WO2019104694A1

WO2019104694A1 - Floor-sweeping robot full coverage cleaning method and floor-sweeping robot

Info

Publication number: WO2019104694A1
Application number: PCT/CN2017/114078
Authority: WO
Inventors: 张立新; 周毕兴
Original assignee: 深圳市沃特沃德股份有限公司
Priority date: 2017-11-30
Filing date: 2017-11-30
Publication date: 2019-06-06

Abstract

Provided in the present invention is a floor-sweeping robot full coverage cleaning method, comprising: before cleaning, initialising a grid map; on the basis of a specified planning method, implementing cleaning and marking the cleaned area; determining whether caught in a cleaning dead zone; if so, then leaving the cleaning dead zone; on the basis of an updated grid map, determining an uncleaned area; moving to the uncleaned area and cleaning according to a planned cleaning route. The floor-sweeping robot of the present invention efficiently implements full coverage cleaning of unknown areas, increasing cleaning efficiency.

Description

\¥0 2019/104694 卩(:17 \2017/114078

1 sweeping robot full coverage cleaning method and sweeping robot

[0001] The present invention relates to the field of robots, and more particularly to a method for sweeping a sweeping robot and a sweeping robot.

Background technique

[0002] At present, the use of robots instead of artificially engaging in repeated or dangerous work has become a trend, which requires robots to be more intelligent. Planning a mobile route is a key technology for mobile robots, and it is important for improving the intelligence of robots. Route planning can be divided into two categories according to its goals: point-to-point path planning and full coverage route planning. Full coverage route planning refers to the ability to reach the end point from the starting point and pass through all non-obstacle areas in the two-dimensional Cartesian workspace, while ensuring that the planned route is reasonable and optimal. Because the sweeping robot needs to clean all areas within the specified environment, an optimized full coverage route is required to ensure efficient cleaning. The existing sweeping robot's full coverage route has a random sweeping route: the robot moves linearly, rotates a random angle after hitting the obstacle, and continues to move forward, repeating the above operation until the battery is low or reaches a predetermined cleaning time; The combination of sweeping route and random sweeping route: The robot first performs the reciprocating cleaning of the bow type. After multiple collisions at a certain place, it is considered that the robot can not continue to work in the cow farming mode. At this time, the angle is randomly changed to continue the cow. Ploughing and sweeping, so that the robot repeats the above operation until the battery is low or reaches the predetermined time; the split method cleans the route: divides the cleaning space into obstacle polygons, and divides multiple sub-areas (at this time there is no obstacle in the sub-area), A connection relationship is established between the sub-areas, and then the cattle cleaning or the inner spiral is used to cover the cleaning in the sub-areas. However, the above methods of random cleaning and random cleaning combined with cattle mulching have strong randomness, and the covering effect is related to the cleaning time, which is prone to leakage scanning and repeated cleaning. The split method is applicable to the full coverage of known maps. (For example, a Sweeper equipped with a lidar), while a general sweeper (except for a laser radar) faces an unknown environment and it is difficult to obtain a known map.

[0003] Therefore, the prior art still needs to be improved.

technical problem

[0004] The main object of the present invention is to provide a method for sweeping a sweeping robot with full coverage, aiming at solving the existing sweep \¥0 2019/104694 卩(:17 \2017/114078

2 The ground robot cannot realize the technical problem of full coverage cleaning in an unknown environment.

Problem solution

Technical solution

[0005] The present invention provides a method for sweeping a full coverage of a sweeping robot, including:

[0006] initializing the grid map at the first starting point, so that the grids in the grid map are all blank grids whose grid filling state is an unswept state, and the first starting point is the grid map Origin

[0007] cleaning according to a specified planning mode, and forming a first grid map by marking the cleaned area;

[0008] determining whether it is caught in the cleaning dead zone;

[0009] If yes, fleeing the cleaning dead zone;

[0010] marking a coverage area of the cleaning dead zone on the first grid map to form a second grid map; [0011] determining whether there is an uncleaned area on the second grid map;

[0012] If yes, moving to the uncleaned area;

[0013] Clean the uncleaned area according to the planned cleaning route.

[0014] The present invention also provides a cleaning robot, comprising:

[0015] an initialization module, configured to initialize a grid map at a first starting point, so that the grids in the grid map are blank grids with a grid filling state of an uncleaned state, where the first starting point is The origin of the raster map;

[0016] a first cleaning module, configured to perform cleaning according to a specified planning manner, and form a first grid map by marking the cleaned area;

[0017] a first determining module, configured to determine whether it is caught in a cleaning dead zone;

[0018] the escape module, if yes, fleeing the cleaning dead zone;

[0019] a marking module, configured to mark a coverage area of the cleaning dead zone on the first grid map to form a second grid map;

[0020] a second determining module, configured to determine whether an uncleaned area exists on the second raster map;

[0021] a mobile module, configured to: if yes, move to the uncleaned area according to a specified route;

[0022] The second cleaning module is configured to clean the uncleaned area according to the planned cleaning route.

