CN113749572B

CN113749572B - Robot mopping method, chip and intelligent mopping machine

Info

Publication number: CN113749572B
Application number: CN202111116262.0A
Authority: CN
Inventors: 黄明强; 邓文拔
Original assignee: Zhuhai Amicro Semiconductor Co Ltd
Current assignee: Zhuhai Amicro Semiconductor Co Ltd
Priority date: 2021-09-23
Filing date: 2021-09-23
Publication date: 2022-06-14
Anticipated expiration: 2041-09-23
Also published as: CN113749572A

Abstract

The invention relates to a robot mopping method, a chip and an intelligent mopping machine.A curved route with different arc opening directions is sequentially changed in the same advancing stage or cleaning period according to the moving positions of a robot at two sides of a datum line, the mopping is carried out along the changed curved route until an area boundary is detected, the other advancing stage is switched by linear motion, the curved routes with different arc opening directions are sequentially changed in the same advancing stage according to the moving position of the robot in the corresponding direction, and the mopping is carried out along the changed curved route; thereby mopping the floor along the left and right arc paths in a staged manner to ensure the uniformity and efficiency of mopping.

Description

Robot mopping method, chip and intelligent mopping machine

Technical Field

The invention relates to the technical field of robot cleaning route planning, in particular to a cross-type covered robot floor mopping method, a cross-type covered robot floor mopping chip and an intelligent floor mopping machine.

Background

The existing mopping robot generally adopts a bow-shaped traversing mopping mode indoors, and particularly, a track route suitable for cleaning rags disclosed in the patent with application publication number CN105283108A is a progressive track which is a unit of back-and-forth reciprocating movement similar to a Y shape or a zigzag shape and simulates a manual mopping track, and the robot moves to mopping the floor according to the track, wherein in the reciprocating track of each unit, the patent CN105283108A firstly controls the robot to move forwards to one side diagonal line of a reference line, then the robot retreats to the other side diagonal line after completing the forward movement, and the retreating distance is controlled to be larger than the advancing distance passed by the previous forward movement. Although the progressive track with the reciprocating movement back and forth like the Y shape or the zigzag shape as the unit smoothly forms the proper cleaning coverage rate, the progressive track needs to frequently move forward and back in the same local area or the same cleaning period to cover the areas to be cleaned at the two sides of the datum line, and the cleaning operation is effectively completed by repeatedly cleaning in the same unit interval, so that the working efficiency of the robot is influenced, and the areas to be cleaned at the two sides of the datum line cannot be ensured to reach the uniform cleaning degree.

Patent publication No. CN109512339A discloses that the robot extends outward in an arc shape along the starting point of the central track, and the left track and the right track can be arc-shaped to form a navigation track moving along the bird's claw pattern, and also discloses that the robot performs cleaning operation along the navigation track of the vine-like pattern and the braid-like pattern, but these three types of tracks all need to use the point on the reference line as the starting point to perform the cleaning operation in each cleaning cycle; although the coverage area of the corresponding track lines of the vine-like pattern and the braid-shaped pattern in each cleaning cycle is small, the robot is still required to move back and forth in each cleaning cycle or in the traveling stage, and the working efficiency of the robot is reduced.

Disclosure of Invention

The invention provides a cross-type covered robot floor mopping method, a chip and an intelligent floor mopping machine in view of the technical defects, wherein the method sequentially changes the curve routes in different arc opening directions in the same advancing stage or cleaning period according to the moving positions of the robot at two sides of a datum line, drags the floor along the changed curve routes until the area boundary is detected, then switches the area boundary to another advancing stage through linear motion, and continuously sequentially changes the curve routes in different arc opening directions in the same advancing stage according to the moving position of the robot in the corresponding direction and drags the floor along the changed curve routes; thereby mopping the floor along the left and right arc paths in a staged manner to ensure the uniformity and efficiency of mopping. The specific technical scheme is as follows:

a robotic floor mopping method comprising the steps of: step 1, the robot moves from a first forward position point to a second forward position point on a datum line along a first forward curve route; step 2, the robot moves from the second forward position point to a third forward position point along a second forward curve route, wherein the first forward position point and the third forward position point are respectively positioned at two sides of the datum line, and the arc opening direction of the first forward curve route and the arc opening direction of the second forward curve route face different sides; step 3, the robot moves from the third forward position point to a fourth forward position point on the datum line along the third forward curve route; step 4, the robot moves from the fourth forward position point to a fifth forward position point along a fourth forward curve route, wherein the fifth forward position point and the third forward position point are respectively positioned at two sides of the datum line, and the arc opening direction of the third forward curve route and the arc opening direction of the fourth forward curve route face different sides; the first forward position point, the second forward position point, the third forward position point, the fourth forward position point and the fifth forward position point are distributed in sequence along the first extending direction of the datum line; step 5, repeating the steps 1 to 4 until the robot reaches a preset boundary, and then moving the robot to a first preset linear distance along a preset turning direction to a first retreating position point, wherein the first retreating position point and the latest position point where the robot is located before the movement of the preset turning direction is carried out are respectively located on two sides of the datum line, and the preset turning direction is perpendicular to the datum line; step 6, the robot moves from the first backward position point to a second backward position point on the reference line along the first backward curve route; step 7, the robot moves from the second backward position point to a third backward position point along a second backward curve route, wherein the first backward position point and the third backward position point are respectively positioned at two sides of the datum line, and the arc opening direction of the first backward curve route and the arc opening direction of the second backward curve route face different sides; step 8, the robot moves from the third backward position point to a fourth backward position point on the reference line along the third backward curve route; step 9, the robot moves from the fourth backward position point to a fifth backward position point along a fourth backward curve route, wherein the fifth backward position point and the third backward position point are respectively positioned at two sides of the datum line, and the arc opening direction of the third backward curve route and the arc opening direction of the fourth backward curve route face different sides; the first backward position point, the second backward position point, the third backward position point, the fourth backward position point and the fifth backward position point are sequentially distributed along the opposite direction of the first extending direction of the datum line; and 10, repeating the steps 6 to 9 until the robot reaches another preset boundary.

Compared with the prior art, the first forward curve route, the second forward curve route, the third forward curve route and the fourth forward curve route all have a common starting point, so that the first forward curve route, the second forward curve route, the third forward curve route and the fourth forward curve route do not need to depend on the datum line to move back and forth in a reciprocating mode, the first forward curve route and the second forward curve route which are in a connection relation are located on two sides of the datum line, and the third forward curve route and the fourth forward curve route which are in a connection relation are located on two sides of the datum line, so that the cleaning area on two sides of the datum line can be covered without frequently advancing and backing in the same local area or the same cleaning period until the robot detects a preset boundary to avoid the wall or the obstacle of a room.

On the basis, the layout mode and the coverage effect of the backward curve route on the two sides of the reference line designed by the technical scheme are the same as those of the forward curve route, but the backward curve route and the forward curve route are crossed on the reference line, the moving direction of the robot guided by the backward curve route is opposite to that of the forward curve route, and the backward dragging effect is at least achieved relative to the forward curve route, so that the times of repeatedly dragging the ground can be reduced in the corresponding sections of the forward curve routes and the backward curve routes, the areas between the boundaries of the areas can be covered, and the cleaning uniformity effect of the areas can be ensured; and further improve the mopping efficiency of the robot in a local area.

Further, the step 10 further includes the steps of: when the robot reaches the other preset boundary, the robot moves a second preset straight line distance to a reference position point along the direction perpendicular to the reference line, wherein the reference position point and the latest position point where the robot is located before moving the second preset straight line distance are respectively located on two sides of the reference line; the robot updates the currently arrived reference position point to the first forward position point, and then repeats the steps 1 to 9; and each time the robot moves to the first backward position point in step 5, a first backward curved route from the first backward position point intersects with a second backward position point on the reference line, the second backward curved route being a forward curved route that has been moved most recently before moving along the preset turning direction.

According to the technical scheme, the time for the robot to avoid the boundary of the obstacle or the room area is set as a trigger condition for switching the traveling stages in different directions, so that the robot is changed from a current backward curve route to a forward curve route to maintain the mopping work in the opposite direction, therefore, the robot updates a currently reached reference position point to be the first forward position point, and then the steps 1 to 9 are repeated to realize iteration: the long-time or long-distance forward mopping is firstly kept and then the long-time or long-distance backward mopping is kept, so that the difficulty of speed regulation of the robot due to frequent back-and-forth reciprocating movement is avoided, and the robot can walk more slowly.

Further, when the robot moves to the first forward position point moved for the first time, starting from the reference position point reached at present, before re-executing step 1 or in the process of repeating the steps 1 to 4, it is determined that all the forward curved routes of the steps 1 to 4 that have been executed are sequentially connected as a first-side travel curved route, and it is determined that all the backward curved routes of the steps 6 to 9 that have been executed are sequentially connected as a second-side travel curved route; the curve connected with the first side travel curve route and the curve connected with the second side travel curve route are symmetrical about the reference line; the datum line is configured in advance, and the extending direction of the datum line is parallel to the initial moving direction obtained when the robot is started in a power-on mode; the vertical direction of the datum line is parallel to the preset boundary; wherein, every time the robot moves to the reference position point, the intersection point of the forward curve route from the reference position point and the backward curve route which has moved for the latest time is positioned on the reference line; wherein the first, second, third and fourth progression curve routes all belong to progression curve routes; wherein the first, second, third and fourth back-off curve paths all belong to back-off curve paths.

According to the technical scheme, the first side travelling curve route and the second side travelling curve route are planned to be symmetrical about the datum line, so that the uniform cleaning effect of the robot on the floor area to be mopped on two sides of the datum line is achieved, the datum line is selected to be suitable for the initial behavior state of the robot, and the robot can enter and execute the robot floor mopping method more quickly.

Further, in the step 1, when the robot moves to the second forward position point, the horizontal displacement generated relative to the first forward position point is a first transverse forward distance, and the vertical displacement generated relative to the first forward position point is a first longitudinal forward distance; in the step 2, when the robot moves to the third forward position point, the horizontal displacement generated relative to the second forward position point is a second transverse forward distance, and the vertical displacement generated relative to the second forward position point is a second longitudinal forward distance; in the step 3, when the robot moves to the fourth forward position point, the horizontal displacement generated relative to the third forward position point is a third transverse forward distance, and the vertical displacement generated relative to the third forward position point is a third longitudinal forward distance; in the step 4, when the robot moves to the fifth forward position point, the horizontal displacement generated relative to the fourth forward position point is a fourth transverse forward distance, and the vertical displacement generated relative to the fourth forward position point is a fourth longitudinal forward distance; in the step 6, when the robot moves to the second retreating position point, a horizontal displacement generated with respect to the first retreating position point is a first transverse retreating distance, and a vertical displacement generated with respect to the first retreating position point is a first longitudinal retreating distance; in the step 7, when the robot moves to the third retreating position point, a horizontal displacement generated with respect to the second retreating position point is a second horizontal retreating distance, and a vertical displacement generated with respect to the second retreating position point is a second longitudinal retreating distance; in step 8, when the robot moves to the fourth backward position point, a horizontal displacement generated with respect to the third backward position point is a third transverse backward distance, and a vertical displacement generated with respect to the third backward position point is a third longitudinal backward distance; in step 9, when the robot moves to the fifth retreating position point, the horizontal displacement with respect to the fourth retreating position point is a fourth lateral retreating distance, and the vertical displacement with respect to the fourth retreating position point is a fourth longitudinal retreating distance. The technical scheme provides specific distance quantitative information for the robot on each forward curve route and each backward curve route, is beneficial to achieving the preset cleaning coverage rate in the areas to be mopped on two sides of the datum line, and can adjust the mopping paths with diversified transverse and longitudinal distances.

Further, the first lateral advancement distance is less than the second lateral advancement distance, the first longitudinal advancement distance is less than the second longitudinal advancement distance, the third lateral advancement distance is greater than the fourth lateral advancement distance, and the third longitudinal advancement distance is greater than the fourth longitudinal advancement distance; the first transverse receding distance is greater than the second transverse receding distance, the first longitudinal receding distance is greater than the second longitudinal receding distance, the third transverse receding distance is less than the fourth transverse receding distance, and the third longitudinal receding distance is less than the fourth longitudinal receding distance; wherein the first lateral advance distance is equal to the second lateral retreat distance, the first longitudinal advance distance is equal to the second longitudinal retreat distance, the second lateral advance distance is equal to the fourth lateral retreat distance, and the second longitudinal advance distance is equal to the fourth longitudinal retreat distance.

In the technical scheme, the control robot needs to travel through the second forward position point through the first forward curve route for the first time, the consumed displacement is small, the subsequent control robot needs to return through the first backward position point through the first backward curve route for the first time, the consumed displacement is large, and the environment layout requirement of a narrow area to be mopped is met.

