot may be obtained as the starting position in a position locating manner, or the current position of the tracked window cleaning robot may be obtained as the starting position in a measuring manner, which is not limited in the present invention.
S202: and controlling the crawler-type window cleaning robot to walk from the starting point position I1 to the frame position according to the obtained current position I1 of the crawler-type window cleaning robot as the starting point position.
Wherein, the controlling the tracked window-cleaning robot to walk from the starting point position 1 to the frame position five 5 according to the obtained current position 1 of the tracked window-cleaning robot as the starting point position may include:
according to the acquired current position I1 of the crawler-type window cleaning robot as a starting position, the crawler-type window cleaning robot is controlled to rotate from the starting position to a specified direction in situ, the crawler-type window cleaning robot is controlled to move upwards to a frame position II 2 and then downwards to a position III 3, the crawler-type window cleaning robot rotates anticlockwise to a position IV 4, and the crawler-type window cleaning robot walks to a frame position V5 after rotating along the edge twice.
S203: and planning a window wiping path of the crawler-type window wiping robot in the horizontal direction, and enabling the crawler-type window wiping robot to wipe the window according to the planned window wiping path in the horizontal direction.
Wherein, should plan the window-cleaning path of this crawler-type window-cleaning robot in the horizontal direction to make this crawler-type window-cleaning robot according to this window-cleaning path who plans in the horizontal direction window-cleaning, can include:
the window wiping path of the crawler type window wiping robot in the horizontal direction is planned by moving the crawler type window wiping robot to the left upper corner position six 6, moving the crawler type window wiping robot to the right upper corner position seven 7, rotating the crawler type window wiping robot to the right upper corner position eight 8, moving the crawler type window wiping robot to the frame position nine 9, rotating the crawler type window wiping robot to the frame position ten 10, rotating the crawler type window wiping robot to the frame position eleven 12, rotating the crawler type window wiping robot to the frame position twelve 12, rotating the crawler type window wiping robot to the frame position thirteen 13 and rotating the crawler type window wiping robot to the frame position thirteen 101 in the horizontal direction, so that the crawler type window wiping robot can completely cover the window wiping path in the horizontal direction, the planned path in the horizontal direction can be simplified to the utmost, and repeated wiping of the same place on the path in the horizontal direction can be avoided, 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 the window-cleaning path in the horizontal direction according to an embodiment of the full-coverage path method of the tracked window-cleaning robot. As shown in fig. 4, the window wiping path of the crawler-type window wiping robot in the horizontal direction is planned, and the crawler-type window wiping robot wipes windows 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 windows, the planned path in the horizontal direction can be simplified to the utmost 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.
S204: and planning a window wiping path of the crawler-type window wiping robot in the vertical direction, and enabling the crawler-type window wiping robot to wipe the window according to the planned window wiping path in the vertical direction.
Wherein, should plan the window-cleaning path of this crawler-type window-cleaning robot in the vertical direction to make this crawler-type window-cleaning robot according to this window-cleaning path who plans in the vertical direction window-cleaning, can include:
the window wiping path of the crawler type window wiping robot in the vertical direction is planned in a mode that the crawler type window wiping robot moves to the right lower corner position fifteen 102 and moves to the left lower corner position sixteen 103 and rotates twice to the position seventeen 104 and retreats to the position eighteen 105 and rotates 90 degrees clockwise to the position nineteen 106 and rotates close to the frame position twenty 107 twice, and circulates the position eighteen 105 and rotates 90 degrees clockwise to the position nineteen 106 and rotates close to the frame position twenty 107 and reaches the right lower corner position twenty-one 201, and the crawler type window wiping robot is enabled to wipe 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, and the planned path in the vertical direction can be simplified to the utmost extent, the repeated wiping of the same place on the path in the vertical direction is avoided, and the window wiping efficiency in the vertical direction is improved.
