WO2019109229A1

WO2019109229A1 - Indoor area dividing method and sweeping robot

Info

Publication number: WO2019109229A1
Application number: PCT/CN2017/114506
Authority: WO
Inventors: 张立新; 周毕兴; 周平
Original assignee: 深圳市沃特沃德股份有限公司
Priority date: 2017-12-04
Filing date: 2017-12-04
Publication date: 2019-06-13

Abstract

Provided are an indoor area dividing method and a sweeping robot. The indoor area dividing method comprises: the sweeping robot detects a magnetic strip pre-set on the floor of a door using a magnetic field sensor installed at the bottom thereof (S1); and determining a position of the magnetic strip in an environment map, and determining a virtual boundary position between two cleaning areas according to the position of the magnetic strip (S2). With the magnetic strip positioning, the area division is reasonable, the magnetic strip is smaller in size, can be set for a long time, the operation is more convenient, and the cost is also reduced.

Description

Indoor area division method and sweeping robot

Technical field

The invention relates to the field of area recognition, in particular to an indoor area dividing method and a cleaning robot.

Background technique

With the development of technology and the improvement of people's living standards, sweeping robots with autonomous mobile functions have been greatly popularized. The sweeping robot, also known as the robot vacuum cleaner, uses the fan mounted on the fuselage to suck the ground garbage into the dust box and move it autonomously through the walking wheel to achieve the purpose of automatically cleaning the room.

In order to perform cleaning more effectively, the sweeping robot needs to divide the indoor environment. At present, there are two main ways of dividing the area: the first one is to divide the environment into several parts according to the fixed size according to the position information of the robot. However, this method cannot adapt to the different characteristics of different environments, and it is easy to have an unreasonable division of regions. The second is to provide guidance and restrictions through external devices, such as IRobot's virtual beacon technology. However, the cost of the virtual lighthouse is relatively high. If the user needs to divide the room into multiple areas, the virtual lighthouse needs to be purchased, which greatly increases the use cost. In addition, the virtual lighthouse is too large, for example, it will affect the normal use of the door. The user needs to set the display when it is used, and it needs to be put away when it is used up. The operation is cumbersome.

Summary of the invention

The main object of the present invention is to provide a lower cost indoor area dividing method and a cleaning robot.

The invention provides a method for dividing an indoor area, comprising the following steps:

The sweeping robot detects a magnetic strip pre-set on the floor of the door using a magnetic field sensor installed at the bottom thereof;

Determine the position of the magnetic stripe in the environment map, and determine the virtual boundary position between the two sweeping areas according to the position of the magnetic stripe.

Further, the determining the position of the magnetic strip in the environment map, and determining the virtual boundary position between the two cleaning regions according to the position of the magnetic strip includes:

According to the position of the sweeping robot in the environment map and the preset structure information of the sweeping robot when the magnetic field signal is detected, the spatial coordinate position of the magnetic stripe in the environment map is calculated and saved, and the spatial coordinate position is the coordinate position of a point in the magnetic stripe;

The virtual boundary position between the two cleaning regions is determined according to a plurality of spatial coordinate positions.

Further, the step of determining the virtual boundary position between the two cleaning regions according to the plurality of spatial coordinate positions comprises:

The recorded spatial coordinate positions are clustered, the length of the magnetic stripe and the position of the magnetic stripe in the environment map are determined, and the magnetic stripe position is saved and set as a virtual boundary between the two cleaning areas.

Further, the step of clustering the recorded spatial coordinate positions, determining the length of the magnetic strip and the position in the environment map, and setting the magnetic strip position to the virtual boundary between the two cleaning regions includes:

Comparing the position of the magnetic strip with the position of the magnetic strip already recorded to determine whether the magnetic strip is a newly discovered magnetic strip;

If so, the magnetic stripe position is saved and it is determined that the cleaning area on the other side of the virtual boundary is not cleaned.

Further, after comparing the position of the magnetic strip with the position of the magnetic strip already recorded, and determining whether the magnetic strip is a newly discovered magnetic strip, the method further includes:

If not, it is determined whether the cleaning area on the other side of the magnetic stripe position has been cleaned based on the cleared area record in the environment map.

