CN114510049A - Convolution path planning method, chip and cleaning robot - Google Patents

Abstract

The invention discloses a convolute path planning method, a chip and a cleaning robot, wherein the execution main body of the convolute path planning method is the cleaning robot, the cleaning robot marks the outline of a wall body in a map before executing the convolute path planning method, and the map is used for reflecting the position characteristics of an area to be cleaned; the convoluted path planning method comprises the following steps: selecting a position point of a piece with a vertical distance from the contour line of the wall body to meet a preset starting point as a cleaning starting point; the contour line of the wall body is a part of the boundary line of the area to be cleaned; planning a convoluted path in the area to be cleaned from a cleaning starting point, so that the planned convoluted path periodically covers the area to be cleaned; and a straight path of the planned rotary path is parallel to the longest boundary line of the area to be cleaned.

Description

Convolution path planning method, chip and cleaning robot

Technical Field

The invention relates to the technical field of path planning, in particular to a convoluted path planning method, a chip and a cleaning robot.

Background

For the gradual maturity of artificial intelligence and target detection and identification, multi-sensor measurement and environment perception technology, for target detection and identification, environment perception is a necessary premise, and target detection is an important component of environment perception, and common target detection sensors are divided into: (1) the laser ranging image sensor is used for acquiring information such as distance, angle, reflection intensity and speed of a target by emitting light waves with different wavelengths and collecting echo signals of the emitted waves to generate a multi-dimensional image of the target, so that the distance data of the target can be acquired, the target is not easily influenced by illumination, smoke and environment, but the state of the target cannot be sensed, for example, the blocking effect generated by some movable obstacles is not sensed in time; (2) the camera can acquire richer color information, can identify the basic state attributes of objects such as length, width, height, color and the like, has higher concealment performance, and is easily influenced by illumination, smoke and environment. In any sensing manner, when the cleaning robot cleans a corresponding working area, the cleaning robot needs to firstly walk along the edge of the wall body sensed in the area to be cleaned, and although the advancing direction of the cleaning robot is configured to be parallel to the extending direction of the edge of the wall body in the process of walking along the edge, a positioning error occurs based on the sensing manner, so that the cleaning robot frequently collides with the wall body in the process of walking along the edge, and therefore, a better cleaning manner needs to be found.

Disclosure of Invention

Aiming at the technical problems, the invention discloses a convoluted path planning method, a chip and a cleaning robot, which solve the problem that the cleaning robot frequently collides with a wall body when cleaning in an indoor working environment, so that the cleaning robot periodically covers the area to be cleaned from a corner area and simultaneously reduces the collision with the boundary of the wall body. The specific technical scheme is as follows:

a circular path planning method, the main execution body of which is a cleaning robot, the cleaning robot marks the outline of a wall body in a map before executing the circular path planning method, wherein the map is used for reflecting the position characteristics of an area to be cleaned; the convoluted path planning method comprises the following steps: selecting a position point of a piece with a vertical distance from the contour line of the wall body to meet a preset starting point as a cleaning starting point; the contour line of the wall body is a part of boundary line of the area to be cleaned; planning a convoluted path in the area to be cleaned from a cleaning starting point, so that the planned convoluted path periodically covers the area to be cleaned; and a straight path of the planned rotary path is parallel to the longest boundary line of the area to be cleaned.

Furthermore, a plurality of unit loop paths are connected end to form the loop-shaped path, each unit loop path comprises an outer loop periodic path and an inner loop periodic path, and one outer loop periodic path and one inner loop periodic path are connected end to form one unit loop path; the vertical distance between the turning starting point of the outer ring periodic path and the turning starting point of the inner ring periodic path in the preset advancing direction and the contour line of the wall body is different; wherein, the cleaning starting point is a turning starting point belonging to the outer ring periodic path; the shape of the turning path is circular arc; wherein an extending direction of a straight path in which the planned convoluted path exists is parallel to a preset advancing direction such that an initial moving direction of the cleaning robot from the cleaning start point is configured as the preset advancing direction.

Furthermore, for each unit loop path, an intersection point exists between the outer loop periodic path and the inner loop periodic path; for each unit loop path, a part of turning paths in the outer loop periodic path are closer to corresponding boundary lines of corresponding turning paths in the inner loop periodic path deviating from the region to be cleaned in the preset advancing direction, or the part of turning paths in the outer loop periodic path are closer to corresponding boundary lines of corresponding turning paths in the inner loop periodic path deviating from the region to be cleaned in the reverse direction of the preset advancing direction, so that one part of turning paths in the planned loop path is far away from the wall body than the other part of turning paths.