Because the first transverse advancing distance is smaller than the second transverse advancing distance in the same advancing stage, the position point of starting mopping is closer to the datum line; in the same turning-back stage, the first transverse retreating distance is greater than the second transverse retreating distance, which indicates that the position point where turning-back mopping is started is far away from the datum line; in the process of repeatedly executing steps 1 to 9, based on the layout rule of the transverse and longitudinal distances on both sides of the reference line (the distance between the forward position point and the reference line is changed according to the rule of first approaching, then far approaching, and then approaching), when the last forward position point traversed before the turning back is needed to be far, it indicates that the preset boundary is close to the first forward position point traversed by the robot for the first time, and further indicates that the area to be mopped is narrow.

Further, the first lateral advancement distance is less than the second lateral advancement distance, the first longitudinal advancement distance is less than the second longitudinal advancement distance, the third lateral advancement distance is greater than the fourth lateral advancement distance, and the third longitudinal advancement distance is greater than the fourth longitudinal advancement distance; the first transverse receding distance is less than the second transverse receding distance, the first longitudinal receding distance is less than the second longitudinal receding distance, the third transverse receding distance is greater than the fourth transverse receding distance, and the third longitudinal receding distance is greater than the fourth longitudinal receding distance; wherein the first lateral advance distance is equal to the first lateral retreat distance, the first longitudinal advance distance is equal to the first longitudinal retreat distance, the second lateral advance distance is equal to the second lateral retreat distance, and the second longitudinal advance distance is equal to the second longitudinal retreat distance.

In the technical scheme, the control robot firstly passes through the first forward curve route to advance through the first forward position point, the consumed displacement is small, and the subsequent control robot secondly passes through the first backward curve route to return back through the first backward position point, so that the environmental layout requirement of a wider area to be mopped is met.

Because the first transverse advancing distance is smaller than the second transverse advancing distance in the same advancing stage, the position point of starting mopping is closer to the datum line; in the same turning back stage, the first transverse retreating distance is smaller than the second transverse retreating distance, which indicates that the position point for starting turning back and mopping the floor is closer to the datum line; in the process of repeatedly executing the steps 1 to 9, based on the layout rule of the transverse distance and the longitudinal distance on the two sides of the datum line (the distance between the advance position point and the datum line is changed according to the rule of first approaching, then far approaching and then approaching), when the last advance position point traversed before the turning-back is needed to be close, the preset boundary is far away from the first advance position point traversed by the robot for the first time, and then the floor area to be mopped is wide.

Further, the first lateral advancement distance is greater than the second lateral advancement distance, the first longitudinal advancement distance is greater than the second longitudinal advancement distance, the third lateral advancement distance is less than the fourth lateral advancement distance, and the third longitudinal advancement distance is less than the fourth longitudinal advancement distance; the first transverse receding distance is greater than the second transverse receding distance, the first longitudinal receding distance is greater than the second longitudinal receding distance, the third transverse receding distance is less than the fourth transverse receding distance, and the third longitudinal receding distance is less than the fourth longitudinal receding distance; wherein the first lateral advance distance is equal to the first lateral retreat distance, the first longitudinal advance distance is equal to the first longitudinal retreat distance, the second lateral advance distance is equal to the second lateral retreat distance, and the second longitudinal advance distance is equal to the second longitudinal retreat distance.

In the technical scheme, the control robot firstly passes through the first forward curve route to advance through the first forward position point, the consumed displacement is large, and the subsequent control robot secondly passes through the first backward curve route to return back to pass through the first backward position point, so that the environment layout requirement of a wider area to be mopped is met.

Because the first transverse advancing distance is greater than the second transverse advancing distance in the same advancing stage, the position point for starting mopping is far away from the datum line; in the same turning-back stage, the first transverse retreating distance is greater than the second transverse retreating distance, which indicates that the position point where turning-back mopping is started is far away from the datum line; in the process of repeatedly executing steps 1 to 9, based on the layout rule of the transverse and longitudinal distances on both sides of the reference line (the distance between the forward position point and the reference line is changed according to the rule of first far, then near and then far), when the last forward position point traversed before the turning back is needed to be far, the preset boundary is shown to be far away from the first forward position point traversed by the robot for the first time, and further the area to be mopped is shown to be wide.

Further, the first lateral advancement distance is greater than the second lateral advancement distance, the first longitudinal advancement distance is greater than the second longitudinal advancement distance, the third lateral advancement distance is less than the fourth lateral advancement distance, and the third longitudinal advancement distance is less than the fourth longitudinal advancement distance; the first transverse receding distance is less than the second transverse receding distance, the first longitudinal receding distance is less than the second longitudinal receding distance, the third transverse receding distance is greater than the fourth transverse receding distance, and the third longitudinal receding distance is greater than the fourth longitudinal receding distance; wherein the first lateral advance distance is equal to the second lateral retreat distance, the first longitudinal advance distance is equal to the second longitudinal retreat distance, the second lateral advance distance is equal to the fourth lateral retreat distance, and the second longitudinal advance distance is equal to the fourth longitudinal retreat distance.

In the technical scheme, the control robot firstly passes through the first forward curve route to advance through the first forward position point, the consumed displacement is large, and the subsequent control robot secondly passes through the first backward curve route to return back to pass through the first backward position point, the consumed displacement is small, so that the environmental layout requirement of a narrow area to be mopped is met.

Because the first transverse advancing distance is greater than the second transverse advancing distance in the same advancing stage, the position point for starting mopping is far away from the datum line; in the same turning back stage, the first transverse retreating distance is smaller than the second transverse retreating distance, which indicates that the position point for starting turning back and mopping the floor is closer to the datum line; in the process of repeatedly executing the steps 1 to 9, based on the layout rule of the transverse and longitudinal distances on both sides of the reference line (the distance between the forward position point and the reference line is changed according to the rule of first far, then near and then far), when the last forward position point traversed before the turning-back is needed to be close, the preset boundary is represented to be close to the first forward position point traversed by the robot for the first time, and further the region to be mopped is represented to be narrow.

Further, the first lateral advancement distance is equal to the second lateral advancement distance, the first longitudinal advancement distance is equal to the second longitudinal advancement distance, the third lateral advancement distance is equal to the fourth lateral advancement distance, the third longitudinal advancement distance is equal to the fourth longitudinal advancement distance; the first lateral retreat distance is equal to the second lateral retreat distance, the first longitudinal retreat distance is equal to the second longitudinal retreat distance, the third lateral retreat distance is equal to the fourth lateral retreat distance, and the third longitudinal retreat distance is equal to the fourth longitudinal retreat distance.

According to the technical scheme, the planned first forward curve route and the planned second forward curve route are centrosymmetric about a second forward position point, the planned third forward curve route and the planned fourth forward curve route are centrosymmetric about a fourth forward position point, the planned first backward curve route and the planned second backward curve route are centrosymmetric about a second backward position point, the planned third forward curve route and the planned fourth forward curve route are centrosymmetric about a fourth backward position point, the planned third backward curve route and the planned fourth backward curve route are centrosymmetric about a fourth backward position point, and the planned third backward curve route and the planned fourth backward curve route are centrosymmetric about a fourth backward position point; then, based on the feature that the first side travel curve route and the second side travel curve route are symmetrical about the reference line, the planned forward curve route can be symmetrical with the corresponding backward curve route about the intersection center of the two on the reference line, wherein the intersection center can be multiplexed as a backward position point or a forward position point.

Further, the second lateral advancement distance is equal to the third lateral advancement distance, and the first lateral advancement distance is equal to the fourth lateral advancement distance; the second longitudinal advancement distance is equal to the third longitudinal advancement distance, the first longitudinal advancement distance is equal to the fourth longitudinal advancement distance; the second lateral retreat distance is equal to the third lateral retreat distance, and the first lateral retreat distance is equal to the fourth lateral retreat distance; wherein a relatively small value of the second lateral advance distance and the first lateral advance distance is in a range of 1.2 to 1.5 times a width of a body of one robot; a relatively small value of the second lateral retreat distance and the first lateral retreat distance is in a range of 1.2 to 1.5 times a width of a body of one robot.

Thereby ensuring that the curve corresponding to the second forward curve route and the curve corresponding to the third forward curve route are symmetrical about a straight line passing through the third forward position point and being vertical to the datum line; ensuring that the curve corresponding to the first forward curve route and the curve corresponding to the fourth forward curve route are symmetrical about a straight line passing through the third forward position point and perpendicular to the datum line;

the curve corresponding to the second retreating curve route and the curve corresponding to the third retreating curve route are also ensured to be symmetrical about a straight line passing through the third retreating position point and being vertical to the datum line; and ensuring that the curve corresponding to the first retreating curve route and the curve corresponding to the fourth retreating curve route are symmetrical about a straight line passing through the third retreating position point and perpendicular to the reference line.

Further, the robot floor mopping method further comprises the following steps: setting the action process of the robot moving from the first forward position point to the second forward position point and the action process of the robot moving from the second forward position point to the third forward position point as a first forward stage of the robot in one forward cleaning cycle; setting the action process of the robot moving from the third forward position point to the fourth forward position point and the action process of the robot moving from the fourth forward position point to the fifth forward position point as a second forward stage of the robot in the same forward cleaning period; wherein, every time from the step 1 to the step 4, a forward cleaning period is recorded to pass; the first forward curve route, the second forward curve route, the third forward curve route and the fourth forward curve route are sequentially connected into a corresponding unit track in one forward cleaning period. Therefore, the forward curve routes generated by forward mopping of the robot are classified into corresponding stages and cleaning cycles, so that the robot is convenient to schedule and manage, and the planning efficiency of the mopping routes of the robot is improved.

Further, the robot floor mopping method further comprises the following steps: setting the action process of the robot moving from the first backward position point to the second backward position point and the action process of the robot moving from the second backward position point to the third backward position point as a first retracing stage of the robot in one retracing cleaning period; setting the action process of the robot moving from the third backward position point to the fourth backward position point and the action process of the robot moving from the fourth backward position point to the fifth backward position point as a second turn-back stage of the robot in one turn-back cleaning cycle; wherein, every time from the step 6 to the step 9, the process is recorded as the passing of a foldback cleaning cycle; the foldback cleaning cycle and the forward cleaning cycle do not overlap; the first back curve route, the second back curve route, the third back curve route and the fourth back curve route are sequentially connected into a corresponding unit track in a back-turning cleaning period. Therefore, the backward curve route generated by the returning mopping of the robot is classified into the corresponding stage and the cleaning cycle, the robot is convenient to dispatch and manage, and the planning efficiency of the mopping route of the robot is improved.

A chip is assembled in a mopping robot and used for controlling the robot to execute the cross-type covered robot mopping method. The technical scheme controls the robot to execute proper mopping covering operation on two sides of the datum line in a staged mode, provides effective mode conversion in a stage close to a boundary or an obstacle by utilizing the symmetrical characteristic of a cleaning route in a forward stage and a cleaning route in a corresponding backward stage, and controls the robot to walk out of a cross type covered mopping route of the robot, so that the cleaning efficiency is improved.

An intelligent floor mopping machine is equipped with a main control chip, and the main control chip is the chip. Compared with the prior art, frequent reciprocating movement back and forth in a short time is avoided, the speed regulation and steering difficulty of the robot is reduced, and the cleaning work efficiency of the robot is improved; the times of repeatedly mopping the floor can be reduced by combining the forward curve routes and the backward curve routes, the area between the boundaries of the area is covered, and the uniform effect of cleaning the area is ensured; thereby improving the mopping efficiency of the robot in a local area. Is beneficial to improving the product quality of the robot.

Drawings

Fig. 1 is a schematic diagram of a robot floor-mopping track according to an embodiment of the present invention.

Fig. 2 is a schematic exploded view of the mopping track shown in fig. 1.

Fig. 3 is an analysis diagram of two curved lines respectively located at two sides of the reference line in an advancing stage of the mopping track shown in fig. 1.

FIG. 4 is a schematic diagram of a robot mopping track according to another embodiment of the present invention; during the first forward phase, the transverse distance of the curved path AP1 is less than the transverse distance of the curved path P1B, and the longitudinal distance of the curved path AP1 is less than the longitudinal distance of the curved path P1B; during the first turnaround phase, the lateral distance of the curved path DP3 is greater than the lateral distance of the curved path P3F, and the longitudinal distance of the curved path DP3 is greater than the longitudinal distance of the curved path P3F.

FIG. 5 is a schematic diagram of a robot mopping track according to another embodiment of the present invention; during the first advance phase, the lateral distance of the curved path AP1 is greater than the lateral distance of the curved path P1B, and the longitudinal distance of the curved path AP1 is greater than the longitudinal distance of the curved path P1B; during the first turnaround stage, the lateral distance of the curved path DP3 is less than the lateral distance of the curved path P3F, and the longitudinal distance of the curved path DP3 is less than the longitudinal distance of the curved path P3F.

FIG. 6 is a schematic diagram of a robot mopping track according to another embodiment of the present invention; during the first forward phase, the transverse distance of the curved line A1P1 is greater than the transverse distance of the curved line P1B1, and the longitudinal distance of the curved line A1P1 is greater than the longitudinal distance of the curved line P1B 1; during the first turn-back stage, the transverse distance of the curved path F1P4 is greater than the transverse distance of the curved path P4G1, and the longitudinal distance of the curved path F1P4 is greater than the longitudinal distance of the curved path P4G 1.