Further, after determining the position of the magnetic strip in the environment map, determining the virtual boundary position between the two cleaning areas according to the position of the magnetic strip, the step of the cleaning robot includes:

When the cleaning area has not been cleaned, the sweeping robot encounters the virtual boundary to take the avoidance measure; when the cleaning area has finished cleaning, the sweeping robot crosses the virtual boundary and enters the adjacent cleaning area.

Further, the avoidance measure is to retreat and turn to ensure that the sweeping robot does not cross the virtual boundary.

The invention also provides a sweeping robot, which adopts the above indoor area dividing method, the sweeping robot includes a detecting module and a judging module; the detecting module is configured to detect a magnetic strip pre-set on the floor of the door door by using a magnetic field sensor installed at the bottom thereof The judging module is configured to determine the position of the magnetic stripe in the environment map, and determine the virtual boundary position between the two cleaning areas according to the position of the magnetic strip.

Further, the determining module includes a positioning sub-module and a fixed-edge sub-module; the positioning sub-module is configured to calculate the magnetic stripe in the environment map according to the position of the sweeping robot in the environment map and the preset structure information of the sweeping robot when the magnetic field signal is detected The spatial coordinate position is saved and the spatial coordinate position is the coordinate position of a point in the magnetic strip; the fixed edge sub-module is used to determine the virtual boundary position between the two cleaning regions according to the plurality of spatial coordinate positions.

Further, the fixed edge sub-module includes a clustering unit; the clustering unit is configured to cluster the recorded spatial coordinate positions, determine the length of the magnetic stripe and the magnetic stripe position in the environment map, and save and set the magnetic stripe position. The virtual boundary between the two cleaning areas.

Further, the fixed edge sub-module further includes a comparison unit and a determination unit; the comparison unit is configured to compare the magnetic strip position with the recorded magnetic strip position to determine whether the magnetic strip is newly discovered; and the determining unit is configured to determine the new discovery When the magnetic strip is used, the position of the magnetic strip is saved, and it is determined that the cleaning area on the other side of the virtual boundary is not cleaned.

Further, the fixed edge sub-module further includes a distinguishing unit; the distinguishing unit is configured to determine, according to the cleaned area record in the environment map, whether the cleaning area on the other side of the magnetic strip position has been cleaned when determining that the magnetic strip is not newly discovered magnetic strip .

Further, the cleaning robot further includes a avoidance judgment module; the avoidance judgment module is configured to take the avoidance measure when the cleaning robot encounters the virtual boundary when the cleaning area is not completed; when the cleaning area has been cleaned, the sweeping robot crosses the virtual boundary to enter the adjacent Area.

Beneficial effect

The indoor area dividing method and the sweeping robot of the present invention, the indoor area dividing method adopts a magnetic strip as a marking auxiliary for determining a virtual boundary, not only the area division is reasonable, but also the magnetic strip is smaller in size, and can be set for a long time, avoiding frequent moving of the boundary and reducing artificial Participation, operation is more convenient, and the use of virtual lighthouses can be compared to reduce costs.

DRAWINGS

1 is a schematic diagram showing the steps of an embodiment of the indoor area dividing method of the present invention;

2 is a schematic diagram showing the steps of an embodiment of step S2 in the indoor area dividing method of the present invention;

3 is a schematic diagram showing the steps of an embodiment of step S22 in the indoor area dividing method of the present invention;

4 is a schematic diagram showing the steps of another embodiment of step S22 in the indoor area dividing method of the present invention;

Figure 5 is a schematic diagram showing the steps of another embodiment of the indoor area dividing method of the present invention;

6 is a schematic structural view of an embodiment of the cleaning robot of the present invention;

7 is a schematic structural view of an embodiment of a judging module in the cleaning robot of the present invention;

8 is a schematic structural view of an embodiment of a fixed edge submodule in the cleaning robot of the present invention;

9 is a schematic structural view of another embodiment of a fixed edge submodule in the cleaning robot of the present invention;

Figure 10 is a schematic view showing the structure of another embodiment of the cleaning robot of the present invention.

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

Detailed ways

It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to FIG. 1, the indoor area dividing method of the present invention includes the following steps:

S1. The sweeping robot detects the magnetic strip pre-set on the floor of the door by using a magnetic field sensor installed at the bottom thereof.

S2. Determine the position of the magnetic stripe in the environment map, and determine the virtual boundary position between the two cleaning areas according to the position of the magnetic strip.

