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Cleaning robot and multi-region cleaning method thereof

A cleaning robot, multi-area technology, applied in cleaning machinery, cleaning equipment, machine parts, etc., can solve the problems of low cleaning efficiency, poor user experience, waste of battery life resources, etc., to achieve high cleaning efficiency, strong battery life, and user experience. Good results

Pending Publication Date: 2020-02-25
SUGAN TECH BEIJING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention is used to solve the defects of low cleaning efficiency, waste of battery life resources, and poor user experience when the existing cleaning robots always clean certain areas repeatedly when performing multi-area space cleaning

Method used

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  • Cleaning robot and multi-region cleaning method thereof
  • Cleaning robot and multi-region cleaning method thereof
  • Cleaning robot and multi-region cleaning method thereof

Examples

Experimental program
Comparison scheme
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other Embodiment approach

[0124] In other implementations, the image information corresponding to the coordinates of each point on the regional environmental map is also obtained while obtaining the regional environmental map. Assuming that N initial poses are determined within the initial region according to the poses set by the user, the execution of the relocation algorithm The process includes:

[0125] Step S361, controlling the cleaning robot to rotate (for example, to move outward in a helical manner).

[0126] Step S362, acquire image information during exercise, and proceed to step S363.

[0127]Step S363, for the image information acquired within the first predetermined stroke (such as 1 meter) of each movement of the cleaning robot, match it with the image information corresponding to each initial pose, and count the number of successful initial poses. The number of successful initial poses is equal to the predetermined threshold (such as 1), then execute step S364, if the number of success...

specific Embodiment

[0176] A specific embodiment of the present invention: the cleaning robot stores as Figure 9a As shown in the regional environmental map, the multi-regional cleaning process of the cleaning robot includes:

[0177] Step S910: After the cleaning robot is started, it first inquires whether there is an area environment map, and sends a prompt interface to the user terminal APP (cleaning robot management APP) after querying the existence of the area environment map. The prompt interface is used to prompt the user whether to use the area environment map. The terminal receives an instruction input by the user to use the regional environment map, and sends the instruction to the cleaning robot.

[0178] Step S920: The cleaning robot has a built-in geometric map segmentation algorithm, which divides the regional environment map into multiple sub-regions, such as Figure 9b As shown in , the dotted line is the dividing line, and the solid line is the boundary line that the cleaning r...

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Abstract

The invention provides a cleaning robot and a multi-region cleaning method thereof. The method comprises the following steps of acquiring a region environment map; determining sub-regions and communication regions between the sub-regions according to the region environment map; determining a pose of the cleaning robot in the region environment map; determining a cleaning sequence of the sub-regions according to the pose of the cleaning robot in the region environment map and the communication regions between the sub-regions, wherein the cleaning sequence ensures that the amount of the sub-regions repeatedly passed by the cleaning robot is minimum or the total moving distance of the cleaning robot after cleaning is shortest; and controlling the cleaning robot to clean the sub-regions according to the cleaning sequence. The cleaning robot can avoid repeated cleaning, can clean the larger working region under the same battery power, and has the characteristics of being high in cleaning efficiency, high in endurance capability and good in user experience.

Description

technical field [0001] The invention belongs to the field of robot relocation and path planning, and in particular relates to a cleaning robot and a multi-area cleaning method thereof. Background technique [0002] In recent years, cleaning robots have developed rapidly. The most important point to measure cleaning robots is to achieve efficient and comprehensive cleaning of the target area without omission and low repetition. At present, most cleaning robots perform cleaning work and map building at the same time. The map will be cleared after each cleaning task, and the map will be rebuilt at the beginning of the next task. That is, the cleaning robot does not have the function of remembering the environment, resulting in the cleaning process. It is easier to take repeated routes and reduce cleaning efficiency. In addition, for a multi-area space, no matter whether the cleaning robot stores a map or not, there will always be the problem of repeated cleaning in some areas,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A47L11/28A47L11/40
CPCA47L11/28A47L11/4002
Inventor 许思晨张一茗陈震
Owner SUGAN TECH BEIJING
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