A convoluted path planning method, chip and cleaning robot

Abstract

The present invention discloses a spiral path planning method, a chip and a cleaning robot. The execution subject of the spiral path planning method is a cleaning robot. Before executing the spiral path planning method, the cleaning robot has marked the outline of a wall in a map, wherein the map is used to reflect the location characteristics of an area to be cleaned. The spiral path planning method comprises: selecting a position point whose vertical distance to the outline of the wall satisfies a preset starting point as a cleaning starting point; wherein the outline of the wall is a part of the boundary line of the area to be cleaned; starting from the cleaning starting point, spiral path planning is performed in the area to be cleaned, so that the planned spiral path periodically covers the area to be cleaned; wherein a part of the turning path of the planned spiral path is farther away from the wall than another part of the turning path, and a straight path of the planned spiral path is parallel to the longest boundary line of the area to be cleaned.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and in particular to a convoluted path planning method, a chip and a cleaning robot. Background Art

[0002] With the increasing maturity of artificial intelligence, target detection and recognition, multi-sensor measurement and environmental perception technologies, environmental perception is a necessary prerequisite for target detection and recognition, and target detection is an important component of environmental perception. Common target detection sensors are divided into: (1) Laser ranging image sensors, which emit light waves of different wavelengths and then collect the echo signals of the emitted waves to obtain information such as the distance, angle, reflection intensity, speed, etc. of the target, generate a multi-dimensional image of the target, and can obtain the distance data of the target. They are not easily affected by light, smoke, and environment, but they cannot perceive the state of the target. For example, the blocking effect caused by some movable obstacles is not sensed in time; (2) Cameras can obtain richer color information, can identify the basic state attributes of objects such as length, width, height and color, and have higher concealment, but are easily affected by light, smoke, and environment. Regardless of the sensing method, when the cleaning robot is cleaning in the corresponding working area, it must first walk along the edge of the wall sensed in the area to be cleaned. Although the forward direction of the cleaning robot is configured to remain parallel to the extension direction of the wall edge during the walking process, positioning errors will occur based on the aforementioned sensing methods, causing the cleaning robot to frequently collide with the wall while walking along the edge. Therefore, it is urgent to find a better cleaning method. Summary of the invention

[0003] In view of the above technical problems, the present invention discloses a convoluted path planning method, chip and cleaning robot, which solve the problem of frequent collisions between the cleaning robot and the wall when cleaning in an indoor working environment, so that the cleaning robot periodically covers the area to be cleaned from the corner area while reducing collisions with the wall boundary. The specific technical solution is as follows:

[0004] A spiral path planning method, the execution subject of the spiral path planning method is a cleaning robot, and the cleaning robot has marked the outline of a wall in a map before executing the spiral path planning method, wherein the map is used to reflect the location characteristics of an area to be cleaned; the spiral path planning method includes: selecting a position point whose vertical distance to the outline of the wall satisfies a preset starting point as a cleaning starting point; wherein the outline of the wall is a part of the boundary line of the area to be cleaned; starting from the cleaning starting point, spiral path planning is performed in the area to be cleaned, so that the planned spiral path periodically covers the area to be cleaned; wherein a part of the planned spiral path has a turning path that is farther away from the wall than another part of the turning path, and a straight path of the planned spiral path exists in parallel with the longest boundary line of the area to be cleaned.

[0005] Furthermore, multiple unit loop paths are connected end to end to form the spiral path, each unit loop path includes an outer loop periodic path and an inner loop periodic path, and an outer loop periodic path and an inner loop periodic path are connected end to end to form a unit loop path; wherein, the turning starting point of the outer loop periodic path and the turning starting point of the inner loop periodic path are different in vertical distance from the contour line of the wall in the preset forward direction; wherein, the cleaning starting point is the turning starting point of the outer loop periodic path; the shape of the turning path is an arc; wherein, the extension direction of the straight path of the planned spiral path is parallel to the preset forward direction, so that the initial movement direction of the cleaning robot starting from the cleaning starting point is configured as the preset forward direction.

[0006] Furthermore, for each unit loop path, there is an intersection between the outer loop periodic path and the inner loop periodic path; for each unit loop path, some turning paths in the outer loop periodic path deviate closer to the corresponding boundary line of the area to be cleaned in the preset forward direction than the corresponding turning paths in the inner loop periodic path, or some turning paths in the outer loop periodic path deviate closer to the corresponding boundary line of the area to be cleaned in the opposite direction of the preset forward direction than the corresponding turning paths in the inner loop periodic path, so that a part of the turning path in the planned spiral path is farther away from the wall than another part of the turning path.

[0007] Furthermore, the unit loop path specifically includes: starting from the first turning point, making a 180-degree turn with the arc radius of the first turning path of the outer ring periodic path to reach the second turning point, so that the cleaning robot moves from the first turning point to the second turning point according to the preset rotation direction; wherein the first turning point is the starting point of the outer ring periodic path, so that the first turning point is the turning starting point of the outer ring periodic path; starting from the second turning point, going straight in the opposite direction of the preset forward direction for the first preset cleaning length to reach the third turning point; starting from the third turning point, making a 180-degree turn with the arc radius of the second turning path of the outer ring periodic path to reach the fourth turning point, so that the cleaning robot moves from the third turning point to the fourth turning point according to the preset rotation direction. point; wherein, the arc radius of the first turning path of the outer ring periodic path is greater than the arc radius of the second turning path of the outer ring periodic path; starting from the fourth turning point, go straight along the preset forward direction for the second preset cleaning length to reach the fifth turning point; wherein the second preset cleaning length is less than the first preset cleaning length; within a unit loop path, the fifth turning point is the turning starting point of the inner ring periodic path, so that the fifth turning point is the end point of the outer ring periodic path; starting from the fifth turning point, make a 180-degree turn with the arc radius of the first turning path of the inner ring periodic path to reach the sixth turning point, so that the cleaning robot moves from the fifth turning point to the sixth turning point according to the preset rotation direction; wherein, the first turning path of the inner ring periodic path There is only one intersection between the curved path and the first turning path of the outer ring periodic path; starting from the sixth turning point, go straight in the opposite direction of the preset forward direction for the third preset cleaning length to reach the seventh turning point; wherein the third preset cleaning length is less than the second preset cleaning length; the line segment connected by the second turning point and the third turning point is the middle line segment, and the line segment connected by the sixth turning point and the seventh turning point is arranged between the vertical lines passing through the two end points of the middle line segment respectively; starting from the seventh turning point, make a 180-degree turn with the arc radius of the second turning path of the inner ring periodic path to reach the eighth turning point, so that the cleaning robot moves from the seventh turning point to the eighth turning point according to the preset rotation direction; wherein the second turning path of the inner ring periodic path and the The second turning path of the outer ring periodic path has only one intersection; starting from the eighth turning point, go straight along the preset forward direction for the fourth preset cleaning length to reach the ninth turning point; wherein the fourth preset cleaning length is less than the first preset cleaning length, and the fourth preset cleaning length is greater than the third preset cleaning length; the ninth turning point is the end point of the inner ring periodic path, so that the ninth turning point is the end point of the unit loop path; the first turning point, the second turning point and the ninth turning point are located on the same straight line; wherein the arc radius of the first turning path of the inner ring periodic path is greater than the arc radius of the second turning path of the inner ring periodic path; the arc radius of the second turning path of the outer ring periodic path is equal to the arc radius of the second turning path of the inner ring periodic path;The arc radius of the first turning path of the outer ring periodic path is equal to the arc radius of the first turning path of the inner ring periodic path; wherein, when the cleaning robot reaches the cleaning starting point, it is determined that the current position of the cleaning robot is at the first turning point. ;

