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Cleaning method using cleaning robot by means of edgewise navigating and intro-expanding

A cleaning robot and navigation technology, applied in the field of cleaning robots, can solve the problems of expensive navigation devices, high cost and price of cleaning robots, and difficulty in popularization and use, so as to avoid missing or repeated cleaning, complete cleaning, and improve cleaning efficiency effect

Active Publication Date: 2013-05-15
重庆艾亿佳智能技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these navigation devices are often expensive, making the cost and selling price of cleaning robots very high, and it is not easy to popularize and use them.

Method used

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  • Cleaning method using cleaning robot by means of edgewise navigating and intro-expanding
  • Cleaning method using cleaning robot by means of edgewise navigating and intro-expanding
  • Cleaning method using cleaning robot by means of edgewise navigating and intro-expanding

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] A cleaning method for a cleaning robot that navigates inwardly and expands along the edge, and the cleaning robot travels along the outer wall of a room. The cleaning robot travels along the outer walls of the room. During the process, the cleaning robot leaves the outer wall of the wall several times and moves away from the outer wall of the wall to clean the ground. Each time the cleaning robot leaves the outer wall of the wall for a certain distance or encounters an obstacle, it first turns a preset angle, then travels a preset distance, and then returns to the outer wall of the wall to complete the traversal of the area to be cleaned and clean. It is worth noting that the preset distance and preset angle mentioned in this paragraph can be adjusted according to actual needs. They are recorded as preset distance Ⅰ and preset angle Ⅰ respectively. In addition, every time the robot returns to the wall and leaves the outer wall of the wall, it needs to change the dire...

Embodiment 2

[0037] The basic situation of this embodiment is the same as that of Embodiment 1, except that a mode of "inward extension" is provided. That is, there are three situations when expanding inward: the distance between the furthest point and the outer wall of the wall is at least 1 / 2 of the width of the room, or the furthest point is the point where the cleaning robot stops due to encountering an obstacle. point, or the distance between the farthest point and the outer wall of the wall is a preset value.

[0038] Further, the distance between the farthest point and the outer wall of the wall can be set by the user, or the room width can be measured by a sensor installed on the cleaning robot. Preferably, the distance is not less than half of the distance between the departing boundary and the opposite boundary on the path of the cleaning robot, so as to ensure that the area to be cleaned is covered.

[0039] Of course, if there are obstacles in the room, the cleaning robot cann...

Embodiment 3

[0042] The basic situation of this embodiment is the same as that of Embodiment 2, except that it is further disclosed to deal with the complicated arrangement of obstacles in the room.

[0043] see figure 1 , shown in the figure are two rooms with several obstacles placed. In an embodiment, when there is an obstacle close to the outer wall of the wall, the cleaning robot regards the surface of the obstacle not in contact with the outer wall of the wall as the outer wall of the wall ( Such as figure 1 obstacle directly below the first room in the middle). In this embodiment, the cleaning robot starts from the "cleaning starting point" in the first room and travels along the wall. Because it keeps leaving the wall and returning constantly during the process, it is easy to go to the entrance and exit of the room to realize the cleaning of multiple rooms. figure 1 At point D, the cleaning robot smoothly enters the second room from the first room. Similarly, after the cleanin...

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Abstract

The invention aims at providing a cleaning method by using a cleaning robot, which can traverse regions which need to be cleaned in a plurality of rooms, and can reduce a repeated forwarding route, i.e., a cleaning method using the cleaning robot by means of edgewise navigating and intro-expanding. The cleaning robot advances along the outer wall of a wall body of the room, and the cleaning robot leaves away from the outer wall of the wall body for a plurality of times to move to the direction which is far away from the outer wall of the wall body to clean the ground. After the cleaning robot leaves away from the outer wall of the wall body at a certain distance or encounters a barrier every time, the cleaning robot firstly rotates for a preset angle, advances at a section of preset distance, and returns to the outer wall of the wall body, so that the traversing and the cleaning of the region which needs to be cleaned can be realized.

Description

technical field [0001] The invention relates to the technical field of cleaning robots, in particular to the travel control of cleaning robots. Background technique [0002] With the development of science and technology, cleaning robots with certain functions have gradually entered the home and office environment, reducing people's labor burden. These cleaning robots operate in a certain mode and automatically scrub or vacuum the dust and dirt from the floor as they move around the area to be cleaned. In terms of how to realize the cleaning of the area to be cleaned, at present, the more common ones are: random direction cleaning method, cleaning method using multiple path combinations, cleaning method based on building a grid map, cleaning method with navigation system, etc. . [0003] The random direction cleaning method means that the cleaning robot does not adopt path planning, and when encountering obstacles while walking, it randomly turns to a certain angle to con...

Claims

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Application Information

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IPC IPC(8): A47L11/24
CPCA47L11/24G05D1/0219A47L9/2852A47L2201/04
Inventor 简毅程洪洪雪飞
Owner 重庆艾亿佳智能技术有限公司
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