Summary of the invention
The present invention provides the area coverage methods and chip and clean robot of a kind of robot, and machine can be improvedThe cleaning quality of people.Specific technical solution of the present invention is as follows:
A kind of area coverage method of robot, include the following steps: step S1: robot is since grid region starting point, edgeThe zone boundary of the grid region is walked, and enters step S2；Step S2: robot in the process of walking real-time judge whetherIt detects barrier, if it is, entering step S3, otherwise continues to walk along the zone boundary of the grid region, Zhi DaojiDevice people returns to the grid region starting point, has drawn a circle to approve in one at this point, robot walks in the grid region boundsRegion, then robot carries out the inner region drawn a circle to approve in the form of desired trajectory since the grid region starting pointPlanning cleans, and completes the traversal of the inner region；Step S3: robot along in the barrier be located at the grid region modelSide in enclosing walk along side, and judges whether to reach the zone boundary, if it is not, then continue to walk along side, ifIt is then to walk along the zone boundary, and return step S2.
Specifically, robot described in step S2 is since the grid region starting point, to institute in the form of desired trajectoryThe inner region of delineation carries out planning cleaning, and specifically comprise the following steps: step S21: robot is from the grid regionPoint starts, and planning cleaning is carried out in the form of arc type track, enters step S22；Step S22: robot is real in cleaning processWhen judge whether there is drain sweep region, if it is, enter step S23, cleaned if it is not, then continuing planning, until describedInner region planning, which cleans, to be terminated；Step S23: robot determines that current location point sweeps up initial point to mend, and sweeps up initial point from the benefitStart to carry out the drain sweep region to mend and sweep, after benefit is swept, robot returns to the benefit and sweeps up initial point, continue to it is remaining notPurging zone carries out planning cleaning, and return step S22.Wherein, the inner region planning cleans and terminates to refer to that Robot is clearWhen sweeping direction and cleaning to zone boundary, virtual boundary or physical boundary, completes the whole of the inner region and clean.
Specifically, whether the real-time judge in cleaning process of robot described in step S22 has the step of drain sweep region,Specifically comprise the following steps: step S221: robot judges it along the range that cleaning direction is passed by, if with closed loopBlock is not cleaned, if it is, S222 is entered step, if it is not, then continuing to clean；Step S222: robot judgement is described notWhether clean in block there is length not clean boundary line greater than pre-determined distance, if it is, determination has drain sweep region, ifIt is no, it is determined that there is no drain sweep region.Wherein, the closed loop do not clean block refer to by zone boundary, obstacles borders line and/Or one piece of non-purging zone that boundary line is surrounded is not cleaned.
Specifically, robot described in step S23 determines that current location point sweeps up initial point to mend, the beginning is swept up from the benefitPoint starts to carry out mending the step of sweeping to the drain sweep region, and specifically comprise the following steps: step S231: robot determines present bitIt sets and a little sweeps up initial point to mend, and search for map constructed in walking process, subsequently into step S232；Step S232: machinePerson selects in the drain sweep region and sweeps up the nearest benefit of navigation distance of initial point with described mend and be swept into mouth, and selects described nearestIt mends to be swept into two endpoint locations of mouth benefit described in distance and sweep up a nearest endpoint location of initial point and mend as first and sweep a little, choosingIt selects another endpoint location that the nearest benefit is swept into mouth to sweep a little as the second benefit, subsequently into step S233；StepS233: robot navigation to described first, which mends, to sweep a little, starts to mend towards described second and sweeps walking and clean, and with towards the drain sweepInside region, and the direction for being parallel to the cleaning direction that the regional planning cleans is current cleaning direction, to the drain sweep areaDomain carries out arc type planning and cleans, and until robot completes the cleaning to the drain sweep region, then benefit sweeps end.