[0008] Furthermore, the two unit loop paths connected end to end are respectively a first unit loop path and a second unit loop path; in the first unit loop path, the starting point of the first unit loop path is the first inflection point of the outer loop periodic path included in the first unit loop path, and the end point of the first unit loop path is the ninth inflection point of the inner loop periodic path included in the first unit loop path; in the second unit loop path, the starting point of the second unit loop path is the ninth inflection point of the inner loop periodic path included in the first unit loop path, and the end point of the second unit loop path is the ninth inflection point of the inner loop periodic path included in the second unit loop path; wherein, the unit loop The distance between the first turning point of the outer loop periodic path included in the loop path and the fifth turning point of the inner loop periodic path included in the unit loop path in the preset forward direction is a first preset distance, and the first preset distance is equal to half of the arc radius of the first turning path of the outer loop periodic path included in the unit loop path; wherein, the distance between the third turning point of the outer loop periodic path included in the unit loop path and the seventh turning point of the inner loop periodic path included in the unit loop path in the opposite direction of the preset forward direction is a second preset distance, and the second preset distance is equal to half of the arc radius of the second turning path of the outer loop periodic path included in the unit loop path.

[0009] Further, the difference between the first preset cleaning length and the third preset cleaning length is equal to the sum of the second preset distance and the first preset distance; the difference between the first preset cleaning length and the second preset cleaning length is equal to the first preset distance; the difference between the fourth preset cleaning length and the third preset cleaning length is equal to the first preset distance; the difference between the first preset cleaning length and the fourth preset cleaning length is equal to the second preset distance; the difference between the second preset cleaning length and the third preset cleaning length is equal to the second preset distance; wherein the first preset cleaning length, the second preset cleaning length, the third preset cleaning length, and the fourth preset cleaning length are all configured to allow the cleaning robot to move along the corresponding turning path to the position farthest from the corresponding turning starting point.

[0010] Furthermore, the position point whose vertical distance to the contour line of the wall satisfies the preset starting point condition is specifically: in the first preset coordinate axis direction and the second preset coordinate axis direction of the map, the vertical distance to the contour line of the corresponding wall is 3 times the body diameter of the cleaning robot, so that the cleaning robot starts from the cleaning starting point and makes a complete 180-degree turn with the arc radius of the first turning path of the outer ring periodic path to reach the second turning point.

[0011] Furthermore, the first preset distance is 2 times the body radius of the cleaning robot; the second preset distance is 1.5 times the body radius of the cleaning robot; the first preset cleaning length is configured to allow the cleaning robot to move along the preset forward direction in the opposite direction to the second contour line of the wall, and the vertical distance therefrom is less than or equal to 2 times the body diameter of the cleaning robot; wherein, the second contour line of the wall is the contour line of the wall detected by the cleaning robot in the opposite direction of the preset forward direction; the second preset cleaning length is configured to allow the cleaning robot to move along the preset forward direction in the opposite direction to the first contour line of the wall, and the vertical distance therefrom is less than or equal to 4 times the body diameter of the cleaning robot; wherein, the first contour line of the wall is the contour line of the wall detected by the cleaning robot in the preset forward direction.

[0012] Furthermore, corresponding to a coordinate axis direction of the map, the unit loop path and the outer ring periodic path included in it are traversed from the negative direction of the coordinate axis to the positive direction of the coordinate axis, and the turning starting point of the first traversed outer ring periodic path is configured as the cleaning starting point, wherein the turning starting point of the first traversed outer ring periodic path is the starting point of the first turning path of the outer ring periodic path; wherein the area to be cleaned is a rectangular area.

[0013] A chip has a built-in control program, and the control program is used to control a cleaning robot to execute the convoluted path planning method.

[0014] A cleaning robot, the chip being built in the robot.

[0015] The beneficial technical effect of the present invention is that, starting from the cleaning starting point, the present invention plans a convoluted path that periodically covers the area to be cleaned, and some turning paths in the outer cycle path are closer to the corresponding boundary line of the area to be cleaned than the corresponding turning paths in the inner cycle path, so that a part of the planned convoluted path is farther away from the wall than another part of the turning path. Thus, while ensuring the cleaning coverage rate, the chance of the robot walking along the wall can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of a convoluted path planned by the present invention.

[0017] Figure 2 It is a schematic diagram of a unit loop path included in a convoluted path disclosed in the present invention.