In the embodiment, please refer to fig. 5, fig. 5 is a schematic view illustrating a method for planning a window-cleaning path in a vertical direction according to an embodiment of the full-coverage path method of the tracked window-cleaning robot. As shown in fig. 5, a window wiping path of the crawler-type window wiping robot in the vertical direction is planned, and the crawler-type window wiping robot wipes windows according to the planned window wiping path in the vertical direction, so that the crawler-type window wiping robot can fully cover the path in the vertical direction for wiping windows, the planned path in the vertical direction can be simplified to the utmost 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.
After the planning of the window cleaning path of the tracked window cleaning robot in the vertical direction and the window cleaning of the tracked window cleaning robot according to the planned window cleaning path in the vertical direction, the method may further include:
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 the present embodiment, the current position of the tracked window-wiping robot can be obtained as the starting position one, and the crawler-type window cleaning robot can be controlled to walk from the starting point position I to the frame position according to the acquired current position of the crawler-type window cleaning robot as the starting point position I, and a window cleaning path of the crawler-type window cleaning robot in the horizontal direction can be planned, and the crawler-type window wiping robot wipes the window according to the planned window wiping path in the horizontal direction, the crawler-type window cleaning robot can clean the window according to the planned window cleaning path in the vertical direction, the crawler-type window cleaning robot can completely cover the path to clean the window, the planned path is simplified to the greatest extent, the same place is prevented from being repeatedly cleaned, and the window cleaning efficiency is improved.
Further, in this embodiment, the crawler-type window cleaning robot may be controlled to rotate from the starting point to a specified direction in situ according to the obtained current position one of the crawler-type window cleaning robot as the starting point position, and the crawler-type window cleaning robot is controlled to move up to the second frame position and then move down to the third frame position and rotate 90 degrees counterclockwise to the fourth frame position, and then move to the fifth frame position after rotating twice along the side.
Further, in the present embodiment, the window-wiping path in the horizontal direction of the tracked window-wiping robot may be planned by moving the tracked window-wiping robot to the left upper corner position six and to the right upper corner position seven and rotating twice to the position eight and rotating twice to the position eleven and rotating twice to the position twelve and rotating twice to the position thirteen and rotating twice to the position eleven and rotating twice to the position twelve and rotating twice to the position thirteen and rotating twice to the position fourteen and rotating twice to the position thirteen and the position fourteen, and the tracked window-wiping robot may wipe the windows according to the planned window-wiping path in the horizontal direction, which has the advantages of enabling the tracked window-wiping robot to fully cover the path in the horizontal direction, enabling the planned path in the horizontal direction to be simplified to the greatest extent, avoiding the occurrence of repeated wiping of the same place on the path in the horizontal direction, the window wiping efficiency in the horizontal direction is improved.
Further, in this embodiment, the window-wiping path in the vertical direction of the crawler-type window-wiping robot may be planned by moving the crawler-type window-wiping robot to the right to the lower-right corner position fifteen, moving the crawler-type window-wiping robot to the left to the lower-left corner position sixteen, rotating the crawler-type window-wiping robot twice to the position seventeen, rotating the crawler-type window-wiping robot twice to the position eighteen, rotating the crawler-type window-wiping robot twice to the position nineteen, rotating the crawler-type window-wiping robot twice to the position eighteen, and rotating the crawler-type window-wiping robot twice to the position twenty, wherein the crawler-type window-wiping robot rotates the crawler-type window-wiping robot clockwise to the position nineteen, and rotates the crawler-type window-wiping robot clockwise to the position twenty-one, wherein the crawler-type window-wiping robot rotates the crawler-window in the vertical direction to the position twenty-one, and the crawler-type window-wiping robot can wipe the window along the, the repeated wiping of the same place on the path in the vertical direction is avoided, and the window wiping efficiency in the vertical direction is improved.
Referring to fig. 6, fig. 6 is a schematic flow chart of a full-coverage path 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: and acquiring the current position of the crawler-type window cleaning robot as a starting point position I1.
As described above in S201, further description is omitted here.
S602: and controlling the crawler-type window cleaning robot to walk from the starting point position I1 to the frame position according to the obtained current position I1 of the crawler-type window cleaning robot as the starting point position.
As described above in S202, which is not described herein.
S603: and planning a window wiping path of the crawler-type window wiping robot in the horizontal direction, and enabling the crawler-type window wiping robot to wipe the window according to the planned window wiping path in the horizontal direction.
