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
- Application Information
AI Technical Summary
Problems solved by technology
 Example 1:
 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 2:
 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.
 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.
 Of course, if there are obstacles in the room, th...
 Example 3:
 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.
 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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