Further, the unit loop path specifically includes: starting from the first inflection point, turning by 180 degrees with the arc radius of the first turning path of the outer ring periodic path to reach a second inflection point, so that the cleaning robot moves from the first inflection point to the second inflection point according to a preset rotation direction; wherein the first inflection point is a start point of the outer loop periodic path such that the first inflection point is a turn start point of the outer loop periodic path; starting from the second inflection point, moving the first preset sweeping length in a straight line along the direction opposite to the preset advancing direction to reach a third inflection point; starting from the third inflection point, turning by 180 degrees according to the arc radius of the second turning path of the outer ring periodic path to reach the fourth inflection point, so that the cleaning robot moves from the third inflection point to the fourth inflection point according to the preset rotation direction; the arc radius of a first turning path of the outer ring periodic path is larger than that of a second turning path of the outer ring periodic path; starting from the fourth inflection point, moving a second preset sweeping length in a straight line along the preset advancing direction to reach a fifth inflection point; wherein the second preset sweeping length is smaller than the first preset sweeping length; within one unit loop-back path, a fifth inflection point is a turning starting point of the inner loop periodic path, so that the fifth inflection point is an end point of the outer loop periodic path; starting from the fifth inflection point, turning by 180 degrees with the arc radius of the first turning path of the inner ring periodic path to reach the sixth inflection point, so that the cleaning robot moves from the fifth inflection point to the sixth inflection point according to the preset rotation direction; the first turning path of the inner ring periodic path and the first turning path of the outer ring periodic path only have one intersection point; the third preset sweeping length is straightly moved along the reverse direction of the preset advancing direction from the sixth inflection point to the seventh inflection point; wherein the third preset sweeping length is smaller than the second preset sweeping length; the line segment formed by connecting the second inflection point and the third inflection point is a middle line segment, and the line segment formed by connecting the sixth inflection point and the seventh inflection point is configured between vertical lines passing through two end points of the middle line segment respectively; starting from the seventh inflection point, turning by 180 degrees with the arc radius of the second turning path of the inner ring periodic path to reach the eighth inflection point, so that the cleaning robot moves from the seventh inflection point to the eighth inflection point according to the preset rotation direction; the second turning path of the inner ring periodic path and the second turning path of the outer ring periodic path only have one intersection point; from the eighth inflection point, moving straight for a fourth preset sweeping length along the preset advancing direction to reach a ninth inflection point; the fourth preset sweeping length is smaller than the first preset sweeping length and is larger than the third preset sweeping length; a ninth inflection point is an end point of the inner-loop periodic path, such that the ninth inflection point is an end point of a unit loop-back path; the first inflection point, the second inflection point and the ninth inflection point are positioned on the same straight line; the arc radius of a first turning path of the inner ring periodic path is larger than that of a 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; and when the cleaning robot reaches the cleaning starting point, determining that the current position of the cleaning robot is at a first inflection point.

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 a first inflection point of an outer loop periodic path included in the first unit loop path, and the end point of the first unit loop path is a ninth inflection point of an 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 ring 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 ring periodic path included in the second unit loop path; the distance between a first inflection point of an outer ring periodic path included in the unit loop back path and a fifth inflection point of an inner ring periodic path included in the unit loop back path in the preset advancing direction is a first preset distance, and the first preset distance is equal to half of the arc radius of a first turning path of the outer ring periodic path included in the unit loop back path; the distance between the third inflection point of the outer-ring periodic path included in the unit loopback path and the seventh inflection point of the inner-ring periodic path included in the unit loopback path in the opposite direction of the preset advancing 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-ring periodic path included in the unit loopback path.

Further, the difference value between the first preset sweeping length and the third preset sweeping length is equal to the sum value of the second preset distance and the first preset distance; the difference value between the first preset cleaning length and the second preset cleaning length is equal to the first preset distance; the difference value between the fourth preset cleaning length and the third preset cleaning length is equal to the first preset distance; the difference value between the first preset cleaning length and the fourth preset cleaning length is equal to the second preset distance; the difference value between the second preset cleaning length and the third preset cleaning length is equal to the second preset distance; wherein the first, second, third, and fourth preset sweeping lengths are configured to allow the cleaning robot to move along the respective turn path to a position farthest from the corresponding turn start point.

Further, the position points at which the vertical distance from the contour line of the wall meets the preset starting point condition are specifically: and in the first preset coordinate axis direction and the second preset coordinate axis direction of the map, the vertical distance between the cleaning robot and the contour line of the corresponding wall is 3 times of the position point of the diameter of the body of the cleaning robot, so that the cleaning robot can completely turn for 180 degrees to reach a second inflection point by using the arc radius of the first turning path of the outer ring periodic path from the cleaning starting point.

Further, the first preset distance is 2 times of the radius of the body of the cleaning robot; the second preset distance is 1.5 times of the radius of the body of the cleaning robot; the first preset sweeping length is configured to enable the cleaning robot to move along the direction opposite to the preset advancing direction to a vertical distance between the cleaning robot and a second contour line of the wall body, wherein the vertical distance is smaller than or equal to 2 times of the diameter of the body of the cleaning robot; wherein the second contour line of the wall is a contour line of the wall detected by the cleaning robot in a direction opposite to the preset advancing direction; the second preset sweeping length is configured to enable the cleaning robot to move along the preset advancing direction to a vertical distance between the cleaning robot and the first contour line of the wall body, wherein the vertical distance is smaller than or equal to 4 times of the diameter of the body of the cleaning robot; wherein the first contour line of the wall is a contour line of the wall detected by the cleaning robot in the preset advancing direction.

Further, corresponding to a coordinate axis direction of the map, traversing a unit loop path and an outer loop periodic path included in the unit loop path from a negative direction of the coordinate axis to a positive direction of the coordinate axis, and configuring a turning starting point of a first traversed outer loop periodic path as the cleaning starting point, wherein the turning starting point of the first traversed outer loop periodic path is a starting point of the first turning path of the outer loop periodic path; wherein the area to be cleaned is a rectangular area.

A chip is internally provided with a control program, and the control program is used for controlling a cleaning robot to execute the convoluted path planning method.

A cleaning robot is provided with the chip inside.

The method has the beneficial technical effects that a rotary path which periodically covers the area to be cleaned is planned from the cleaning starting point, and a part of the turning path in the outer ring periodic path is closer to a corresponding boundary line of the corresponding turning path deviating from the area to be cleaned in the inner ring periodic path, so that one part of the turning path in the planned rotary path is far away from the wall body than the other part of the turning path. Therefore, the cleaning coverage rate is ensured, and the chance that the robot walks along the wall can be reduced.

Drawings

FIG. 1 is a schematic diagram of a convoluted path contemplated by the present invention.

Fig. 2 is a schematic diagram of a unit loop path included in a loop-like path disclosed in the present invention.