As described above in S203, which is not described herein.
S604: and planning a window wiping path of the crawler-type window wiping robot in the vertical direction, and enabling the crawler-type window wiping robot to wipe the window according to the planned window wiping path in the vertical direction.
As described above in S204, which is not described herein.
S605: the tracked window wiping robot is returned to the starting position twenty-two 205.
Wherein the returning the tracked window-cleaning robot to the starting position twenty-two 205 may comprise:
the crawler-type window cleaning robot is enabled to move upwards to a frame position twenty-three 202, the vertical distance from the starting point is a preset distance, the crawler-type window cleaning robot is enabled to rotate twice to a position twenty-four 203, rotate 90 degrees anticlockwise to a position twenty-five 204 and move left to return to the starting point position twenty-two 205, and the crawler-type window cleaning robot has the advantages 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 same place of repeated window cleaning is avoided, and the window cleaning efficiency is improved.
It can be found that, in this embodiment, the tracked window-cleaning robot can be returned to the starting position twenty-two, which has the advantage of being able to return the tracked window-cleaning robot to the starting position, so that the tracked 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, thereby avoiding repeated cleaning of the same place, and improving the window-cleaning efficiency.
Further, in this embodiment, the tracked window cleaning robot may be moved up to the frame position twenty-three, the vertical distance from the starting point is the preset distance, and the tracked window cleaning robot is rotated twice to the position twenty-four, rotated 90 degrees counterclockwise to the position twenty-five, and moved left to return to the starting point position twenty-two, which has the advantages of enabling the tracked window cleaning robot to return to the starting point position, facilitating the tracked window cleaning robot to clean the window according to the planned window cleaning path in the horizontal direction and the planned window cleaning path in the vertical direction, avoiding repeated cleaning of the same place, and improving the window cleaning efficiency.
The invention also provides a full-coverage path device based on the crawler-type window cleaning robot, which can realize full-coverage path window cleaning of the crawler-type window cleaning robot, simplify the planned path, avoid repeated cleaning of the same place and improve the window cleaning efficiency.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of a full-coverage path device based on a crawler-type window-cleaning robot according to the present invention. In this embodiment, the full-coverage path device 70 based on the crawler-type window-cleaning robot includes an acquisition module 71, a walking module 72, a horizontal path window-cleaning module 73, and a vertical path window-cleaning module 74.
The acquiring module 71 is configured to acquire a current position of the tracked window cleaning robot 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 one 1 to the frame position according to the acquired current position one 1 of the tracked window cleaning robot as the starting point position.
The horizontal path window wiping module 73 is configured to plan a window wiping path of the tracked window wiping robot in the horizontal direction, and enable the tracked window wiping robot to wipe windows according to the planned window wiping path in the horizontal direction.
The vertical path window wiping module 74 plans a window wiping path of the crawler-type window wiping robot in the vertical direction, and enables the crawler-type window wiping robot to wipe windows according to the planned window wiping path in the vertical direction.
Optionally, the walking module 72 may be specifically configured to:
and controlling the crawler type window cleaning robot to rotate from the original position to a designated direction according to the acquired current position I1 of the crawler type window cleaning robot as a starting position, controlling the crawler type window cleaning robot to move up to a second frame position 2 and then move down to a third frame position 3 in the designated direction, and rotate 90 degrees counterclockwise to a fourth frame position 4, and walking to a fifth frame position 5 after rotating twice close to the edge.