[0018] Figure markings: In a unit loop path, the first turning point is A, point O1 is the point in the first turning path (arc AB) farthest from the first turning point A in the vertical upward direction, the second turning point is B, point O2 is the intersection of the first turning path AB and the first turning path EF, the third turning point is C, point O4 is the point in the second turning path CD farthest from the third turning point C in the vertical downward direction, point O3 is the intersection of the second turning path HG and the second turning path CD, the fourth turning point is D, the fifth turning point is E, point O6 is the point in the first turning path EF farthest from the fifth turning point E in the vertical upward direction, the sixth turning point is F, the seventh turning point is G, point O5 is the point in the second turning path HG farthest from the seventh turning point G in the vertical downward direction, the eighth turning point is H, and the ninth turning point is I. DETAILED DESCRIPTION

[0019] The technical scheme in the embodiment of the present invention will be described in detail below in conjunction with the drawings in the embodiment of the present invention. To further illustrate each embodiment, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiment, and can be used in conjunction with the relevant description of the specification to explain the operating principle of the embodiment. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementation methods and the advantages of the present invention. Processing or method depicted as a flow chart. Although the flow chart describes each step as a sequential process, many of the steps can be implemented in parallel, concurrently or simultaneously. In addition, the order of each step can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0020] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the map positions or pixel positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and traversed in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features.

[0021] The embodiment of the present invention provides a spiral path planning method, which is applied to a cleaning robot. The cleaning robot is a mobile robot equipped with a ranging sensor, which can automatically clean garbage on a predetermined path in a working area, automatically bypass obstacles distributed on the predetermined path, automatically turn, and automatically return to a charging base for charging, thereby cleaning the room area. It can be understood that a controller is provided in the cleaning robot as the main control center for constructing a map. The cleaning robot can mark the boundaries of the area where work is required in the map, such as the outline of the wall of the room area, in combination with the detection results of the ranging sensor before starting to move; wherein the ranging sensor includes a visual sensor and / or a laser sensor, and the visual sensor and / or the laser sensor can detect obstacles. Commonly used scenarios include the laser beam emitted by the laser sensor scanning the surface of objects around the body of the cleaning robot, and the data reflected back form point cloud data of the surrounding objects. The objects around the body can then be identified as obstacles and marked in the map, wherein the point cloud data includes the position information of the obstacle surface scanned by the laser beam of the laser sensor. This map is a map pre-constructed by the robot (including a map coordinate system), and this map can be used to reflect the location characteristics of the area to be cleaned.

[0022] The circular path planning method includes: the cleaning robot selects a position point in a pre-constructed map whose vertical distance from the contour line of the wall meets a preset starting point as the cleaning starting point; wherein the contour line of the wall is a partial boundary line of the area to be cleaned, and the cleaning starting point is a position point inside the area to be cleaned, which can be a position point in the corner area, or a position point obtained in a partition after the area to be cleaned is regularly segmented. Before the cleaning robot performs the cleaning work, it is necessary to first obtain the area to be cleaned, specifically based on the area range to be cleaned pre-marked in the map. The shape of the area to be cleaned can be a polygon, and the shape and position information of the obstacle are marked within the area to be cleaned. The obstacle can be a large obstacle, such as furniture that occupies a large area; the obstacle can also be a long obstacle distributed close to the wall.

[0023] In this embodiment, the cleaning robot configures the area to be cleaned as the remaining area after removing the obstacle area from the area to be cleaned by the cleaning robot; the cleaning robot obtains the longest boundary line of the area to be cleaned based on the shape information of the area to be cleaned, which is used to plan a straight path of the spiral path. It should be noted that the cleaning robot has marked the outline of the wall in the map before executing the spiral path planning method.

[0024] It should be noted that in order to effectively simplify the description of the indoor working area, indoor obstacles can be handled as follows: 1. As long as the distance between the obstacle and the wall is less than the minimum distance for the cleaning robot to pass, the cleaning robot cannot pass smoothly and it will be treated as a wall obstacle. 2. When the distance between two obstacles is very close and the cleaning robot cannot pass smoothly, the two can be treated as one obstacle. 3. The edge area of ​​the cleaning robot of the present application is mainly the contour line of the indoor room area and the area near the contour line. The working area that the cleaning robot of the present application needs to clean is the area surrounded by the contour line of the indoor room area. Obstacles are objects that may collide with the cleaning robot in the working area or along the edge area that needs to be cleaned.

[0025] After the cleaning robot obtains the aforementioned cleaning starting point, the cleaning robot starts from the cleaning starting point and performs spiral path planning in the area to be cleaned, so that the planned spiral path periodically covers the area to be cleaned; wherein, the planned spiral path has a part of the turning path that is farther away from the wall than another part of the turning path, and the straight path of the planned spiral path is parallel to the longest boundary line of the area to be cleaned. The cleaning starting point is associated with the endpoint of the longest boundary line of the area to be cleaned, and a position point near the endpoint closest to the current position of the cleaning robot can be selected as the cleaning starting point, but it is necessary to avoid the cleaning robot being too close to the wall. In the spiral path planned by the cleaning robot in the area to be cleaned, the coverage ranges of each two connected (two adjacent) single loops are different, and there is no lateral offset relationship between the two single loops. The turning direction remains clockwise or counterclockwise, and does not have two opposite turning directions. Among the two single loops, the turning path of one single loop is farther away from the wall than the turning path of the other single loop. Then, after the spiral path is planned, when the cleaning robot moves along the spiral path, compared with the prior art, the position point of each single loop closest to the wall does not remain on the same straight line, but is sometimes far away from the contour line of the wall, thereby reducing the probability of the cleaning robot colliding with the wall while ensuring a certain degree of cleaning coverage.

[0026] In addition, it can be determined that the straight path of each single loop in the planned spiral path is parallel to the longest boundary line of the area to be cleaned; it can be understood that a single loop can represent the path coverage in one cycle, or two adjacent single loops can represent the path coverage in one cycle, so that the planned spiral path can periodically cover the area to be cleaned.

[0027] On the basis of the above embodiment, the convoluted path includes a plurality of unit loop paths connected end to end, that is, a plurality of unit loop paths are connected end to end to form the convoluted path; which is equivalent to two adjacent unit loop paths, in which the end point of one unit loop path is connected to the starting point of the other unit loop path. Figure 1 The convoluted path shown in FIG. 1 includes two unit loop paths connected end to end. If the area to be cleaned is a rectangle, then the area to be cleaned is Figure 1 Each unit loop path includes an outer loop periodic path and an inner loop periodic path, and an outer loop periodic path and an inner loop periodic path are connected end to end to form a unit loop path; in this embodiment, an outer loop periodic path and an inner loop periodic path connected to form a unit loop path are two single loops adjacent in position; wherein, the turning starting point of the outer loop periodic path and the turning starting point of the inner loop periodic path are different in vertical distance from the contour line of the wall in the preset forward direction.