Reference numerals: in one unit loop path, the first inflection point is a, the point O1 is a point farthest from the first inflection point a in a vertically upward direction in the first curved path (arc AB), the second inflection point is B, the point O2 is an intersection of the first curved path AB and the first curved path EF, the third inflection point is C, the point O4 is a point farthest from the third inflection point C in a vertically downward direction in the second curved path CD, the point O3 is an intersection of the second curved path HG and the second curved path CD, the fourth inflection point is D, the fifth inflection point is E, the point O6 is a point farthest from the fifth inflection point E in a vertically upward direction in the first curved path EF, the sixth inflection point is F, the seventh inflection point is G, the point O5 is a point farthest from the seventh inflection point G in a vertically downward direction in the second curved path HG, the eighth inflection point is H, and the ninth inflection point is I.

Detailed Description

The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures. A process or method depicted as a flowchart. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.

It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the map orientation or pixel points shown in the drawings, and are only for convenience of describing and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be traversed, and thus, should not be construed as limiting the invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features.

The convoluted path planning method provided by the embodiment of the invention is applied to a cleaning robot, and the cleaning robot is a mobile robot provided with a distance measuring sensor, can automatically clean garbage on a given path in a working area, can automatically bypass obstacles distributed on the given path, automatically turn and automatically return to a charging seat for charging, and can clean a room area. It can be understood that the cleaning robot is provided with a controller as a main control center for constructing a map, and the cleaning robot can mark the boundary of the area to be worked, such as the outline of the wall of the room area, in the map before starting to move in combination with the detection result of the ranging sensor; the distance measuring sensor comprises a visual sensor and/or a laser sensor, the visual sensor and/or the laser sensor can detect obstacles, a common scene is that laser beams emitted by the laser sensor scan data reflected by the surfaces of objects around the body of the cleaning robot to form point cloud data of the objects around the body, the objects around the body can be identified as the obstacles and marked in a map, wherein the point cloud data comprises position information of the surfaces of the obstacles scanned by the laser beams of the laser sensor, the map is a map (comprising a map coordinate system) constructed in advance by the robot, and the map can be used for reflecting position characteristics of an area to be cleaned.

The convoluted path planning method comprises the following steps: selecting a position point of a piece with a vertical distance from a contour line of a wall body to meet a preset starting point from a pre-constructed map by the cleaning robot as a cleaning starting point; the contour line of the wall body is a partial boundary line of the area to be cleaned, the cleaning starting point is a position point belonging to the inside of the area to be cleaned, and can be a position point in a corner area of the wall body, and can also be a position point obtained in a subarea after the area to be cleaned is subjected to regular area division. Before the cleaning robot performs cleaning work, the area to be cleaned needs to be obtained, specifically, the area to be cleaned is obtained according to an area range to be cleaned, which is marked in advance in a map, the shape of the area to be cleaned can be a polygon, and the shape and position information of an obstacle can be marked in the area range to be cleaned, and the obstacle can be a large obstacle, such as furniture with a large floor area; the obstacles may also be longer obstacles distributed close to the wall.

In the embodiment, the cleaning robot configures the area to be cleaned as the remaining area after the obstacle area is removed in the cleaning area required by the cleaning robot; the cleaning robot obtains the longest boundary line of the area to be cleaned on the basis of obtaining the shape information of the area to be cleaned, and the longest boundary line is used for planning a straight path of the convoluted path. It should be noted that the cleaning robot marks the contour of the wall in the map before executing the circular path planning method.

It should be noted that, in order to effectively simplify the description of the indoor working area, the following process may be performed on the indoor obstacle: 1. and as long as the distance between the barrier and the wall body is less than the minimum distance for the cleaning robot to pass through, the cleaning robot can not pass through smoothly, and the cleaning robot is processed by the barrier against the wall. 2. When the distance between the two obstacles is very close and the cleaning robot cannot pass through the obstacle smoothly, the two obstacles can be regarded as one obstacle to be treated. 3. The border area of the cleaning robot is mainly the contour line of an indoor room area and the area near the contour line, the working area required to be cleaned by the cleaning robot is the area surrounded by the contour line of the indoor room area, and the obstacle is an object which can collide with the cleaning robot in the working area required to be cleaned or the border area.

After the cleaning robot acquires the cleaning starting point, the cleaning robot performs convolute path planning in the area to be cleaned from the cleaning starting point, so that the planned convolute path periodically covers the area to be cleaned; and a straight path of the planned rotary path is parallel to the longest boundary line of the area to be cleaned. Wherein the cleaning starting point is associated with the end point of the longest boundary line of the area to be cleaned, and a position point can be selected as the cleaning starting point in the vicinity of the end point closest to the current position point of the cleaning robot, but the cleaning robot needs to be prevented from being too close to the wall. In the circular path planned in the area to be cleaned, the coverage range of every two connected (adjacent two) single loops is different, so that no transverse offset relationship exists between the two single loops, the turning direction is kept clockwise or anticlockwise, and two opposite turning directions are not provided, and in the two single loops, the turning path of one single loop is far away from the wall body than the turning path of the other single loop, so that after the circular path is planned, in the process of moving the cleaning robot along the circular path, compared with the prior art, the position point of each single loop, which is closest to the wall body, is not kept on the same straight line, but is far away from the contour line of the wall body, so that the probability of collision between the cleaning robot and the wall body is reduced on the basis of ensuring a certain degree of cleaning coverage.

In addition, it can be determined that the planned convoluted path has a straight path in which each single loop is parallel to the longest boundary line of the area to be cleaned; it is understood that one single loop may represent the path coverage condition in one period, or two adjacent single loops may represent the path coverage condition in one period, so that the planned loop-shaped path may periodically cover the area to be cleaned.

On the basis of the above embodiment, the spiral path includes a plurality of unit loop paths connected end to end, that is, a plurality of unit loop paths are connected end to form the spiral path; the method is equivalent to two adjacent unit loop paths, wherein the end point of one unit loop path is connected with the start point of the other unit loop path. Specifically, the circular path shown in fig. 1 includes two unit circular paths connected end to end, and if the area to be cleaned is rectangular, the area to be cleaned is a rectangular frame shown in fig. 1. Each unit loop path comprises an outer ring periodic path and an inner ring periodic path, and one outer ring periodic path and one inner ring periodic path are connected end to form one unit loop path; in this embodiment, one outer ring periodic path and one inner ring periodic path connected as one unit loop path are two single loops adjacent in position; and the vertical distance between the turning starting point of the outer ring periodic path and the turning starting point of the inner ring periodic path in the preset advancing direction and the contour line of the wall body is different.