Advantageous effects of the invention

Beneficial effect \¥0 2019/104694 卩(:17 \2017/114078

3

[0023] The sweeping robot of the present invention has a grid map drawing function, and uses the starting point of the sweeping robot to start cleaning as the origin. In the process of cleaning along the specified planning mode, the cleaned and obstacles are identified by the vertical and horizontal coordinates on the grid map. In the same area, the sweeping robot can finally form a map that has been cleaned and unswept, so that the robot can perform the full coverage cleaning of the unknown area in a targeted and efficient manner, avoiding the situation of sweeping and repeating cleaning, and improving the cleaning efficiency; After completing the cleaning of the cattle cultivating method, the robot moves to the unswept area by the smooth and smooth route that the sweeping robot can follow, and selects the inner spiral cleaning or the cattle cultivating method to clean the sweep according to the regional characteristics of the uncleaned area. Complete full coverage cleaning of the unknown area.

Brief description of the drawing

DRAWINGS

1 is a schematic flow chart of a method for full-cover cleaning of a cleaning robot according to an embodiment of the present invention;

2 is a schematic flow chart of step 34 of an embodiment of the present invention;

3 is a schematic flow chart of step 341 of an embodiment of the present invention;

4 is a schematic flow chart of step 3410 of an embodiment of the present invention;

5 is a schematic flow chart of step 38 of an embodiment of the present invention;

6 is a schematic flow chart of step 37 of still another embodiment of the present invention;

7 is a schematic view showing a distribution state of a cleaning dead zone according to an embodiment of the present invention;

8 is a schematic view showing a distribution state of a cleaning dead zone according to another embodiment of the present invention;

9 is a schematic structural view of a cleaning robot according to an embodiment of the present invention;

10 is a schematic structural diagram of an escape module according to an embodiment of the present invention;

11 is a schematic structural diagram of a third determining submodule according to an embodiment of the present invention;

12 is a schematic structural diagram of a fourth determining unit according to an embodiment of the present invention;

13 is a schematic structural diagram of a second cleaning module according to an embodiment of the present invention;

14 is a schematic structural diagram of a mobile module according to still another embodiment of the present invention;

FIG. 15 is a schematic structural diagram of a second determining module according to an embodiment of the present invention.

[0039] The implementation, functional features, and advantages of the present invention will be further described with reference to the accompanying drawings.

BEST MODE FOR CARRYING OUT THE INVENTION

BEST MODE FOR CARRYING OUT THE INVENTION \¥0 2019/104694 卩(:17 \2017/114078

4

The specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0041] Referring to FIG. 1, a method for full coverage cleaning of a cleaning robot according to an embodiment of the present invention includes:

[0042] 81: Initialize a grid map at a first starting point, so that the grids in the grid map are blank grids with a grid filling state of an uncleaned state, and the first starting point is the grid The origin of the map.

[0043] The first starting point in this step refers to the position where the cleaning robot is located when starting cleaning, and uses this as the coordinate origin of the grid map. In the cleaning process of the present embodiment, the grid map is formed by marking different grid filling states during the cleaning process, so as to gradually reduce the unknown area until all the layout information of the original unknown area is identified for full coverage cleaning. For example, each unknown symbol on the grid map of this embodiment is represented by, where the horizontal and vertical coordinates are represented, the value is represented, 0 is unknown, 1 is cleaned, and 2 is an obstacle.

[0044] 82: Perform cleaning according to a specified planning manner, and form a first raster map by marking the cleaning area.

[0045] The specified planning method in this step includes a cattle farming method, and a grid map is created by identifying the cleaned and obstacles in the vertical and horizontal coordinates during the cleaning process of the cattle farming method, and finally the cleaning robot can distinguish the cleaned, The unswept map, so that the sweeping robot searches for the unswept area according to the filling state of the grid, and gradually realizes the full coverage cleaning, so that the robot can complete the full coverage cleaning of the unknown area in a targeted and efficient manner, avoiding the situation of sweeping and repeating cleaning. , improve cleaning efficiency.

[0046] 83: Determine whether to fall into the dead zone.

[0047] The cleaning dead zone in this step means that the grid in front of the sweeping robot has been marked as an obstacle area, a cleaned area or a reaching boundary, and the other directions are marked as a cleaned area or an obstacle area, resulting in sweeping the ground. The robot cannot continue to clean according to the original cattle farming method.