[0028] In this embodiment, one of the unit loop paths is selected for illustration. The other unit loop paths also have the same shape rules, specifically corresponding to Figure 1 In the circular path, the preset forward direction is the vertical upward arrow pointing, the first turning point from left to right (belonging to the first arc) is relatively close to the upper boundary line MN (which can be regarded as the outline of the wall), and the second turning point from left to right (belonging to the second arc) is relatively far away from the upper boundary line MN (which can be regarded as the outline of the wall) relative to the first turning point, wherein the first arc from left to right is the turning path of the outer ring periodic path included in the first unit loop path from left to right, and the second arc from left to right is the turning path of the inner ring periodic path included in the first unit loop path from left to right. The cleaning starting point is the turning starting point of the outer ring periodic path; the shape of the turning path is an arc. Figure 1 In the corresponding embodiment, the extension direction of the straight path of the planned spiral path is parallel to the preset forward direction, and the preset forward direction is Figure 1 The vertical upward arrow shown in the figure points so that the initial movement direction of the cleaning robot starting from the cleaning starting point is configured as the preset forward direction. Therefore, after the multiple unit loop paths connected end to end are arranged in the area to be cleaned, a spiral path is formed that can perform a comprehensive cleaning in the area to be cleaned, and a comprehensive cleaning of the area to be cleaned is achieved on the basis of meeting a certain coverage rate, but it does not focus on thoroughly cleaning the edge of the area to be cleaned, because the cleanliness of the edge area does not affect the overall cleanliness of the area to be cleaned.

[0029] Based on the above embodiment, for each unit loop path, the outer loop periodic path and the inner loop periodic path have an intersection, corresponding to Figure 2In a unit loop path, the intersection points of the outer cycle path and the inner cycle path are point O2 and point O3 in the clockwise direction. Furthermore, the outer cycle path (not shown in the figure) included in an adjacent unit loop path is Figure 2 The first intersection point traversed in a clockwise direction is the intersection of the outer cycle path and the adjacent unit loop path. Figure 2 The intersection of the inner cycle path included in a unit loop path shown in the figure, the second intersection traversed in a clockwise direction is the outer cycle path included in the adjacent unit loop path and Figure 2 The intersection of the outer ring periodic path included in a unit loop path shown, wherein the starting point of an adjacent unit loop path is configured to be Figure 2 The end point of a unit loop path shown in the figure realizes the end-to-end connection of two adjacent unit loop paths; in some embodiments, there are partial path overlaps in two unit loop paths, specifically, the straight path in the outer loop periodic path included in one of the unit loop paths overlaps with the straight path in the outer loop periodic path included in the other unit loop path, or the straight path in the outer loop periodic path included in one of the unit loop paths overlaps with the straight path in the inner loop periodic path included in the other unit loop path, or the straight path in the inner loop periodic path included in one of the unit loop paths overlaps with the straight path in the inner loop periodic path included in the other unit loop path; thereby improving the coverage rate of the unit loop paths in the area to be cleaned and ensuring the effectiveness of the robot cleaning.

[0030] Preferably, corresponding to a coordinate axis direction of the map, including the horizontal axis direction or the vertical axis direction, the unit loop path and the outer ring periodic path included in the unit loop path are traversed from the negative direction of the coordinate axis to the positive direction of the coordinate axis, combined with Figure 1 It can be seen from the arrow closest to point M in the upper left corner of the rectangular box that in this embodiment, the turning starting point of the first traversed outer ring periodic path is configured as the cleaning starting point, wherein the turning starting point of the first traversed outer ring periodic path is the starting point of the first turning path of the outer ring periodic path; wherein the area to be cleaned is a rectangular area.

[0031] On the basis of the above embodiment, for each unit loop path, part of the turning paths in the outer loop periodic path deviates closer to the corresponding boundary line of the area to be cleaned in the preset forward direction than the corresponding turning paths in the inner loop periodic path, or part of the turning paths in the outer loop periodic path deviates closer to the corresponding boundary line of the area to be cleaned in the opposite direction of the preset forward direction than the corresponding turning paths in the inner loop periodic path, so that a part of the turning paths in the planned spiral path is farther away from the wall than another part of the turning paths. Preferably, the coverage area of ​​the outer loop periodic path is larger than the coverage area of ​​the inner loop periodic path, and there is an overlap between the coverage area of ​​the outer loop periodic path and the coverage area of ​​the inner loop periodic path. Corresponding to Figure 1 In each unit loop path, the arc path with a distribution position biased toward the periphery (the arc path relatively close to the boundary line MN) is the turning part of the outer loop periodic path of the unit loop path to which it belongs, and the arc path with a distribution position biased toward the inside (the arc path relatively far from the boundary line MN) is the turning part of the inner loop periodic path of the unit loop path to which it belongs, so that overall, the path length traversed by the outer loop periodic path is greater than the path length traversed by the outer loop periodic path, and the area covered by the outer loop periodic path is greater than the area covered by the outer loop periodic path. This makes the cleaning robot first closer to the wall contour line and then farther away from the wall contour line in each unit loop path, rather than maintaining a constant distance from the wall contour line, reducing the probability of the cleaning robot colliding with the wall during cleaning along the unit loop path.

[0032] like Figure 2 As shown, the unit loop path specifically includes: starting from the first turning point A, making a 180-degree turn with the arc radius of the first turning path of the outer ring periodic path to reach the second turning point B, so that the cleaning robot moves from the first turning point to the second turning point according to the preset rotation direction, that is, the cleaning robot turns from the first turning point A to the second turning point B in a clockwise direction, forming a first turning path AB. Starting from the second turning point B, along the opposite direction of the preset forward direction ( Figure 2The robot moves from the third turning point C to the fourth turning point D with the arc radius of the second turning path of the outer ring periodic path, so that the robot moves from the third turning point to the fourth turning point according to the preset rotation direction, that is, the cleaning robot turns from the third turning point C to the fourth turning point D in a clockwise direction, forming a second turning path CD. From the fourth turning point D, the robot moves from the third turning point C to the fourth turning point D along the preset forward direction for the second preset cleaning length, and reaches the fifth turning point E, forming a straight path DE; wherein the second preset cleaning length is less than the first preset cleaning length; within a unit loop path, the fifth turning point E is the turning starting point of the inner ring periodic path, the fifth turning point E is the starting point of the inner ring periodic path, and the fifth turning point E is the end point of the outer ring periodic path; in this embodiment, the arc radius of the first turning path AB of the outer ring periodic path is greater than the arc radius of the second turning path CD of the outer ring periodic path, so as to constrain the straight path DE to the inside of the outer ring periodic path. In this embodiment, the first turning path AB, the straight path BC, the second turning path CD, and the straight path DE are connected to form an outer ring periodic path.