In this embodiment, one of the unit loop paths is selected for explanation, and the other unit loop paths have the same shape rules, and specifically correspond to the loop-shaped path in fig. 1, where the preset forward direction is the direction of an arrow pointing vertically upward, a first turn (belonging to a first arc) from left to right is relatively close to the upper boundary line MN (which may be regarded as the contour line of the wall), a second turn (belonging to a second arc) from left to right is relatively far from the upper boundary line MN (which may be regarded as the contour line of the wall) relative to the first turn, where the first arc from left to right is a turn path belonging to an outer ring periodic path included in the first unit loop path from left to right, and the second arc from left to right is a turn path belonging to an inner ring periodic path included in the first unit loop path from left to right. The cleaning starting point is a turning starting point belonging to an outer ring periodic path; the shape of the curved path is a circular arc. In the embodiment corresponding to fig. 1, the extension direction of the straight path in which the planned convoluted path exists is parallel to the preset advancing direction, which is pointed by the arrow shown in fig. 1 that is directed vertically upward, so that the initial movement direction of the cleaning robot from the cleaning start point is configured as the preset advancing direction. Therefore, after the unit loop paths connected end to end are arranged in the area to be cleaned, a loop-shaped path capable of comprehensively cleaning the area to be cleaned is formed, the area to be cleaned is comprehensively cleaned on the basis of meeting a certain coverage rate, the edge of the area to be cleaned is not intensively cleaned, and the cleaning degree of the edge area does not influence the integral tidy degree of the area to be cleaned.

On the basis of the above embodiment, for each unit loopback path, there is an intersection point between the outer loop periodic path and the inner loop periodic path, which corresponds to one unit loopback path in fig. 2, the intersection points generated by the outer loop periodic path and the inner loop periodic path are point O2 and point O3 in sequence in a clockwise direction, further, an intersection point between an outer loop periodic path (not shown in the figure) included in an adjacent unit loopback path and one unit loopback path shown in fig. 2 is also generated, a first intersection point traversed in a clockwise direction is an intersection point between an outer loop periodic path included in the adjacent unit loopback path and an inner loop periodic path included in the one unit loopback path shown in fig. 2, a second intersection point traversed in the clockwise direction is an intersection point between an outer loop periodic path included in the adjacent unit loopback path and an outer loop periodic path included in the one unit loopback path shown in fig. 2, the starting point of the adjacent unit loop path is configured to be the end point of the unit loop path shown in fig. 2, so that the end-to-end connection of the adjacent two unit loop paths is realized; in some embodiments, there is partial path coincidence between two unit loop paths, specifically, a straight line path in an outer loop periodic path included in one unit loop path coincides with a straight line path in an outer loop periodic path included in another unit loop path, or a straight line path in an outer loop periodic path included in one unit loop path coincides with a straight line path in an inner loop periodic path included in another unit loop path, or a straight line path in an inner loop periodic path included in one unit loop path coincides with a straight line path in an inner loop periodic path included in another unit loop path; therefore, the coverage rate of the unit loop path in the area to be cleaned is improved, and the effective degree of cleaning of the robot is ensured.

Preferably, corresponding to a coordinate axis direction of the map, including a horizontal axis direction or a vertical axis direction, traversing the unit loop path and the included outer loop periodic path thereof from a negative direction of the coordinate axis to a positive direction of the coordinate axis thereof, and as can be known by combining an arrow of the rectangular frame in fig. 1, which is closest to the upper left distance point M, the turning starting point of the first traversed outer loop periodic path is configured as the cleaning starting point, wherein the turning starting point of the first traversed outer loop periodic path is the starting point of the first turning path of the outer loop periodic path; wherein the area to be cleaned is a rectangular area.

On the basis of the above embodiment, for each unit loop path, a part of the turning paths in the outer loop periodic path is closer to a corresponding boundary line of the corresponding turning path in the inner loop periodic path deviating from the region to be cleaned in the preset advancing direction, or a part of the turning paths in the outer loop periodic path is closer to a corresponding boundary line of the corresponding turning path in the inner loop periodic path deviating from the region to be cleaned in the reverse direction of the preset advancing direction, so that one part of the turning paths in the planned loop path is far away from the wall body than the other part of the turning paths. Preferably, the area of the coverage area of the outer ring periodic path is larger than that of the coverage area of the inner ring periodic path, and there is an overlapping portion between the coverage area of the outer ring periodic path and the coverage area of the inner ring periodic path. Corresponding to fig. 1, in each unit loop path, the arc-shaped path whose distribution position is biased to the periphery (the arc-shaped 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 the distribution position is biased to the inside (the arc-shaped 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 the distribution position is biased, so that as a whole, the path length traversed by the outer loop periodic path is longer than the path length traversed by the outer loop periodic path, and the area covered by the outer loop periodic path is larger than the area covered by the outer loop periodic path. The cleaning robot is close to the wall contour line in each unit loop path and then far from the wall contour line instead of keeping a constant-distance posture with the wall contour line, and the probability of collision between the cleaning robot and the wall body in the cleaning process along the unit loop path is reduced.