In the above step S1, the magnetic strip is disposed at the doorway; the flat shape can be set for a long time without affecting the opening and closing of the door, which is easy to move, reduces human intervention, is more convenient, has a better user experience, and the cost of the magnetic stripe. Lower cost can reduce the user's cost of use.

In the above step S2, the environment map is a map acquired by the sweeping robot through the existing SLAM technical means, including room boundary, position and size of the object, space coordinate system, etc.; the whole can be cleaned by the magnetic stripe The space is divided into various areas, especially in a house with multiple rooms. Each room can be divided separately to prevent the sweeping robot from working in different rooms without planning. The user experience is better, and the magnetic stripe position is a virtual boundary. Divide two adjacent cleaning areas.

In some embodiments, the magnetic strip is attached to the door opening and is disposed parallel to the width direction of the closed door.

Referring to FIG. 2, step S2 includes:

S21. Calculate and save the space coordinate position of the magnetic stripe in the environment map according to the position of the sweeping robot in the environment map and the preset structure information of the sweeping robot when the magnetic field signal is detected, and the space coordinate position is the coordinates of a point in the magnetic stripe. a position; the cleaning robot obtains a spatial coordinate position of the magnetic stripe in the environment map according to one or more pieces of information in the preset structure information. In the embodiment, the magnetic field sensor that detects the magnetic strip is located at the position of the sweeping robot and the sweeping robot The position of the point corresponding to the position is displayed in the environment map, and the position of the magnetic stripe in the environment map can be obtained by combining the position of the sweeping robot in the environment map. .

S22. Determine a virtual boundary position between the two cleaning regions according to the plurality of spatial coordinate positions.

In the above step S21, the preset structure information includes the length and width of the cleaning robot, the position of the magnetic field sensor at the position of the cleaning robot, and the position of the position corresponding to the position of the cleaning robot in the environment map. The magnetic field sensor is provided with a plurality of It is located at the edge of the sweeping robot.

In the above step S22, each magnetic stripe position corresponds to one virtual boundary, and one cleaning area may have a plurality of virtual boundaries.

Referring to FIG. 3, the step S22 includes:

S221: Cluster the recorded spatial coordinate positions, determine the length of the magnetic stripe and the position of the magnetic stripe in the environment map, and save and set the magnetic stripe position as a virtual boundary between the two cleaning regions.

In the above step S221, the clustering includes, but is not limited to, the method of extracting line segments, classifying different spatial coordinate positions, obtaining the general length of the magnetic strip and the position of the entire magnetic strip in the environment map through a plurality of spatial coordinate positions, and the whole The position of the magnetic strip in the environment map is the position of the magnetic strip, and the position of the magnetic strip is a virtual boundary.

The step S22 further includes:

S222: Compare the position of the magnetic strip with the position of the magnetic strip that has been recorded to determine whether the magnetic strip is a newly discovered magnetic strip.

S223. If yes, save the magnetic stripe position, and determine that the cleaning area on the other side of the virtual boundary is not cleaned.

In the above step S222, the comparison is the entire magnetic stripe contrast, that is, the positional comparison of the virtual boundary.

In the above step S223, if it is a newly discovered magnetic strip, it means that there is a virtual boundary and a cleaning area existing on both sides of the magnetic strip, and the cleaning is opposite to the cleaning area where the cleaning robot is located, bounded by the virtual boundary where the magnetic strip is located. The area has not been cleaned.

Referring to FIG. 4 and after step S222, the method includes:

S224. If not, it is determined whether the cleaning area on the other side of the magnetic stripe position has been cleaned according to the cleaned area record in the environment map.

In the above step S224, if it is determined that the magnetic strip is not newly found, it is necessary to confirm whether the adjacent cleaning area is the covered area on the environmental map by the magnetic strip position, and if the adjacent cleaning area has been cleaned, if not, the phase is indicated. The cleaning area of the neighborhood is not cleaned. In the environment map, after cleaning the cleaning area, the cleaned area is the covered area, and the coverage is displayed in the environment map. When the cleaning area on the other side of the virtual boundary is not covered, it can be determined that the cleaning area is not cleaned.

Referring to FIG. 5 and after step S2, the method includes:

S3. When the cleaning area is not cleaned, the sweeping robot encounters the virtual boundary to take the avoidance measure; when the cleaning area has finished cleaning, the sweeping robot crosses the virtual boundary and enters the adjacent cleaning area.

