一种回旋状路径规划方法、芯片及清洁机器人

• Format: Patent
• Language: Chinese
• Published: 14.03.2025
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

本发明公开一种回旋状路径规划方法、芯片及清洁机器人，该回旋状路径规划方法的执行主体是清洁机器人，清洁机器人在执行该回旋状路径规划方法之前已经在地图中标记出墙体的轮廓，其中，地图用于反映待清扫区域的位置特征；该回旋状路径规划方法包括：选择与墙体的轮廓线的垂直距离满足预设起点个件的位置点作为清扫起点；其中，墙体的轮廓线是待清扫区域的部分边界线；从清扫起点开始，在待清扫区域内进行回旋状路径规划，使得规划出的回旋状路径周期性地覆盖待清扫区域；其中，规划出的回旋状路径存在一部分拐弯路径比另一部分拐弯路径远离墙体，规划出的回旋状路径存在的直线路径平行于待清扫区域的最长的边界线。 The invention discloses a convoluted path planning method, a chip and a cleaning robot, an execution main body of the convoluted path planning method is the cleaning robot, the cleaning robot has marked the contour of a wall in a map before executing the convoluted path planning method, and the map is used for reflecting the position characteristics of a to-be-cleaned area; the convoluted path planning method comprises the following steps: selecting a position point as a cleaning starting point, wherein the vertical distance between the position point and the contour line of a wall meets a preset starting point; wherein the contour line of the wall body is a part of boundary line of the to-be-cleaned area; starting from the cle