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
CN109363585AActive Publication Date: 2019-02-22SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD
Publication Date
2019-02-22

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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.
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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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