FIG. 7 is a schematic diagram of a robot mopping track according to another embodiment of the present invention; during the first forward phase, the transverse distance of the curved line A2P1 is less than the transverse distance of the curved line P1B2, and the longitudinal distance of the curved line A2P1 is less than the longitudinal distance of the curved line P1B 2; during the first turn-back stage, the transverse distance of the curved path F2P4 is smaller than the transverse distance of the curved path P4G2, and the longitudinal distance of the curved path F2P4 is smaller than the longitudinal distance of the curved path P4G 2.

Detailed Description

The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention. In the following description, specific details are given to provide a thorough understanding of the embodiments. However, it will be understood by those of ordinary skill in the art that the embodiments may be practiced without these specific details. For example, circuits may be shown in block diagrams in order not to obscure the embodiments in unnecessary detail. In other instances, well-known circuits, structures and techniques may not be shown in detail in order not to obscure the embodiments.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the invention "a plurality" means at least two, e.g. two, three, etc., unless explicitly specifically limited otherwise.

A cross-type covered robot mopping method is applicable to the types of machines which can be cleaning robots with mopping functions, domestic cleaning robots and commercial cleaning robots, and the robots support autonomous map construction. Referring to fig. 1 and 2, the robot mopping method includes the following steps 1 to 10:

step 1, the robot moves from a first forward position point to a second forward position point on a datum line along a first forward curve route; specifically, in fig. 1, the robot moves along the first forward curved route AP1 from the first forward position point a to the right, and when the robot moves to the second forward position point P1, the horizontal displacement of the second forward position point P1 relative to the first forward position point a is the first transverse forward distance S1 shown in fig. 3, and the vertical displacement of the second forward position point P1 relative to the first forward position point a is the first longitudinal forward distance H1 shown in fig. 3; wherein the vertical dotted line of fig. 1 is the reference line; the first forward curved path AP1 may be an arc, which may be a crown, a semicircle, or further, fig. 1 to 7 illustrate the first forward curved path as a partial semicircle, but not limited thereto.

Step 2, the robot moves from the second forward position point to a third forward position point along the second forward curve route; specifically, in fig. 1, the robot moves along the second forward curved route P1B from the second forward position point P1 to the right side of the reference line, and when the robot moves to the third forward position point B, the horizontal displacement of the third forward position point B relative to the second forward position point P1 is the second transverse forward distance S2 shown in fig. 3, and the vertical displacement of the third forward position point B relative to the second forward position point P1 is the second longitudinal forward distance H2 shown in fig. 3; the second forward curved path P1B may be an arc, and further, the second forward curved path is illustrated as an incomplete semi-circle in fig. 1 to 7, but is not limited thereto.

It should be noted that the first forward position point and the third forward position point are respectively located at two sides of the reference line, and the arc opening direction of the first forward curve route and the arc opening direction of the second forward curve route face different sides, wherein facing the same side means that the included angle between the opening directions of the two arcs is within the range of 180 degrees, and facing the different sides means that the included angle between the opening directions of the two arcs is greater than 180 degrees; as shown in fig. 1, the first forward position point a is located on the left side of the reference line, the third forward position point B is located on the right side of the reference line, the arcuate opening direction of the second forward curved line P1B is toward the right side of the reference line and the second forward curved line P1B is located on the right side of the reference line, the first forward curved line AP1 is located on the left side of the reference line and the arcuate opening direction of the first forward curved line AP1 is toward the left side of the reference line.

As shown in fig. 2, in the present embodiment, the course of the robot moving from the first forward position point a to the second forward position point P1 and the course of the robot moving from the second forward position point P1 to the third forward position point B are set as the first forward stage of the robot in one forward cleaning cycle.

Step 3, the robot moves from the third forward position point to a fourth forward position point on the datum line along the third forward curve route; specifically, in fig. 1, the robot moves along the third forward curved route BP2 from the third forward position point B to the left, and when the robot moves to the fourth forward position point P2, the horizontal displacement of the robot relative to the third forward position point B is a third transverse forward distance, and the vertical displacement of the robot relative to the third forward position point B is a third longitudinal forward distance; preferably, the third forward curved path BP2 may be an arc, which may be a crown or a semicircle, and further, the third forward curved path BP2 is illustrated as an incomplete semicircle in the drawings, but not limited thereto.

Step 4, the robot moves from the fourth forward position point to a fifth forward position point along the fourth forward curve route; specifically, in fig. 1, the robot moves along the fourth forward curved route P2C from the fourth forward position point P2 to the left side of the reference line, and when the robot moves to the fifth forward position point C, the horizontal displacement of the fifth forward position point C with respect to the fourth forward position point P2 is a fourth transverse forward distance, and the vertical displacement of the fifth forward position point C with respect to the fourth forward position point P2 is a fourth longitudinal forward distance; the fourth forward curved line P2C can be an arc, and further, the fourth forward curved line P2C is an incomplete semi-circle in the drawings, but not limited thereto.

It should be noted that the third forward position point and the fifth forward position point are respectively located at two sides of the reference line, and the arc opening direction of the third forward curve route and the arc opening direction of the fourth forward curve route face different sides, wherein facing the same side means that the included angle between the opening directions of the two arcs is within the range of 180 degrees, and facing the different sides means that the included angle between the opening directions of the two arcs is greater than 180 degrees; as shown in fig. 1, the third forward position point B is located on the right side of the reference line, the fifth forward position point C is located on the left side of the reference line, the arcuate opening direction of the third forward curved line BP2 is toward the right side of the reference line and the third forward curved line BP2 is located on the right side of the reference line, the fourth forward curved line P2C is located on the left side of the reference line and the arcuate opening direction of the fourth forward curved line P2C is toward the left side of the reference line.

As shown in fig. 1, the first forward position point a, the second forward position point P1, the third forward position point B, the fourth forward position point P2, and the fifth forward position point C are distributed in this order along the first extending direction of the reference line, specifically, in a wavy manner from bottom to top on both sides of the reference line.

As shown in fig. 2, the motion process of the robot moving from the first forward position point a to the second forward position point P1 and the motion process of the robot moving from the second forward position point P1 to the third forward position point B are set as the first forward stage of the robot in one forward cleaning cycle; then, the course of the robot moving from the third forward position point B to the fourth forward position point P2 and the course of the robot moving from the fourth forward position point P2 to the fifth forward position point C are set as a second forward stage of the robot in the same forward cleaning cycle; wherein, every time from the step 1 to the step 4, a forward cleaning cycle is recorded to pass; the first forward curve route AP1, the second forward curve route P1B, the third forward curve route BP2, and the fourth forward curve route P2C are sequentially connected to form a corresponding unit track in the aforementioned one forward cleaning cycle.

Step 5, repeating the steps 1 to 4, and performing repeated mopping actions by taking the AP1BP2C trajectory shown in fig. 1 as a unit trajectory until the robot reaches a preset boundary, where the robot is located in front of the preset boundary and does not contact the preset boundary, and the robot does not cross the preset boundary; and then the robot moves a first preset linear distance along a preset turning direction to a first retreating position point, wherein the first retreating position point and a position point of the robot before the movement of the preset turning direction are respectively positioned at two sides of a datum line, and the preset turning direction is perpendicular to the datum line. The first preset straight-line distance is preset.

It is emphasized that the predetermined boundaries are pre-configured to define a traffic area not occupied by furniture, walls, cliffs, carpet or other surfaces or obstacles, e.g. the area where the floor is located where the robot is moving along the current direction of travel is passable until the predetermined boundaries indicate that the area where the floor is not occupied by furniture, walls, cliffs, carpet or other surfaces or obstacles. In some embodiments, the preset boundary is a straight edge belonging to furniture, a wall, a cliff, a carpet or other surface or obstacle; in some embodiments, the preset boundaries are also set by the virtual wall devices and are responded to by the robotic communication. In some embodiments, the preset boundary is a boundary of an area defined by a built-in map of the robot, and is defined by a distribution position of the obstacles in the map. Preferably, the robot body is further provided with a detection sensor for identifying a preset boundary, including but not limited to an infrared sensor and a visual sensor, the preset boundary is detected in advance at a position in front of the preset boundary, a specific detection method may depend on a manufacturing material of the preset boundary, a sampling requirement of visual shooting and infrared signal reflection is met, and the method belongs to the prior art and is not described any more.

As shown in fig. 1, when the robot moves to a fifth forward position point C, the robot moves from the fifth forward position point C to the right along a forward curve path CP3 to a forward position point P3 on the reference line, wherein the forward curve path CP3 is parallel to the first forward curve path AP1, since the steps 1 to 4 need to be repeated, the forward curve path CP3 is regarded as equivalent to the first forward curve path, the fifth forward position point C is updated to the first forward position point in the newly executed step 1, the forward position point P3 is regarded as equivalent to the second forward position point on the reference line, and so on, the robot moves from the second forward position point P3 to the right along the forward curve path P3D to the third forward position point D, the robot reaches a preset boundary, that is, the robot reaches the front of the rectangular box shown above in fig. 1, the rectangular box represents a preset boundary, the robot is used for warning the robot to avoid obstacles in advance. The robot then moves a first preset linear distance along a preset turn-back direction to a first back-off position point, i.e. the robot of fig. 1 moves linearly along a line segment DE from a third forward position point D to a first back-off position point E, to start a first turn-back stage. Preferably, the first retreat position point E is walked along a preset boundary. The first backward position point and the latest position point before the robot moves in the preset turning direction are respectively located on two sides of a reference line, and the preset turning direction is perpendicular to the reference line, wherein the latest position point before the robot moves in the preset turning direction is the third forward position point D.

Step 6, the robot moves from the first backward position point to a second backward position point on the reference line along the first backward curve route; specifically, in fig. 1, the robot moves along the first backward curved route EP3 from the first backward position point E to the right, and when the robot moves to the second backward position point P3, the horizontal displacement of the second backward position point P3 with respect to the first backward position point E is a first lateral backward distance, and the vertical displacement of the second backward position point P3 with respect to the first backward position point E is a first longitudinal backward distance; wherein the vertical dotted line of fig. 1 is the reference line; the first receding curve path EP3 may be an arc, which may be a crown, a semicircle, and further, the first receding curve path is illustrated as a partial semicircle in fig. 1 to 7, but is not limited thereto.

Step 7, the robot moves from the second backward position point to a third backward position point along a second backward curve route; specifically, in fig. 1, the robot moves along the second retreating curved route P3F from the second retreating position point P3 to the right of the reference line, and when the robot moves to the third retreating position point F, the horizontal displacement of the robot relative to the second retreating position point P3 is a second lateral retreating distance, and the vertical displacement of the robot relative to the second retreating position point P3 is a second longitudinal retreating distance; the second receding curve line P3F may be an arc, and further, the second receding curve line is illustrated as an incomplete semi-circle in fig. 1 to 7, but is not limited thereto.

It should be noted that the first retreating position point and the third retreating position point are respectively located at two sides of the reference line, and the arc opening direction of the first retreating curved line and the arc opening direction of the second retreating curved line face different sides; as shown in fig. 1, the first retreating position point E is located on the left side of the reference line, the third retreating position point F is located on the right side of the reference line, the arcuate opening direction of the second retreating curved line P3F is toward the right side of the reference line and the second retreating curved line P3F is located on the right side of the reference line, the first retreating curved line EP3 is located on the left side of the reference line and the arcuate opening direction of the first retreating curved line EP3 is toward the left side of the reference line.

In the embodiment shown in fig. 1, the first backward curved route EP3 (the first retracing stage) followed by the robot from the first backward position point E intersects with the forward curved route P3D (the last forward stage before the first retracing, which is equivalent to the second forward curved route in this embodiment) followed by the forward position point P3 at the second backward position point P3 or equivalent to the second forward position point P3 on the reference line.

Step 8, the robot moves from the third backward position point to a fourth backward position point on the reference line along the third backward curve route; specifically, in fig. 1, the robot moves along the third backward curved route FP2 from the third backward position point F to the left, and when the robot moves to the fourth backward position point P2, the horizontal displacement of the robot relative to the third backward position point F is a third transverse backward distance, and the vertical displacement of the robot relative to the third backward position point F is a third longitudinal backward distance; preferably, the third receding curve path FP2 may be an arc, which may be a crown, a semicircle, and further, the third receding curve path FP2 is illustrated as an incomplete semicircle in the drawings, but not limited thereto.

Step 9, the robot moves from the fourth backward position point to a fifth backward position point along a fourth backward curve route; specifically, in fig. 1, the robot moves along the fourth backward curved route P2G from the fourth backward position point P2 to the left of the reference line, and when the robot moves to the fifth backward position point G, the horizontal displacement of the robot with respect to the fourth backward position point P2 is a fourth transverse backward distance, and the vertical displacement of the robot with respect to the fourth backward position point P2 is a fourth longitudinal backward distance; the fourth backward curved line P2G can be an arc, and further, the fourth backward curved line P2G is an incomplete semi-circle in the drawings, but not limited thereto.