[0048] 84: If yes, escape from the cleaning dead zone.

[0049] In this embodiment, the cleaning dead zone is escaped by moving along the wall or the like, so that the sweeping robot continues to clean.

[0050] 85: marking the coverage area of the cleaning dead zone on the first grid map to form a second grid map.

[0051] The coverage area of the cleaning dead zone in this step is the range of the area from the start of the cleaning dead zone to the escape of the cleaning dead zone, and the above-mentioned area range may be displayed on the grid according to a regular square or rectangle involving the grid area. On the map.

[0052] 86: Determine whether there is an uncleaned area on the second raster map. \¥0 2019/104694 卩(:17 \2017/114078

5

[0053] In this embodiment, the unswept area of the sweep is easily formed around the coverage area of the cleaning dead zone, and the uncleaned area is determined by the area where the unfilled grid is located.

[0054] 87: If yes, move to the uncleaned area.

[0055] 88: Clean the uncleaned area according to the planned cleaning route.

[0056] In the embodiment, the sweeping robot can select the inner spiral cleaning or the cattle tilling method to clean the sweep according to the regional distribution characteristics of the uncleaned area, to complete the full coverage cleaning of the area, and improve the cleaning effect.

[0057] Referring to FIG. 2, further, step 34 of the embodiment includes:

[0058] 840: At a second starting point of the cleaning dead zone, initiating a movement along the wall along the boundary of the cleaning dead zone along the wall.

[0059] The second starting point in this step refers to the position where the cleaning robot has just encountered the cleaning dead zone; the moving mode along the wall refers to the edge cleaning mode along the side close to the cleaning dead zone.

[0060] 841: Determine whether the preset end condition of the movement along the wall is reached.

[0061] The end condition of this step includes: finding a starting point suitable for the next cow-tapping mode or reaching a preset condition such as a defined time and/or distance along the wall movement.

[0062] 842: if yes, ending the movement along the wall and marking the first end point of the cleaning dead zone, so as to form a coverage area of the cleaning dead zone between the second starting point and the first end point .

[0063] The first end point in this step refers to the position where the sweeping robot has just escaped from the cleaning dead zone, and then according to the grid distribution between the position just after the cleaning dead zone and the position just fleeing the cleaning dead zone, Graphical fills for the cleaning path, such as squares or rectangles, are easily displayed on a map.

[0064] Referring to FIG. 3, further, step 341 of the embodiment includes:

[0065] 8410: Determine whether a motion space suitable for the specified planning mode is detected.

[0066] The motion space of this step refers to an area suitable for continuous bow type cleaning without being interrupted. The sweeping robot analyzes the filling state of the surrounding grid at the location where it is located. For example, the left or right direction of the front and front of the position is unfilled, which is a suitable moving space for cattle farming.

[0067] 8411: If yes, determining that the end condition of the movement along the wall is reached, and the third starting point of the movement space is the first end point.

[0068] This step is to find the position suitable for the motion space as the cleaning dead zone end position, so as to form a corresponding coverage area of the cleaning dead zone in the grid map. \¥0 2019/104694 卩(:17 \2017/114078

6

[0069] Step 341 of an embodiment of the present invention further includes:

[0070] 8412: If not, the time and/or distance of the movement along the wall is counted.

[0071] In this embodiment, a qualification condition is set for the movement of the sweeping robot along the wall to ensure that the sweeping robot only performs short-term movement along the wall, thereby improving the cleaning efficiency. As shown in Fig. 9, the coverage area of the cleaning dead zone is small, and the sweeping robot will quickly find the exit of the sports space suitable for the cattle mulching mode along the wall, and continue to clean the dead zone after moving along the wall. Coverage mode; However, as shown in Figure 10, the coverage area of the cleaning dead zone is larger, and the time and distance of movement along the wall are larger. By setting the restrictions on the movement along the wall, the time of movement along the wall can be shortened, and the escape from cleaning can be accelerated. District, improve cleaning efficiency.

[0072] 8413: Determine whether the time and/or distance reaches a preset value.

[0073] For example, setting the time along the wall is or; or the distance along the wall is 2〇111 or 5〇111, and other embodiments of the present invention can also set the distance along the wall and the distance along the wall at the same time as the first achieved condition. As a priority.

[0074] 8414: If it is reached, it is determined that the cleaning is performed according to the specified planning mode.

[0075] For example, after reaching the limit condition of the movement along the wall, the motion space suitable for the cow farming cover mode is still not found, and it is determined that the area in the unknown area that can be continuously covered by the planned cattle farming method has been completely cleaned.

