WO2020103707A1 - 一种机器人的清扫控制方法和芯片以及清洁机器人 - Google Patents

一种机器人的清扫控制方法和芯片以及清洁机器人

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Publication number
WO2020103707A1
WO2020103707A1 PCT/CN2019/116681 CN2019116681W WO2020103707A1 WO 2020103707 A1 WO2020103707 A1 WO 2020103707A1 CN 2019116681 W CN2019116681 W CN 2019116681W WO 2020103707 A1 WO2020103707 A1 WO 2020103707A1
Authority
WO
WIPO (PCT)
Prior art keywords
area
cleaning
robot
current
point
Prior art date
Application number
PCT/CN2019/116681
Other languages
English (en)
French (fr)
Inventor
李永勇
Original Assignee
珠海市一微半导体有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 珠海市一微半导体有限公司 filed Critical 珠海市一微半导体有限公司
Priority to AU2019382443A priority Critical patent/AU2019382443B2/en
Priority to US17/295,887 priority patent/US11774980B2/en
Publication of WO2020103707A1 publication Critical patent/WO2020103707A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network

Definitions

  • the invention relates to the field of intelligent robots, in particular to a robot cleaning control method and chip and a cleaning robot.
  • SLAM algorithms such as those based on laser scanning navigation and those based on visual navigation.
  • the former is more expensive.
  • the common ones are between 300 and 500 yuan.
  • the Huawei sweeping robot is also based on this principle.
  • the latter costs Relatively low, but the technical threshold is relatively high.
  • the above two methods are relatively costly.
  • most low-cost map navigation solutions on the market are still based on gyroscopes, but only gyroscope-based solutions, to achieve accurate maps, and to achieve high path planning and navigation efficiency in various complex environments, is very There are technical thresholds.
  • the invention provides a robot cleaning control method and chip and a cleaning robot, which can improve the cleaning efficiency of the robot.
  • the specific technical solutions described in the present invention are as follows:
  • a robot cleaning control method includes the following steps: Step S1: The robot receives a control command to start cleaning, and judges whether it is currently in the position of the charging stand, if yes, then proceeds to step S2, if not, proceeds to step S4; Step S2: The robot is seated, and the preset range with the charging base as the base point is planned to be cleaned. After the cleaning is completed, the process proceeds to step S3; Step S3: The robot takes the current cleaning end point as the base point, and performs Clean the area outside the range. If the principle of proximity does not apply, go to step S5; Step S4: The robot starts the area planning cleaning based on the current position, and cleans the area planning of other areas according to the principle of proximity.
  • Step S5 select a position point in the uncleaned area that is the closest to the current cleaning end point as the base point, and then perform area planning cleaning on the uncleaned area according to the principle of proximity.
  • the proximity principle does not apply, select a location point in the next unswept area that has the closest navigation distance to the current cleaning end point as the base point, and continue to carry out regional planning cleaning on the unswept area according to the proximity principle. And so on, until all areas are cleaned.
  • the proximity principle means that the robot preferentially selects the same direction as the current cleaning direction, and uses an area boundary of the cleaned area corresponding to the base point as an adjacent uncleaned area for area planning cleaning; In the direction perpendicular to the cleaning direction, use the area boundary of the cleaned area corresponding to the base point as the uncleaned area adjacent to the area to clean the area; finally select the direction perpendicular to the current cleaning direction to use the base point
  • the area boundary of one area of the corresponding cleaned area is opposite to the area border of the uncleaned area on the adjacent side.
  • the area planning cleaning refers to a manner in which the robot cleans an area of a preset length and a preset width according to a predetermined trajectory.
  • the cleaning direction refers to a direction when the cleaning area extends from one end to the other end of the area when the robot performs area planning cleaning.
  • step of planning and cleaning the preset range with the charging base as the base point described in step S2 specifically includes the following steps: the robot walks forward in front of the charging base and starts charging the charging base The first area on the side directly in front of the base is cleaned by bow-shaped planning. After the cleaning is completed, the first area is returned to the front of the charging base along the boundary of the first area, and then the front of the charging base is cleaned. The second area on the other side of the front is cleaned by bow-shaped planning.
  • the lengths of the first area and the second area are the same, the widths of the first area and the second area are the same, and the sum of the lengths of the first area and the second area is equal to The length of the preset range, the width of the first area or the width of the second area is equal to the width of the preset range.