It should be noted that the fifth retreating position point and the third retreating position point are respectively located at two sides of the reference line, and the arc opening direction of the third retreating curved line and the arc opening direction of the fourth retreating curved line face different sides; wherein, facing to the same side means that the included angle of the directions of the two arc line openings is within the range of 180 degrees, and facing to different sides means that the included angle of the directions of the two arc line openings is greater than 180 degrees; as shown in fig. 1, the third retreating position point F is located on the right side of the reference line, the fifth retreating position point G is located on the left side of the reference line, the arcuate opening direction of the third retreating curved line FP2 is toward the right side of the reference line and the third retreating curved line FP2 is located on the right side of the reference line, the fourth retreating curved line P2G is located on the left side of the reference line and the arcuate opening direction of the fourth retreating curved line P2G is toward the left side of the reference line.

As shown in fig. 1, the first retreating position point E, the second retreating position point P3, the third retreating position point F, the fourth retreating position point P2, and the fifth retreating position point G are arranged in this order along the direction opposite to the first extending direction of the reference line, and more specifically, are arranged in an undulating manner on both sides of the reference line from the top to the bottom.

As shown in fig. 2, the operation process of the robot moving from the first backward position point E to the second backward position point P3 and the operation process of the robot moving from the second backward position point P3 to the third backward position point F are set as a first reentry stage of the robot in one reentry cleaning cycle; then, setting the motion process of the robot moving from the third backward position point F to the fourth backward position point P2 and the motion process of the robot moving from the fourth backward position point P2 to the fifth backward position point G as a second reentry stage of the robot in the same reentry cleaning cycle; wherein, every time from the step 6 to the step 9, the process is recorded as the passing of a foldback cleaning cycle; the first back curve route EP3, the second back curve route P3F, the third back curve route FP2 and the fourth back curve route P2G are sequentially connected to form a corresponding unit track in the single foldback cleaning cycle. Notably, there is no overlap of the reentry cleaning cycle with the forward cleaning cycle.

In the embodiment shown in fig. 1, the robot intersects the previously moved curved route BC from the curved route FG at a fourth backward position point P2 on the reference line, which is equivalent to a fourth forward position point P2. The curved line FG is a connection of the third backward curved line FP2 and the fourth backward curved line P2G, and the previously moved curved line BC is a connection of the third forward curved line BP2 and the fourth forward curved line P2C in the forward stage previously performed by the robot.

And 10, repeating the steps 6 to 9, and performing repeated mopping actions by taking the EP3FP2G locus shown in the figure 1 as a unit locus until the robot reaches another preset boundary. As shown in fig. 1, when the robot moves to a fifth backward position point G, the robot moves from the fifth backward position point G to the right along a backward curved route GP1 to a backward position point P1 (i.e., a second forward position point that has previously moved), on the reference line, where the backward curved route GP1 is parallel to the first backward curved route EP3, since the steps 6 to 9 need to be repeated, the backward curved route GP1 is regarded as equivalent to the first backward curved route, the fifth backward position point G is updated to the first backward position point in a newly executed step 6, the backward position point P1 is regarded as equivalent to the second backward position point on the reference line, and so on, the robot moves from the second backward position point P1 to the right along a backward curved route P1H to a third backward position point H; preferably, the robot detects a preset boundary and ends the fold-back operation.

And (3) integrating the steps 1 to 10, compared with the prior art, the first forward curve route, the second forward curve route, the third forward curve route and the fourth forward curve route all have a common starting point, so that the first forward curve route, the second forward curve route, the third forward curve route and the fourth forward curve route do not need to depend on the datum line to move back and forth in a reciprocating mode, wherein the first forward curve route and the second forward curve route which have a connection relation are divided at two sides of the datum line, and the third forward curve route and the fourth forward curve route which have a connection relation are divided at two sides of the datum line, so that the cleaning areas at two sides of the datum line can be covered without frequently advancing and retreating in the same local area or the same cleaning period until the robot reaches a preset boundary. On the basis, the layout mode and the coverage effect of the backward curve route designed by the embodiment on two sides of the reference line are consistent with those of the forward curve route, but the backward curve route and the forward curve route are crossed on the reference line, the moving direction of the robot guided by the backward curve route is opposite to that of the forward curve route, and the backward curve route at least has the effect of returning back and mopping the ground relative to the forward curve route, so that the times of repeatedly mopping the ground can be reduced in the sections corresponding to the forward curve routes and the backward curve routes, the areas between the boundaries of the areas are covered, and the cleaning uniformity effect of the areas is ensured; and further improve the mopping efficiency of the robot in a local area.

As an embodiment, the step 10 further includes the steps of:

when the robot reaches the other preset boundary, the robot may be located below the reference line shown in fig. 1, and the robot moves a second preset straight-line distance to a reference position point along a direction perpendicular to the reference line, wherein the second preset straight-line distance is configured in advance; specifically, in the process of repeatedly performing steps 6 to 9, if the robot reaches the other preset boundary in the second backward curve or the third backward curve, the direction perpendicular to the reference line is the same as the preset turning direction; if the robot reaches the other preset boundary in the first backward curved route or the fourth backward curved route, the direction perpendicular to the reference line is opposite to the preset turning direction. And the reference position point and the position point of the robot before moving the second preset linear distance are respectively positioned at two sides of the reference line. Then, the robot updates the currently reached reference position point to the first forward position point, moves to the same reference line along the first forward curve route of the corresponding unit track in a new forward cleaning cycle from the updated first forward position point, starts a new forward stage, and repeats the steps 1 to 9. It is noted that the updated first forward position point is not necessarily the first forward position point a shown in fig. 1. In this embodiment, the timing when the robot avoids the boundary of the obstacle or the room area is set as a trigger condition for switching the traveling phases in different direction types, so that the robot is changed from the current backward curve route to the forward curve route to maintain the mopping operation in the reverse direction, therefore, the robot updates the currently reached reference position point to the first forward position point, and then repeats the steps 1 to 9 to realize the iteration: the long-time or long-distance forward mopping is firstly kept and then the long-time or long-distance backward mopping is kept, so that the difficulty of speed regulation of the robot due to frequent back-and-forth reciprocating movement is avoided, and the robot can walk more slowly.

As an embodiment, the robot repeats the steps 1 to 9 starting from the reference position point currently reached; if the reference position point is located below the first forward position point a or the first forward position point a moved for the first time (which may be a projection length of the backward curved route moved by repeatedly performing steps 6 to 9 on the reference line is larger than a projection length of the forward curved route moved by repeatedly performing steps 1 to 4 on the reference line), before or during the process of repeatedly performing step 1 to 4, when the robot moves to the first forward position point a moved for the first time, it is determined that all the forward curved routes of steps 1 to 4 (steps 1, 2, 3, or 4 that have been performed) are sequentially connected as a first-side travel curved route, and it is determined that steps 6 to 9 (steps 6 to 9 that have been performed) are sequentially connected as a first-side travel curved route, when the robot moves to the first forward position point a moved for the first time, And 7), all the backward curve routes in the step 8 or 9) are sequentially connected into a second side advancing curve route, wherein the sequential connection is that the tail end of the curve route which moves firstly in time is connected with the head end of the same type of curve route which moves later. It should be noted that, in the process of repeatedly executing the steps 1 to 9, the step 5 is executed, then the step 1 to the step 4 are started to be repeatedly executed, and then when the robot reaches the preset boundary, it indicates that an obstacle obstruction or a wall boundary obstruction is detected, and then the step 6 is triggered to be executed.

In this embodiment, the curve connected by the first side travel curve route and the curve connected by the second side travel curve route are symmetrical with respect to the reference line; the reference line is configured in advance, and the extending direction of the reference line is parallel to the initial moving direction obtained when the robot is started in power-on. The vertical direction of the reference line is parallel to the preset boundary.

In the embodiment shown in fig. 1, if the robot reaches the other preset boundary at the third retreating position point H and the robot moves the second preset straight distance in the direction perpendicular to the reference line to the reference position point a, the direction perpendicular to the reference line is the same as the preset turning direction, and then step 1 described in the foregoing embodiment may be repeatedly performed; the intersection of the first forward curved line AP1 followed by the robot from the reference position point a and the last backward curved line P1H (moved in the previously performed step 10) is the second backward position point P1, and the second backward position point P1 is located on the reference line. The first side-travel curve route formed by the connection at this time is a curve AP1BP2CP3D, and the second side-travel curve route formed by the connection is a curve EP3FP2GP1H, which are symmetrical about the reference line. It should be noted that the first forward curve route, the second forward curve route, the third forward curve route and the fourth forward curve route all belong to forward curve routes; wherein the first, second, third and fourth back-off curvilinear routes all belong to back-off curvilinear routes.

In this embodiment, the first side travel curve route and the second side travel curve route are planned to be symmetrical with respect to the reference line, so that the forward curve route and the backward curve route are symmetrically planned to both sides of the reference line, and the robot crosses the same reference line along the corresponding forward curve route or backward curve route at the same distance and angle, so as to achieve a uniform cleaning effect of the robot on the area to be mopped on both sides of the reference line, and the selection of the reference line is also adapted to the initial behavior state of the robot, so that the robot can more quickly enter and execute the robot mopping method; the cleaning quality of the mopping area is ensured.

Based on the embodiment described in fig. 1, an embodiment shown in fig. 5 is disclosed:

in fig. 5, the robot takes the first forward position point a as an initial position, the robot moves along the first forward curve path AP1 from the first forward position point a to the right, when the robot moves to the second forward position point P1, the horizontal displacement of the second forward position point P1 relative to the first forward position point a is a first transverse forward distance, and the vertical displacement of the second forward position point P1 relative to the first forward position point a is a first longitudinal forward distance; then, the robot moves along the second forward curved route P1B from the second forward position point P1 to the right side of the reference line, and when the robot moves to the third forward position point B, the horizontal displacement of the third forward position point B with respect to the second forward position point P1 becomes a second transverse forward distance, and the vertical displacement of the third forward position point B with respect to the second forward position point P1 becomes a second longitudinal forward distance; wherein the first lateral advancement distance is greater than the second lateral advancement distance and the first longitudinal advancement distance is greater than the second longitudinal advancement distance.

In fig. 5, the robot moves along the third forward curved route BP2 from the third forward position point B to the left, and when the robot moves to the fourth forward position point P2, the horizontal displacement of the robot relative to the third forward position point B is a third transverse forward distance, and the vertical displacement of the robot relative to the third forward position point B is a third longitudinal forward distance; then, the robot moves along the fourth forward curved route P2C from the fourth forward position point P2 to the left side of the reference line, and when the robot moves to the fifth forward position point C, the horizontal displacement of the fifth forward position point C relative to the fourth forward position point P2 is a fourth horizontal forward distance, and the vertical displacement of the fifth forward position point C relative to the fourth forward position point P2 is a fourth vertical forward distance; wherein the third lateral advancement distance is less than the fourth lateral advancement distance, and the third longitudinal advancement distance is less than the fourth longitudinal advancement distance. At which point the robot has moved a corresponding one of the unit trajectories during the first forward cleaning cycle.

When the robot moves to a fifth forward position point C, the robot moves from the fifth forward position point C to the right along a forward curve route CP3 to a forward position point P3 on the reference line, wherein the forward curve route CP3 is parallel to the first forward curve route AP1, the forward curve route CP3 is regarded as equivalent to the first forward curve route since the steps 1 to 4 need to be repeated, the fifth forward position point C is updated to be a first forward position point in a newly executed step 1, the forward position point P3 is regarded as equivalent to a second forward position point on the reference line, the horizontal displacement of the second forward position point P3 relative to the first forward position point C is a first horizontal forward distance, and the vertical displacement of the second forward position point P3 relative to the first forward position point C is a first vertical forward distance; by analogy, the robot moves from the second forward position point P3 to the right along the forward curve route P3D to the third forward position point D, where the robot reaches a preset boundary, as shown by the rectangular box at the top of fig. 5. The horizontal displacement of the third advanced position point D relative to the second advanced position point P3 is a second lateral advance distance and the vertical displacement of the third advanced position point D relative to the second advanced position point P3 is a second longitudinal advance distance. At this point the robot has already gone through half a forward cleaning cycle, corresponding to one forward stage in the second forward cleaning cycle, which is equivalent to moving half a unit track, i.e. the robot has not moved two unit tracks in two forward cleaning cycles.

Then, the robot moves a first preset linear distance (line segment DE) to a first backward position point E along a preset backward turning direction (DE direction), that is, the robot in fig. 4 moves linearly from a third forward position point D to the first backward position point E along the line segment DE, and a first backward turning stage is executed from the position point E, that is, step 6 is executed.

In fig. 5, the robot moves along the first retreat curved path EP3 from the first retreat position point E to the right, and when the robot moves to the second retreat position point P3, the horizontal displacement of the second retreat position point P3 with respect to the first retreat position point E becomes a first transverse retreat distance, and the vertical displacement of the second retreat position point P3 with respect to the first retreat position point E becomes a first longitudinal retreat distance; then, the robot moves along the second retreating curved route P3F from the second retreating position point P3 to the right of the reference line, and when the robot moves to the third retreating position point F, the horizontal displacement of the robot relative to the second retreating position point P3 becomes a second transverse retreating distance, and the vertical displacement of the robot relative to the second retreating position point P3 becomes a second longitudinal retreating distance; wherein the first lateral retreat distance is less than the second lateral retreat distance, and the first longitudinal retreat distance is less than the second longitudinal retreat distance. The position point P3 is the intersection point of the backward curved route EP3 and the forward curved route P3D on the reference line, so that the robot has only one repeatedly covered position point between one forward stage and one turn-back stage.