[0076] Referring to FIG. 4, further, step 3410 of this embodiment includes:

[0077] 84101: Detecting the grid filling state around the cleaning dead zone.

[0078] This embodiment indicates that this grid area has been cleaned by filling a corresponding grid on the grid map.

[0079] 84102: Determine whether there is the blank grid suitable for the specified planning mode.

[0080] The distribution status of the unswept area is monitored by monitoring the blank grid to analyze whether there is a cattle farming coverage area suitable for continuing to follow the originally specified planning mode.

[0081] 84103: If yes, it is determined that the motion space suitable for the specified planning mode is detected.

[0082] The blank grid in this step indicates that there is an uncleaned area around the cleaning dead zone and can be reached by the original designated planning of the arable coverage.

[0083] 84104: If not present, it is determined that the motion space does not exist.

[0084] Referring to FIG. 5, further, step 38 of the embodiment includes:

[0085] 880: Determine whether the uncleaned area is suitable for the cattle farming coverage mode.

[0086] For example, if the unswept area satisfies the continuous area requirement of the sweeping robot's bow type cleaning, it is determined that it is suitable for the cow. \¥0 2019/104694 卩(:17 \2017/114078

7 cultivation method.

[0087] 881: If appropriate, plan the first sweeping route by means of cattle farming.

[0088] The first cleaning route of this step refers to a bow-shaped cattle farming coverage route.

[0089] 882: cleaning according to the first cleaning route.

[0090] Step 38 of an embodiment of the present invention further includes:

[0091] 883: If not suitable, the second cleaning route is planned by the inner spiral cleaning method.

[0092] If the uncleaned area does not satisfy the continuous area requirement of the sweeping robot's bow type cleaning, or the uncleaned area is an irregular area, it is determined that the inner spiral cleaning method is used for cleaning. The internal spiral cleaning method means that the spiral cleaning is continuously inward from the outermost boundary of the area, and the uncleaned area is gradually reduced without affecting the cleaned area.

[0093] 884: cleaning according to the second cleaning route.

[0094] Referring to FIG. 6, a method for full coverage cleaning of a cleaning robot according to still another embodiment of the present invention, step 37, includes

[0095] 870: analyzing distribution information of the unswept area.

[0096] In the present embodiment, as shown in FIG. 10, when the sweeping robot flees away from the cleaning dead zone, the body steering occurs at the same time, resulting in a sweeping area around the cleaning dead zone. The distribution information in this step includes distribution information such as the number of the missing scanning area, the distribution area of the missing scanning area, and the distance between the missing scanning areas.

[0097] 871: according to the distribution information according to

The specified route is planned by the method, and the above specified route is a smooth route.

[0098] The specified route in this step refers to a smooth path that is cleared from the position where the sweeping robot ends the cattle tilling coverage mode through the special path planning algorithm, and reaches the uncleaned area, compared to the existing broken line moving route. It is convenient for the robot to control walking, which is more suitable for the user's visual experience. In this embodiment, 11 is adopted.

The algorithm plans the path from the current position to the nearest leak-sweep area, and from the nearest leak-sweep area to the next-most leak-sweep area, etc., to achieve smoothing of the route.

[0099] 872: moving to the uncleaned area according to the smoothing route.

[0100] Further, step 86 of an embodiment of the present invention includes:

[0101] 860: Search for an area where the blank grid on the second raster map is located according to the grid filling state.

[0102] 861: Add the area where the blank grid is located to the candidate queue of the unswept area. \¥0 2019/104694 卩(:17 \2017/114078

8

[0103] The candidate queue in this step refers to the manner in which a plurality of uncleaned areas pass through the candidate queue when there are a plurality of uncleaned areas, so that the uncleaned areas are cleaned one by one, and the comprehensive coverage is cleaned.

[0104] Referring to FIG. 9, a cleaning robot according to an embodiment of the present invention includes:

[0105] The initialization module 1 is configured to initialize the grid map at the first starting point, so that the grids in the grid map are all blank grids with a grid filling state of an uncleaned state, and the first starting point is The origin of the raster map.

[0106] The first starting point in this embodiment refers to the position where the cleaning robot is located when starting cleaning, and is used as the coordinate origin of the grid map. In the cleaning process of the present embodiment, the grid map is formed by marking different grid filling states during the cleaning process, so as to gradually reduce the unknown area until all the layout information of the original unknown area is identified for full coverage cleaning. For example, each unknown representation on the grid map of the present embodiment is represented by a horizontal and vertical coordinate, indicating a value, 0 is unknown, 1 is cleaned, and 2 is an obstacle.