[0033] It should be added that when the cleaning robot reaches the cleaning starting point, it is determined that the current position of the cleaning robot is at the first inflection point; in some embodiments, the first inflection point is Figure 2 The starting point of the first outer ring periodic path on the left is shown; in the unit loop path, the first turning point is the turning starting point of the outer ring periodic path.

[0034] Starting from the fifth turning point E, the robot makes a 180-degree turn with the arc radius of the first turning path of the inner ring periodic path to reach the sixth turning point F, so that the robot moves from the fifth turning point to the sixth turning point according to the preset rotation direction, that is, the cleaning robot turns from the fifth turning point E to the sixth turning point F in a clockwise direction, forming a first turning path EF, wherein the first turning path of the inner ring periodic path and the first turning path of the outer ring periodic path have only one intersection, that is, Figure 2 The first turning path EF intersects the first turning path AB at point O2, and the first turning path EF is offset to the right relative to the first turning path AB. Starting from the sixth turning point F, go straight along the reverse direction of the preset forward direction (the vertical downward arrow points) for the third preset cleaning length to reach the seventh turning point G, forming a straight path FG; wherein the third preset cleaning length is less than the second preset cleaning length, that is, the length of the straight path FG is less than the length of the straight path DE, so that the second turning path GH in the inner ring periodic path is configured to be farther away from the second turning path CD in the outer ring periodic path. Figure 2The oblique line segment below (the boundary line of the area to be cleaned may be the contour line of the wall). The line segment formed by the second inflection point B and the third inflection point C is the middle line segment BC, which is the straight line path BC; the line segment FG formed by the sixth inflection point F and the seventh inflection point G is arranged between the vertical lines passing through the two end points of the middle line segment BC, and the line segment FG is offset to the right relative to the middle line segment BC.

[0035] Starting from the seventh turning point G, the second turning path GH of the inner ring periodic path makes a 180-degree turn to reach the eighth turning point H, so that the cleaning robot moves from the seventh turning point to the eighth turning point according to the preset rotation direction, and the cleaning robot turns a semicircle from the seventh turning point G to the eighth turning point H in a clockwise direction to form a second turning path GH. The arc radius of the first turning path EF of the inner ring periodic path is greater than the arc radius of the second turning path GH of the inner ring periodic path; in the same unit loop path, the second turning path GH of the inner ring periodic path and the second turning path CD of the outer ring periodic path have only one intersection O3, and the second turning path GH is offset to the upper right relative to the second turning path CD. Starting from the eighth turning point H, along the preset forward direction ( Figure 2 The first turning point A, the second turning point B and the ninth turning point I are located on the same straight line, which is the first turning path AB located on the outer ring periodic path (also the first turning path AB of the outer ring periodic path). Figure 2 The fourth preset cleaning length is less than the first preset cleaning length, that is, the length of the straight path HI is less than the length of the straight path BC; the fourth preset cleaning length is greater than the third preset cleaning length, that is, the length of the straight path HI is greater than the length of the straight path FG; in this embodiment, the first turning path EF, the straight path FG, the second turning path GH, and the straight path HI are connected to form an inner loop periodic path. Thereby allowing the cleaning robot to move along the inner loop periodic path to a position point where the two endpoints of the first turning path of the outer loop periodic path are in the same straight line, so as to continue to plan a new first turning path starting from the ninth turning point I, which is equivalent to Figure 2 The arc AO1B is configured to be translated to the right by the length of a line segment AI, thereby realizing multiple unit loop paths connected end to end in sequence in the area to be cleaned, thereby achieving the purpose of relatively completely covering the area to be cleaned.

[0036] It should be noted that in Figure 2In the illustrated embodiment, the arc radius of the second turning path CD of the outer ring periodic path is equal to the arc radius of the second turning path GH of the inner ring periodic path; the arc radius of the first turning path AB of the outer ring periodic path is equal to the arc radius of the first turning path EF of the inner ring periodic path; the arc radius of the first turning path EF of the inner ring periodic path is greater than the arc radius of the second turning path GH of the inner ring periodic path; the arc radius of the first turning path AB of the outer ring periodic path is greater than the arc radius of the second turning path CD of the outer ring periodic path; thus: the first turning path EF of the inner ring periodic path is offset to the lower right relative to the first turning path AB of the outer ring periodic path, and the second turning path GH of the inner ring periodic path is offset to the upper right relative to the second turning path CD of the outer ring periodic path, so as to avoid the overlap of the straight path of the outer ring periodic path and the straight path of the inner ring periodic path in the same unit loop path, thereby reducing the cleaning repetition rate of the cleaning robot in the area to be cleaned.

[0037] Preferably, for the outer loop periodic path and the inner loop periodic path, the arc radius of the second turning path is 3 times the body radius of the cleaning robot, and the arc radius of the first turning path is 4 times the body radius of the cleaning robot, so that a unit loop path contains enough of the outer loop periodic paths and / or enough of the inner loop periodic paths to ensure a certain degree of coverage and cleaning.

[0038] For two unit loop paths connected end to end, a first unit loop path and a second unit loop path can be defined, which can be corresponding to Figure 1 Among the two arcs at the top, the first arc from left to right is the first turning path of the outer ring periodic path belonging to the first unit loop path, and the second arc from left to right is the first turning path of the outer ring periodic path belonging to the second unit loop path. Each unit loop path is configured with Figure 2 The turning starting point, turning point, turning path and straight path are shown.