Specifically, further including following steps after the traversal of the completion inner region described in step S2: step S41:Robot carries out regional planning cleaning to other grid regions according to nearby principle currently to clean end point as basic point, ifNearby principle is not applicable, then enters step S42；Step S42: nearest unclear of selection and the current navigation distance for cleaning end pointSweeping a location point in region is basic point, regional planning cleaning is carried out to the non-purging zone further according to nearby principle, clearDuring sweeping, if nearby principle is not applicable, select next nearest not with the navigation distance of current cleaning end pointA location point in purging zone is basic point, continues to carry out regional planning cleaning to the non-purging zone according to nearby principle,And so on, until all areas cleaning finishes.Wherein, the nearby principle refers to that robot preferentially selects and current cleaning sideTo on identical direction, using corresponding to the basic point a strip area boundary of purging zone as the non-purging zone of adjacent side intoRow regional planning cleans；Secondly selection cleans on the perpendicular direction in direction with current, with cleaning corresponding to the basic pointThe one strip area boundary in region is that the non-purging zone of adjacent side carries out regional planning cleaning；Finally selection cleans direction phase with currentOn vertical direction, with the opposite another strip area boundary in a strip area boundary of purging zone is corresponding to the basic pointThe non-purging zone of adjacent side carries out regional planning cleaning.Wherein, regional planning cleaning refer to robot to preset length andAfter the grid region of predetermined width is drawn a circle to approve, the inner region drawn a circle to approve is cleaned according to arc type track form sideFormula.Wherein, when the cleaning direction refers to that robot carries out regional planning cleaning, cleaning range is from the one end in region to the other endDirection when extension.
A kind of chip, for storing program instruction, described program instruction executes any one as above for controlling robotArea coverage method described in scheme.
A kind of clean robot, including main control chip, the main control chip are above-mentioned chip.
The area coverage method of the robot, by first draw a circle to approve grid region can cleaning range, then the model to delineationIt encloses and carries out planning cleaning, general landform can be known in advance in robot in cleaning process, in advance perfecting program, to improveThe cleaning quality and sweeping efficiency of robot.For example, just can know that when robot prepares to reach physical boundary by map, withoutJudge boundary with collision or other sensors, in addition, some narrow entrances, when drawing a circle to approve it is known in advance that, it is subsequentIt carries out just being not easy to omit when planning cleans.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detailIt states.It should be appreciated that disclosed below, the specific embodiments are only for explaining the present invention, is not intended to limit the present invention.BelowDescription in, provide detail to provide a thorough understanding of embodiments.However, those skilled in the art will manageSolution, may be practiced without these specific details embodiment.For example, circuit can be shown in block diagrams, avoidMake embodiment fuzzy in unnecessary details.In other cases, it in order not to obscure embodiment, can not display the details of well knownCircuit, structure and technology.
A kind of area coverage method of robot, wherein the robot be can with the intelligent robot of autonomous, thanIt is such as used for the sweeping robot of family's floor cleaning, the cleaning is not limited to sweep the floor and dust suction, can also refer to mop floor, polishOr the cleaning functions such as waxing.After i.e. robot completes area coverage according to the area coverage method, region is just completedThe dust suction on ground mops floor, the polishing or waxing on floor.The area coverage method, as shown in Figure 1, specifically including following stepRapid: in step sl, robot walks since grid region starting point along the zone boundary of the grid region, and enters stepRapid S2.The grid region starting point is location point when robot starts to carry out the regional planning cleaning of grid region.Regional edgeBoundary is the virtual boundary line for surrounding grid region.In step s 2, whether real-time judge detects in the process of walking for robotBarrier, the mode for detecting barrier can be examined by infrared sensor set by robot or crash sensor etc.It surveys.If detecting barrier, S3 is entered step, otherwise continues to walk along the zone boundary of the grid region, Zhi DaojiDevice people returns to the grid region starting point, at this point, robot walks within the scope of the zone boundary has drawn a circle to approve an inner region,Then robot plan to the inner region drawn a circle to approve clear since the grid region starting point in the form of desired trajectoryIt sweeps, completes the traversal of the inner region.The desired trajectory line form can be configured according to specific design requirement, can be withIt is set as arc type track form, arc angle arc type form, returns font trajectory form or radial track form etc..In stepIn rapid S3, robot walk along side along the side being located in the barrier within the scope of the grid region, and judgesThe zone boundary whether is reached, if it is not, then continuing to walk along side, if it is, walking along the zone boundary, and is returnedStep S2.The present embodiment by first draw a circle to approve grid region can cleaning range, then planning cleaning, machine are carried out to the range of delineationGeneral landform can be known in advance in people in cleaning process, in advance perfecting program, thus improve robot cleaning quality andSweeping efficiency.For example, just can know that when robot prepares to reach physical boundary by map, and collision or other sensings are not had toDevice judges boundary, in addition, some narrow entrances, in delineation it is known in advance that, it is subsequent to carry out when planning cleans just notIt is easy to omit.
