Sweeping robot supplementary sweeping method and chip

Abstract

The invention relates to a sweeping robot supplementary sweeping method and a chip. The method comprises the steps that entrance reference points of the boundary of each entrance of a swept region and an unswept region are selected preferentially, the best entrance point is determined, one point is selected from the best entrance point according to entrance selection conditions as a sweeping starting point, and region sweeping is performed on the basis of the preset sweeping conditions. According to the supplementary sweeping method, no any marking position point needs to be made, only endpoints of the entrance boundaries of the sweeping region and the unswept region in a raster map are adopted as entrance reference points for performing preferential selection, even if the shape of the unswept region is complex, the sweeping starting point of the unswept region can be more objectively, more flexibly and more accurately determined just by analyzing and judging the boundaries and selecting the best entrance point, and therefore the most suitable unswept region is preferentially swept. Meanwhile, according to the preset sweeping conditions, the region is swept, the problem that omitted sweeping caused by the existing mode that a zigzagged shaped sweeping is performed simply from the marked position point can be avoided, and sweeping comprehensiveness and integrity are ensured.

Description

technical field [0001] The invention relates to the field of robots, in particular to a sweeping method and a chip for a sweeping robot. Background technique [0002] The existing sweeping robot, in the conventional bow-shaped cleaning process, will make a mark position point at the boundary of the unswept area, and then find out all the unswept areas by searching the grid map in the process of checking for leaks. The marked position point of the area, and then select the best position point with the closest distance to the current position through the path search algorithm, and finally navigate to the best position point, it is preferable to clean the area, after cleaning the area, select The next best location point is the closest to clean, and so on, until all uncleaned areas are cleaned. Among them, the distance between the best location point and the current location is not a straight-line distance, but an accessible path distance. The robot will search all the paths t...

AI Technical Summary

Problems solved by technology

If the position of the marked position is unreasonable, when the robot cleans in a bow-shaped manner, some parts of the uncleaned area will be missed

Therefore, this method of simply relying on the marked location points and the reachable path distance to select the preferred re-sweeping area for re-sweeping has poor flexibility and low re-sweeping efficiency, which cannot meet the cleaning needs of some complex environments.

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