[0039] In the first unit loop path, the starting point of the first unit loop path is the first inflection point of the outer loop periodic path included in the first unit loop path, and the end point of the first unit loop path is the ninth inflection point of the inner loop periodic path included in the first unit loop path; the starting point of the inner loop periodic path included in the first unit loop path is the corresponding fifth inflection point. Similarly, in the second unit loop path, the starting point of the second unit loop path is the ninth inflection point of the inner loop periodic path included in the first unit loop path, and the end point of the second unit loop path is the ninth inflection point of the inner loop periodic path included in the second unit loop path; the starting point of the inner loop periodic path included in the second unit loop path is the corresponding fifth inflection point. It should be noted that the fifth inflection point is the turning starting point of the inner loop periodic path, and the fifth inflection point is the starting point of the inner loop periodic path.

[0040] The distance between the first inflection point of the outer loop periodic path included in the unit loop path and the fifth inflection point of the inner loop periodic path included in the unit loop path in the preset forward direction is the first preset distance, that is, within the same unit loop path, the distance between the starting point of the outer loop periodic path and the starting point of the inner loop periodic path in the preset forward direction is the first preset distance, and the first preset distance is equal to half of the arc radius of the first turning path of the outer loop periodic path included in the unit loop path ， The first preset distance corresponds to Figure 2 The distance between the first turning point A and the fifth turning point E in the vertical direction is set so that the second turning path EF in the inner ring periodic path is configured to deviate more from the first turning path AB in the outer ring periodic path on the basis that the first turning path of the outer ring periodic path and the first turning path of the inner ring periodic path have the same shape and size. Figure 2 The upper oblique line segment (the upper boundary line of the area to be cleaned, which can be the outline of the wall).

[0041] The distance between the third inflection point of the outer ring periodic path included in the unit loop path and the seventh inflection point of the inner ring periodic path included in the unit loop path in the opposite direction of the preset forward direction is the second preset distance, that is, within the same unit loop path, the distance between the starting point of the outer ring periodic path and the starting point of the inner ring periodic path in the opposite direction of the preset forward direction is the second preset distance, and the second preset distance is equal to half of the arc radius of the second turning path of the outer ring periodic path included in the unit loop path. The second preset distance corresponds to Figure 2 The distance between the third turning point C and the fifth turning point G in the vertical direction is reduced, so that on the basis that the second turning path of the outer ring periodic path and the second turning path of the inner ring periodic path have the same shape and size, the second turning path GH in the inner ring periodic path is configured to deviate more from the second turning path CD in the outer ring periodic path Figure 2 The oblique line segment below (the lower boundary line of the area to be cleaned, which can be the outline of the wall).

[0042] In the aforementioned embodiment, the difference between the first preset cleaning length and the third preset cleaning length is equal to the sum of the second preset distance and the first preset distance, that is, the difference between the length of the straight path BC minus the length of the straight path FG is equal to the sum of the second preset distance and the first preset distance. The difference between the first preset cleaning length and the second preset cleaning length is equal to the first preset distance, that is, the difference between the length of the straight path BC minus the length of the straight path DE is equal to the first preset distance. The difference between the fourth preset cleaning length and the third preset cleaning length is equal to the first preset distance, that is, the difference between the length of the straight path HI minus the length of the straight path FG is equal to the first preset distance. The difference between the first preset cleaning length and the fourth preset cleaning length is equal to the second preset distance, that is, the difference between the length of the straight path BC minus the length of the straight path HI is equal to the second preset distance. The difference between the second preset cleaning length and the third preset cleaning length is equal to the second preset distance, that is, the difference between the length of the straight path DE minus the length of the straight path FG is equal to the second preset distance. It should be noted that the first preset cleaning length, the second preset cleaning length, the third preset cleaning length, and the fourth preset cleaning length are all configured to allow the cleaning robot to move along the corresponding turning path to the position farthest from the corresponding turning starting point. Figure 2 It can be seen that the first preset cleaning length is configured to allow the cleaning robot to move along the second turning path CD to the position point O4 that is farthest from the corresponding turning starting point; the second preset cleaning length is configured to allow the cleaning robot to move along the first turning path EF to the position point O6 that is farthest from the corresponding turning starting point; the third preset cleaning length is configured to allow the cleaning robot to move along the second turning path GH to the position point O5 that is farthest from the corresponding turning starting point; the fourth preset cleaning length is configured to allow the cleaning robot to move along the first turning path in the new unit loop path connected to the ninth turning point I to the position point farthest from the corresponding turning starting point, which position point is on the same straight line as the position point O6, and this position point and the position point O6 are Figure 2 The vertical distances of the diagonal line segments above are all equal.

[0043] In some embodiments, the first preset distance is 2 times the body radius of the cleaning robot; the second preset distance is 1.5 times the body radius of the cleaning robot. Preferably, the body shape of the cleaning robot is circular. Figure 2It can be seen that the first preset cleaning length is configured to allow the cleaning robot to move in the opposite direction of the preset forward direction to a vertical distance between the cleaning robot and the second contour line of the wall that is less than or equal to 2 times the body diameter of the cleaning robot, wherein the second contour line of the wall is the contour line of the wall detected by the cleaning robot in the opposite direction of the preset forward direction, corresponding to Figure 2 The length of the straight path BC is the first preset cleaning length. The second preset cleaning length is configured to allow the cleaning robot to move along the preset forward direction to a vertical distance from the first contour line of the wall that is less than or equal to 4 times the body diameter of the cleaning robot, wherein the first contour line of the wall is the contour line of the wall detected by the cleaning robot in the preset forward direction, corresponding to Figure 2 The oblique line segment above. Preferably, the outline of the wall can be marked in the map as the boundary line of the cleaned area within the area to be cleaned. The length of the straight path DE is the second preset cleaning length. The configuration of the aforementioned second preset cleaning length and the aforementioned first preset cleaning length makes it feasible for the cleaning robot to move a distance along the preset forward direction or in the opposite direction thereof, thereby avoiding the phenomenon of frequent collisions of the cleaning robot during the movement along the spiral path.