As shown in fig. 2, the unit loop path specifically includes: starting from the first inflection point A, turning by 180 degrees with the arc radius of the first turning path of the outer ring periodic path to reach the second inflection point B, so that the cleaning robot moves from the first inflection point to the second inflection point according to the preset rotating direction, namely the cleaning robot turns from the first inflection point A to the second inflection point B in the clockwise direction to form a first turning path AB. The first preset sweeping length is straightly performed along a direction opposite to the preset advancing direction (a vertical downward arrow direction in fig. 2) from the second inflection point B to the third inflection point C, and a straight path BC is formed. And starting from the third inflection point C, turning by 180 degrees according to the arc radius of the second turning path of the outer ring periodic path to reach a fourth inflection point D, so that the robot moves from the third inflection point to the fourth inflection point according to the preset rotating direction, namely the cleaning robot turns from the third inflection point C to the fourth inflection point D in the clockwise direction to form a second turning path CD. Starting from a fourth inflection point D, moving a second preset sweeping length in a straight line along the preset advancing direction to reach a fifth inflection point E to form a straight line path DE; wherein the second preset sweeping length is smaller than the first preset sweeping length; in a unit loop return path, a fifth inflection point E is a turning starting point of the inner loop periodic path, the fifth inflection point E is a starting point of the inner loop periodic path, and the fifth inflection point E is an end point of the outer loop periodic path; in this embodiment, the arc radius of the first curved path AB of the outer loop periodic path is greater than the arc radius of the second curved path CD of the outer loop periodic path to constrain the straight line path DE inside the outer loop periodic path. In this embodiment, the first curved path AB, the straight path BC, the second curved path CD, and the straight path DE are connected to form an outer loop periodic path.

It is necessary to supplement 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 the start of the first outer loop cycle path to the left as shown in FIG. 2; in the unit loop path, a first inflection point is a turning start point of the outer loop cycle path.

Starting from a fifth inflection point E, turning by 180 degrees with the arc radius of the first turning path of the inner ring periodic path to reach a sixth inflection point F, so that the robot moves from the fifth inflection point to the sixth inflection point according to a preset rotation direction, that is, the cleaning robot turns from the fifth inflection point E to the sixth inflection point F in a clockwise direction to form 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 only have one intersection point, that is, the first turning path EF and the first turning path AB in fig. 2 intersect at a point O2, and the first turning path EF is shifted to the right relative to the first turning path AB. A third preset cleaning length is straightly carried out along the reverse direction (pointed by a vertically downward arrow) of the preset advancing direction from the sixth inflection point F to reach a seventh inflection point G to form a straight line path FG; the third preset cleaning length is smaller than the second preset cleaning length, that is, the length of the straight path FG is smaller than the length of the straight path DE, so that the second turning path GH in the inner-ring periodic path is arranged farther from the line segment with oblique lines (the boundary line of the area to be cleaned, which may belong to the contour line of the wall body) below fig. 2 than the second turning path CD in the outer-ring periodic path. The line segment formed by connecting the second inflection point B and the third inflection point C is a middle line segment BC, and is a straight line path BC; a line segment FG connecting the sixth inflection point F and the seventh inflection point G is disposed between vertical lines passing through both end points of the middle line segment BC, respectively, and the line segment FG is shifted rightward with respect to the middle line segment BC.

Starting from a seventh inflection point G, turning by 180 degrees with the arc radius of a second turning path GH of the inner ring periodic path to reach an eighth inflection point H, so that the cleaning robot moves from the seventh inflection point to the eighth inflection point according to a preset rotation direction, and the cleaning robot turns from the seventh inflection point G to the eighth inflection point H in a clockwise direction by one semicircle to form the second turning path GH, wherein the arc radius of a first turning path EF of the inner ring periodic path is greater than that of the second turning path GH of the inner ring periodic path; in the same unit loop path, there is only one intersection O3 between the second bend path GH of the inner loop periodic path and the second bend path CD of the outer loop periodic path, and the second bend path GH is offset to the upper right with respect to the second bend path CD. A fourth preset sweeping length is straightly carried along the preset advancing direction (the direction of an arrow vertically upwards in fig. 2) from the eighth inflection point H to the ninth inflection point I to form a straight path HI; the ninth inflection point I is the end point of the inner ring periodic path, and is also the end point of the unit loop-back path; the first inflection point a, the second inflection point B, and the ninth inflection point I are located on the same straight line and are located on the diameter of a first curve path AB (also arc AO1B of fig. 2) of the outer ring periodic path. The fourth preset sweeping length is smaller than the first preset sweeping length, namely the length of the straight path HI is smaller than that of the straight path BC; the fourth preset sweeping length is longer than the third preset sweeping length, namely the length of the straight path HI is longer than that of the straight path FG; in this embodiment, first curved path EF, straight path FG, second curved path GH, and straight path HI connect to form an inner loop periodic path. Therefore, the cleaning robot moves to the position points which are positioned on the same straight line with the two end points of the first turning path of the outer ring periodic path along the inner ring periodic path, so as to continuously plan a new first turning path from the ninth turning point I, which is equivalent to configuring the arc AO1B in FIG. 2 to translate the length of a line segment AI to the right, and further realize the sequential end-to-end connection of a plurality of unit loop paths in the area to be cleaned, and the aim of more completely covering the area to be cleaned is achieved.

It should be noted that, in the embodiment shown in fig. 2, 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 a first turning path AB of the outer ring periodic path is equal to the arc radius of a first turning path EF of the inner ring periodic path; the arc radius of a first turning path EF of the inner ring periodic path is larger than that of a second turning path GH of the inner ring periodic path; the arc radius of a first turning path AB of the outer ring periodic path is larger than that of a second turning path CD of the outer ring periodic path; so that: the cleaning robot comprises an inner ring periodic path, an outer ring periodic path, a first turning path EF, a second turning path GH, a first turning path AB, a second turning path GH, a second turning path CD, a first turning path EF, a second turning path GH, a second turning path CD, a second turning path GH and a third turning path.

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 radius of the body of the cleaning robot, and the arc radius of the first turning path is 4 times the radius of the body of the cleaning robot, so that one unit of the loop path contains enough of the outer loop periodic path and/or enough of the inner loop periodic path to ensure a certain degree of coverage sweeping.

