Sweeping robot cleaning method and chip

Abstract

The invention relates to a sweeping method and chip for a sweeping robot. The optimal entry point is determined by selecting the entry reference point of each entry boundary of the cleaned area and the unswept area, and then the optimal entry point is selected from the entry selection condition. Select one of the points as the starting point for cleaning, and perform area cleaning according to the preset cleaning conditions. This method of supplementary sweeping does not need to mark any location points, but only needs to use the end point of each entrance boundary of the cleaned area and the unswept area in the grid map as the entrance reference point for selection, even if the shape of the unswept area is very complicated , as long as each of its boundaries is analyzed and judged, and the best entry point is selected from it, the cleaning starting point of the uncleaned area can be determined more objectively, flexibly, and accurately, so that the most suitable uncleaned area can be selected for cleaning. . At the same time, cleaning the area according to the preset cleaning conditions can also avoid the problem of missed cleaning caused by the existing simple bow-shaped cleaning method starting from the marked position point, and ensure the comprehensiveness and integrity of the cleaning.

Description

technical field [0001] The invention relates to the field of robots, in particular to a sweeping method and a chip for a sweeping robot. Background technique [0002] The existing sweeping robot, in the conventional bow-shaped cleaning process, will make a mark position point at the boundary of the unswept area, and then find out all the unswept areas by searching the grid map in the process of checking for leaks. The marked position point of the area, and then select the best position point with the closest distance to the current position through the path search algorithm, and finally navigate to the best position point, it is preferable to clean the area, after cleaning the area, select The next best location point is the closest to clean, and so on, until all uncleaned areas are cleaned. Among them, the distance between the best location point and the current location is not a straight-line distance, but an accessible path distance. The robot will search all the paths t...

AI Technical Summary

Problems solved by technology

If the position of the marked position is unreasonable, when the robot cleans in a bow-shaped manner, some parts of the uncleaned area will be missed

Therefore, this method of simply relying on the marked location points and the reachable path distance to select the preferred re-sweeping area for re-sweeping has poor flexibility and low re-sweeping efficiency, which cannot meet the cleaning needs of some complex environments.

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