[0044] On the basis of the above embodiment, the position point whose vertical distance to the contour line of the wall meets the preset starting point condition is specifically: in the first preset coordinate axis direction and the second preset coordinate axis direction of the map, the vertical distance to the contour line of the corresponding wall is 3 times the body diameter of the cleaning robot, so that the cleaning robot starts from the cleaning starting point and makes a complete 180-degree turn with the arc radius of the first turning path of the outer ring periodic path to reach the second turning point, and in the process of the cleaning robot walking along the first turning path, the forward direction of the cleaning robot at a position point is parallel to the contour line of the wall, corresponding to Figure 2 In the embodiment, the cleaning robot starts from the cleaning starting point A and makes a complete 180-degree turn in a clockwise direction with a turning radius of twice the body diameter of the cleaning robot to reach the second turning point, and the forward direction of the cleaning robot at the point farthest from the cleaning starting point A in the vertical upward direction is parallel to Figure 2 The slashed line segment above further indicates that the cleaning robot can pass through the aforementioned first turning path AB without obstacles.

[0045] In the above embodiments, a cleaning robot that can perform sweeping tasks (referred to as a sweeping robot) is used as an example to illustrate the technical solution of the present application, but it is not limited to sweeping robots. The robot in each embodiment of the present application refers to any mechanical device that can move in space in its environment with a high degree of autonomy, for example, it can be a wall cleaning robot, a lawn mowing robot, a sweeping robot, a companion robot or a guide robot, etc., or it can be a purifier, an unmanned vehicle, etc. Of course, for different robot forms, the work tasks they perform will also be different, and this is not limited.

[0046] On the basis of the above-mentioned embodiment, another embodiment of the present invention further discloses a chip with a built-in control program, wherein the control program is used to control the robot to execute the spiral path planning method described in the above-mentioned embodiment. The chip plans a spiral path that periodically covers the area to be cleaned, starting from the cleaning starting point, based on the area to be cleaned marked in the map, and some turning paths in the outer cycle path deviate closer to the corresponding boundary line of the area to be cleaned than the corresponding turning paths in the inner cycle path, so that a part of the planned spiral path has a turning path that is farther away from the wall than another part of the turning path.

[0047] The above-mentioned chip can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0048] In another embodiment provided by the present invention, a cleaning robot is also provided, the cleaning robot is provided with the aforementioned chip inside, thereby comprising a computer program product corresponding to the aforementioned convoluted path planning method, and when the aforementioned chip is running, the cleaning robot executes the convoluted path planning method described in any embodiment. The aforementioned chip executes various functional applications and data processing of the aforementioned chip by running and storing non-volatile software programs, instructions and modules, that is, the convoluted path planning method disclosed in the aforementioned method embodiment is implemented. The problem of frequent collisions between the cleaning robot and the wall during cleaning work in an indoor working environment is solved, so that the cleaning robot periodically covers the area to be cleaned from the corner area while reducing collisions with the wall boundary. Thereby, while ensuring the cleaning coverage rate, the chance of the robot walking along the wall can be reduced.

[0049] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0050] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable technicians familiar with the technical field to understand the content of the present invention and implement it accordingly, and cannot be used to limit the protection scope of the present invention. Any equivalent transformation or modification made according to the spirit of the present invention should be included in the protection scope of the present invention. It is necessary to understand that the embodiments corresponding to the spiral path planning method described in this article provide spiral paths for robot movement. Any technical solution for the robot to move along the spiral path, unit loop path, outer loop periodic path and inner loop periodic path disclosed in any of the aforementioned embodiments and combinations thereof does not make the essence of the corresponding technical solution deviate from the scope of the technical solution of each embodiment of the present invention.

Claims

1. A method for planning a circular path, wherein the execution subject of the method is a cleaning robot, and the cleaning robot has marked the outline of the wall in the map before executing the method, wherein: The map is used to reflect the location characteristics of the area to be cleaned; it is characterized in that the convoluted path planning method includes: A position point whose vertical distance to the contour line of the wall meets the preset starting point condition is selected as the cleaning starting point; wherein the contour line of the wall is a partial boundary line of the area to be cleaned; the position point whose vertical distance to the contour line of the wall meets the preset starting point condition is specifically: a position point whose vertical distance to the contour line of the corresponding wall in the first preset coordinate axis direction and the second preset coordinate axis direction of the map is 3 times the body diameter of the cleaning robot, so that the cleaning robot starts from the cleaning starting point and makes a complete 180-degree turn at the arc radius of the first turning path of the outer ring periodic path to reach the second turning point; Starting from the cleaning starting point, a spiral path is planned in the area to be cleaned, so that the planned spiral path periodically covers the area to be cleaned; wherein, a part of the planned spiral path has a turning path that is farther away from the wall than another part of the turning path, and a straight path of the planned spiral path is parallel to the longest boundary line of the area to be cleaned.

2. The method for planning a convoluted path according to claim 1, characterized in that: A plurality of unit loop paths are connected end to end to form the convoluted path, each unit loop path comprises an outer loop periodic path and an inner loop periodic path, and an outer loop periodic path and an inner loop periodic path are connected end to end to form a unit loop path; The turning starting point of the outer cycle path and the turning starting point of the inner cycle path have different vertical distances from the contour line of the wall in the preset forward direction; The cleaning starting point is the turning starting point of the outer ring periodic path; the shape of the turning path is an arc; Among them, the extension direction of the straight path of the planned spiral path is parallel to the preset forward direction, so that the initial movement direction of the cleaning robot starting from the cleaning starting point is configured as the preset forward direction.

3. The method for planning a convoluted path according to claim 2, characterized in that: For each unit loop path, there is an intersection between the outer cycle path and the inner cycle path; For each unit loop path, some turning paths in the outer loop periodic path deviate closer to the corresponding boundary line of the area to be cleaned in the preset forward direction than the corresponding turning paths in the inner loop periodic path, or some turning paths in the outer loop periodic path deviate closer to the corresponding boundary line of the area to be cleaned in the opposite direction of the preset forward direction than the corresponding turning paths in the inner loop periodic path, so that a part of the turning path in the planned spiral path is farther away from the wall than another part of the turning path.

