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Full-coverage cleaning method of sweeping robot and sweeping robot

A sweeping robot, full coverage technology, applied in the field of robots, to achieve the effect of improving cleaning efficiency

Inactive Publication Date: 2018-03-23
SHENZHEN FREE DYNAMICS DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to provide a full-coverage cleaning method for sweeping robots, aiming to solve the technical problem that existing sweeping robots cannot achieve full-coverage cleaning in unknown environments

Method used

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  • Full-coverage cleaning method of sweeping robot and sweeping robot
  • Full-coverage cleaning method of sweeping robot and sweeping robot
  • Full-coverage cleaning method of sweeping robot and sweeping robot

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Embodiment Construction

[0101] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0102] refer to figure 1 , a method for full-coverage cleaning by a sweeping robot according to an embodiment of the present invention, including:

[0103] S1: Initialize the grid map at the first starting point, so that the grids in the grid map are all blank grids whose grid filling status is not cleaned, and the first starting point is the origin of the grid map .

[0104] The first starting point in this step refers to the position of the sweeping robot when cleaning starts, and this is used as the coordinate origin of the grid map. In this embodiment, the sweeping robot forms a grid map by marking different grid filling states during the cleaning process, so as to gradually reduce the unknown area until all layout information of the original unknown area is recognized for full-coverage cleaning. For example, e...

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Abstract

The invention discloses a full-coverage cleaning method of a sweeping robot and a sweeping robot. The method includes: a grid map is initialized at a first starting point and thus grids in the grid map are ones with grid filling states being non-cleaning states, wherein the first starting point is an original point of the grid map; according to a designated planning mode, cleaning is carried out and a cleaned area is marked to form a first grid map; whether a phenomenon of falling into a cleaning dead zone occurs is determined; if so, escaping from the cleaning dead zone is carried out; a coverage region of the cleaning dead zone is marked on the first grid map to form a second grid map; whether a non-cleaning region exists in the second grid map is determined; if so, movement to the non-cleaning region is carried out; and the non-cleaning region is cleaned based on a planned cleaning route. Therefore, full-coverage cleaning work of the unknown region is completed efficiently; leak sweeping and repeated cleaning are avoided; and the cleaning efficiency is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for full-coverage cleaning by a floor-sweeping robot and the floor-sweeping robot. Background technique [0002] At present, it has become a trend to use robots instead of humans to do repetitive or dangerous work, which requires robots to be more intelligent. Planning the mobile route is the key technology of mobile robots, which is of great significance to the improvement of the robot's intelligence. Route planning can be divided into two categories according to its goals: point-to-point route planning and full-coverage route planning. Full-coverage route planning means that in the two-dimensional Cartesian workspace, on the premise of ensuring that the planned route is reasonable and optimal, it can go from the starting point to the end point and pass through all non-obstacle areas. Because the sweeping robot needs to clean all areas in the specified environment, it needs an o...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0219G05D2201/0203
Inventor 张立新周毕兴
Owner SHENZHEN FREE DYNAMICS DEV CO LTD
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