Optionally, the horizontal path window wiping module 73 may be specifically configured to:
planning a window wiping path of the crawler type window wiping robot in the horizontal direction by moving the crawler type window wiping robot to the left upper corner position six 6, moving the crawler type window wiping robot to the right upper corner position seven 7, rotating the crawler type window wiping robot to the right upper corner position eight 8, rotating the crawler type window wiping robot to the frame position nine 9, rotating the crawler type window wiping robot to the frame position ten 10, rotating the crawler type window wiping robot to the frame position eleven 12, rotating the crawler type window wiping robot to the frame position eleven 13, rotating the crawler type window wiping robot to the frame position twelve 12, rotating the crawler type window wiping robot to the frame position thirteen 13, and wiping the window by the crawler type window wiping robot 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 of the crawler type window wiping robot in the vertical direction by means of moving the crawler type window wiping robot to the right to the lower right corner position fifteen 102, moving the crawler type window wiping robot to the left to the lower left corner position sixteen 103, rotating the crawler type window wiping robot to the seventeen 104 twice, retreating the crawler type window wiping robot to the eighteen 105 position away from the frame by a preset distance, rotating the crawler type window wiping robot to the nineteen 106 position 90 degrees clockwise, rotating the crawler type window wiping robot to the twenty 107 position away from the frame by two times to the twenty-one 201 position towards the lower right corner position, and circulating the crawler type window wiping robot to the eighteen 105 position away from the frame by the preset distance, rotating the crawler type window wiping robot to the nineteen 106 position away from the clockwise position and rotating the crawler type window wiping robot to the twenty-107 position towards.
Referring to fig. 8, fig. 8 is a schematic structural diagram of another embodiment of the full-coverage path device based on the crawler-type window-cleaning robot of the present invention. In difference to the previous embodiment, the full-coverage path device 80 based on the tracked window-cleaning robot in the present embodiment further includes a return module 81.
The return module 81 is configured to return the tracked window wiping robot to the starting position twenty-two 205.
Optionally, the returning module 81 may be specifically configured to:
moving the tracked window cleaning robot up to frame position twenty-three 202, the vertical distance from the starting point being a preset distance, and rotating the tracked window cleaning robot twice to position twenty-four 203 and 90 degrees counter-clockwise to position twenty-five 204 and left to return to the starting position twenty-two 205.
Each unit module of the full-coverage path device 70/80 based on the tracked window-wiping robot 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 invention also provides full-coverage path equipment based on the crawler-type window cleaning robot, 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 to enable the at least one processor 91 to perform the tracked window-wiping robot based full coverage path method 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.
It can be found that, with the above scheme, the current position of the crawler-type window cleaning robot can be acquired as the starting position one, and the crawler-type window cleaning robot can be controlled to walk from the starting point position I to the frame position according to the acquired current position of the crawler-type window cleaning robot as the starting point position I, and a window cleaning path of the crawler-type window cleaning robot in the horizontal direction can be planned, and the crawler-type window wiping robot wipes the window according to the planned window wiping path in the horizontal direction, the crawler-type window cleaning robot can clean the window according to the planned window cleaning path in the vertical direction, the crawler-type window cleaning robot can completely cover the path to clean the window, the planned path is simplified to the greatest extent, the same place is prevented from being repeatedly cleaned, and the window cleaning efficiency is improved.
Further, according to the scheme, the crawler-type window cleaning robot can be controlled to rotate to the designated direction from the starting point position in situ according to the acquired current position I of the crawler-type window cleaning robot, the crawler-type window cleaning robot is controlled to move up to the second frame position and then move down to the third frame position and rotate 90 degrees anticlockwise to the fourth frame position, and the crawler-type window cleaning robot is controlled to move to the fifth frame position after rotating for two times along the side.
Further, the above solution can adopt the way of making the tracked window-cleaning robot move to the left upper corner position six and move to the right upper corner position seven and rotate twice to the position eight and rotate twice to the frame position nine and rotate twice to the position eleven and rotate twice to the position twelve and move left to the position thirteen, and circulate the two rotations to the position eleven and the position twelve and rotate twice to the position thirteen and move left to the position fourteen, plan the window-cleaning path of the tracked window-cleaning robot in the horizontal direction, and make the tracked window-cleaning robot wipe the window according to the planned window-cleaning path in the horizontal direction, which has the advantages of making the tracked window-cleaning robot fully cover the window in the horizontal direction, making the planned path in the horizontal direction the simplest, avoiding the repeated wiping of the same place on the path in the horizontal direction, the window wiping efficiency in the horizontal direction is improved.