[0107] The first cleaning module 2 is configured to perform cleaning according to a specified planning manner, and form a first raster map by marking the cleaned area.

[0108] The specified planning method of the embodiment includes a cattle farming method, and in the cleaning process of the cattle farming method, a grid map is created by using the vertical and horizontal coordinates to identify areas such as cleaning and obstacles, and finally the cleaning robot can distinguish the cleaned, The unswept map, so that the sweeping robot searches for the uncleaned area according to the filling state of the grid, and gradually realizes the full coverage cleaning, so that the sweeping robot can perform the full coverage cleaning of the unknown area in a targeted and efficient manner, avoiding the sweeping and repeating cleaning. Situation, improve cleaning efficiency.

[0109] The first determining module 3 is configured to determine whether to fall into a cleaning dead zone.

[0110] The cleaning dead zone in this embodiment means that the front grid of the cleaning robot has been marked as an obstacle area, a cleaned area or a reaching boundary, and other directions are marked as a cleaned area or an obstacle area, resulting in The sweeping robot cannot continue to clean according to the original cattle farming method.

[0111] The escape module 4, if used, escapes from the cleaning dead zone.

[0112] In this embodiment, the cleaning dead zone is escaped by moving along the wall or the like, so that the sweeping robot continues to clean.

[0113] a marking module 5, configured to mark a coverage area of the cleaning dead zone on the first grid map to form a second grid map.

[0114] The coverage area of the cleaning dead zone in this embodiment is the range of the area from the start of the cleaning dead zone to the escape of the cleaning dead zone, and the above range of the area may be displayed in a regular square or rectangle according to the grid area involved. \¥0 2019/104694 卩(:17 \2017/114078

9 on the raster map.

[0115] The second determining module 6 is configured to determine whether an uncleaned area exists on the second raster map.

[0116] In this embodiment, the unswept area of the sweep is easily formed around the coverage area of the cleaning dead zone, and the uncleaned area is determined by the area where the unfilled grid is located.

[0117] The moving module 7 is configured to move to the uncleaned area if yes.

[0118] The second cleaning module 8 is configured to clean the uncleaned area according to the planned cleaning route.

[0119] In the embodiment, the cleaning robot can select the inner spiral cleaning or the cattle cultivating method to clean the sweep according to the regional distribution characteristics of the uncleaned area, to complete the full coverage cleaning of the area, and improve the cleaning effect.

[0120] Referring to FIG. 10, further, the escape module 4 of the embodiment includes:

[0121] The activation sub-module 40 is configured to initiate a wall-to-wall motion mode to move along the wall along the boundary of the cleaning dead zone at the second starting point of the cleaning dead zone.

[0122] The second starting point in this embodiment refers to the position where the cleaning robot has just encountered the cleaning dead zone; the wall moving mode refers to the edge cleaning mode along the side close to the cleaning dead zone.

[0123] The third determining sub-module 41 is configured to determine whether the preset end condition of the wall movement is reached.

[0124] The end condition of the present embodiment includes: finding a starting point suitable for the next cow farming coverage mode or reaching a preset condition such as a defined time and/or distance along the wall movement.

[0125] End sub-module 42 for, if yes, ending the movement along the wall and marking the first end point of the cleaning dead zone to form the cleaning between the second starting point and the first end point The coverage area of the dead zone.

[0126] The first end point in this embodiment refers to the position where the cleaning robot has just escaped from the cleaning dead zone, and then according to the grid distribution between the position where the cleaning dead zone has just been encountered and the position just fled the cleaning dead zone, Graphical fills such as squares or rectangles that are easy to sweep the robot to plan the cleaning path are displayed on a map.

[0127] Referring to FIG. 11, further, the third determining sub-module 41 of the embodiment includes:

[0128] The fourth determining unit 410 is configured to determine whether a motion space suitable for the specified planning mode is detected.

[0129] The motion space of the present embodiment refers to an area suitable for continuous bow type cleaning without being interrupted. The sweeping robot analyzes the filling state of the surrounding grid at the location, for example, the left or right direction of the front and front of the position is unfilled, which is a sports space suitable for the cattle farming method.

[0130] The first determining unit 411 is configured to determine, when the motion space suitable for the specified planning mode is detected, determine that the end condition of the movement along the wall is reached, and the third starting point of the motion space is the One end \¥0 2019/104694 卩(:17 \2017/114078

10

[0131] In this embodiment, the position of the suitable moving space is found to be the cleaning dead zone end position, so as to form a corresponding cleaning area of the dead zone in the grid map.