Then, the robot moves along a third backward curved route FP2 from the third backward position point F to the left side, when the robot moves to a fourth backward position point P2, the horizontal displacement of the robot relative to the third backward position point F is a third transverse backward distance, and the vertical displacement of the robot relative to the third backward position point F is a third longitudinal backward distance; then, the robot moves along the fourth backward curved line path P2G from the fourth backward position point P2 to the left side of the reference line, and when the robot moves to the fifth backward position point G, the horizontal displacement of the robot with respect to the fourth backward position point P2 becomes a fourth horizontal backward distance, and the vertical displacement of the robot with respect to the fourth backward position point P2 becomes a fourth vertical backward distance; wherein the third lateral retreat distance is greater than the fourth lateral retreat distance, and the third longitudinal retreat distance is greater than the fourth longitudinal retreat distance. At which point the robot has moved a corresponding one of the unit trajectories during a first reentry cleaning cycle. The position point P2 is the intersection point of the backward curved route FP2 and the forward curved route P2C on the reference line, so that the robot has only one repeatedly covered position point between one forward stage and one turn-back stage.

When the robot moves to a fifth backward position point G, the robot moves from the fifth backward position point G to the right along a backward curved route GP1 to a backward position point P1 on the reference line, wherein the backward curved route GP1 is parallel to the first backward curved route EP3, the backward curved route GH is regarded as equivalent to the first backward curved route since the steps 6 to 9 need to be repeated, the fifth backward position point G is updated to a first backward position point in a newly executed step 6, the backward position point P1 is regarded as equivalent to a second backward position point on the reference line, the horizontal displacement of the second backward position point P1 with respect to the first backward position point G is a first horizontal backward distance, and the vertical displacement of the second backward position point P1 with respect to the first backward position point G is a first vertical forward distance; the position point P1 is the intersection point of the backward curved route GP1 and the forward curved route P1B on the reference line, so that the robot has only one repeatedly covered position point between one forward stage and one retracing stage. By analogy, the robot moves to the right along the backward curved route P1H from the second backward position point P1 to the third backward position point H. At this time, the robot has already passed through half of the reentry cleaning cycle, corresponding to one reentry stage in the second reentry cleaning cycle, which is equivalent to half a unit trajectory, i.e., the robot has not moved two unit trajectories cumulatively during two reentry cleaning cycles.

When the robot reaches the other preset boundary at the third backward position point H, the robot moves a second preset straight-line distance to the reference position point along the preset turn-back direction (DE direction), that is, the robot in fig. 5 moves linearly from the third backward position point H to the first forward position point a, and then moves along the first forward curve route of the corresponding unit track in the new forward cleaning cycle from the first forward position point a to start a new primary forward stage, so as to repeat the steps 1 to 9.

It should be noted that, since the first side travel curve route and the second side travel curve route are planned to be symmetrical with respect to the reference line, the first side travel curve route includes a first forward curve route, a second forward curve route, a third forward curve route and a fourth forward curve route; the second side traveling curve route comprises a first backward curve route, a second backward curve route, a third backward curve route and a fourth backward curve route; therefore, in the embodiment shown in fig. 5, the first lateral advance distance is equal to the second lateral retreat distance, the first longitudinal advance distance is equal to the second longitudinal retreat distance, the second lateral advance distance is equal to the fourth lateral retreat distance, and the second longitudinal advance distance is equal to the fourth longitudinal retreat distance.

For the embodiment shown in fig. 5, the embodiment shown in fig. 6 is also disclosed:

in fig. 6, the robot takes a first forward position point A1 as an initial position, the robot moves along a first forward curve route A1P1 from the first forward position point A1 to the left, when the robot moves to a second forward position point P1, the horizontal displacement of the robot relative to the first forward position point A1 is a first transverse forward distance, and the vertical displacement of the robot relative to the first forward position point A1 is a first longitudinal forward distance; then, the robot moves along the second forward curved route P1B1 from the second forward position point P1 to the left side of the reference line, and when the robot moves to the third forward position point B1, the horizontal displacement of the robot relative to the second forward position point P1 is a second lateral forward distance, and the vertical displacement of the robot relative to the second forward position point P1 is a second longitudinal forward distance; wherein the first lateral advancement distance is greater than the second lateral advancement distance and the first longitudinal advancement distance is greater than the second longitudinal advancement distance.

In fig. 6, the robot moves along the third forward curved route B1P2 from the third forward position point B1 to the right, and when the robot moves to the fourth forward position point P2, the horizontal displacement of the robot relative to the third forward position point B1 is a third transverse forward distance, and the vertical displacement of the robot relative to the third forward position point B1 is a third longitudinal forward distance; then, the robot moves from the fourth forward position point P2 to the right side of the reference line along the fourth forward curved route P2C 1; when the robot moves to a fifth forward position point C1, the horizontal displacement of the robot relative to the fourth forward position point P2 is a fourth transverse forward distance, and the vertical displacement of the robot relative to the fourth forward position point P2 is a fourth longitudinal forward distance; wherein the third lateral advancement distance is less than the fourth lateral advancement distance, and the third longitudinal advancement distance is less than the fourth longitudinal advancement distance. At which point the robot has moved a corresponding one of the unit trajectories during the first forward cleaning cycle.

In fig. 6, when the robot moves to the fifth forward position point C1, the robot moves from the fifth forward position point C1 to the left along the forward curved line C1P3 to the forward position point P3 on the reference line, wherein the forward curve route C1P3 is parallel to the first forward curve route A1P1, and since the steps 1 to 4 need to be repeated, therefore, the forward curve route C1P3 is regarded as equivalent to the first forward curve route, the fifth forward position point C1 is updated to the first forward position point in the newly executed step 1, the forward position point P3 is regarded as equivalent to the second forward position point on the reference line, the horizontal displacement of the second forward position point P3 relative to the first forward position point C1 is the aforementioned first transverse forward distance, and the vertical displacement of the second forward position point P3 relative to the first forward position point C1 is the first longitudinal forward distance; then, the robot moves from the second forward position point P3 to the right along the forward curve route P3D1 to the third forward position point D1, wherein the second forward curve route P3D1 is parallel to the second forward curve route P1B1, the horizontal displacement of the robot relative to the second forward position point P3 is a second lateral forward distance, and the vertical displacement of the robot relative to the second forward position point P3 is a second longitudinal forward distance; then, the robot moves from the third forward position point D1 to the right along the forward curve route D1P4 to the fourth forward position point P4, wherein the third forward curve route D1P4 is parallel to the third forward curve route B1P2, when the robot moves to the fourth forward position point P4, the horizontal displacement of the robot relative to the third forward position point D1 is a third transverse forward distance, and the vertical displacement of the robot relative to the third forward position point D1 is a third longitudinal forward distance; then, the robot moves from the fourth forward position point P4 to the right along the forward curve path P4E1 to the fifth forward position point E1, where the fourth forward curve path P4E1 is parallel to the fourth forward curve path P2C1, and when the robot moves to the fifth forward position point E1, the horizontal displacement of the robot relative to the fourth forward position point P4 is a fourth transverse forward distance, and the vertical displacement of the robot relative to the fourth forward position point P4 is a fourth longitudinal forward distance. At this time, the robot has moved a corresponding unit track in the second forward cleaning period, i.e. the robot moves two unit tracks cumulatively in the two forward cleaning periods.

If the robot reaches a predetermined boundary at the fifth forward position point E1, as shown by the rectangular box at the top of fig. 6, the robot moves a first predetermined straight-line distance (line segment E1F 1) to the first backward position point F1 along the predetermined retracing direction (E1F 1 pointing), i.e. the robot of fig. 6 moves straight from the fifth forward position point E1 to the first backward position point F1 along the line segment E1F1, and the first retracing stage is started from the position point F1, i.e. the step 6 is started.

In fig. 6, the robot moves along the first backward curved route F1P4 from the first backward position point F1 to the right, and when the robot moves to the second backward position point P4, the horizontal displacement of the robot with respect to the first backward position point F1 becomes a first lateral backward distance, and the vertical displacement of the robot with respect to the first backward position point F1 becomes a first longitudinal backward distance; then, the robot moves along the second retreating curve route P4G1 from the second retreating position point P4 to the right side of the reference line, and when the robot moves to the third retreating position point G1, the horizontal displacement of the robot with respect to the second retreating position point P4 becomes a second lateral retreating distance, and the vertical displacement of the robot with respect to the second retreating position point P4 becomes a second longitudinal retreating distance; wherein the first lateral retreat distance is greater than the second lateral retreat distance, and the first longitudinal retreat distance is greater than the second longitudinal retreat distance.

Then, the robot moves from the third retreating position point G1 to the left along the third retreating curved route G1P3, and when the robot moves to the fourth retreating position point P3, the horizontal displacement of the robot with respect to the third retreating position point G1 is a third transverse retreating distance, and the vertical displacement of the robot with respect to the third retreating position point G1 is a third longitudinal retreating distance; then, the robot moves along a fourth retreating curved line path P3H1 from the fourth retreating position point P3 to the left side of the reference line, and when the robot moves to the fifth retreating position point H1, the horizontal displacement of the robot with respect to the fourth retreating position point P3 is a fourth transverse retreating distance, and the vertical displacement of the robot with respect to the fourth retreating position point P3 is a fourth longitudinal retreating distance; at which point the robot has moved a corresponding one of the unit trajectories during a first reentry cleaning cycle. Wherein the third transverse receding distance is less than the fourth transverse receding distance, and the third longitudinal receding distance is less than the fourth longitudinal receding distance.

When the robot moves to a fifth retreating position point H1, the robot moves from the fifth retreating position point H1 to the right along a retreating curve route H1P2 to a retreating position point P2 on the reference line, wherein the retreating curve route H1P2 is parallel to the first retreating curve route F1P4, since the steps 6 to 9 need to be repeated, the retreating curve route H1P2 is regarded as equivalent to the first retreating curve route, the fifth retreating position point H1 is updated to the first retreating position point in step 4 newly executed, the retreating position point P2 is regarded as equivalent to the second retreating position point on the reference line, the horizontal displacement of the second retreating position point P2 with respect to the first retreating position point H1 is a first transverse retreating distance, and the vertical displacement of the second retreating position point P2 with respect to the first retreating position point H1 is a first longitudinal retreating distance; by analogy, the robot moves from the second backward position point P2 to the right along a backward curve path P2I1 to a third backward position point I1, wherein the backward curve path P2I1 is parallel to the second forward curve path P4G1, the horizontal displacement of the robot relative to the second backward position point P2 is a second transverse backward distance, and the vertical displacement of the robot relative to the second backward position point P2 is a second longitudinal backward distance;

then, the robot moves from a third backward position point I1 to a fourth backward position point P1 along a backward curve route I1P1 to the left side, wherein the backward curve route I1P1 is parallel to the third backward curve route G1P3, when the robot moves to a fourth forward position point P1, the horizontal displacement of the robot relative to the third backward position point I1 is a third transverse backward distance, and the vertical displacement of the robot relative to the third backward position point I1 is a third longitudinal backward distance; then, the robot moves from the fourth forward position point P1 to the fifth backward position point J1 along the backward curved path P1J1 to the left side, wherein the backward curved path P1J1 is parallel to the fourth backward curved path P3H1, when the robot moves to the fifth backward position point J1, the horizontal displacement of the robot with respect to the fourth backward position point P1 is a fourth transverse backward distance, and the vertical displacement of the robot with respect to the fourth backward position point P1 is a fourth longitudinal backward distance. At this time, the robot has moved a corresponding unit track in the second foldback cleaning cycle, i.e. the robot moves two unit tracks cumulatively in the two foldback cleaning cycles.

When the robot reaches the other preset boundary at the fifth backward position point J1, the robot moves a second preset straight-line distance (equal to the line segment J1a 1) to the reference position point along the reverse direction of the preset folding direction (E1F 1), i.e. the robot in fig. 6 moves linearly from the fifth backward position point J1 to the first forward position point a1, and then moves along the first forward curve route of the corresponding one unit track in the new forward cleaning cycle starting from the first forward position point a1 to start a new forward stage, so as to repeat the steps 1 to 9.

It should be noted that, since the first side travel curve route and the second side travel curve route are planned to be symmetrical with respect to the reference line, the first side travel curve route includes a first forward curve route, a second forward curve route, a third forward curve route and a fourth forward curve route; the second side traveling curve route comprises a first backward curve route, a second backward curve route, a third backward curve route and a fourth backward curve route; therefore, in the present embodiment, the first lateral advance distance is equal to the first lateral retreat distance, the first longitudinal advance distance is equal to the first longitudinal retreat distance, the second lateral advance distance is equal to the second lateral retreat distance, and the second longitudinal advance distance is equal to the second longitudinal retreat distance.