Further, the above solution can adopt a mode of moving the tracked window-cleaning robot to the right to the lower right corner position fifteen, moving the tracked window-cleaning robot to the left to the lower left corner position sixteen, rotating the tracked window-cleaning robot twice to the position seventeen, rotating the tracked window-cleaning robot twice to the position nineteen, rotating the tracked window-cleaning robot twice to the position twenty by side, circulating the tracked window-cleaning robot to the position eighteen, rotating the tracked window-cleaning robot clockwise by 90 degrees to the position nineteen, rotating the tracked window-cleaning robot twice by side to the position twenty until the lower right corner position twenty one, planning the window-cleaning path of the tracked window-cleaning robot in the vertical direction, and enabling the tracked window-cleaning robot to clean the window according to the planned window-cleaning path in the vertical direction, which has the advantages of enabling the tracked window-cleaning robot to fully cover the path window-cleaning in the vertical direction, and enabling the planned path in the vertical direction to be most simplified, the repeated wiping of the same place on the path in the vertical direction is avoided, and the window wiping efficiency in the vertical direction is improved.
Furthermore, the crawler-type window cleaning robot can return to the twenty-two starting point position by the scheme, 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 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 (6)
1. A full-coverage path control method based on a crawler-type window cleaning robot is characterized by comprising the following steps:
acquiring the current position of the crawler-type window cleaning robot as a first starting position;
controlling the crawler-type window cleaning robot to walk from the starting point position I to the frame position V according to the obtained current position I of the crawler-type window cleaning robot as the starting point position;
planning a window wiping path of the crawler-type window wiping robot in the horizontal direction, and enabling the crawler-type window wiping robot to wipe windows according to the planned window wiping path in the horizontal direction;
planning a window cleaning path of the crawler-type window cleaning robot in the vertical direction, and enabling the crawler-type window cleaning robot to clean windows according to the planned window cleaning path in the vertical direction;
the step of controlling the crawler-type window cleaning robot to walk from the starting point position I to the frame position V according to the obtained current position I of the crawler-type window cleaning robot as the starting point position comprises the following steps:
controlling the crawler-type window cleaning robot to rotate from the starting point to a specified direction in situ according to the obtained first current position of the crawler-type window cleaning robot as the starting point position, controlling the crawler-type window cleaning robot to move upwards to a second frame position and then downwards to a third position in the specified direction, rotating 90 degrees anticlockwise to a fourth position, and walking to a fifth frame position after rotating twice close to the edge;
the planning of the window cleaning path of the crawler-type window cleaning robot in the vertical direction and the window cleaning of the crawler-type window cleaning robot according to the planned window cleaning path in the vertical direction comprise:
planning a window wiping path of the crawler-type window wiping robot in the vertical direction in a mode that the crawler-type window wiping robot moves to the right lower corner position fifteen, moves to the left lower corner position sixteen, rotates twice to the seventeen position, retreats to the eighteen position which is away from the frame by a preset distance, rotates 90 degrees clockwise to the nineteen position, rotates twice close to the frame by twenty degrees to the twenty-one position at the right lower corner, circulates the eighteen position which retreats to the preset distance away from the frame, rotates 90 degrees clockwise to the nineteen position, rotates twice close to the frame by twenty degrees to the twenty-one position at the right lower corner, and wipes windows according to the planned window wiping path in the vertical direction;
the planning of the window cleaning path of the crawler-type window cleaning robot in the horizontal direction and the window cleaning of the crawler-type window cleaning robot according to the planned window cleaning path in the horizontal direction comprise:
planning a window wiping path of the crawler-type window wiping robot in the horizontal direction in a mode of enabling the crawler-type window wiping robot to move to the left upper corner position six, move to the right upper corner position seven, rotate twice to the position eight, rotate twice to the frame position nine, rotate twice to the position ten, rotate twice to the position eleven, rotate twice to the position twelve and rotate twice to the position thirteen until the position fourteen, and wipe windows according to the planned window wiping path in the horizontal direction;
the crawler motor of the crawler type window cleaning robot needs to complete lateral deviation through twice rotation, Ds is a lateral deviation distance, Df is a forward deviation distance, a is a rotation angle, R is a rotation radius, namely a distance from a circle center to the center of the crawler type window cleaning robot, and the formula is as follows:
2. the crawler-based window-cleaning robot full coverage path control method according to claim 1, wherein after the planning of the window-cleaning path of the crawler-based window-cleaning robot in the vertical direction and the window-cleaning of the crawler-based window-cleaning robot according to the planned window-cleaning path in the vertical direction, the method further comprises:
and returning the crawler-type window cleaning robot to the twenty-two starting positions.