[0132] The third determining sub-module 41 of an embodiment of the present invention further includes:

[0133] The statistic unit 412 is configured to count the time and/or distance of the movement along the wall if the motion space suitable for the specified planning mode is not detected.

[0134] In this embodiment, a limited condition is set for the movement of the sweeping robot along the wall to ensure that the sweeping robot only performs short-term movement along the wall, thereby improving the cleaning efficiency. As shown in Fig. 9, the coverage area of the cleaning dead zone is small, and the sweeping robot will quickly find the exit of the sports space suitable for the cattle mulching mode along the wall, and continue to clean the dead zone after moving along the wall. Coverage mode; However, as shown in Figure 10, the coverage area of the cleaning dead zone is larger, and the time and distance of movement along the wall are larger. By setting the restrictions on the movement along the wall, the time of movement along the wall can be shortened, and the escape from cleaning can be accelerated. District, improve cleaning efficiency.

[0135] The fifth determining unit 413 is configured to determine whether the time and/or distance reaches a preset value.

[0136] For example, the setting time along the wall is 103 or 153; or the distance along the wall is 2〇111 or 5〇111, and other embodiments of the present invention can simultaneously set the distance along the wall and the distance along the wall, to reach the first The conditions are prioritized.

[0137] The sixth determining unit 414 is configured to determine to terminate the cleaning according to the specified planning mode if the preset value is reached.

[0138] For example, after the limit condition for moving along the wall is reached, the motion space suitable for the cow farming cover mode is still not found, and it is determined that the area in the unknown area that can be continuously covered by the planned cattle farming method has been completely cleaned.

[0139] Referring to FIG. 12, the fourth determining unit 410 of the embodiment includes:

[0140] The detecting subunit 4101 is configured to detect a grid filling state around the cleaning dead zone.

[0141] In this embodiment, the detecting sub-unit 4101 detects that the corresponding grid has been filled on the grid map, indicating that the grid area has been cleaned.

[0142] The seventh determining subunit 4102 is configured to determine whether there is a blank grid suitable for the specified planning mode.

[0143] The seventh judging subunit 4102 monitors the distribution state of the blank grid monitoring uncleaned area to analyze whether there is a cattle farming coverage area suitable for continuing to follow the originally specified planning mode.

[0144] a third determining subunit 4103, configured to determine, if present, a location suitable for the specified planning mode \¥0 2019/104694 卩(:17 \2017/114078

11 Description of the sports space.

[0145] The blank grid in this step indicates that there is an uncleaned area around the cleaning dead zone and can be reached by the original designated planning of the arable coverage.

[0146] Fourth determining subunit 4104: for if not present, determining that the motion space does not exist.

[0147] Referring to FIG. 13, a second cleaning module 8 according to an embodiment of the present invention includes:

[0148] The eighth determining sub-module 80 is configured to determine whether the uncleaned area is suitable for the cattle farming coverage mode.

[0149] For example, if the unswept area satisfies the continuous area requirement of the sweeping robot's bow type cleaning, it is determined that it is suitable for the arable coverage mode.

[0150] The first planning sub-module 81 is configured to plan the first cleaning route by the cattle farming cover method if appropriate.

[0151] In this embodiment, the first cleaning route planned by the first planning sub-module 81 is used for the bow-shaped cattle farming coverage route.

[0152] The third cleaning sub-module 82 is configured to clean according to the first cleaning route.

[0153] The second cleaning module 8 of an embodiment of the invention further includes:

[0154] a second planning sub-module 83, configured to plan a second cleaning route by using an inner spiral cleaning method if not suitable

[0155] If the uncleaned area does not satisfy the continuous area requirement of the sweeping robot's bow type cleaning, or the uncleaned area is an irregular area, it is determined that the inner spiral cleaning method is used for cleaning. The internal spiral cleaning method means that the spiral cleaning is continuously inward from the outermost boundary of the area, and the uncleaned area is gradually reduced without affecting the cleaned area.

[0156] The fourth cleaning sub-module 84 is configured to clean according to the second cleaning route.

[0157] Referring to FIG. 14, a cleaning robot according to still another embodiment of the present invention, the moving module 7 includes:

[0158] The analysis sub-module 70 is configured to analyze distribution information of the unswept area.

[0159] In the present embodiment, as shown in FIG. 10, when the sweeping robot flees away from the cleaning dead zone, the body steering occurs at the same time, resulting in a sweeping area around the cleaning dead zone. The distribution information in this embodiment includes distribution information such as the number of the missing scanning regions, the distribution area of the missing scanning regions, and the distance between the missing scanning regions.

[0160] a third planning sub-module 71, configured to follow the distribution information according to

The algorithm plans the specified route, and the specified route is a smooth route.

