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A platform for research: civil engineering, architecture and urbanism
Obstacle recognition method for curtain wall cleaning robot and control system
The invention relates to an obstacle recognition method for a curtain wall cleaning robot and a control system. The method comprises the following steps of obtaining the distance between a machine body and a curtain wall; if the distance is smaller than the initial distance, obtaining a path image; recognizing the type of an obstacle; sending obstacle information to a terminal; if the obstacle isa wall, starting a motor to control the curtain wall cleaning robot to bypass the obstacle; if the obstacle is not a wall, starting a cleaning device to cleaning the obstacle; if the distance is equalto the initial distance, continuing to clean the curtain wall according to a path, and obtaining the distance between the machine body and the curtain wall in real time. The efficiency of cleaning the curtain wall is improved; when the robot encounters the obstacle, an alarm is sent out in time; marking is conducted on the cleaning path; the safety work of the curtain cleaning robot is facilitated; and the efficiency that the curtain wall cleaning robot cleans the curtain wall again is improved.
本发明涉及一种幕墙清洁机器人障碍物识别方法及控制系统，方法包括以下步骤：获取机身与幕墙间的距离；若距离小于初始距离，获取路径图像，识别障碍物类型，向终端发送障碍信息，若障碍物类型为墙体，启动电机控制幕墙清洁机器人绕过障碍物，若障碍物类型为非墙体，启动清洁装置对障碍物进行清理；若距离等于初始距离，按路径继续清洁幕墙并实时获取机身与幕墙间的距离。提高了幕墙清洁的效率，在遇到障碍时及时发出警报并在清洁路径上进行标注，有利于幕墙清洁机器人的安全工作，并提高了幕墙清洁机器人对幕墙二次清洁时的效率。
Obstacle recognition method for curtain wall cleaning robot and control system
The invention relates to an obstacle recognition method for a curtain wall cleaning robot and a control system. The method comprises the following steps of obtaining the distance between a machine body and a curtain wall; if the distance is smaller than the initial distance, obtaining a path image; recognizing the type of an obstacle; sending obstacle information to a terminal; if the obstacle isa wall, starting a motor to control the curtain wall cleaning robot to bypass the obstacle; if the obstacle is not a wall, starting a cleaning device to cleaning the obstacle; if the distance is equalto the initial distance, continuing to clean the curtain wall according to a path, and obtaining the distance between the machine body and the curtain wall in real time. The efficiency of cleaning the curtain wall is improved; when the robot encounters the obstacle, an alarm is sent out in time; marking is conducted on the cleaning path; the safety work of the curtain cleaning robot is facilitated; and the efficiency that the curtain wall cleaning robot cleans the curtain wall again is improved.
本发明涉及一种幕墙清洁机器人障碍物识别方法及控制系统，方法包括以下步骤：获取机身与幕墙间的距离；若距离小于初始距离，获取路径图像，识别障碍物类型，向终端发送障碍信息，若障碍物类型为墙体，启动电机控制幕墙清洁机器人绕过障碍物，若障碍物类型为非墙体，启动清洁装置对障碍物进行清理；若距离等于初始距离，按路径继续清洁幕墙并实时获取机身与幕墙间的距离。提高了幕墙清洁的效率，在遇到障碍时及时发出警报并在清洁路径上进行标注，有利于幕墙清洁机器人的安全工作，并提高了幕墙清洁机器人对幕墙二次清洁时的效率。
Obstacle recognition method for curtain wall cleaning robot and control system
一种幕墙清洁机器人障碍物识别方法及控制系统
MOU HAIMING (author) / GUO YIXING (author) / MENG QINGBIN (author) / ZHANG YANG (author)
2020-12-11
Patent
Electronic Resource
Chinese
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