  • step S3 specifically includes the following steps: step S31: the robot determines that the current cleaning end point is the base point, and then determines whether there is an uncleaned area in the current cleaning direction, and if so, proceeds to step S32, and if not, proceeds to step S34; Step S32: the robot selects the same direction as the current cleaning direction, performs area planning cleaning with the uncleaned area adjacent to an area boundary of the current cleaned area corresponding to the base point, and the cleaning direction remains the current cleaning direction , And then go to step S33; step S33: the robot determines whether to sweep to the physical or virtual boundary of the uncleaned area in the current cleaning direction, if yes, go to step S34; if not, the robot continues to clean until the robot completes the current Clean the area plan of the area, and then return to step S31; step S34: the robot determines the current cleaning end point as the base point, and then determines whether there is an uncleaned area in a direction perpendicular to the current cleaning direction, if yes,
  • step S31 if there is no uncleaned area in the direction toward the first side of the currently cleaned area, the robot selects In the direction perpendicular to the current cleaning direction and toward the second side of the current cleaned area, the area cleaning is performed on the uncleaned area adjacent to the area boundary on the second side of the current cleaned area, and the cleaning direction is changed to the direction The direction of the second side of the current cleaned area.
  • step S31 wherein, the first side of the current cleaned area is the side of the current cleaned area where the base point is located, and the current cleaned area The second side of is the other side of the currently cleaned area opposite to its first side.
  • step S4 specifically includes the following steps: step S41: the robot determines the current position as a base point, and then walks forward to start area planning cleaning of the area directly in front of it, and the cleaning direction is toward the robot In the direction of the side directly ahead, after the cleaning is completed, step S42 is entered; step S42: the robot takes the current cleaning end point as the base point, and then determines whether there is an uncleaned area in the current cleaning direction, and if so, proceeds to step S43, If not, proceed to step S45; step S43: the robot selects the same direction as the current cleaning direction, and takes an area boundary of the current cleaned area corresponding to the base point as an adjacent uncleaned area to perform area planning cleaning and cleaning Keep the direction as the current cleaning direction, and then go to step S44; step S44: the robot judges whether to sweep to the physical or virtual boundary of the uncleaned area along the current cleaning direction, if yes, go to step S45; if not, the robot continues Cleaning until the robot completes the area planning cleaning of the current area
  • step S42 After the area plan cleaning is completed, return to step S42; if the direction is toward the first side of the current cleaned area If there is no uncleaned area, the robot selects the direction that is perpendicular to the current cleaning direction and toward the second side of the current cleaned area, and takes the area of the second side of the current cleaned area as the adjacent uncleaned area. Plan cleaning, the cleaning direction changes to the direction toward the second side of the current cleaned area, and return to step S42 after the cleaning is completed; wherein, the first side of the current cleaned area is one of the current cleaned areas where the base point is located Side, the second side of the current cleaned area is the other side of the current cleaned area opposite to the first side.
  • step S61 the robot starts the cleaning from the base point in the form of a bow-shaped trajectory, and proceeds to step S62;
  • step S62 the robot performs real-time during the cleaning process Determine whether there is a missed scanning area, if yes, go to step S63, if not, continue planning cleaning until the end of the area planning cleaning;
  • step S63 the robot determines the current position point as the starting point of supplementary scanning, from the supplementary The starting point of scanning starts to make up for the missed scanning area.
  • the robot returns to the starting point for making up the sweep, continues to plan and clean the remaining uncleaned areas, and returns to step S62.
  • the end of the area planning cleaning refers to that when the robot sweeps to the area boundary, the virtual boundary or the physical boundary in the cleaning direction, all the cleaning of the area is completed.
  • step S61 starts from the base point and performs the planning and cleaning in the form of a bow-shaped trajectory, specifically including the following steps: Step S611: the robot starts from the base point and walks along the area boundary of the area And go to step S612; step S612: the robot determines whether an obstacle is detected, if it is, then go to step S613, otherwise continue to walk along the area boundary of the area until the robot returns to the base point, at this time, the robot is in An inner area is circled by walking within the boundary of the area, and then the robot plans to sweep the circled inner area in the form of a bow-shaped trajectory; step S613: the robot is located along the obstacles within the area One side walks along the edge, and judges whether it reaches the boundary of the area, if not, it continues to walk along the edge, if it is, then walks along the boundary of the area, and returns to step S612.
  • step S621 the robot judges whether it has a closed loop in the range that it travels along the cleaning direction Clean the block, if yes, go to step S622, if no, continue cleaning
  • step S622 the robot judges whether there is an uncleaned boundary line with a length greater than a preset distance in the uncleaned block, if yes, it is determined that there is Missing scan area, if not, it is determined that there is no missing scan area.