3. The track-based window cleaning robot full-coverage path control method of claim 2, wherein the returning the track-based window cleaning robot to a starting position of twenty-two comprises:
moving the tracked window cleaning robot up to a frame position twenty-three, the vertical distance from the starting point being a preset distance, and rotating the tracked window cleaning robot twice to a position twenty-four and counterclockwise by 90 degrees to a position twenty-five and moving left back to a starting position twenty-two.
4. The utility model provides a full coverage path control device based on crawler-type window cleaning robot which characterized in that includes:
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 the current position of the crawler-type window cleaning robot as a first starting position;
the walking module is used for controlling 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 of the crawler-type window cleaning robot as the starting position;
the horizontal path window wiping module is used for planning a window wiping path of the crawler type window wiping robot in the horizontal direction and enabling the crawler type window wiping robot to wipe windows according to the planned window wiping path in the horizontal direction;
the vertical path window wiping module plans a window wiping path of the crawler type window wiping robot in the vertical direction and enables the crawler type window wiping robot to wipe windows according to the planned window wiping path in the vertical direction;
the vertical path window wiping module is specifically configured to:
planning a window wiping path of the crawler-type window wiping robot in a vertical direction in a manner that the crawler-type window wiping robot moves to the right lower corner position fifteen and moves to the left lower corner position sixteen and rotates twice to the seventeen position and retreats to the eighteen position and rotates 90 degrees clockwise to the nineteen position and rotates twice close to the twenty position from the eighteen position and the clockwise to the nineteen position, and rotates twice close to the twenty position until the twenty-one position at the right lower corner, and circulating the back to the eighteen position and the clockwise to the nineteen position from the preset distance from the frame, and making the crawler-type window wiping robot wipe the window according to the planned window wiping path in the vertical direction, comprising:
planning a window wiping path of the crawler-type window wiping robot in the horizontal direction in a mode of enabling the crawler-type window wiping robot to move to the left upper corner position six, move to the right upper corner position seven, rotate twice to the position eight, rotate twice to the frame position nine, rotate twice to the position ten, rotate twice to the position eleven, rotate twice to the position twelve and rotate twice to the position thirteen until the position fourteen, and wipe windows according to the planned window wiping path in the horizontal direction;
the crawler motor of the crawler type window cleaning robot needs to complete lateral deviation through twice rotation, Ds is a lateral deviation distance, Df is a forward deviation distance, a is a rotation angle, R is a rotation radius, namely a distance from a circle center to the center of the crawler type window cleaning robot, and the formula is as follows:
5. the crawler-based window-cleaning robot full coverage path control device of claim 4, wherein the walking module is specifically configured to:
and controlling the crawler-type window cleaning robot to rotate from the starting point to a specified direction in situ according to the obtained first current position of the crawler-type window cleaning robot as the starting point position, controlling the crawler-type window cleaning robot to move up to a second frame position and then move down to a third position in the specified direction, and rotate 90 degrees anticlockwise to a fourth position, and walk to a fifth frame position after rotating twice close to the edge.
6. The crawler-based window wiping robot full coverage path control apparatus of claim 5, wherein the horizontal path window wiping module is specifically configured to:
planning a window wiping path of the crawler-type window wiping robot in the horizontal direction in a mode of enabling the crawler-type window wiping robot to move to the upper left corner position six, move to the upper right corner position seven in a left mode, rotate twice to the position eight, rotate twice to the frame position nine, rotate twice to the position ten, rotate twice to the position eleven, rotate twice to the position twelve and move left to the position thirteen until the position fourteen, and enabling the crawler-type window wiping robot to wipe windows according to the planned window wiping path in the horizontal direction.
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