By comparing the embodiment shown in fig. 5 and the embodiment shown in fig. 6, it can be seen that:

in the embodiment shown in fig. 5, the control robot has a large displacement consumed for passing through the second forward position point by the first forward curved route, and the subsequent control robot has a small displacement consumed for passing back through the second backward position point by the first backward curved route, so as to meet the environmental layout requirement of a narrow area to be mopped. Because the first transverse advancing distance is larger than the second transverse advancing distance in the same advancing stage, the position point of starting mopping is far away from the datum line; in the same turning-back stage, the first transverse retreating distance is smaller than the second transverse retreating distance, which indicates that the position point for starting turning-back mopping is closer to the datum line; in the process of repeatedly executing step 1 to step 9, based on the layout rules of the lateral distance and the longitudinal distance on both sides of the reference line in the embodiment shown in fig. 5 (the lateral distance of the forward position point with respect to the reference line changes according to the rule of first far, then near, and then far, which can be known with reference to step 1 to step 9 of the embodiment shown in fig. 5), when the unit trajectories (less than 2) traversed before the embodiment shown in fig. 5 performs the first turn-back are less than those of the embodiment shown in fig. 6, it indicates that the preset boundary is closer to the first forward position point traversed by the robot for the first time, and further indicates that the area to be mopped is narrower.

Compared with the embodiment shown in fig. 5, in the embodiment shown in fig. 6, the control robot consumes a larger displacement amount to advance through the second forward position point by passing through the first forward curve route for the first time, and the subsequent control robot consumes a larger displacement amount to return back through the second backward position point by passing through the first backward curve route for the first time, so as to meet the environmental layout requirement of a wider area to be mopped. Because the first transverse advancing distance is larger than the second transverse advancing distance in the same advancing stage, the position point of starting mopping is far away from the datum line; in the same turning-back stage, the first transverse retreating distance is greater than the second transverse retreating distance, which indicates that the position point where turning-back mopping is started is far away from the datum line; in the process of repeatedly executing steps 1 to 9, based on the layout rule of the transverse and longitudinal distances on both sides of the reference line (the distance between the forward position point and the reference line is changed according to the rule of first far, then near, and then far, as can be known by referring to steps 1 to 9 of the embodiment shown in fig. 6), when the number of unit tracks (up to two) traversed before the embodiment shown in fig. 6 is subjected to the first turn-back is more than that of the embodiment shown in fig. 5, it indicates that the preset boundary is farther from the first forward position point traversed by the robot for the first time, and further indicates that the area to be mopped is wider.

Based on the embodiment described in fig. 1, an embodiment shown in fig. 4 is disclosed:

in fig. 4, the robot moves along the first forward curved route AP1 from the first forward position point a to the right, and when the robot moves to the second forward position point P1, the horizontal displacement of the second forward position point P1 relative to the first forward position point a is a first transverse forward distance, and the vertical displacement of the second forward position point P1 relative to the first forward position point a is a first longitudinal forward distance; then, the robot moves along the second forward curved path P1B from the second forward position point P1 to the right side of the reference line, and when the robot moves to the third forward position point B, the horizontal displacement of the third forward position point B with respect to the second forward position point P1 is the second horizontal forward distance, and the vertical displacement of the third forward position point B with respect to the second forward position point P1 is the second longitudinal forward distance; wherein the first lateral advancement distance is less than the second lateral advancement distance and the first longitudinal advancement distance is less than the second longitudinal advancement distance.

In fig. 4, the robot moves along the third forward curved route BP2 from the third forward position point B to the left, and when the robot moves to the fourth forward position point P2, the horizontal displacement of the robot relative to the third forward position point B is a third transverse forward distance, and the vertical displacement of the robot relative to the third forward position point B is a third longitudinal forward distance; then, the robot moves along the fourth forward curved route P2C from the fourth forward position point P2 to the left side of the reference line, and when the robot moves to the fifth forward position point C, the horizontal displacement of the fifth forward position point C with respect to the fourth forward position point P2 is a fourth horizontal forward distance, and the vertical displacement of the fifth forward position point C with respect to the fourth forward position point P2 is a fourth longitudinal forward distance, wherein the third horizontal forward distance is greater than the fourth horizontal forward distance, and the third longitudinal forward distance is greater than the fourth longitudinal forward distance. At which point the robot has moved through a corresponding one of the unit trajectories during a forward cleaning cycle.

When the robot moves to a fifth forward position point C, the robot moves from the fifth forward position point C to the right along a forward curve route CP3 to a forward position point P3 on the reference line, wherein the forward curve route CP3 is parallel to the first forward curve route AP1, the forward curve route CP3 is regarded as equivalent to the first forward curve route since the steps 1 to 4 need to be repeated, the fifth forward position point C is updated to be a first forward position point in a newly executed step 1, the forward position point P3 is regarded as equivalent to a second forward position point on the reference line, the horizontal displacement of the second forward position point P3 relative to the first forward position point C is a first horizontal forward distance, and the vertical displacement of the second forward position point P3 relative to the first forward position point C is a first vertical forward distance; by analogy, the robot moves from the second forward position point P3 to the right along the forward curved path P3D to the third forward position point D, where the robot reaches a preset boundary, as shown below the rectangular box shown above in fig. 4. The horizontal displacement of the third advanced position point D relative to the second advanced position point P3 is a second lateral advance distance and the vertical displacement of the third advanced position point D relative to the second advanced position point P3 is a second longitudinal advance distance. The robot has now gone through half a forward cleaning cycle, corresponding to one forward stage in a further forward cleaning cycle, which corresponds to moving half a unit trajectory, i.e. the robot has moved 1.5 times the unit trajectory over two forward cleaning cycles.

Then, the robot moves a first preset straight-line distance (line DE) along a preset turn-back direction (DE direction) to a first back-back position point E, that is, the robot in fig. 4 moves linearly along the line DE from a third forward position point D to the first back-back position point E, and a first turn-back stage is executed from the position point E, that is, step 6 is executed.

In fig. 4, the robot moves along the first retreat curved path EP3 from the first retreat position point E to the right, and when the robot moves to the second retreat position point P3, the horizontal displacement of the second retreat position point P3 with respect to the first retreat position point E becomes a first transverse retreat distance, and the vertical displacement of the second retreat position point P3 with respect to the first retreat position point E becomes a first longitudinal retreat distance; then, the robot moves along the second retreating curved route P3F from the second retreating position point P3 to the right of the reference line, and when the robot moves to the third retreating position point F, the horizontal displacement of the robot relative to the second retreating position point P3 becomes a second transverse retreating distance, and the vertical displacement of the robot relative to the second retreating position point P3 becomes a second longitudinal retreating distance; wherein the first lateral retreat distance is greater than the second lateral retreat distance, and the first longitudinal retreat distance is greater than the second longitudinal retreat distance. The position point P3 is the intersection point of the backward curved route EP3 and the forward curved route P3D on the reference line, so that the robot has a position point with repeated coverage between a forward stage and a back stage.

Then, the robot moves along a third backward curved route FP2 from the third backward position point F to the left, when the robot moves to a fourth backward position point P2, the horizontal displacement of the robot relative to the third backward position point F is a third transverse backward distance, and the vertical displacement of the robot relative to the third backward position point F is a third longitudinal backward distance; then, the robot moves along the fourth backward curved line path P2G from the fourth backward position point P2 to the left side of the reference line, and when the robot moves to the fifth backward position point G, the horizontal displacement of the robot with respect to the fourth backward position point P2 becomes a fourth horizontal backward distance, and the vertical displacement of the robot with respect to the fourth backward position point P2 becomes a fourth vertical backward distance; wherein the third transverse receding distance is less than the fourth transverse receding distance, and the third longitudinal receding distance is less than the fourth longitudinal receding distance. At this point the robot has moved through a corresponding one of the unit trajectories during a reentry cleaning cycle. The position point P2 is the intersection point of the backward curved route FP2 and the forward curved route P2C on the reference line, so that the robot has a position point with repeated coverage between a forward stage and a back stage.

When the robot moves to a fifth backward position point G, the robot moves from the fifth backward position point G to the right along a backward curved route GP1 to a backward position point P1 on the reference line, wherein the backward curved route GP1 is parallel to the first backward curved route EP3, the backward curved route GP1 is regarded as equivalent to the first backward curved route since the steps 6 to 9 need to be repeated, the fifth backward position point G is updated to a first backward position point in a newly executed step 6, the backward position point P1 is regarded as equivalent to a second backward position point on the reference line, the horizontal displacement of the second backward position point P1 with respect to the first backward position point G is a first horizontal backward distance, and the vertical displacement of the second backward position point P1 with respect to the first backward position point G is a first longitudinal forward distance; by analogy, the robot moves to the right along the backward curved route P1H from the second backward position point P1 to the third backward position point H. At this time, the robot has already passed through half of the retrace cleaning cycle, corresponding to one retrace stage in another retrace cleaning cycle, which is equivalent to half a unit track, i.e. the robot moves 1.5 times the unit track cumulatively in two retrace cleaning cycles. The position point P1 is the intersection point of the backward curved route GP1 and the forward curved route P1B on the reference line, so that the robot has a position point with repeated coverage between a forward stage and a retracing stage.

When the robot reaches the other preset boundary at the third backward position point H, the robot moves a second preset straight-line distance to the reference position point along the preset turn-back direction (DE direction), that is, the robot in fig. 4 moves linearly from the third backward position point H to the first forward position point a, and then from the first forward position point a, the robot moves along the first forward curve route of the corresponding unit track in the new forward cleaning cycle to start a new forward stage, so as to repeat the steps 1 to 9.

It should be noted that, because the first side travel curve route and the second side travel curve route are planned to be symmetrical with respect to the reference line, the first side travel curve route includes a first forward curve route, a second forward curve route, a third forward curve route and a fourth forward curve route; the second side traveling curve route comprises a first backward curve route, a second backward curve route, a third backward curve route and a fourth backward curve route; therefore, in the embodiment shown in fig. 4, the first lateral advance distance is equal to the second lateral retreat distance, the first longitudinal advance distance is equal to the second longitudinal retreat distance, the second lateral advance distance is equal to the fourth lateral retreat distance, and the second longitudinal advance distance is equal to the fourth longitudinal retreat distance.

With respect to the embodiment shown in fig. 4, the embodiment shown in fig. 7 is also disclosed:

in fig. 7, the robot moves from the first forward position point A2 to the left along the first forward curved route A2P1, and when the robot moves to the second forward position point P1, the horizontal displacement of the robot relative to the first forward position point A2 is a first transverse forward distance, and the vertical displacement of the robot relative to the first forward position point A2 is a first longitudinal forward distance; then, the robot moves along the second forward curved route P1B2 from the second forward position point P1 to the left side of the reference line, and when the robot moves to the third forward position point B2, the horizontal displacement of the robot relative to the second forward position point P1 is a second lateral forward distance, and the vertical displacement of the robot relative to the second forward position point P1 is a second longitudinal forward distance; wherein the first lateral advancement distance is less than the second lateral advancement distance and the first longitudinal advancement distance is less than the second longitudinal advancement distance.

In fig. 7, the robot moves along the third forward curved route B2P2 from the third forward position point B2 to the right, and when the robot moves to the fourth forward position point P2, the horizontal displacement of the robot relative to the third forward position point B2 is a third transverse forward distance, and the vertical displacement of the robot relative to the third forward position point B2 is a third longitudinal forward distance; then, the robot moves from the fourth forward position point P2 to the right side of the reference line along the fourth forward curved route P2C 2; when the robot moves to a fifth forward position point C2, the horizontal displacement of the robot relative to the fourth forward position point P2 is a fourth transverse forward distance, and the vertical displacement of the robot relative to the fourth forward position point P2 is a fourth longitudinal forward distance; wherein the third lateral advancement distance is greater than the fourth lateral advancement distance, and the third longitudinal advancement distance is greater than the fourth longitudinal advancement distance. At which point the robot has moved through a corresponding one of the unit trajectories during a forward cleaning cycle.

