Method for controlling cleaning robot

Abstract

The invention discloses a method for controlling a cleaning robot. The method includes that the cleaning robot runs a round along boundaries of a zone to be cleaned with an origin as a start point, and records boundary feature points of the zone to be cleaned; the zone to be cleaned is divided into a plurality of sub zones according to XY coordinates, and all the sub zones are cleaned orderly; the cleaning start points of the cleaning robot in all the sub zones in the same row are identical, and when the cleaning robot enters a sub zone in the next row to perform clean, the cleaning robot will take a point having a shortest distance with a position of the cleaning robot as a start point to start cleaning the sub zones in the next row. A user can know which sub zones in the zone to be cleaned are cleaned and which sub zones are not be cleaned according to the current position of the robot, and convenience is provided for the user; the cleaning effect of the whole zone to be cleaned can be improved; and the problem that some places in the sub zones are repeatedly cleaned by the cleaning robot and some places are not cleaned by the cleaning robot due to position coordinate errors can be avoided.

Description

[0001] 【Technical field】 [0002] The invention relates to a method for controlling a cleaning robot, in particular to a method for controlling a cleaning path of a cleaning robot. [0003] 【Background technique】 [0004] Existing cleaning robots automatically clean an area to be cleaned by sucking impurities such as dust from the ground while autonomously traveling in the cleaning area without user's manipulation. During the cleaning process, the cleaning robot uses sensors to determine the distance to obstacles such as furniture, office equipment, walls, etc. that exist in the cleaning area, and based on the determined distance, without colliding with obstacles During free travel, once an obstacle is encountered, it can rotate at any angle to avoid the obstacle. When using a cleaning robot to clean the area to be cleaned, the cleaning robot repeatedly travels in the cleaning area along a preset travel path for cleaning, wherein the preset travel path is, for example, a zigza...

AI Technical Summary

Problems solved by technology

[0005] However, since the cleaning robot will have errors in the position coordinates during the walking and cleaning process, as the area to be cleaned increases and the distance traveled increases, the accumulation of errors in the position coordinates will increase, making the travel path of the cleaning robot more difficult. It is getting more and more deviated from the correct channel, and the automatic calibration procedure is not set for the cleaning robot, which easily leads to the fact that when the cleaning robot cleans each area to be cleaned, some areas are repeatedly cleaned due to repeated walking, while some areas are not walked and are not cleaned. being cleaned, which not only reduces the efficiency of the cleaning robot, but also makes the cleaning effect poor

In addition, since the cleaning robot does not clean all the areas to be cleaned in sequence, if the walking path of the cleaning robot is not tracked, it may be difficult to know which areas to be cleaned have been cleaned by the cleaning robot and which areas to be cleaned have not been cleaned by the cleaning robot. Thus affecting the cleaning effect of the entire cleaning area

Images