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Partition traversing method, sweeping method and floor sweeping robot

A traversal and partitioning technology, which is applied in the direction of cleaning carpets, cleaning floors, manual sweeping machines, etc., can solve the problem that robots cannot reliably partition traversal

Active Publication Date: 2019-02-22
SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] Embodiments of the present invention provide a partition traversal method, a cleaning method and a sweeping robot thereof, aiming to solve the technical problem that robots cannot reliably and efficiently complete partition traversal in the prior art

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  • Partition traversing method, sweeping method and floor sweeping robot
  • Partition traversing method, sweeping method and floor sweeping robot
  • Partition traversing method, sweeping method and floor sweeping robot

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Embodiment Construction

[0044] In order to facilitate the understanding of the present invention, the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is said to be "fixed" to another element, it may be directly on the other element, or there may be one or more intervening elements therebetween. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", and "bottom" used in this specification is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the The invention and the simplified description do not indicate or imply that the device or element referred to must have a specific orientation...

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Abstract

The embodiment of the invention provides a partition traversing method, a sweeping method and a floor sweeping robot. The method comprises the steps that position information in a partitioned area israsterized to form a corresponding partitioned area rasterized map; edge rasters in the rasterized map are searched; the edge rasters are the rasters which are tightly close to the edge of the partitioned area; all consecutive light segments in the partitioned area are searched in a preset searching direction; the consecutive line segments are the light segments which extend to another edge rasterin the searching direction from edge raster; the adjacent consecutive line segments are sequentially matched to form at least one communication region. The method has the advantages that a rasterizing manner is adopted and positioning information provided by an SLAM module is taken as the basis so that equipment of the floor sweeping robot and the like can well complete the task of traversing each partitioned area, and the method has a better application prospect.

Description

【Technical field】 [0001] The invention relates to the technical field of automation control, in particular to a partition traversal method, a cleaning method and a sweeping robot thereof. 【Background technique】 [0002] When the robot is in an unknown environment, it usually uses SLAM (simultaneous localization and mapping, real-time positioning and map construction) to complete the environmental exploration task, allowing the robot to gradually draw a complete map of the environment, and travel to all accessible corners without obstacles or area. [0003] Based on the map constructed by SLAM and the positioning information of the robot, the robot can perform corresponding tasks more efficiently. For many work tasks (such as the cleaning tasks that the sweeping robot needs to perform), the robot needs to achieve the goal of traversing a certain area. That is to say, it is necessary to ensure that the route passed by oneself can completely cover the target area, and there i...

Claims

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Application Information

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IPC IPC(8): A47L11/24A47L11/40
CPCA47L11/24A47L11/40A47L11/4011G05D1/0274A47L2201/04A47L9/2894G05D1/0088G05D1/0268A47L9/2826A47L9/2852A47L11/4061
Inventor 刘鹏
Owner SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD
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