Research on Motion Algorithm of glass cleaning robot on regular shaped glass

In order to solve the problems of low efficiency, large blind area, and the problem that glass size affects wiping efficiency and blind area, we propose a square wave wiping path, and propose a robot structure suitable for square wave path motion. The relationship between wiping efficiency and wiping blind area of Z-shaped path and boundary triangle path and the glass size and steering angle are analyzed in detail. The wiping efficiency and wiping blind area are contradictory under these two paths. In addition to the structure blind area caused by the robot's own structure, the wiping blind area of square wave path is 0, which is not affected by glass size. Set the size of the glass turning angle, in the ideal situation, compared the three ways of wiping blind area, wiping efficiency, square wave path wiping blind area is smaller than the others , and the square wave path reaches the ideal blind area level. The square wave path proposed in this paper can effectively solve the contradiction between wiping efficiency and wiping blind zone.