Patent ID: 11914391
Assignee: AMICRO SEMICONDUCTOR CO., LTD.
Field: Control (Instruments)
Classification: CPC G  A  B | IPC A  B  G

Claim 0:
1. A cleaning partition planning method for a robot walking along the boundary, wherein the cleaning partition planning method is executed in a process of robot walking along the boundary and the method comprises the following steps:
S11, starting from a boundary walking starting point position of a robot, locating outline boundary line segments in each coordinate axis direction of a laser map according to pixel point statistical information of the laser map scanned by the robot in a currently framed predefined cleaning area, wherein the laser map is scanned and constructed in the process of the robot walking along the boundary;
S12, selecting the outline boundary line segment closest to a preset position from each coordinate axis direction to define a rectangular initial room cleaning partition;
S13, when the initial room cleaning partition does not belong to a preset room cleaning partition, selecting a coordinate axis direction for preferential expanding, deleting a non-wall obstacle line segment in the initial room cleaning partition, which is vertically located in the coordinate axis direction for preferential expanding, then expanding the initial room cleaning partition along the same coordinate axis direction, and then entering S14;
S14, judging whether an outline boundary line segment located in the coordinate axis direction for preferential expanding in S13 and adjacent to the non-wall obstacle line segment deleted in S13 is located in an uncleaned area in the currently framed predefined cleaning area or not, and judging whether the outline boundary line segment located in the coordinate axis direction intersects with remaining outline boundary line segments of the initial room cleaning partition and no preset room cleaning partition is formed or not is judged, and in a case that the outline boundary line segment located in the coordinate axis direction intersects with the remaining outline boundary line segments of the initial room cleaning partition and a preset room cleaning partition is formed, returning to S13 for continuing expanding in the coordinate axis direction currently selected;
when the outline boundary line segment located in the coordinate axis direction for preferential expanding in S13 and adjacent to the non-wall obstacle line segment deleted in S13 is not located in the uncleaned area in the currently framed predefined cleaning area, stopping expanding in the coordinate axis direction currently selected in S13, and returning, to S13 for selecting a coordinate axis direction with a lower expansion priority for expanding, so that the predefined cleaning area is divided into at least one the preset room cleaning partition by the outline boundary line segments which are corresponding;
wherein the non-wall obstacle line segment belongs to an outline boundary line segment but does not represent a wall, and the outline boundary line segments which defines the preset room cleaning partition are superposed with actual room boundary within a preset error allowable range; and
the actual room boundary comprises a boundary of obstacles inside the preset room cleaning partition and/or a boundary of obstacles inside an actual boundary area.