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

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

Example Embodiment

[0027] Example 1:

[0028] A cleaning method for a cleaning robot extending in the edge navigation direction. The cleaning robot travels along the outer wall of the room. The cleaning robot travels along the outer wall of the room. During the process, the cleaning robot moves away from the outer wall of the wall several times and cleans the ground. Every time the cleaning robot leaves the outer wall of the wall for a certain distance or encounters an obstacle, it first rotates a preset angle, then travels a preset distance, and then returns to the outer wall of the wall to realize the traversal of the area to be cleaned And clean. It is worth noting that the preset distance and preset angle described in this paragraph can be adjusted according to actual needs. In order to distinguish from the movement of the cleaning robot after returning to the wall in the following paragraph, the preset distance and preset angle described in this paragraph Recorded as preset distance I and ...

Example Embodiment

[0036] Example 2:

[0037] The basic situation of this embodiment is the same as that of Embodiment 1, but a way of "extending to the middle" is provided. That is, there are three situations when expanding to the middle: the distance between the farthest point and the outer wall of the wall is at least 1 / 2 of the width of the room, or the farthest point is when the cleaning robot stops due to an obstacle when it is traveling 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 width of the room can be measured by a sensor provided on the cleaning robot. Preferably, the distance is not less than half of the distance on the travel path of the cleaning robot between the departed boundary and the opposite boundary to ensure that the area to be cleaned is covered.

[0039] Of course, if there are obstacles in the room, th...

Example Embodiment

[0041] Example 3:

[0042] The basic situation of this embodiment is the same as that of the second embodiment, but it is further disclosed to deal with the complicated situation of the obstacle arrangement in the room.

[0043] See figure 1 , Shown in the figure are two rooms with several obstacles. 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 that is not in contact with the outer wall of the wall as the outer wall of the wall ( Such as figure 1 Obstacles directly below the first room). In this embodiment, the cleaning robot starts to travel along the wall from the "cleaning starting point" in the first room. As it keeps leaving the wall and returning in the process, it is easy to walk to the entrance and exit of the room to clean multiple rooms. figure 1 At point D, the cleaning robot successfully entered the second room from the first room. Similarly, after the cleaning robot cleans th...

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PUM

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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
CPCA47L11/24A47L9/2852A47L2201/04G05D1/0219G05D2201/0203
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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