[0161] The specified route in this embodiment refers to planning to terminate the cattle from the sweeping robot through a special path planning algorithm. \¥0 2019/104694 卩(:17 \2017/114078

12 The location of the ploughing coverage mode, reaching the smooth and smooth route of the above unswept area, is more convenient for the robot to control walking than the existing folding line movement route, and more suitable for the user's visual experience. In this embodiment

[0162] The moving sub-module 72 is configured to move to the uncleaned area according to the smoothing route.

[0163] Referring to FIG. 15, a second embodiment of the present invention includes:

[0164] The search sub-module 60 is configured to search for an area where the blank grid on the second grid map is located according to the grid filling state.

[0165] The adding submodule 61 is configured to add the area where the blank grid is located to the candidate queue of the unswept area.

[0166] The candidate queue in this embodiment refers to the manner in which a plurality of uncleaned areas pass through the candidate queue when there are a plurality of uncleaned areas, so that the uncleaned areas are cleaned one by one, and the comprehensive coverage is cleaned.

[0167] The cleaning robot of the embodiment of the present invention has a grid map construction function, and the starting point of the cleaning of the sweeping robot is taken as the origin, and the cleaning is performed on the grid map by the vertical and horizontal coordinates in the process of cleaning along the cattle farming cover mode. In the area of obstacles and other obstacles, the sweeping robot can finally form a map that has been cleaned and unswept, so that the robot can complete the full coverage cleaning of the unknown area in a targeted and efficient manner, avoiding the situation of sweeping and repeating cleaning, and improving the cleaning efficiency; Moreover, after completing the cleaning of the cattle cultivating method, the robot of the embodiment of the present invention moves to the uncleaned area by the smooth and smooth route that the cleaning robot can follow, and selects the inner spiral cleaning or the cattle cultivating method according to the regional characteristics of the uncleaned area. Perform a sweep to complete the full coverage sweep of the unknown area.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are used directly or indirectly. Other related technical fields are equally included in the scope of patent protection of the present invention.

Claims

\¥0 2019/104694 卩(:17 \2017/114078 13 Claims

[Claim 1] A method for sweeping a full coverage of a sweeping robot, comprising:

Initializing the grid map at the first starting point, so that the grids in the grid map are all blank grids with a grid filling state of an unswept state, and the first starting point is an origin of the grid map;

Sweep according to the specified planning method, and form the first grid map by marking the cleaned area;

Determine whether it is caught in the clean-up zone;

If yes, escape from the cleaning dead zone;

Marking a coverage area of the cleaning dead zone on the first grid map to form a second grid map;

Determining whether there is an uncleaned area on the second raster map; if yes, moving to the uncleaned area;

Clean the uncleaned area according to the planned cleaning route.

The method of sweeping the dead zone of the cleaning robot according to claim 1, wherein the step of escaping the cleaning dead zone comprises:

At a second starting point of the cleaning dead zone, initiating a movement along the wall along the boundary of the cleaning dead zone along the wall;

Determining whether the preset end condition of the movement along the wall is reached; if yes, ending the movement along the wall and marking the first end point of the cleaning dead zone, so as to be at the second starting point to the first end point The coverage area of the cleaning dead zone is formed.

The method of claim 2, wherein the step of determining whether the preset end condition of the wall movement is reached comprises: determining whether the detection is suitable The exercise space of the specified planning mode;

If so, it is determined that the end condition of the movement along the wall is reached, and the third starting point of the motion space is the first end point.

[Claim 4] The method for sweeping the full coverage of the cleaning robot according to claim 3, wherein after the step of determining whether the motion space suitable for the specified planning mode is detected, \¥0 2019/104694 卩(:17 \2017/114078

14 also includes:

If not, count the time and/or distance of the movement along the wall;

Determining whether the time and/or distance reaches a preset value;

If it is reached, it is determined that the cleaning is performed in accordance with the specified planning mode.

The method of claim 3, wherein the step of determining whether to detect the motion space suitable for the specified planning mode comprises detecting the surrounding of the cleaning dead zone. The grid fill state;

Determining whether there is the blank grid suitable for the specified planning mode;

If so, it is determined that the motion space suitable for the specified planning mode is detected; if not, it is determined that the motion space does not exist.

[Claim 6] The method for cleaning the entire area of the cleaning robot according to claim 1, wherein the step of cleaning the uncleaned area according to the planned cleaning route comprises:

Determining whether the uncleaned area is suitable for a cattle farming method;

If appropriate, plan the first sweeping route by means of cattle tillage; clean according to the first sweeping route.