  • the closed-loop uncleaned block refers to an uncleaned area surrounded by an area boundary, an obstacle boundary line, and / or an uncleaned boundary line.
  • step S63 determines that the current position point is the starting point of supplementary scanning, and the step of performing supplementary scanning on the missing scanning area from the starting point of the complementary scanning includes the following steps: Step S631: the robot determines The current position is the starting point of the supplementary scan, and search for the map constructed during walking, and then go to step S632; step S632: the robot selects the supplementary scan entrance in the missing scan area that is closest to the navigation distance of the starting point of the supplementary scan And select the end point position closest to the starting point of the supplementary scan from the two end positions of the closest supplementary scan entrance as the first supplementary scan point, and select the other endpoint position in the closest supplementary scan entrance as the first supplementary scan point The second supplementary scan point, and then go to step S633; Step S633: the robot navigates to the first supplementary scan point, starts to sweep toward the second supplementary scan point, and faces toward the inside of the missed scan area, and is parallel to The direction of the cleaning direction of the area planned cleaning is
  • a chip is used to store program instructions, and the program instructions are used to control a robot to perform the cleaning control method described in any one of the above solutions.
  • a cleaning robot includes a main control chip, and the main control chip is the above-mentioned chip.
  • the cleaning control method of the robot when the robot is in the position of the charging base, first controls the robot to clean the preset range around the charging base to form a cleaning prohibited area, so that the robot will not enter the prohibited area during the subsequent cleaning process, Avoid the situation that the robot accidentally hits the charging base and changes the position of the charging base.
  • the efficiency and orderliness of robot cleaning can be improved.
  • FIG. 1 is a schematic flowchart of an embodiment of a robot cleaning control method according to the present invention.
  • Fig. 2 is a schematic diagram of cleaning plan analysis when the robot is located at the charging base.
  • Fig. 3 is a schematic diagram of cleaning plan analysis when the robot is not in the position of the charging base.
  • FIG. 4 is an analysis schematic diagram of a robot cleaning and planning a preset range with a charging base as a base point.
  • FIG. 5 is an analysis schematic diagram of the robot cleaning and planning the area outside the preset range near the charging base according to the proximity principle.
  • Fig. 6 is a schematic diagram of analysis when the robot performs area planning cleaning.
  • FIG. 7 is a schematic diagram of the analysis when the robot delimits the grid area.
  • FIG. 8 is an analysis diagram of the robot judging whether there is a missing scanning area.
  • FIG. 9 is a schematic diagram of analysis when the robot performs supplementary scanning.
  • the cleaning control method includes the following steps: In step S1, the robot receives a control command to start cleaning, and determines whether it is currently in the position of the charging stand.
  • the control instruction may be a control signal sent by a user through a remote control device such as a remote controller or a smart phone, or may be a control signal generated by a user operating a key of a control panel on the robot body.
  • the method of determining whether it is in the charging base can be determined by detecting the electrical signal state of the contact piece on the charging end of the robot.
  • the robot detects that it is currently in the position of the charging stand, it proceeds to step S2.
  • the robot detects that it is not currently in the position of the charging stand, it proceeds to step S4.
  • step S2 the robot retreats first, and after retreating from the charging stand, it turns 180 ° in situ and faces the front of the charging stand, thereby completing the seating.
  • the robot After the robot is seated, it starts to plan and clean the preset range based on the charging base.
  • the preset range can be set according to specific product design requirements, and can generally be set to a 2 * 2 meter rectangle Area, specifically, the charging base is located at the midpoint of one side of the rectangular area, and the opposite side in the rectangular area is directly in front of the charging base, so the direction directly in front of the charging base is the dividing line ,
  • the rectangular area can be divided into mutually symmetrical rectangular areas of 1 * 2 meters. The robot separately plans to clean these two rectangular areas.
  • the planned cleaning method can also be set according to specific product design requirements, such as bow-shaped planned cleaning, back-shaped planned cleaning or radiation-shaped planned cleaning, etc., preferably, this embodiment and other subsequent implementations
  • the planned cleaning described in the examples are all performed in the form of bow-shaped trajectories.
  • step S3 the robot takes the current cleaning end point as the base point. If the robot cleans the preset range, the current cleaning end point is the last position point that completes the preset range traversal cleaning. If the robot is cleaning other areas, the current end point is the last position point after traversing the corresponding area. Based on the base point, the robot cleans the area outside the preset range according to the proximity principle.
