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Method for realizing autonomous exploration mapping and autonomous path covering of indoor robot cleaner

The invention discloses a method for realizing autonomous exploration mapping and autonomous path covering of an indoor robot cleaner. The method comprises the following steps: 1) the robot cleaner senses the current area environment, obtains the depth information of the current shooting area, and determines a boundary position; 2) the robot moves autonomously to the position, completes the scanning and map generation of the upper area, and senses the environment of the new area; 3) the robot cleaner finally completes the generation of an indoor environment complete map through the continuous boundary exploration and new regional scanning, and distinguishes the area that cannot be passed and the area that can be passed in the map; 4) the indoor environment map can be completed, and the map area can be decomposed to generate the cleaning path for covering each area; and 5) a motion control module drives the robot cleaner to finally complete the cleaning of the indoor environment in accordance with the planned area order and path. The method overcomes the shortcomings of low coverage and high cleaning repetition rate of a conventional robot cleaner, thereby improving the robustness of the system and the work efficiency.
Owner:南京罗普森智能科技有限公司
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