In fig. 7, when the robot moves to the fifth forward position point C2, the robot moves from the fifth forward position point C2 to the left along the forward curved path C2P3 to the forward position point P3 on the reference line, wherein the forward curve route C2P3 is parallel to the first forward curve route A2P1, and since the steps 1 to 4 need to be repeated, therefore, the forward curve route C2P3 is regarded as equivalent to the first forward curve route, the fifth forward position point C2 is updated to the first forward position point in the newly executed step 1, the forward position point P3 is regarded as equivalent to the second forward position point on the reference line, the horizontal displacement of the second forward position point P3 relative to the first forward position point C2 is the aforementioned first transverse forward distance, and the vertical displacement of the second forward position point P3 relative to the first forward position point C2 is the first longitudinal forward distance; then, the robot moves to a third forward position point D2 from a second forward position point P3 to the left along a forward curve route P3D2, wherein the second forward curve route P3D2 is parallel to the second forward curve route P1B2, the horizontal displacement of the robot relative to the second forward position point P3 is a second lateral forward distance, and the vertical displacement of the robot relative to the second forward position point P3 is a second longitudinal forward distance; then, the robot moves from the third forward position point D2 to the right along the forward curve route D2P4 to the fourth forward position point P4, wherein the third forward curve route D2P4 is parallel to the third forward curve route B2P2, when the robot moves to the fourth forward position point P4, the horizontal displacement of the robot relative to the third forward position point D2 is a third transverse forward distance, and the vertical displacement of the robot relative to the third forward position point D2 is a third longitudinal forward distance; then, the robot moves from the fourth forward position point P4 to the fifth forward position point E2 along the forward curve path P4E2 to the right side, wherein the fourth forward curve path P4E2 is parallel to the fourth forward curve path P2C2, when the robot moves to the fifth forward position point E2, the horizontal displacement of the robot relative to the fourth forward position point P4 is a fourth transverse forward distance, and the vertical displacement of the robot relative to the fourth forward position point P4 is a fourth longitudinal forward distance. At this time, the robot has moved through a corresponding one unit track in another forward cleaning cycle, i.e. the robot moves through two unit tracks cumulatively in two forward cleaning cycles.

If the robot reaches a predetermined boundary at the fifth forward position point E2, as shown by the rectangular box at the top of fig. 7, the robot moves a first predetermined straight-line distance (line segment E2F 2) to the first backward position point F2 along the predetermined retracing direction (E2F 2 pointing), i.e. the robot of fig. 7 moves straight from the fifth forward position point E2 to the first backward position point F2 along the line segment E2F2, and the first retracing stage is started from the position point F2, i.e. step 6 is started.

In fig. 7, the robot moves along the first retreating curve path F2P4 from the first retreating position point F2 to the right, and when the robot moves to the second retreating position point P4, the horizontal displacement of the robot with respect to the first retreating position point F2 becomes a first lateral retreating distance, and the vertical displacement of the robot with respect to the first retreating position point F2 becomes a first longitudinal retreating distance; then, the robot moves along the second retreating curve route P4G2 from the second retreating position point P4 to the right side of the reference line, and when the robot moves to the third retreating position point G2, the horizontal displacement of the robot with respect to the second retreating position point P4 becomes a second lateral retreating distance, and the vertical displacement of the robot with respect to the second retreating position point P4 becomes a second longitudinal retreating distance; wherein the first lateral retreat distance is less than the second lateral retreat distance, and the first longitudinal retreat distance is less than the second longitudinal retreat distance. The position point P4 is the intersection point of the backward curved route F2P4 and the forward curved route P4E2 on the reference line, so that the robot has only one repeatedly covered position point between one forward stage and one turn-back stage.

Then, the robot moves from the third retreating position point G2 to the left along the third retreating curve route G2P3, and when the robot moves to the fourth retreating position point P3, the horizontal displacement of the robot with respect to the third retreating position point G2 is a third transverse retreating distance, and the vertical displacement of the robot with respect to the third retreating position point G2 is a third longitudinal retreating distance; then, the robot moves along a fourth retreating curve route P3H2 from the fourth retreating position point P3 to the left side of the reference line, and when the robot moves to the fifth retreating position point H2, the horizontal displacement of the robot with respect to the fourth retreating position point P3 becomes a fourth transverse retreating distance, and the vertical displacement of the robot with respect to the fourth retreating position point P3 becomes a fourth longitudinal retreating distance; at this point the robot has moved through a corresponding one of the unit trajectories during a reentry cleaning cycle. Wherein the third lateral retreat distance is greater than the fourth lateral retreat distance, and the third longitudinal retreat distance is greater than the fourth longitudinal retreat distance. Here, the position point P3 is an intersection point position of the backward curved route G2P3 and the forward curved route P3D2 on the reference line, so that the robot has only one repeatedly covered position point between one forward stage and one turn-back stage.

When the robot moves to a fifth retreating position point H2, the robot moves from the fifth retreating position point H2 to the right along a retreating curved line H2P2 to a retreating position point P2 on the reference line, wherein the retreating curved line H2P2 is parallel to the first retreating curved line F2P4, since the steps 6 to 9 need to be repeated, the retreating curved line F2P2 is regarded as equivalent to the first retreating curved line, the fifth retreating position point H2 is updated to the first retreating position point in the newly executed step 6, the retreating position point P2 is regarded as equivalent to the second retreating position point on the reference line, the horizontal displacement of the second retreating position point P2 with respect to the first retreating position point H2 is a first transverse retreating distance, and the vertical displacement of the second retreating position point P2 with respect to the first retreating position point H2 is a first longitudinal retreating distance; by analogy, the robot moves from the second retreating position point P2 to the right along a retreating curve path P2I2 to a third retreating position point I2, wherein the retreating curve path P2I2 is parallel to the second retreating curve path P4G2, the horizontal displacement of the robot relative to the second retreating position point P2 is a second transverse retreating distance, and the vertical displacement of the robot relative to the second retreating position point P2 is a second longitudinal retreating distance. Here, the position point P2 is an intersection point position of the backward curved route P2I2 and the forward curved route B2P2 on the reference line, so that the robot has only one repeatedly covered position point between one forward stage and one turn-back stage.

Then, the robot moves from a third backward position point I2 to a fourth backward position point P1 along a backward curve route I2P1 to the left, wherein the backward curve route I2P1 is parallel to the third backward curve route G2P3, when the robot moves to the fourth forward position point P1, the horizontal displacement of the robot relative to the third backward position point I2 is a third transverse backward distance, and the vertical displacement of the robot relative to the third backward position point I2 is a third longitudinal backward distance; then, the robot moves from the fourth forward position point P1 to the fifth backward position point J2 along the backward curved path P1J2 to the left side, wherein the backward curved path P1J2 is parallel to the fourth backward curved path P3H2, when the robot moves to the fifth backward position point J2, the horizontal displacement of the robot with respect to the fourth backward position point P1 is a fourth transverse backward distance, and the vertical displacement of the robot with respect to the fourth backward position point P1 is a fourth longitudinal backward distance. At this time, the robot has moved through a corresponding one unit track in another retrace cleaning cycle, i.e. the robot moves through two unit tracks in two retrace cleaning cycles in an accumulation manner. The position point P1 is the intersection point of the backward curved route I2P1 and the forward curved route P1B2 on the reference line, so that the robot has only one repeatedly covered position point between one forward stage and one turn-back stage.

When the robot reaches the other preset boundary at the fifth backward position point J2, the robot moves a second preset straight-line distance (equal to the line segment J2a 2) to the reference position point along the reverse direction of the preset folding direction (E2F 2), i.e. the robot in fig. 7 moves linearly from the fifth backward position point J2 to the first forward position point a2, and then moves along the first forward curve route of the corresponding one unit track in the new forward cleaning cycle starting from the first forward position point a2 to start a new forward stage, so as to repeat the steps 1 to 9.

It should be noted that, since the first side travel curve route and the second side travel curve route are planned to be symmetrical with respect to the reference line, the first side travel curve route includes a first forward curve route, a second forward curve route, a third forward curve route and a fourth forward curve route; the second side traveling curve route comprises a first backward curve route, a second backward curve route, a third backward curve route and a fourth backward curve route; therefore, in the embodiment shown in fig. 7, the first lateral advance distance is equal to the first lateral retreat distance, the first longitudinal advance distance is equal to the first longitudinal retreat distance, the second lateral advance distance is equal to the second lateral retreat distance, and the second longitudinal advance distance is equal to the second longitudinal retreat distance.

By comparing the embodiment shown in fig. 4 and the embodiment shown in fig. 7, it can be seen that:

in the embodiment shown in fig. 4, the control robot has a smaller displacement consumed for passing through the second forward position point by the first forward curved route, and the subsequent control robot has a larger displacement consumed for passing back through the second backward position point by the first backward curved route, so as to meet the environmental layout requirement of a narrower area to be mopped. Because the first transverse advancing distance is smaller than the second transverse advancing distance in the same advancing stage, the position point of starting mopping is closer to the datum line; in the same turning-back stage, the first transverse retreating distance is greater than the second transverse retreating distance, which indicates that the position point where turning-back mopping is started is far away from the datum line; in the process of repeatedly executing steps 1 to 9, based on the layout rules of the lateral distance and the longitudinal distance on both sides of the reference line in the embodiment shown in fig. 4 (the lateral distance of the forward position point relative to the reference line is changed according to the rule of first far, then near, and then far, as can be known by referring to steps 1 to 9 of the embodiment shown in fig. 4), when the number of unit trajectories (less than 2) traversed by the embodiment shown in fig. 4 before the first turn-back is performed is less than that of the embodiment shown in fig. 7, it indicates that the preset boundary is closer to the first forward position point traversed by the robot for the first time, and further indicates that the area to be mopped is narrower.

Compared with the embodiment shown in fig. 4, in the embodiment shown in fig. 7, the control robot consumes a smaller displacement amount to advance through the second forward position point by passing through the first forward curved route for the first time, and the subsequent control robot consumes a smaller displacement amount to return through the second backward position point by passing through the first backward curved route for the first time, so as to meet the environmental layout requirement of a wider area to be mopped. Because the first transverse advancing distance is smaller than the second transverse advancing distance in the same advancing stage, the position point of starting mopping is closer to the datum line; in the same turning-back stage, the first transverse retreating distance is smaller than the second transverse retreating distance, which indicates that the position point for starting turning-back mopping is closer to the datum line; in the process of repeatedly executing steps 1 to 9, based on the layout rule of the transverse and longitudinal distances on both sides of the reference line (the distance between the forward position point and the reference line is changed according to the rule of first close, then far and then close, as can be known by referring to steps 1 to 9 of the embodiment shown in fig. 7), the unit tracks (up to two) traversed before the embodiment shown in fig. 7 is turned back for the first time are more than those of the embodiment shown in fig. 4, which indicates that the preset boundary is farther from the first forward position point traversed by the robot for the first time, and further indicates that the area to be mopped is wider.

On the basis of the embodiment shown in fig. 1, an embodiment in which the route of the forward stage and the route of the return stage are symmetrical is also disclosed. In step 1, the robot moves the resulting first lateral and longitudinal advancement distances along a first advancement curvilinear path; in step 2, the robot moves the resulting second lateral and longitudinal progression distances along a second progression curvilinear path; wherein the first lateral advancement distance is equal to the second lateral advancement distance and the first longitudinal advancement distance is equal to the second longitudinal advancement distance. In step 3, the robot moves the resulting third lateral and longitudinal advancement distances along a third advancement curvilinear path; in step 4, the robot moves the resulting fourth transverse and longitudinal advancement distances along a fourth advancement curvilinear path; wherein the third lateral advancement distance is equal to the fourth lateral advancement distance, and the third longitudinal advancement distance is equal to the fourth longitudinal advancement distance. In step 6, the robot moves the resulting first lateral and longitudinal retreat distances along the first retreat curvilinear path; in step 7, the robot moves the resulting second lateral and longitudinal retreat distances along the second retreat curve path; wherein the first lateral retreat distance is equal to the second lateral retreat distance, and the first longitudinal retreat distance is equal to the second longitudinal retreat distance. In step 8, the robot moves the resulting third lateral and longitudinal retreat distances along a third retreat curved path; in step 9, the robot moves the resulting fourth transverse and longitudinal retreat distances along a fourth retreat curve path; wherein the third lateral retreat distance is equal to the fourth lateral retreat distance, and the third longitudinal retreat distance is equal to the fourth longitudinal retreat distance. In this embodiment, the planned first forward curve line and the second forward curve line are centrosymmetric with respect to the second forward position point, the third forward curve line and the fourth forward curve line are centrosymmetric with respect to the fourth forward position point, the first backward curve line and the second backward curve line are centrosymmetric with respect to the second backward position point, and the third backward curve line and the fourth backward curve line are centrosymmetric with respect to the fourth backward position point; then, based on the feature that the first side travel curve route and the second side travel curve route are symmetrical about the reference line, the planned forward curve route can be symmetrical with the corresponding backward curve route about the intersection center of the two on the reference line, wherein the intersection center can be multiplexed as a backward position point or a forward position point.

In any of the foregoing embodiments, the second lateral advancement distance is equal to the third lateral advancement distance, and the first lateral advancement distance is equal to the fourth lateral advancement distance; the second longitudinal advancement distance is equal to the third longitudinal advancement distance, the first longitudinal advancement distance is equal to the fourth longitudinal advancement distance; the second lateral retreat distance is equal to the third lateral retreat distance, and the first lateral retreat distance is equal to the fourth lateral retreat distance; wherein a relatively small value of the second lateral advance distance and the first lateral advance distance is in a range of 1.2 to 1.5 times a width of a body of one robot; a relatively small value of the second lateral retreat distance and the first lateral retreat distance is in a range of 1.2 to 1.5 times a width of a body of one robot. Thereby ensuring that the curve corresponding to the second forward curve route and the curve corresponding to the third forward curve route are symmetrical about a straight line passing through the third forward position point and being vertical to the datum line; ensuring that the curve corresponding to the first forward curve route and the curve corresponding to the fourth forward curve route are symmetrical about a straight line passing through the third forward position point and perpendicular to the datum line; the curve corresponding to the second retreating curve route and the curve corresponding to the third retreating curve route are also ensured to be symmetrical about a straight line passing through the third retreating position point and being vertical to the datum line; and ensuring that the curve corresponding to the first retreating curve route and the curve corresponding to the fourth retreating curve route are symmetrical about a straight line passing through the third retreating position point and perpendicular to the reference line.