In the above step S3, when the cleaning area is not cleaned, the cleaning robot encounters the virtual boundary to take the avoidance measure; when it is determined that the cleaning area has completed the cleaning, when the cleaning robot encounters the virtual boundary, no reaction measures are taken, and the virtual boundary is directly crossed. Enter the adjacent uncleaned sweep area. When there are a plurality of unswept and adjacent cleaning regions, the order of entering the adjacent cleaning regions may be based on the principle of proximity, that is, when there are a plurality of uncleaned adjacent cleaning regions, the first distance is the closest to the cleaning robot. The uncleaned adjacent cleaning area, the sweeping robot automatically enters the adjacent area from the nearest channel according to the coordinate positioning.

In some embodiments, the avoidance measure is a back-off, turn-by-turn guarantee that the sweeping robot will not cross the virtual boundary.

In the avoidance measure, it is necessary to determine whether the edge of the sweeping robot is determined by information such as the length and width of the sweeping robot in the preset structure information, the position of the magnetic field sensor at the position of the sweeping robot, and the position of the point corresponding to the position of the sweeping robot in the environment map. Reach the virtual boundary.

Referring to FIG. 6, the present invention further provides a cleaning robot, which adopts the above-mentioned indoor area dividing method. The cleaning robot includes a detecting module 1 and a determining module 2; the detecting module 1 is configured to detect a preset in the room by using a magnetic field sensor installed at the bottom thereof. The magnetic strip on the ground of the door; the judging module 2 is for determining the position of the magnetic strip in the environment map, and determining the virtual boundary position between the two cleaning areas according to the position of the magnetic strip.

During the operation of the detection module 1, the magnetic strip is arranged at the door; the flat shape can be set for a long time without affecting the opening and closing of the door, so that it is easy to move, reducing human intervention, more convenient, better user experience, and magnetic stripe The lower cost can reduce the user's use cost.

During the operation of the judgment module 2, the environment map is a map acquired by the sweeping robot through the existing SLAM technical means during the work process, including room boundaries, position and size of the objects, space coordinate system, etc.; The entire space to be cleaned is divided into various areas, especially in a house with multiple rooms, each room can be divided separately to prevent the sweeping robot from working in different rooms without planning, the user experience is better, the magnetic strip position Divide the adjacent two cleaning areas for the virtual boundary.

In the environment map, after cleaning the cleaning area, the cleaned area is the covered area, and the coverage is displayed in the environment map. When the area on the other side of the virtual boundary is not covered, it can be determined that there is an uncleaned cleaning area. .

In the present embodiment, the magnetic strip is disposed parallel to the width direction of the door when closed. The magnetic strip is less than or equal to the width of the door.

Referring to FIG. 7, the determining module 2 includes a positioning sub-module 21 and a fixed-edge sub-module 22; the positioning sub-module 21 is configured to calculate the magnetic position according to the position of the cleaning robot in the environment map and the preset structure information of the cleaning robot according to the detection of the magnetic field signal. The strip is stored in the space coordinate position in the environment map, and the space coordinate position is the coordinate position of a point in the magnetic strip; the fixed edge sub-module 22 is configured to determine the virtual boundary position between the two cleaning areas according to the plurality of spatial coordinate positions.

During the operation of the positioning sub-module 21, the preset structure information includes the length and width of the cleaning robot, the position of the magnetic field sensor at the cleaning robot, and the position of the position corresponding to the position of the cleaning robot in the environment map. And respectively disposed at an edge position of the cleaning robot; the cleaning robot obtains a spatial coordinate position of the magnetic stripe in the environment map according to one or more pieces of information in the preset structure information. In this embodiment, the magnetic field of the magnetic strip is detected The position of the sensor located at the position of the sweeping robot and the position corresponding to the position of the sweeping robot in the environment map can be combined with the position of the sweeping robot in the environment map to obtain the spatial coordinate position of the magnetic stripe in the environment map. .

During the operation of the fixed edge sub-module 22, each magnetic stripe position corresponds to one virtual boundary, and one cleaning area may have multiple virtual boundaries.

Referring to FIG. 8, the fixed edge sub-module 22 includes a clustering unit 221; the clustering unit 221 is configured to cluster the recorded spatial coordinate positions, determine the length of the magnetic stripe and the position of the magnetic stripe in the environment map, and position the magnetic stripe Save and set as the virtual boundary between the two sweep areas.