Specifically, as shown in Fig. 2, W3, W4 and W5 in figure indicate barrier.Robot is since D1 point along zone boundaryWalking is up walked towards D2 point first, is then turned in D2 point, is walked towards the point direction D3.Barrier W3 is detected in D3 point, thenWalk along side along the side of barrier W3 being located in the regional scope, i.e., walks along the track D3-D4-D5-D6.Work as machineWhen device people runs to D6 point along side, zone boundary D2D7 is reached, then is walked on along the direction D6D7.Regional edge is reached in D7 pointBoundary D7D8 is then turned to and is walked towards the direction D8.Robot detects barrier W4 in D8 point, and along the edge lines of barrier W4It walks.Zone boundary D1D9, which is reached, in D9 point runs to D10 point then along the direction D9D10.At this point, robot detects obstacleObject W5, and walk along side along the side of barrier W5 being located in the regional scope, i.e., along D10-D11-D12-D13Track walking continues to run to D1 point along the direction D13D1 after reaching D13 point.Finally, robot is within the scope of the zone boundaryThe inner region surrounded by D1-D2-D3-D4-D5-D6-D7-D8-D9-D10-D11-D12-D13-D1 has been drawn a circle to approve in walking.SoRobot carries out planning cleaning to the inner region drawn a circle to approve in the form of arc type track afterwards.Robot passes through advanced line rangeDelineation is conducive to subsequent planning and cleans, and robot can not only be made to predict the position of barrier when planning cleaning and reduceCollision, the case where the relatively narrow location information of some entrances can also be obtained in advance, avoid the occurrence of drain sweep.
As one of embodiment, robot described in step S2 is since the grid region starting point, with pre-Orbit determination trace form carries out planning cleaning to the inner region drawn a circle to approve, and specifically comprises the following steps: in the step s 21, machinePeople is carried out planning cleaning in the form of arc type track, enters step S22 since the grid region starting point.In step S22In, whether robot real-time judge in cleaning process has drain sweep region, and the drain sweep region refers to that robot is cleaned in planningIt in the process, include not clean by zone boundary, obstacles borders line and/or boundary along cleaning in the swept region in directionOne piece of closed loop that line is surrounded does not clean block, and there is the block length to be greater than the fuselage width of 1.5 robots notClean boundary line.It sweeps, is cleaned if it is not, then continuing planning, until described interior if it is, entering step S23 and mendRegional planning cleaning terminates.In step S23, robot determines that current location point sweeps up initial point to mend, and sweeps up the beginning from the benefitPoint starts to carry out mending to the drain sweep region to sweep, and after benefit is swept, robot returns to the benefit and sweeps up initial point, continues to remainingNon- purging zone carries out planning cleaning, and return step S22.Wherein, the inner region planning cleans and terminates to refer to RobotWhen cleaning direction and cleaning to zone boundary, virtual boundary or physical boundary, completes the whole of the inner region and clean.The implementationIn example, whether robot has drain sweep region by real-time judge, and mend to the drain sweep region of discovery in time and sweep, so that machineThe cleaning of people is more orderly, and sweeping efficiency is higher, avoids existing robot from first carrying out region entirety arc type cleaning, then leakedThe benefit for sweeping region is swept, and cleaning track brought by this cleaning method is mixed and disorderly, the relatively low problem of sweeping efficiency.
Specifically, as described in Figure 3, the outermost rectangular border in figure is the inner region that a robot is drawn a circle to approveBoundary, area defined are exactly an inner region.Arc type route with the arrow in inner region is exactly in robot carries outThe track that regional planning is walked when cleaning.The small box of mark W1 and W2 then indicates barrier.Robot is opened from T1 point positionBegin, carries out arc type planning along the direction that arrow guides and clean.When robot ambulation to the point position b, judge that its right side has oneA drain sweep region, then, robot are to mend to sweep up initial point with b point, and the arc type trajectory line along b1b2b3 carries out drain sweep regionBenefit is swept, and when running to b3 point, the benefit for completing the drain sweep region is swept.Then robot returns to b point, continues clear by regional planningThe arc type trajectory line walking swept, cleaning is remaining not to clean block.When robot is cleaned to the point position b4, its left side is judgedThere is a drain sweep region again, then sweeps up initial point using b4 point as benefit, carry out the drain sweep area along the arc type trajectory line of b5b6b7The benefit in domain is swept, and when running to b7 point, the benefit for completing the drain sweep region is swept.Then, robot returns to b4 point, continues by regionThe arc type trajectory line walking that planning cleans, cleaning is remaining not to clean block, when running to the point position T2, completes entire inner regionThe planning in domain cleans.In this way, robot runs to T2 point from T1 point, the traversal of whole region is just completed, cleans path veryOrderly, sweeping efficiency is also very high.If being from T1 point position always by arc type track according to existing robot cleaning methodT2 point position is run to, then puts back into two drain sweep regions corresponding to barrier W1 and W2 mend from T2 point again and sweep,In this way, the run trace of robot just has more intersection, cleaning path just seems that comparison is mixed and disorderly, not only reduces cleaning effectRate, the randomness that can also allow user to see that robot cleans, it is believed that robot is swept random, to influence the use body of userIt tests.
