Floor mopping robot and cleaning path programming method

Abstract

The invention relates to a floor mopping robot and a cleaning path programming method. The cleaning path programming method comprises the following steps: establishing a plane coordinate system with the initial position of the floor mopping robot being a coordinate origin; establishing a blank map, the initial size of which is fixed but can be expanded, in the plane coordinate system, and dividingthe blank map into a plurality of areas, the size of each area being fixed; after the floor mopping robot receives a cleaning instruction, carrying out cleaning along a guide path, and in the cleaning process, if the robot encounters a wall, continuing to clean along the guide path after cleaning along the wall; if the robot encounters an obstacle, continuing to clean along the guide path after cleaning along the edge of the obstacle; and in the cleaning process, mapping the actually cleaned area and the established blank map to update a map. The floor mopping robot and the cleaning path programming method can enter an efficient cleaning mode directly at the beginning of cleaning, and then, update the map in the cleaning process, thereby preventing most of the repeated work, reducing cleaning repetition rate and improving cleaning coverage rate.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a sweeping robot and a cleaning path planning method thereof. Background technique [0002] With the advancement of science and technology and the continuous development of computer technology, sweeping robots have been widely used. When sweeping robots perform cleaning tasks, they need path planning, so that on the one hand, they can avoid collisions with obstacles in the cleaning space, and on the other hand, they can reduce the repetition rate of cleaning and improve cleaning efficiency. According to the cost of sweeping robots, existing sweeping robots can be roughly divided into two categories. One is high-end sweeping robots, which are equipped with laser radar on the basis of conventional sensors and adopt real-time positioning and map construction schemes, or are equipped with cameras and use image processing. And real-time positioning and map construction sol...

AI Technical Summary

Problems solved by technology

[0003] High-end sweeping robots have the advantages of high overall task completion efficiency and good comprehensive effects, but they have problems such as high cost, high technical requirements, difficult development and low overall market share.

The current low-end sweeping robots have the advantages of low cost, general technical requirements, low development difficulty and high overall market share, but they have problems such as low overall task completion efficiency and poor comprehensive effect.

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