A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Water mist spraying control method and device for window cleaning robot
The invention discloses a water mist spraying control method and device for a window cleaning robot. The method comprises the steps that size information of a current working area is obtained; a grid map is established on the current working area according to the size information, wherein the grid map comprises a plurality of cells; a window cleaning robot is controlled to run in the current working area according to a preset planning path, and whether the number of cells in the distance between the window cleaning robot and the boundary of the current working area is smaller than or equal to a preset number n or not is judged, wherein n is a non-zero natural number; if not, the window cleaning robot is controlled to spray water mist according to a preset spraying mode, wherein the preset spraying mode is a spraying mode set based on the cells; and if yes, the window cleaning robot is controlled to stop spraying water mist. Water mist can be effectively prevented from being sprayed out of a working area, the water mist utilization rate is increased, and other objects are prevented from being damaged.
本申请公开了一种擦窗机器人喷洒水雾控制方法及装置，其中方法包括步骤：获取当前工作区域的大小信息；根据大小信息，在当前工作区域上建立栅格地图，其中栅格地图包括多个单元格；控制擦窗机器人在当前工作区域内按预设规划路径行驶，并判断擦窗机器人与当前工作区域的边界之间距离的单元格数是否少于或等于预置n个，其中n为非零自然数；若否，控制擦窗机器人按预设喷洒模式喷洒水雾，其中预设喷洒模式为基于单元格设置的喷洒模式；若是，控制擦窗机器人停止喷洒水雾。能有效防止水雾喷洒到工作区外，提高水雾利用率，也避免导致其他物件损坏。
Water mist spraying control method and device for window cleaning robot
The invention discloses a water mist spraying control method and device for a window cleaning robot. The method comprises the steps that size information of a current working area is obtained; a grid map is established on the current working area according to the size information, wherein the grid map comprises a plurality of cells; a window cleaning robot is controlled to run in the current working area according to a preset planning path, and whether the number of cells in the distance between the window cleaning robot and the boundary of the current working area is smaller than or equal to a preset number n or not is judged, wherein n is a non-zero natural number; if not, the window cleaning robot is controlled to spray water mist according to a preset spraying mode, wherein the preset spraying mode is a spraying mode set based on the cells; and if yes, the window cleaning robot is controlled to stop spraying water mist. Water mist can be effectively prevented from being sprayed out of a working area, the water mist utilization rate is increased, and other objects are prevented from being damaged.
本申请公开了一种擦窗机器人喷洒水雾控制方法及装置，其中方法包括步骤：获取当前工作区域的大小信息；根据大小信息，在当前工作区域上建立栅格地图，其中栅格地图包括多个单元格；控制擦窗机器人在当前工作区域内按预设规划路径行驶，并判断擦窗机器人与当前工作区域的边界之间距离的单元格数是否少于或等于预置n个，其中n为非零自然数；若否，控制擦窗机器人按预设喷洒模式喷洒水雾，其中预设喷洒模式为基于单元格设置的喷洒模式；若是，控制擦窗机器人停止喷洒水雾。能有效防止水雾喷洒到工作区外，提高水雾利用率，也避免导致其他物件损坏。
Water mist spraying control method and device for window cleaning robot
一种擦窗机器人喷洒水雾控制方法及装置
WANG SHIQUN (author) / ZHENG ZHUOBIN (author) / WANG LILEI (author)
2022-02-01
Patent
Electronic Resource
Chinese
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