4. The method for planning a convoluted path according to claim 3, characterized in that: The unit loop path specifically includes: Starting from the first turning point, the robot turns 180 degrees with the arc radius of the first turning path of the outer ring periodic path to reach the second turning point, so that the cleaning robot moves from the first turning point to the second turning point according to the preset rotation direction; wherein the first turning point is the starting point of the outer ring periodic path, so that the first turning point is the turning starting point of the outer ring periodic path; Starting from the second inflection point, go straight along the opposite direction of the preset forward direction for a first preset cleaning length to reach the third inflection point; Starting from the third turning point, the cleaning robot makes a 180-degree turn with the arc radius of the second turning path of the outer ring periodic path to reach the fourth turning point, so that the cleaning robot moves from the third turning point to the fourth turning point according to the preset rotation direction; wherein the arc radius of the first turning path of the outer ring periodic path is greater than the arc radius of the second turning path of the outer ring periodic path; Starting from the fourth inflection point, go straight along the preset forward direction for the second preset cleaning length to reach the fifth inflection point; wherein the second preset cleaning length is less than the first preset cleaning length; within a unit loop path, the fifth inflection point is the turning starting point of the inner ring periodic path, so that the fifth inflection point is the end point of the outer ring periodic path; Starting from the fifth turning point, a 180-degree turn is made with the arc radius of the first turning path of the inner ring periodic path to reach the sixth turning point, so that the cleaning robot moves from the fifth turning point to the sixth turning point according to the preset rotation direction; wherein the first turning path of the inner ring periodic path and the first turning path of the outer ring periodic path have only one intersection point; Starting from the sixth inflection point, go straight along the reverse direction of the preset forward direction for the third preset cleaning length to reach the seventh inflection point; wherein the third preset cleaning length is less than the second preset cleaning length; the line segment formed by connecting the second inflection point and the third inflection point is the middle line segment, and the line segment formed by connecting the sixth inflection point and the seventh inflection point is arranged between the vertical lines passing through the two end points of the middle line segment respectively; Starting from the seventh turning point, a 180-degree turn is made with the arc radius of the second turning path of the inner ring periodic path to reach the eighth turning point, so that the cleaning robot moves from the seventh turning point to the eighth turning point according to the preset rotation direction; wherein the second turning path of the inner ring periodic path and the second turning path of the outer ring periodic path have only one intersection point; Starting from the eighth inflection point, go straight along the preset forward direction for the fourth preset cleaning length to reach the ninth inflection point; wherein the fourth preset cleaning length is less than the first preset cleaning length, and the fourth preset cleaning length is greater than the third preset cleaning length; the ninth inflection point is the end point of the inner loop periodic path, so that the ninth inflection point is the end point of the unit loop path; the first inflection point, the second inflection point and the ninth inflection point are located on the same straight line; The arc radius of the first turning path of the inner ring periodic path is greater than the arc radius of the second turning path of the inner ring periodic path; the arc radius of the second turning path of the outer ring periodic path is equal to the arc radius of the second turning path of the inner ring periodic path; the arc radius of the first turning path of the outer ring periodic path is equal to the arc radius of the first turning path of the inner ring periodic path; When the cleaning robot reaches the cleaning starting point, it is determined that the current position of the cleaning robot is at the first inflection point.

5. The method for planning a convoluted path according to claim 4, characterized in that: The two unit loop paths connected head to tail are the first unit loop path and the second unit loop path respectively; In the first unit loop path, the starting point of the first unit loop path is the first inflection point of the outer loop periodic path included in the first unit loop path, and the end point of the first unit loop path is the ninth inflection point of the inner loop periodic path included in the first unit loop path; In the second unit loop path, the starting point of the second unit loop path is the ninth inflection point of the inner loop periodic path included in the first unit loop path, and the end point of the second unit loop path is the ninth inflection point of the inner loop periodic path included in the second unit loop path; The distance between the first inflection point of the outer loop periodic path included in the unit loop path and the fifth inflection point of the inner loop periodic path included in the unit loop path in the preset forward direction is a first preset distance, and the first preset distance is equal to half of the arc radius of the first turning path of the outer loop periodic path included in the unit loop path; Among them, the distance between the third turning point of the outer loop periodic path included in the unit loop path and the seventh turning point of the inner loop periodic path included in the unit loop path in the opposite direction of the preset forward direction is a second preset distance, and the second preset distance is equal to half of the arc radius of the second turning path of the outer loop periodic path included in the unit loop path.

6. The method for planning a convoluted path according to claim 5, characterized in that: The difference between the first preset cleaning length and the third preset cleaning length is equal to the sum of the second preset distance and the first preset distance; the difference between the first preset cleaning length and the second preset cleaning length is equal to the first preset distance; the difference between the fourth preset cleaning length and the third preset cleaning length is equal to the first preset distance; the difference between the first preset cleaning length and the fourth preset cleaning length is equal to the second preset distance; the difference between the second preset cleaning length and the third preset cleaning length is equal to the second preset distance; Among them, the first preset cleaning length, the second preset cleaning length, the third preset cleaning length, and the fourth preset cleaning length are all configured to allow the cleaning robot to move along the corresponding turning path to the position farthest from the corresponding turning starting point.

7. The method for planning a convoluted path according to claim 6, characterized in that: The first preset distance is 2 times the body radius of the cleaning robot; the second preset distance is 1.5 times the body radius of the cleaning robot; The first preset cleaning length is configured to allow the cleaning robot to move in the opposite direction of the preset forward direction to a vertical distance between the cleaning robot and the second contour line of the wall that is less than or equal to 2 times the body diameter of the cleaning robot; wherein the second contour line of the wall is the contour line of the wall detected by the cleaning robot in the opposite direction of the preset forward direction; The second preset cleaning length is configured to allow the cleaning robot to move along the preset forward direction to a vertical distance from the first contour line of the wall that is less than or equal to 4 times the body diameter of the cleaning robot; wherein the first contour line of the wall is the contour line of the wall detected by the cleaning robot in the preset forward direction.

8. The method for planning a convoluted path according to claim 6, characterized in that: Corresponding to a coordinate axis direction of the map, the unit loop path and the outer ring periodic path included in the unit loop path are traversed from the negative direction of the coordinate axis to the positive direction of the coordinate axis, and the turning starting point of the first traversed outer ring periodic path is configured as the cleaning starting point, wherein the turning starting point of the first traversed outer ring periodic path is the starting point of the first turning path of the outer ring periodic path; Wherein, the area to be cleaned is a rectangular area.

9. A chip having a built-in control program, wherein the control program is used to control a cleaning robot to execute the spiral path planning method according to any one of claims 1 to 8.

10. A cleaning robot, characterized in that: The robot is built with the chip described in claim 9.

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