The method of claim 6, wherein the step of determining whether the uncleaned area is suitable for the stalking method further comprises: if not, The inner spiral cleaning mode plans the second cleaning route;

Clean according to the second cleaning route.

The method of claim 1, wherein the step of moving to the uncleaned area comprises:

Analyzing the distribution information of the unswept area;

Press according to the distribution information

The algorithm plans a route, and the specified route is a smooth route;

Moving to the uncleaned area according to the smoothing route.

[Claim 9] The method of sweeping robot full coverage cleaning according to claim 1, wherein \¥0 2019/104694 卩(:17 \2017/114078

The step of determining whether there is an uncleaned area on the second raster map, including: searching for a region where the blank grid on the second raster map is located according to the grid filling state, the blank grid The region in which the cell is located is added to the candidate queue for the unswept region.

[Claim 10] A cleaning robot, comprising:

An initialization module, configured to initialize a grid map at a first starting point, so that the grids in the grid map are blank grids with a grid filling state of an unswept state, and the first starting point is the grid The origin of the map;

a first cleaning module, configured to perform cleaning according to a specified planning manner, and form a first grid map by marking the cleaned area;

a first determining module, configured to determine whether it is caught in a cleaning dead zone;

Escape module, if used, to escape the cleaning dead zone;

a marking module, configured to mark a coverage area of the cleaning dead zone on the first grid map to form a second grid map;

a second determining module, configured to determine whether there is an uncleaned area on the second grid map; a moving module, if yes, moving to the unswept area; and a second cleaning module, configured to clean the route according to the plan Clean the unswept area.

[Claim 11] The cleaning robot according to claim 10, wherein the escape module comprises: activating submodule, configured to start a wall motion mode along a second starting point of the cleaning dead zone Describe the movement of the border of the dead zone along the wall;

a third determining sub-module, configured to determine whether the preset end condition end sub-module for moving along the wall is reached, and if yes, ending the movement along the wall and marking the first end point of the cleaning dead zone, so that A coverage area of the cleaning dead zone is formed between the second starting point and the first end point.

[Claim 12] The cleaning robot according to claim 11, wherein the third determining sub-module comprises:

a fourth determining unit, configured to determine whether motion space suitable for the specified planning mode is detected \¥0 2019/104694 卩(:17 \2017/114078

16 rooms;

And a first determining unit, configured to determine that the end condition of the movement along the wall is reached if the motion space suitable for the specified planning mode is detected, and the third starting point of the motion space is the first end point.

[Claim 13] The cleaning robot according to claim 12, wherein the third determining sub-module further comprises:

a statistical unit, configured to calculate the time and/or distance of the movement along the wall if the motion space suitable for the specified planning mode is not detected;

a fifth determining unit, configured to determine whether the time and/or distance reaches a preset value; and a second determining unit, configured to: if the preset value is reached,

Then, it is determined that the cleaning is performed according to the specified planning mode.

[Claim 14] The cleaning robot according to claim 12, wherein the fourth determining unit comprises:

a detecting subunit, configured to detect the grid filling state around the cleaning dead zone; and a seventh determining subunit, configured to determine whether there is the blank grid suitable for the specified planning mode;

a third determining subunit, configured to determine, if present, the motion space that is suitable for the specified planning mode;

The fourth determining subunit is configured to determine that the motion space does not exist if not present.

[Claim 15] The cleaning robot according to claim 10, wherein the second cleaning module comprises:

The eighth determining sub-module is configured to determine whether the uncleaned area is suitable for the cattle farming coverage mode; the first planning sub-module, if suitable, plans the first cleaning road line by the cattle farming cover method.

The third cleaning sub-module is configured to clean according to the first cleaning route.

[Claim 16] The cleaning robot according to claim 15, wherein the second cleaning module further comprises:

The second planning sub-module, if not suitable, plans the second clearing by the internal spiral cleaning method \¥0 2019/104694 卩(:17 \2017/114078

17 sweeping the route;

The fourth cleaning sub-module is configured to clean according to the second cleaning route.

[Claim 17] The cleaning robot according to claim 10, wherein the moving module comprises:

An analysis submodule, configured to analyze distribution information of the unswept area;

a third planning submodule, configured to press according to the distribution information

The algorithm plans to specify a route, the designated route is a smooth route; and the moving submodule is configured to move to the uncleaned zone according to the smoothed route.

[Claim 18] The cleaning robot according to claim 10, wherein the second determining module comprises:

Searching a sub-module, configured to search for an area where the blank grid on the second raster map is located according to the grid fill state;

Add a submodule for adding the area where the blank grid is located to the candidate queue of the unswept area.