Robot mend when sweeping, and other than above-mentioned benefit sweeps path, the benefit that can also carry out other way is swept.For example,Since b point, straight line runs to b3 point for robot, then since b3 point, by the arc type track of b3-b2-b1-b, is mendedIt sweeps.It is of course also possible to using from the top down as cleaning direction, or from the bottom up as direction is cleaned, mend and sweep.SpecificallyBenefit sweeps mode, can be designed according to specific use environment and product demand.
As one of embodiment, whether the real-time judge in cleaning process of robot described in step S22 hasThe step of drain sweep region, specifically comprises the following steps: that in step S221, robot judges its model passed by along cleaning directionIn enclosing, if block is not cleaned with closed loop, if it is, S222 is entered step, if it is not, then continuing to clean.In stepIn S222, robot judgement is described not to clean in block whether with what length was greater than pre-determined distance not clean boundary line, describedPre-determined distance can be configured according to specific product design demand, and it is wide generally to can be set to 1.5 to 2 times of robot fuselagesDegree.If it has, then show that the boundary line that robot can not cleaned from this is cleaned into the block, so, it can be trueSurely there is drain sweep region, if it is not, then show that the block can not clean, so, determination does not have drain sweep region.Wherein, the closed loopThe block that do not clean refer to by zone boundary, obstacles borders line and/or do not clean one piece of non-sweeping area that boundary line surroundedDomain.The method through this embodiment can real-time and accurately judge whether there is drain sweep region, effectively avoid robot drain sweepSituation improves the cleaning quality of robot.
As shown in figure 4, the figure is approximate with Fig. 3, the main distinction is: Fig. 4 by dashed box indicates drain sweep region.Firstly, robot walks since T1 point, and arc type planning is carried out to the region and is cleaned.When robot ambulation to b1 point,Judge to have on the right side of robot a closed loop does not clean block n1n2n3n4, and the block is by zone boundary n1n4, obstacles bordersLine n2n3, boundary line n1n2 and n3n4 are not cleaned surround jointly.Also, it is all long not clean boundary line n1n2 and n3n4, greatlyIn 2 times of robot fuselage width, so, robot can enter the block from the two border entries and be cleaned.It is optimal, robot directly runs to n4 point from b1 point, is to clean direction with direction from right to left, to this then since n4 pointBlock carries out planning cleaning.It is returned to b1 point after the completion of cleaning, continues original regional planning and cleans.When robot is cleaned to b2When point, judge that there was a closed loop in its left side does not clean block n5n6n7n8, the block is by zone boundary n6n7, obstacles bordersLine n5n8, boundary line n5n6 and n7n8 are not cleaned surround jointly.Also, it is all long not clean boundary line n5n6 and n7n8, greatlyIn 1.5 times of robot fuselage width, so, robot can enter the block from the two border entries and be cleaned.MostExcellent, it is to clean direction with direction from right to left then since n7 point that robot, which directly runs to n7 point from b2 point, rightThe block carries out planning cleaning.Robot is returned to b2 point after the completion of cleaning, continues original regional planning and cleans, until walkingTo T2 point, the planning for completing whole region is cleaned.