  • the proximity principle means that the robot preferentially selects the same direction as the current cleaning direction, and uses an area boundary of the cleaned area corresponding to the base point as an adjacent uncleaned area for area planning cleaning; if there is no corresponding area , Secondly, select the direction perpendicular to the current cleaning direction, and use the area boundary of the cleaned area corresponding to the base point as the adjacent uncleaned area for area cleaning; if there is no corresponding area, then select the current In the direction perpendicular to the cleaning direction, the area is cleaned by taking the area boundary of one area of the cleaned area corresponding to the base point opposite to the area boundary as the adjacent uncleaned area.
  • the area planning cleaning refers to a manner in which the robot cleans an area of a preset length and a preset width according to a predetermined trajectory.
  • the preset length and the preset width can be set according to specific design requirements, for example, the preset length can be set to 3 meters, 4 meters or 5 meters, and the preset width can also be set to 3 meters, 4 meters or 5 meters, the preset length may be the same as the preset width, or may be different.
  • the predetermined trajectory line form may be set according to specific design requirements, and may be set as a bow-shaped trajectory form, a zigzag trajectory form, a radial trajectory form, or the like.
  • the cleaning direction refers to a direction in which the cleaning range extends from one end to the other end of the area when the robot performs area planning cleaning. If the principle of proximity is not applicable, that is, none of the above-mentioned selectable areas, then go to step S5. This step can improve the efficiency and orderliness of robot cleaning by controlling the robot to clean the area according to the principle of proximity.
  • step S4 the robot starts the area planning cleaning with the current position as the base point, and performs the area planning cleaning in other areas according to the proximity principle. If the proximity principle does not apply, go to step S5.
  • step S5 the robot selects a position point in the uncleaned area that is closest to the navigation distance of the current cleaning end point as the base point, and then performs area planning cleaning on the uncleaned area according to the proximity principle.
  • the proximity principle not applicable, select a location point in the next uncleaned area that is the closest to the current navigation end point as the base point, and continue to clean the uncleaned area according to the principle of proximity, and so on, until all areas The cleaning is finished.
  • the navigation distance refers to a path length that the robot can walk from the current location point to the target location point determined by the robot search map. If there are multiple paths to the target location, the shortest path length is the shortest navigation distance.
  • the map is a grid map constructed by the robot during walking.
  • the grid map is composed of many grid units.
  • the robot will mark the grid unit that has been walked as a walking unit and detect the obstacle.
  • the corresponding grid cells are marked as obstacle cells, etc.
  • Each grid unit may be set as a square grid with the half body width of the robot as the side length, or as a square grid with the entire body width of the robot as the side length.
  • the cleaning control method of the robot when the robot is in the position of the charging base, first controls the robot to clean the preset range around the charging base to form a cleaning prohibited area, so that the robot will not enter the prohibited area during the subsequent cleaning process, It avoids the situation that the robot accidentally hits the charging base and changes the position of the charging base, and improves the accuracy and efficiency of the robot's reseating.
  • each square represents a planned cleaning area
  • point O is the location point where the charging base is located
  • the Y-axis direction is directly in front of the charging base.
  • the robot selects the uncleaned area 2 # adjacent to the preset range 1 # in the positive direction of the X axis as the area to be cleaned, and plans to clean the area 2 #.
  • the point p2 is reached, the area 2 # is cleaned.
  • the robot selects the Y axis direction perpendicular to the X axis direction
  • the area boundary corresponding to point p3 that is, the upper boundary of area 3 #
  • the area boundary corresponding to point p3 is the uncleaned area 4 # on the adjacent side as the area to be cleaned, and then the positive direction of the Y axis is used as the cleaning direction to clean area 4 #.
  • the point p4 is reached, the cleaning of area 4 # is completed.
  • the robot Since there is no other cleaning area along the current cleaning direction (the positive direction of the Y axis), the robot uses p4 as the base point and the negative direction of the X axis as the cleaning direction to clean area 5 #. After finishing the cleaning of area 5 # when reaching the point p5, continue to use the negative direction of the X-axis as the cleaning direction and continue cleaning until the point p8 to complete the planned cleaning of the areas 6 #, 7 # and 8 #. When the robot is at point p8, there is no cleanable area along the negative direction of the X axis, and no cleanable area along the positive direction of the Y axis.
  • the robot selects the uncleaned area 9 # in the negative direction of the Y axis as the area to be cleaned, from p8 Point to point p9, and then from point p9, with the negative direction of the Y axis as the cleaning direction, plan to clean area 9 #.