Based on the foregoing embodiments, a chip is also disclosed, which is assembled in a floor mopping robot, and is used for controlling the robot to execute the cross-type covered robot floor mopping method. The technical scheme controls the robot to execute proper mopping covering operation on two sides of the datum line in a staged mode, provides effective mode conversion in a stage close to a boundary or an obstacle by utilizing the symmetrical characteristic of a cleaning route in a forward stage and a cleaning route in a corresponding backward stage, and controls the robot to walk out of a cross type covered mopping route of the robot, so that the cleaning efficiency is improved.

The invention also discloses an intelligent floor mopping machine which is provided with the main control chip. Compared with the prior art, frequent reciprocating movement back and forth in a short time is avoided, the speed regulation and steering difficulty of the robot is reduced, and the cleaning work efficiency of the robot is improved; the times of repeatedly mopping the floor can be reduced by combining the forward curve routes and the backward curve routes, the area between the boundaries of the area is covered, and the uniform effect of cleaning the area is ensured; thereby improving the mopping efficiency of the robot in a local area. Is beneficial to improving the product quality of the robot.

In the above embodiments, the terms "up (front)", "down (rear)", "left" and "right" refer to the directions of the drawing, and the vertical and horizontal refer to the vertical and horizontal directions of the drawing, unless otherwise specified.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. These programs may be stored in a computer-readable storage medium (such as a ROM, a RAM, a magnetic or optical disk, or various other media that can store program codes). Which when executed performs steps comprising the method embodiments described above. Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot mopping method is characterized by comprising the following steps:

step 1, the robot moves from a first forward position point to a second forward position point on a datum line along a first forward curve route;

step 2, the robot moves from the second forward position point to a third forward position point along a second forward curve route, wherein the first forward position point and the third forward position point are respectively positioned at two sides of the datum line, and the arc opening direction of the first forward curve route and the arc opening direction of the second forward curve route face different sides;

step 3, the robot moves from the third forward position point to a fourth forward position point on the datum line along the third forward curve route;

step 4, the robot moves from the fourth forward position point to a fifth forward position point along a fourth forward curve route, wherein the fifth forward position point and the third forward position point are respectively positioned at two sides of the datum line, and the arc opening direction of the third forward curve route and the arc opening direction of the fourth forward curve route face different sides; the first forward position point, the second forward position point, the third forward position point, the fourth forward position point and the fifth forward position point are distributed in sequence along the first extending direction of the datum line;

step 5, repeating the steps 1 to 4 until the robot reaches a preset boundary, and then moving the robot to a first preset linear distance along a preset turning direction to a first retreating position point, wherein the first retreating position point and the latest position point where the robot is located before the movement of the preset turning direction is carried out are respectively located on two sides of the datum line, and the preset turning direction is perpendicular to the datum line;

step 6, the robot moves from the first backward position point to a second backward position point on the reference line along the first backward curve route;

step 7, the robot moves from the second backward position point to a third backward position point along a second backward curve route, wherein the first backward position point and the third backward position point are respectively positioned at two sides of the datum line, and the arc opening direction of the first backward curve route and the arc opening direction of the second backward curve route face different sides;

step 8, the robot moves from the third backward position point to a fourth backward position point on the reference line along the third backward curve route;

step 9, the robot moves from the fourth backward position point to a fifth backward position point along a fourth backward curve route, wherein the fifth backward position point and the third backward position point are respectively positioned at two sides of the datum line, and the arc opening direction of the third backward curve route and the arc opening direction of the fourth backward curve route face different sides; the first backward position point, the second backward position point, the third backward position point, the fourth backward position point and the fifth backward position point are sequentially distributed along the opposite direction of the first extending direction of the datum line;

and 10, repeating the steps 6 to 9 until the robot reaches another preset boundary.

2. The robotic floor mopping method of claim 1, wherein the step 10 further comprises the steps of:

when the robot reaches the other preset boundary, the robot moves a second preset straight line distance to a reference position point along the direction perpendicular to the reference line, wherein the reference position point and the latest position point where the robot is located before moving the second preset straight line distance are respectively located on two sides of the reference line;

the robot updates the currently arrived reference position point to the first forward position point, and then repeats the steps 1 to 9;

wherein, every time the robot moves to the first backward position point in step 5, a first backward curved route from the first backward position point intersects with a second backward position point on the reference line, the first backward curved route being a forward curved route that has been moved most recently before moving in the preset turning direction.

3. The robot mopping method according to claim 2, wherein the robot determines that all the forward curved lines of the steps 1 to 4 that have been performed are sequentially connected as a first side travel curved line and all the backward curved lines of the steps 6 to 9 that have been performed are sequentially connected as a second side travel curved line when the robot moves to the first forward position point that has been moved for the first time, starting from the reference position point that is currently reached, before re-performing the step 1 or in the process of repeating the steps 1 to 4;

the curve connected with the first side travel curve route and the curve connected with the second side travel curve route are symmetrical about the reference line; the datum line is configured in advance, and the extending direction of the datum line is parallel to the initial moving direction obtained when the robot is started in a power-on mode; the vertical direction of the reference line is parallel to the preset boundary in the step 5;

wherein, every time the robot moves to the reference position point, the intersection point of the forward curve route from the reference position point and the backward curve route which has moved for the latest time is positioned on the reference line;

wherein the first, second, third and fourth progression curve routes all belong to progression curve routes;

wherein the first, second, third and fourth back-off curve paths all belong to back-off curve paths.

4. The robotic floor mopping method of claim 3, wherein in step 1, the robot moves to the second forward position point, the horizontal displacement relative to the first forward position point is a first lateral forward distance, and the vertical displacement relative to the first forward position point is a first longitudinal forward distance;

in the step 2, when the robot moves to the third forward position point, the horizontal displacement generated relative to the second forward position point is a second transverse forward distance, and the vertical displacement generated relative to the second forward position point is a second longitudinal forward distance;

in the step 3, when the robot moves to the fourth forward position point, the horizontal displacement generated relative to the third forward position point is a third transverse forward distance, and the vertical displacement generated relative to the third forward position point is a third longitudinal forward distance;

in the step 4, when the robot moves to the fifth forward position point, the horizontal displacement generated relative to the fourth forward position point is a fourth transverse forward distance, and the vertical displacement generated relative to the fourth forward position point is a fourth longitudinal forward distance;

in the step 6, when the robot moves to the second retreating position point, a horizontal displacement generated with respect to the first retreating position point is a first transverse retreating distance, and a vertical displacement generated with respect to the first retreating position point is a first longitudinal retreating distance;

in step 7, when the robot moves to the third backward position point, the horizontal displacement generated with respect to the second backward position point is a second horizontal backward distance, and the vertical displacement generated with respect to the second backward position point is a second vertical backward distance;

in step 8, when the robot moves to the fourth backward position point, a horizontal displacement generated with respect to the third backward position point is a third transverse backward distance, and a vertical displacement generated with respect to the third backward position point is a third longitudinal backward distance;

in step 9, when the robot moves to the fifth retreating position point, the horizontal displacement with respect to the fourth retreating position point is a fourth lateral retreating distance, and the vertical displacement with respect to the fourth retreating position point is a fourth longitudinal retreating distance.

5. The robotic mopping method of claim 4, wherein the first lateral advancement distance is less than the second lateral advancement distance, the first longitudinal advancement distance is less than the second longitudinal advancement distance, the third lateral advancement distance is greater than the fourth lateral advancement distance, and the third longitudinal advancement distance is greater than the fourth longitudinal advancement distance;

the first transverse receding distance is greater than the second transverse receding distance, the first longitudinal receding distance is greater than the second longitudinal receding distance, the third transverse receding distance is less than the fourth transverse receding distance, and the third longitudinal receding distance is less than the fourth longitudinal receding distance;

wherein the first lateral advance distance is equal to the second lateral retreat distance, the first longitudinal advance distance is equal to the second longitudinal retreat distance, the second lateral advance distance is equal to the fourth lateral retreat distance, and the second longitudinal advance distance is equal to the fourth longitudinal retreat distance.

6. The robotic mopping method of claim 4, wherein the first lateral advancement distance is less than the second lateral advancement distance, the first longitudinal advancement distance is less than the second longitudinal advancement distance, the third lateral advancement distance is greater than the fourth lateral advancement distance, and the third longitudinal advancement distance is greater than the fourth longitudinal advancement distance;

the first transverse receding distance is less than the second transverse receding distance, the first longitudinal receding distance is less than the second longitudinal receding distance, the third transverse receding distance is greater than the fourth transverse receding distance, and the third longitudinal receding distance is greater than the fourth longitudinal receding distance;

wherein the first lateral advance distance is equal to the first lateral retreat distance, the first longitudinal advance distance is equal to the first longitudinal retreat distance, the second lateral advance distance is equal to the second lateral retreat distance, and the second longitudinal advance distance is equal to the second longitudinal retreat distance.

7. The robotic mopping method of claim 4, wherein the first lateral advance distance is greater than the second lateral advance distance, the first longitudinal advance distance is greater than the second longitudinal advance distance, the third lateral advance distance is less than the fourth lateral advance distance, the third longitudinal advance distance is less than the fourth longitudinal advance distance;

8. The robotic mopping method of claim 4, wherein the first lateral advance distance is greater than the second lateral advance distance, the first longitudinal advance distance is greater than the second longitudinal advance distance, the third lateral advance distance is less than the fourth lateral advance distance, the third longitudinal advance distance is less than the fourth longitudinal advance distance;

the first transverse retreat distance is smaller than the second transverse retreat distance, the first longitudinal retreat distance is smaller than the second longitudinal retreat distance, the third transverse retreat distance is greater than the fourth transverse retreat distance, and the third longitudinal retreat distance is greater than the fourth longitudinal retreat distance;

9. The robotic mopping method of claim 4, wherein the first lateral advance distance is equal to the second lateral advance distance, the first longitudinal advance distance is equal to the second longitudinal advance distance, the third lateral advance distance is equal to the fourth lateral advance distance, the third longitudinal advance distance is equal to the fourth longitudinal advance distance;

the first lateral retreat distance is equal to the second lateral retreat distance, the first longitudinal retreat distance is equal to the second longitudinal retreat distance, the third lateral retreat distance is equal to the fourth lateral retreat distance, and the third longitudinal retreat distance is equal to the fourth longitudinal retreat distance.

10. A robotic floor mopping method according to any one of claims 5 to 9, wherein the second lateral advance distance is equal to the third lateral advance distance, and the first lateral advance distance is equal to the fourth lateral advance distance;

the second longitudinal advancement distance is equal to the third longitudinal advancement distance, the first longitudinal advancement distance is equal to the fourth longitudinal advancement distance;

the second lateral retreat distance is equal to the third lateral retreat distance, and the first lateral retreat distance is equal to the fourth lateral retreat distance;

wherein a relatively small value of the second lateral advance distance and the first lateral advance distance is in a range of 1.2 to 1.5 times a width of a body of one robot; a relatively small value of the second lateral retreat distance and the first lateral retreat distance is in a range of 1.2 to 1.5 times a width of a body of one robot.

11. The robotic floor mopping method according to any one of claims 1 to 9, further comprising: setting the action process of the robot moving from the first forward position point to the second forward position point and the action process of the robot moving from the second forward position point to the third forward position point as a first forward stage of the robot in one forward cleaning cycle;

setting the action process of moving the robot from the third forward position point to the fourth forward position point and the action process of moving the robot from the fourth forward position point to the fifth forward position point as a second forward stage of the robot in the same forward cleaning period;

wherein, every time from the step 1 to the step 4, a forward cleaning period is recorded to pass;

the first forward curve route, the second forward curve route, the third forward curve route and the fourth forward curve route are sequentially connected into a corresponding unit track in one forward cleaning period.

12. The robotic floor mopping method of claim 11, further comprising:

setting the action process of the robot moving from the first backward position point to the second backward position point and the action process of the robot moving from the second backward position point to the third backward position point as a first retracing stage of the robot in one retracing cleaning period;

setting the action process of the robot moving from the third backward position point to the fourth backward position point and the action process of the robot moving from the fourth backward position point to the fifth backward position point as a second turn-back stage of the robot in one turn-back cleaning cycle;

wherein, every time from the step 6 to the step 9, the process is recorded as the passing of a foldback cleaning cycle; the foldback cleaning cycle and the forward cleaning cycle do not overlap;

the first back curve route, the second back curve route, the third back curve route and the fourth back curve route are sequentially connected into a corresponding unit track in a back-turning cleaning period.

13. A chip mounted in a mopping robot, wherein the chip is used for controlling the robot to execute the robot mopping method according to any one of claims 1 to 12.

14. An intelligent floor mopping machine equipped with a master control chip, wherein the master control chip is the chip of claim 13.