As one of embodiment, robot described in step S23 determines that current location point sweeps up initial point to mend,The drain sweep region is carried out since the benefit sweeps up initial point to mend the step of sweeping, is specifically comprised the following steps: in step S231In, robot determines that current location point sweeps up initial point to mend, and searches for map constructed in walking process, subsequently into stepS232.In step S232, the nearest benefit of the navigation distance for sweeping up initial point with the benefit in drain sweep region described in Robot SelectionIt is swept into mouth, and selects the nearest benefit to be swept into two endpoint locations of mouth benefit described in distance and sweeps up a nearest end of initial pointPoint position is mended as first and is swept a little, another endpoint location for selecting the nearest benefit to be swept into mouth is mended as second to be swept a little,Subsequently into step S233.In step S233, robot navigation to described first, which mends, to be swept a little, is started to mend towards described second and be swept a littleWalking cleans, and with towards inside the drain sweep region, and the direction for being parallel to the cleaning direction that the regional planning cleans isIt is current to clean direction, arc type planning is carried out to the drain sweep region and is cleaned, until robot is completed to the drain sweep regionIt cleans, then mends and sweep end.Benefit through this embodiment sweeps mode, and robot can be carried out mending nearby and be swept, and benefit sweeps efficiency and benefit is sweptQuality is higher, avoids other brought paths that clean of mode of sweeping of mending more mixed and disorderly, the lower problem of sweeping efficiency.
Specifically, being enclosed as shown in figure 5, the outermost rectangular border in figure is a virtual inner region boundaryAt region be exactly inner region in a grid region.Arc type route with the arrow in inner region is exactly that robot carries outThe track that regional planning is walked when cleaning.The small box of mark W1 and W2 then indicates barrier.Robot is opened from T1 point positionBegin, carries out arc type planning along the direction that arrow guides and clean.When robot ambulation to the point position b, judge that its right side has oneA drain sweep region (region of the dotted line frame mark of lower section in figure), is swept into mouth it is found that mending there are two the regions by searching map,One is entrance corresponding to the dotted line on the dotted line frame left side, and one is entrance corresponding to dotted line on the right of dotted line frame, the rightEntrance it is nearest apart from robot current location.Robot is on the right in two endpoint locations of b1 and b2 in entrance, selection away fromThe b1 point nearest from current location is mended as first and is swept a little, then runs to b1 point, and towards b2 point, start to the drain sweep regionIt carries out arc type planning to clean, cleaning direction is from right to left.Robot completes after cleaning along the track of b1-b2-b3, directlyB point is returned, continues remaining regional planning and cleans.Likewise, judging its left side when robot ambulation to the point position b4There is a drain sweep region (region of the dotted line frame mark of top in figure), is swept by searching map it is found that being mended there are two the regionsEntrance, one is entrance corresponding to the dotted line on the dotted line frame left side, and one is entrance corresponding to dotted line on the right of dotted line frame, shouldThe entrance on the right is nearest apart from robot current location.Robot is on the right in two endpoint locations of b5 and b6 in entrance, choosingIt selects the b5 point nearest apart from current location to sweep a little as the first benefit, then runs to b5 point, and towards b6 point, start to the drain sweepRegion carries out arc type planning and cleans, and cleaning direction is from right to left.Robot completes after cleaning along the track of b5-b6-b7,B4 point is directly returned, continues remaining regional planning and cleans.From the graph, it is apparent that robot carries out in this wayBenefit is swept, and does not occur intersecting the trajectory line of entanglement, and benefit sweeps quality and effect is fine, and user is allowed to feel to clean in orderProperty, user experience is very high.
As one of embodiment, after the traversal of the completion inner region described in step S2, further include asLower step: in step S41, robot carries out other regions according to the nearby principle currently to clean end point as basic pointRegional planning clean.The nearby principle refers to that robot preferentially selects on direction identical with current cleaning direction, with instituteIt states corresponding to basic point the non-purging zone that a strip area boundary of purging zone is adjacent side and carries out regional planning cleaning；IfThere is no corresponding region, secondly selection cleans on the perpendicular direction in direction with current, with sweeping area corresponding to the basic pointThe one strip area boundary in domain is that the non-purging zone of adjacent side carries out regional planning cleaning；If also without corresponding region, finallySelection cleans on the perpendicular direction in direction with current, with a strip area boundary phase of purging zone corresponding to the basic pointPair another strip area boundary be adjacent side non-purging zone carry out regional planning cleaning.The regional planning cleaning refers to machinePeople the grid region of preset length and predetermined width is drawn a circle to approve after inner region, cleaned according to arc type track formMode.The preset length and the predetermined width can be configured according to specific design requirement, for example, preset lengthCan be set to 3 meters, 4 meters perhaps 5 meters of predetermined widths may be set to be 3 meters, 4 meters or 5 meters, the preset length can be withIt is identical as the predetermined width, it can also be different.When the cleaning direction refers to that robot carries out regional planning cleaning, model is cleanedEnclose direction when extending from the one end in region to the other end.If the nearby principle is not applicable, i.e., the above-mentioned area that can chooseDomain does not all have, then enters step S42.The step carries out regional planning cleaning according to nearby principle by control robot, can be withImprove high efficiency and order that robot cleans.