For two unit loop paths connected end to end, a first unit loop path and a second unit loop path may be defined, and may be correspondingly included in the two uppermost arcs in fig. 1, where a first arc from left to right is a first turning path of an outer loop periodic path belonging to the first unit loop path, a second arc from left to right is a first turning path of an outer loop periodic path belonging to the second unit loop path, and each unit loop path is configured with a turning start point, an inflection point, a turning path, and a straight path shown in fig. 2.

In the first unit loop path, the starting point of the first unit loop path is a first inflection point of an outer loop periodic path included in the first unit loop path, and the end point of the first unit loop path is a ninth inflection point of an inner loop periodic path included in the first unit loop path; the starting point of the inner loop period path included in the first unit loop path is a 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 period path included in the second unit loop path is a corresponding fifth inflection point. The fifth inflection point is a turning start point of the inner-loop periodic path, and the fifth inflection point is a start point of the inner-loop periodic path.

The distance between the first inflection point of the outer-loop periodic path included in the unit loop back path and the fifth inflection point of the inner-loop periodic path included in the unit loop back path in the preset advancing direction is a first preset distance, that is, in the same unit loop back 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 advancing direction is a first preset distance, and the first preset distance is equal to the arc radius of the first turning path of the outer-loop periodic path included in the unit loop back pathHalf of it，The first preset distance corresponds to a distance between the first inflection point a and the fifth inflection point E in the vertical direction in fig. 2, so that on the basis that the shape and the size of the first turning path of the outer-ring periodic path and the first turning path of the inner-ring periodic path are the same, the second turning path EF in the inner-ring periodic path is configured to be more deviated from a segment with an oblique line above fig. 2 (an upper boundary line of the area to be cleaned, which may belong to the contour line of the wall) than the first turning path AB in the outer-ring periodic path.

A distance between a third inflection point of an outer loop periodic path included in a unit loop back path and a seventh inflection point of an inner loop periodic path included in the unit loop back path in the opposite direction of the preset advancing direction is a second preset distance, that is, in the same unit loop back path, a distance between a starting point of the outer loop periodic path and a starting point of the inner loop periodic path in the opposite direction of the preset advancing direction is a second preset distance, the second preset distance is equal to a half of an arc radius of a second turn path of the outer loop periodic path included in the unit loop back path, and the second preset distance corresponds to a distance between a third inflection point C and a fifth inflection point G in the vertical direction in fig. 2, so that on the basis that the shape and the size of the second turn path of the outer loop periodic path and the second turn path of the inner loop periodic path are the same, the second turn path GH in the inner loop periodic path is configured to be further deviated from a segment with an oblique line below fig. 2 than the second turn path CD in the outer loop periodic path (C) The lower boundary line of the area to be cleaned can belong to the contour line of the wall).

In the foregoing 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 and 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 sweeping length and the second preset sweeping length is equal to the first preset distance, that is, the difference between the length of the straight path BC and the length of the straight path DE is equal to the first preset distance. The difference between the fourth preset sweeping length and the third preset sweeping length is equal to the first preset distance, that is, the difference between the length of the straight path HI and the length of the straight path FG is equal to the first preset distance. The difference between the first preset sweeping length and the fourth preset sweeping length is equal to the second preset distance, that is, the difference between the length of the straight path BC and 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 and the length of the straight path FG is equal to the second preset distance. It should be noted that the first preset sweeping length, the second preset sweeping length, the third preset sweeping length, and the fourth preset sweeping length are all configured to allow the cleaning robot to move to a position farthest from the corresponding turning starting point along the corresponding turning path, and specifically, as can be seen in fig. 2, the first preset sweeping length is configured to allow the cleaning robot to move to a position point O4 farthest from the corresponding turning starting point along the second turning path CD; the second preset sweep length is configured to allow the cleaning robot to move along the first turn path EF to a position point O6 that is farthest from the corresponding turn start point; the third preset sweep length is configured to allow the cleaning robot to move along the second curve path GH to a position point O5 furthest from the corresponding curve start point; the fourth preset sweeping length is configured to allow the cleaning robot to move along the first turn path of the new unit turn paths connected to the ninth inflection point I to a position point farthest from the corresponding turn start point, which is on the same straight line as the position point O6, and which is equal to the vertical distance of the position point O6 from the line segment with the oblique line above in fig. 2.

In some embodiments, the first preset distance is 2 times the radius of the body of the cleaning robot; the second preset distance is 1.5 times of the radius of the body of the cleaning robot, and preferably, the body of the cleaning robot is circular. Based on the foregoing embodiment, as can be seen in fig. 2, the first preset cleaning length is configured to enable the cleaning robot to move along the direction opposite to the preset forward direction to reach the body diameter of the cleaning robot, where the vertical distance between the cleaning robot and the second contour line of the wall is less than or equal to 2 times, where the second contour line of the wall is the contour line of the wall detected by the cleaning robot in the direction opposite to the preset forward direction, and corresponds to the line segment with the oblique line in the lower part of fig. 2; the length of the straight path BC is a first preset cleaning length. The second preset sweeping length is configured to cause the cleaning robot to move along the preset advancing direction to a diameter of a body of the cleaning robot of which a vertical distance from a first contour line of the wall is less than or equal to 4 times, wherein the first contour line of the wall is a contour line of the wall detected by the cleaning robot in the preset advancing direction, and corresponds to a line segment with a slant line above fig. 2. Preferably, the contour line of the wall body can be marked in the map as a boundary line of the cleaned area within the area to be cleaned. The length of the straight path DE is a second preset sweeping length. The second preset sweeping length and the first preset sweeping length are configured in such a way that the distance of the cleaning robot moving along the preset advancing direction or the opposite direction thereof is feasible, and the phenomenon of frequent collision of the cleaning robot in the moving process along the convoluted path is avoided.