During the working process of the clustering unit 221, the clustering includes, but is not limited to, the method of extracting line segments to classify different spatial coordinate positions, and obtain the general length of the magnetic strip and the position of the entire magnetic strip in the environment map through multiple spatial coordinate positions. The position of the entire magnetic stripe in the environment map is the position of the magnetic stripe, and the position of the magnetic stripe is a virtual boundary.

The fixed edge sub-module 22 further includes a comparison unit 222 and a determination unit 223; the comparison unit 222 is configured to compare the magnetic strip position with the already recorded magnetic strip position to determine whether it is a newly discovered magnetic strip; the determining unit 223 is configured to determine When the magnetic strip is newly discovered, the magnetic strip position is saved, and it is determined that the cleaning area on the other side of the virtual boundary is not cleaned.

During the operation of the comparison unit 222, the comparison is the entire magnetic stripe contrast, which is the positional comparison of the virtual boundary.

During the operation of the determining unit 223, if it is a newly discovered magnetic strip, it means that there is a virtual boundary and a cleaning area existing on both sides of the magnetic strip, and the virtual boundary where the magnetic strip is located is bounded, and the cleaning area where the cleaning robot is located is opposite to the cleaning area where the cleaning robot is located. The cleaning area has not been cleaned.

Referring to FIG. 9, the fixed edge sub-module 22 further includes a distinguishing unit 224. The distinguishing unit 224 is configured to determine the cleaning of the other side of the magnetic stripe position according to the cleaned area record in the environment map when it is determined that the magnetic stripe is not newly discovered. Whether the area has been cleaned.

During the operation of the distinguishing unit 224, if it is determined that the magnetic strip is not newly found, it is necessary to confirm whether the adjacent cleaning area is the covered area by the position of the magnetic stripe in the environment map, and if the adjacent cleaning area has been cleaned, No, it means that the adjacent cleaning area is not cleaned. In the environment map, after cleaning the cleaning area, the cleaned area is the covered area, and the coverage is displayed in the environment map. When the cleaning area on the other side of the virtual boundary is not covered, it can be determined that the cleaning area is not cleaned.

Referring to FIG. 10, the cleaning robot further includes a avoidance judging module 3; the avoidance judging module 3 is configured to take a avoidance measure when the cleaning robot encounters a virtual boundary when the cleaning area is not completed; and the sweeping robot crosses the virtual boundary when the cleaning area has been cleaned Enter the adjacent area.

During the operation of the avoidance judgment module 3, when the cleaning area is not cleaned, the sweeping robot encounters the virtual boundary to take the avoidance measure; when it is determined that the cleaning area has been cleaned, when the sweeping robot encounters the virtual boundary, no response measures are taken, directly Cross the virtual boundary into the adjacent unswept sweep area. When there are a plurality of unswept and adjacent cleaning regions, the order of entering the adjacent cleaning regions may be based on the principle of proximity, that is, when there are a plurality of uncleaned adjacent cleaning regions, the first distance is the closest to the cleaning robot. The uncleaned adjacent cleaning area, the sweeping robot automatically enters the adjacent area from the nearest channel according to the coordinate positioning.

The avoidance measure is to retreat and turn to ensure that the sweeping robot does not cross the virtual boundary.

The indoor area dividing method and the sweeping robot of the present invention, the indoor area dividing method uses the magnetic strip as the marking auxiliary for determining the virtual boundary, not only the area division is reasonable, but also the magnetic strip has a smaller volume, which can be set for a long time, avoiding frequent moving of the boundary and reducing Human participation, more convenient operation, and comparison of the use of virtual lighthouses can also reduce costs.

The above is only the 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 directly or indirectly applied to other related The technical field is equally included in the scope of patent protection of the present invention.