In step S42, in the non-purging zone of Robot Selection and the current navigation distance for cleaning end point recentlyOne location point is basic point, carries out regional planning cleaning to the non-purging zone further according to nearby principle, in cleaning process, such asFruit nearby principle is not applicable, then selects in next non-purging zone nearest with the navigation distance of current cleaning end pointOne location point is basic point, continues to carry out regional planning cleaning to the non-purging zone according to nearby principle, and so on, untilAll areas cleaning finishes.Wherein, the navigation distance refers to and reaches determined by robot searching map from current location pointThe path length that the robot of source location can walk.If there is a plurality of, path length in the path for reaching source locationShortest is exactly that navigation distance is nearest.The map is robot grating map constructed in the process of walking, the gridLattice map is made of many grid cells, and the grid cell walked can be denoted as walking unit by robot, inspectionCorresponding grid cell is denoted as obstacle unit, etc. when measuring barrier.Each grid cell can be set to machineHalf of fuselage width of people be side length square lattice, or be set as using the entire fuselage width of robot as side length justRectangular grid.Several grid cells collectively constitute planning a purging zone, i.e. grid region.
Specifically, O point is robot as shown in fig. 6, each grid indicates a planning purging zone (i.e. grid region)Receive starting clean control instruction when where location point (i.e. grid region starting point), Y direction receives for robotStart the front when control instruction cleaned.When robot receive starting clean control instruction when, robot towards move aheadIt walks, and is drawn a circle to approve and planned cleaning to using 0 point as the preset range 1# of basic point, when cleaning to p1 point, the inner region drawn a circle to approveCleaning terminates.At this point, the cleaning direction of robot is along X-axis positive direction.Then, robot is selected using p1 point as basic point in X-axisIn positive direction, the region 2# that does not clean adjacent with preset range 1# as region to be cleaned, and to region 2# carry out delineation andPlanning cleans.The cleaning of region 2# is completed when reaching p2 point.Likewise, continue to clean along the planning of X-axis positive direction to p3 point, thisWhen, along the current region that cleans direction (X-axis positive direction) and can not clean, so, Robot Selection and X-direction phaseIn vertical Y direction, zone boundary corresponding to p3 point (i.e. the coboundary of region 3#) is the region 4# of adjacent side not cleanedAs region to be cleaned, it is then to clean direction with Y-axis positive direction, region 4# is drawn a circle to approve and planned cleaning.Reach p4 pointWhen complete region 4# cleaning.Due to along current clean direction (Y-axis positive direction) without other purging zones, so, machinePeople is to clean direction with X-axis negative direction, region 5# is drawn a circle to approve and planned cleaning using p4 as basic point.It is completed when reaching p5 pointAfter the cleaning of region 5#, continues with X-axis negative direction to be to clean direction, clean always to p8 point, complete region 6#, 7# and 8#It cleans.It, can sweeping area along Y-axis positive direction along X-axis negative direction without cleanable area when robot is located at p8 point yetDomain, so, the region 9# of Robot Selection Y-axis negative direction not cleaned runs to p9 point from p8 point, so as region to be cleanedAfterwards since p9 point, it is to clean direction with Y-axis negative direction, region 9# is drawn a circle to approve and planned cleaning.When cleaning to p10 point,Complete the cleaning to region 9# and 10#.Then it is, and with X-axis positive direction to clean direction, cleans to p14 point, complete to regionThe cleaning of 11#, 12#, 13# and 14#.Robot is in p14 point, in X-axis positive direction, Y-axis positive direction and Y-axis negative direction, allWithout the selectable region not cleaned.So robot starts searching map, select with the navigation distance of p14 point mostThe p15 point of the close region 15# not cleaned as basic point, is drawn a circle to approve and is planned cleaning to region 15# since p15 point, clearlySweeping direction can be along X-axis negative direction, be also possible to along Y-axis positive direction.Since the area of region 15# is just that a planning is clearThe size in region is swept, so just completing the cleaning of whole region after cleaning.Assuming that the area of region 15# is greater than oneIt plans the size of purging zone, then carries out the cleaning of adjacent area according to above-mentioned nearby principle.If other than the region 15# alsoNon-conterminous non-purging zone, then continue through the mode of map search and navigation, cleans other regions, until whole region allUntil cleaning finishes.