On the basis of the above embodiment, the position points at which the vertical distance from the contour line of the wall meets the preset starting point condition are specifically: in the first preset coordinate axis direction and the second preset coordinate axis direction of the map, the vertical distance between the cleaning robot and the corresponding wall contour line is 3 times of the position point of the body diameter of the cleaning robot, so that the cleaning robot makes a complete 180-degree turn from the cleaning starting point to the second inflection point by the arc radius of the first turning path of the outer ring periodic path, and in the process of walking along the first turning path, the advancing direction of the cleaning robot at one position point is parallel to the wall contour line, correspondingly to the step 2, the cleaning robot makes a complete 180-degree turn from the cleaning starting point A to the second inflection point by taking the body diameter of the cleaning robot as the turning radius by 2 times in the clockwise direction, and the advancing direction of the cleaning robot at the position point farthest from the starting point A in the vertically upward direction is parallel to the segment with oblique line above the step 2, thereby indicating that the cleaning robot can pass the aforementioned first turning path AB without obstruction.

In the above embodiments, the technical solution of the present application is exemplarily described by taking a cleaning robot capable of performing a sweeping task (referred to as a sweeping robot for short) as an example, but is not limited to the sweeping robot. The robot in the embodiments of the present application generally refers to any mechanical device that can move in space highly autonomously in an environment where the robot is located, and for example, the robot may be a wall surface cleaning robot, a mowing robot, a sweeping robot, an accompanying robot, a guiding robot, or the like, or may be a cleaner, an unmanned vehicle, or the like. Of course, the work tasks performed by different robot modalities may be different, and this is not a limitation.

On the basis of the foregoing embodiment, another embodiment of the present invention further discloses a chip, in which a control program is embedded, and the control program is used to control a robot to execute the loop path planning method described in the foregoing embodiment. The chip plans a rotary path which periodically covers the area to be cleaned from a cleaning starting point according to the area to be cleaned marked in the map, wherein a part of the turning path in the outer ring periodic path is closer to a corresponding boundary line of the corresponding turning path deviating from the area to be cleaned in the inner ring periodic path, so that one part of the turning path in the planned rotary path is far away from the wall body than the other part of the turning path.

The chip may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.

In another embodiment of the present invention, there is further provided a cleaning robot, wherein the cleaning robot is internally provided with the chip, so as to include a computer program product corresponding to the circular path planning method, and when the cleaning robot runs on the chip, the cleaning robot executes the circular path planning method in any embodiment. The chip executes various functional applications and data processing of the chip by running and storing nonvolatile software programs, instructions and modules, so that the circular path planning method disclosed by the embodiment of the method is realized. The problem that the cleaning robot frequently collides with a wall body during cleaning work in an indoor working environment is solved, so that the cleaning robot periodically covers the area to be cleaned from a corner area and simultaneously reduces collision with the boundary of the wall body. Therefore, the cleaning coverage rate is ensured, and the chance that the robot walks along the wall can be reduced.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention. It should be understood that the embodiment corresponding to the circular path planning method described herein provides a circular path for the robot to move, and all technical solutions of the robot moving along the circular path, the unit loop path, the outer loop periodic path and the inner loop periodic path disclosed in any one of the foregoing embodiments and combinations thereof do not depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (11)

1. A circular path planning method, the main execution body of which is a cleaning robot, the cleaning robot marks the outline of a wall body in a map before executing the circular path planning method, wherein the map is used for reflecting the position characteristics of an area to be cleaned; the method for planning the convoluted path is characterized by comprising the following steps:

selecting a position point of a piece with a vertical distance from the contour line of the wall body to meet a preset starting point as a cleaning starting point; the contour line of the wall body is a part of boundary line of the area to be cleaned;

planning a convoluted path in the area to be cleaned from a cleaning starting point, so that the planned convoluted path periodically covers the area to be cleaned; and a straight path of the planned rotary path is parallel to the longest boundary line of the area to be cleaned.

2. The convoluted path planning method according to claim 1, wherein a plurality of unit convoluted paths are connected end to form the convoluted path, each unit convoluted path comprises an outer ring periodic path and an inner ring periodic path, and one outer ring periodic path and one inner ring periodic path are connected end to form one unit convoluted path;

the vertical distances between the turning starting point of the outer ring periodic path and the turning starting point of the inner ring periodic path and the contour line of the wall body in the preset advancing direction are different;

wherein, the cleaning starting point is a turning starting point belonging to the outer ring periodic path; the shape of the turning path is circular arc;

wherein an extending direction of a straight path in which the planned convoluted path exists is parallel to a preset advancing direction such that an initial moving direction of the cleaning robot from the cleaning start point is configured as the preset advancing direction.

3. The convoluted path planning method according to claim 2, wherein for each unit of the convoluted path, there is an intersection between the outer-loop periodic path and the inner-loop periodic path;

for each unit loop path, a part of turning paths in the outer loop periodic path are closer to corresponding boundary lines of corresponding turning paths in the inner loop periodic path deviating from the region to be cleaned in the preset advancing direction, or the part of turning paths in the outer loop periodic path are closer to corresponding boundary lines of corresponding turning paths in the inner loop periodic path deviating from the region to be cleaned in the reverse direction of the preset advancing direction, so that one part of turning paths in the planned loop path is far away from the wall body than the other part of turning paths.