Claims

A method for dividing an indoor area, comprising the steps of:

The sweeping robot detects a magnetic strip pre-set on the floor of the door using a magnetic field sensor installed at the bottom thereof;

Determining the position of the magnetic strip in the environment map, and determining a virtual boundary position between the two cleaning regions according to the position of the magnetic strip.
The indoor area dividing method according to claim 1, wherein the determining the position of the magnetic strip in the environment map, and determining the virtual boundary position between the two cleaning areas according to the position of the magnetic strip comprises: :

Calculating and storing the spatial coordinate position of the magnetic stripe in the environment map according to the position of the sweeping robot in the environment map and the preset structure information of the sweeping robot when the magnetic field signal is detected, and the space coordinate position is magnetic The coordinate position of a point in the bar;

A virtual boundary position between the two cleaning regions is determined based on the plurality of spatial coordinate positions.
The indoor area dividing method according to claim 2, wherein the determining the virtual boundary position between the two cleaning areas according to the plurality of the spatial coordinate positions comprises:

And storing the saved magnetic strip position space coordinate positions, determining the length of the entire magnetic strip and the magnetic strip position in the environment map, and saving and setting the magnetic strip position as two cleaning regions The virtual boundary between.
The indoor area dividing method according to claim 3, wherein the spatial coordinate positions of the records are clustered, and the length of the entire magnetic strip and the position in the environmental map are determined. After the step of setting the magnetic strip position to the virtual boundary between the two cleaning areas, the method includes:

Comparing the magnetic strip position with the recorded magnetic strip position to determine whether the magnetic strip is a newly discovered magnetic strip;

If so, the magnetic stripe position is saved and it is determined that the cleaning area on the other side of the virtual boundary is not cleaned.
The indoor area dividing method according to claim 4, wherein the step of comparing the magnetic strip position with the recorded magnetic strip position to determine whether the magnetic strip is a newly discovered magnetic strip is further include:

If not, it is determined whether the cleaning area on the other side of the magnetic stripe position has been cleaned according to the cleaned area record in the environment map.
The indoor area dividing method according to any one of claims 1 to 5, wherein the determining the position of the magnetic strip in the environment map determines the between the two cleaning areas according to the position of the magnetic strip After the steps of the virtual boundary position sweeping robot, include:

When the cleaning area is not cleaned, the cleaning robot encounters the virtual boundary to take evasive measures; when the cleaning area has finished cleaning, the cleaning robot crosses the virtual boundary to enter an adjacent cleaning area.
The indoor area dividing method according to claim 6, wherein the avoiding measure is backwarding and turning to ensure that the cleaning robot does not cross the virtual boundary.
A cleaning robot using the indoor area dividing method according to claim 1, wherein the cleaning robot comprises:

a detecting module for detecting a magnetic strip pre-set on the floor of the door door by using a magnetic field sensor installed at the bottom thereof;

The determining module is configured to determine a position of the magnetic strip in the environment map, and determine a virtual boundary position between the two cleaning regions according to the position of the magnetic strip.
The cleaning robot according to claim 8, wherein the determining module comprises:

a positioning sub-module, configured to calculate a spatial coordinate position of the magnetic stripe in the environment map according to a position of the sweeping robot in the environment map and a preset structure information of the sweeping robot when the magnetic field signal is detected, and save The spatial coordinate position is a coordinate position of a point in the magnetic stripe;

The fixed edge sub-module is configured to determine a virtual boundary position between the two cleaning regions according to the plurality of the spatial coordinate positions.
The cleaning robot according to claim 9, wherein the fixed edge submodule comprises:

a clustering unit, configured to cluster the recorded spatial coordinate positions, determine a length of the magnetic stripe and a magnetic stripe position in the environment map, and save and set the magnetic stripe position to two Clean the virtual boundaries between the areas.
The cleaning robot according to claim 10, wherein the fixed edge sub-module further comprises:

a comparing unit, configured to compare the magnetic strip position with the recorded magnetic strip position to determine whether the magnetic strip is newly found;

The determining unit is configured to save the magnetic strip position when it is determined to be a newly discovered magnetic strip, and determine that the cleaning area on the other side of the virtual boundary is not cleaned.
The cleaning robot according to claim 11, wherein the fixed edge sub-module further comprises:

And a distinguishing unit, configured to determine, according to the cleaned area record in the environment map, whether the cleaning area on the other side of the magnetic stripe position has been cleaned when determining that the magnetic strip is not a newly discovered magnetic strip.
The cleaning robot according to claim 8, further comprising:

a avoidance judging module, configured to: when the cleaning area is not finished cleaning, the sweeping robot encounters the virtual boundary to adopt a avoidance measure; when the cleaning area has completed cleaning, the sweeping robot enters the virtual boundary Adjacent area.
The cleaning robot according to claim 13, wherein the avoidance measure is a back-off, turning to ensure that the cleaning robot does not cross the virtual boundary.