A kind of chip, for storing program instruction, described program instruction executes as above each embodiment for controlling robotThe area coverage method.The chip can control robot by first drawing a circle to approve grid by configuring described program instructionRegion can cleaning range, then planning cleaning is carried out to the range of delineation, robot can be known in advance greatly in cleaning processGeneral landform, perfecting program in advance, to improve the cleaning quality and sweeping efficiency of robot.For example, robot prepares to reachIt when physical boundary, just can know that by map, and judge boundary without collision or other sensors, in addition, some are narrowEntrance, delineation when it is known in advance that, it is subsequent carry out planning clean when be just not easy to omit.
A kind of clean robot can be sweeping robot or floor-mopping robot, and master control core is equipped in the robotPiece, the main control chip are chip described in each embodiment as above.Robot can control robot by assembling the chipBy first draw a circle to approve grid region can cleaning range, then planning cleaning is carried out to the range of delineation, robot can be sweptGeneral landform is known in advance in journey, in advance perfecting program, to improve the cleaning quality and sweeping efficiency of robot.For example,It when robot prepares to reach physical boundary, just can know that by map, and judge boundary without collision or other sensors, thisOutside, some narrow entrances, delineation when it is known in advance that, it is subsequent carry out planning clean when be just not easy to omit.
It should be noted that the maximum magnitude that robot cleans is by preset virtual in system in the various embodiments described aboveWhat boundary was defined, when robot is cleaned to the virtual boundary of outermost, would not continue to expand outwardly cleaning.For example schemeIn 2, four long sides of outermost are exactly virtual boundary, and four virtual boundary area defined are divided into 15 grid zonesDomain.Grid region is limited by virtual zone boundary, if the virtual zone boundary not on the virtual boundary of outermost, machineDevice people is when carrying out the cleaning of grid region one by one, so that it may across virtual zone boundary.Virtual region shown in Fig. 2On virtual boundary, robot is cleaned to the p8p9 line of region 8# boundary p8p9, just will be considered that the region outside on the left of p8p9 lineThe region that can not cleaned.If having physical boundary in virtual boundary limited range, then institute, robot is clearThe range swept will be limited in the region continuously surrounded by virtual boundary and physical boundary, or be surrounded completely by physical boundaryRegion in (if the range that surrounds of physical boundary completely in the range of virtual boundary surrounds).As shown in figure 5, robot is clearThe range swept is region defined by A3-A5-p8-p4-A2-A1-p10-A3, wherein A3-A5 is physical boundary, A5-p8-p4-A2 is virtual boundary, and A2-A1 is physical boundary, and A1-A3 is virtual boundary.Robot ambulation is to virtual boundary and physical boundaryWhen, it will be considered that the region that the corresponding outside in boundary can not clean.The physical boundary refers to that robot detects obstacleWhen object, based on the position of the barrier detected, the boundary line that corresponding map is indicated, which may indicate that boundary line pairThe areas outside answered is without cleanable area.Boundary line is not cleaned refers to friendship between purging zone and non-purging zoneBoundary line.
The directions words such as the "upper" that is previously mentioned in above-described embodiment, "lower", " left side " and " right side ", if do not illustrated,It is then to refer in attached drawing to wait directions up and down.If there is illustrating, then by illustrating definition, a such as left side for robotSide is then the left side for referring to robot direction of advance, is not the left side for referring to attached drawing.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead toThe relevant hardware of program instruction is crossed to complete.These programs can store in computer-readable storage medium (such as ROM,The various media that can store program code such as RAM, magnetic or disk) in.When being executed, it includes above-mentioned each for executing to the programThe step of embodiment of the method.Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than it is rightIt is limited；Although present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art shouldUnderstand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all ofTechnical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and the present invention is eachThe range of embodiment technical solution.