4. The convoluted path planning method according to claim 3, wherein the unit convoluted path specifically comprises:

starting from the first inflection point, turning by 180 degrees with the arc radius of the first turning path of the outer ring periodic path to reach a second inflection point, so that the cleaning robot moves from the first inflection point to the second inflection point according to a preset rotation direction; wherein the first inflection point is a start point of the outer loop periodic path such that the first inflection point is a turn start point of the outer loop periodic path;

starting from the second inflection point, moving the first preset sweeping length in a straight line along the direction opposite to the preset advancing direction to reach a third inflection point;

starting from the third inflection point, turning for 180 degrees by using the arc radius of the second turning path of the outer ring periodic path to reach the fourth inflection point, so that the cleaning robot moves from the third inflection point to the fourth inflection point according to the preset rotation direction; wherein the arc radius of a first curve path of the outer loop periodic path is greater than the arc radius of a second curve path of the outer loop periodic path;

starting from the fourth inflection point, moving a second preset sweeping length in a straight line along the preset advancing direction to reach a fifth inflection point; wherein the second preset sweeping length is smaller than the first preset sweeping length; within one unit loop-back path, a fifth inflection point is a turning starting point of the inner loop periodic path, so that the fifth inflection point is an end point of the outer loop periodic path;

starting from the fifth inflection point, turning by 180 degrees with the arc radius of the first turning path of the inner ring periodic path to reach the sixth inflection point, so that the cleaning robot moves from the fifth inflection point to the sixth inflection point according to the preset rotation direction; the first turning path of the inner ring periodic path and the first turning path of the outer ring periodic path only have one intersection point;

the third preset sweeping length is straightly moved along the reverse direction of the preset advancing direction from the sixth inflection point to the seventh inflection point; wherein the third preset sweeping length is smaller than the second preset sweeping length; the line segment formed by connecting the second inflection point and the third inflection point is a middle line segment, and the line segment formed by connecting the sixth inflection point and the seventh inflection point is configured between vertical lines passing through two end points of the middle line segment respectively;

starting from the seventh inflection point, turning by 180 degrees with the arc radius of the second turning path of the inner ring periodic path to reach the eighth inflection point, so that the cleaning robot moves from the seventh inflection point to the eighth inflection point according to the preset rotation direction; the second turning path of the inner ring periodic path and the second turning path of the outer ring periodic path only have one intersection point;

from the eighth inflection point, moving straight for a fourth preset sweeping length along the preset advancing direction to reach a ninth inflection point; the fourth preset cleaning length is smaller than the first preset cleaning length and is larger than the third preset cleaning length; a ninth inflection point is an end point of the inner-loop periodic path, such that the ninth inflection point is an end point of a unit loop-back path; the first inflection point, the second inflection point and the ninth inflection point are positioned on the same straight line;

the arc radius of a first turning path of the inner ring periodic path is larger than that of a 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;

and when the cleaning robot reaches the cleaning starting point, determining that the current position of the cleaning robot is at a first inflection point.

5. The convoluted path planning method according to claim 4, wherein the two unit loop paths connected end to end are a first unit loop path and a second unit loop path, respectively;

in the first unit loop path, the starting point of the first unit loop path is a first inflection point of an outer loop periodic path included in the first unit loop path, and the end point of the first unit loop path is a ninth inflection point of an 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 ring 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 ring periodic path included in the second unit loop path;

the distance between a first inflection point of an outer ring periodic path included in the unit loop back path and a fifth inflection point of an inner ring periodic path included in the unit loop back path in the preset advancing direction is a first preset distance, and the first preset distance is equal to half of the arc radius of a first turning path of the outer ring periodic path included in the unit loop back path;

the distance between the third inflection point of the outer-ring periodic path included in the unit loopback path and the seventh inflection point of the inner-ring periodic path included in the unit loopback path in the opposite direction of the preset advancing 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-ring periodic path included in the unit loopback path.

6. The convoluted path planning method of claim 4, wherein the difference between a first preset sweep length and a third preset sweep length is equal to the sum of said second preset distance and said first preset distance; the difference value between the first preset cleaning length and the second preset cleaning length is equal to the first preset distance; the difference value between the fourth preset cleaning length and the third preset cleaning length is equal to the first preset distance; the difference value between the first preset cleaning length and the fourth preset cleaning length is equal to the second preset distance; the difference value between the second preset cleaning length and the third preset cleaning length is equal to the second preset distance;

wherein the first, second, third, and fourth preset sweeping lengths are configured to allow the cleaning robot to move along the respective turn path to a position farthest from the corresponding turn start point.

7. The convoluted path planning method according to claim 6, wherein the position points at which the vertical distance from the contour line of the wall meets the preset starting point condition are specifically:

and in the first preset coordinate axis direction and the second preset coordinate axis direction of the map, the vertical distance between the cleaning robot and the contour line of the corresponding wall is 3 times of the position point of the diameter of the body of the cleaning robot, so that the cleaning robot can completely turn for 180 degrees to reach a second inflection point by using the arc radius of the first turning path of the outer ring periodic path from the cleaning starting point.

8. The convoluted path planning method of claim 7 wherein said first predetermined distance is 2 times the radius of the body of the cleaning robot; the second preset distance is 1.5 times of the radius of the body of the cleaning robot;

the first preset sweeping length is configured to enable the cleaning robot to move along the direction opposite to the preset advancing direction to a vertical distance between the cleaning robot and a second contour line of the wall body, wherein the vertical distance is smaller than or equal to 2 times of the diameter of the body of the cleaning robot; wherein the second contour line of the wall is a contour line of the wall detected by the cleaning robot in a direction opposite to the preset advancing direction;

the second preset sweeping length is configured to enable the cleaning robot to move along the preset advancing direction to a vertical distance between the cleaning robot and the first contour line of the wall body, wherein the vertical distance is smaller than or equal to 4 times of the diameter of the body of the cleaning robot; wherein the first contour line of the wall is a contour line of the wall detected by the cleaning robot in the preset advancing direction.

9. The convoluted path planning method according to claim 7, wherein, corresponding to a coordinate axis direction of the map, traversing a unit convoluted path and an outer ring periodic path included therein from a negative direction of the coordinate axis to a positive direction of the coordinate axis, and configuring a turning starting point of a first traversed outer ring periodic path as the cleaning starting point, wherein the turning starting point of the first traversed outer ring periodic path is a starting point of the first turning path of the outer ring periodic path;

wherein the area to be cleaned is a rectangular area.

10. A chip having built therein a control program for controlling a cleaning robot to execute the convoluted path planning method according to any one of claims 1 to 9.

11. A cleaning robot having the chip according to claim 10 built therein.

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