The invention relates to a sweeping robot supplementary sweeping method and a chip. The method comprises the steps that entrance reference points of the boundary of each entrance of a swept region and an unswept region are selected preferentially, the best entrance point is determined, one point is selected from the best entrance point according to entrance selection conditions as a sweeping starting point, and region sweeping is performed on the basis of the preset sweeping conditions. According to the supplementary sweeping method, no any marking position point needs to be made, only endpoints of the entrance boundaries of the sweeping region and the unswept region in a raster map are adopted as entrance reference points for performing preferential selection, even if the shape of the unswept region is complex, the sweeping starting point of the unswept region can be more objectively, more flexibly and more accurately determined just by analyzing and judging the boundaries and selecting the best entrance point, and therefore the most suitable unswept region is preferentially swept. Meanwhile, according to the preset sweeping conditions, the region is swept, the problem that omitted sweeping caused by the existing mode that a zigzagged shaped sweeping is performed simply from the marked position point can be avoided, and sweeping comprehensiveness and integrity are ensured.