  • the planned cleaning of areas 9 # and 10 # is completed.
  • the robot has no selectable unswept areas in the positive X-axis direction, positive Y-axis direction, and negative Y-axis direction.
  • the robot starts searching the map, selects the p15 point of the uncleaned area 15 # that is the closest to the navigation distance of p14 as the base point, and plans to clean the area 15 # from p15.
  • the cleaning direction can be along the negative direction of the X axis. It can also be along the positive direction of the Y axis. Since the area of area 15 # is just the size of a planned cleaning area, after the cleaning is completed, the cleaning of all areas is completed. Assuming that the area of area 15 # is larger than the size of a planned cleaning area, the adjacent area is cleaned according to the above-mentioned proximity principle. If there is a non-adjacent uncleaned area outside the 15 # area, continue to search other areas by means of map search and navigation until all areas are cleaned.
  • the cleaning method of the robot is similar to the above embodiment, except that when the robot receives the control command to start cleaning, it is not at the position of the charging stand, but at any point O on the ground. At this time, the robot does not need to clean the area of the preset range first, that is, it does not need to divide the forbidden area first, and can directly perform area planning cleaning from 0 o'clock.
  • the robot starts at 0 o'clock, walks in the positive direction of the front Y axis, and cleans the area 1 #. Then, in the same manner as the above embodiment, the areas 1 # to 15 # are cleaned in sequence.
  • the step of planning and cleaning the preset range with the charging base as the base point described in step S2 specifically includes the following steps: the robot walks forward in front of the charging base and starts Perform a bow-shaped plan cleaning on the first area on the side directly in front of the charging base, and after cleaning, return to the front of the charging base along the area boundary of the first area, and then The second area on the other side directly in front of the charging stand is cleaned by bow-shaped planning.
  • the lengths of the first area and the second area are the same, the widths of the first area and the second area are the same, and the sum of the lengths of the first area and the second area is equal to
  • the length of the preset range, the width of the first area or the width of the second area is equal to the width of the preset range.
  • the position of the charging base is the O1 point, and the front of the charging base is the positive direction of the Y axis.
  • the first area is an area surrounded by O1, O2, O3, and O4
  • the second area is an area surrounded by O1, O2, O5, and O6.
  • the robot starts at point O1, walks toward point O2 along the positive direction of the Y axis, and sweeps the first area with the negative direction of the X axis as the cleaning direction.
  • point O4 the planned cleaning of the first area is completed.
  • the robot walks along the boundary O4O1 to point O1, and then starts from point O1, walks along the positive direction of the Y axis toward point O2, and sweeps the second area with the positive direction of the X axis as the cleaning direction.
  • the O6 point the planned cleaning of the second area is completed. In this way, the cleaning of the preset range O3O4O5O6 is completed, and the restricted area is determined.
  • the robot can be cleaned More organized and orderly, which can also improve the cleaning efficiency of the robot.
  • the step S3 specifically includes the following steps: In step S31, the robot determines that the current cleaning end point is the base point, and then determines whether there is an uncleaned area in the current cleaning direction, and if so, proceeds to step S32, If not, proceed to step S34; in step S32, the robot selects the same direction as the current cleaning direction, and performs area planning cleaning with an area of the current cleaned area corresponding to the base point as an adjacent uncleaned area , The cleaning direction remains the current cleaning direction, and then proceeds to step S33; in step S33, the robot determines whether to sweep to the physical or virtual boundary of the uncleaned area along the current cleaning direction, and if so, proceeds to step S34; if not , The robot continues cleaning until the robot completes the area planning cleaning of the current area, and then returns to step S31.
  • step S34 the robot determines that the current cleaning end point is the base point, and then determines whether there is an uncleaned area in a direction perpendicular to the current cleaning direction. If it is, it proceeds to step S35, and if not, it proceeds to step S5.
  • step S35 the robot selects a direction that is perpendicular to the current cleaning direction and toward the first side of the current cleaned area, and uses the area boundary of the first side of the current cleaned area as an adjacent side to perform area planning Cleaning, the cleaning direction changes to the direction toward the first side of the currently cleaned area, and after the cleaning is completed, return to step S31; if there is no uncleaned area in the direction toward the first side of the current cleaned area, the robot selects the current cleaning direction It is perpendicular to the direction of the second side of the current cleaned area, and the area is cleaned with the uncleaned area adjacent to the boundary of the second side of the current cleaned area, and the cleaning direction is changed to the current cleaned area After cleaning, return to step S31.
  • the first side of the current cleaned area is the side of the current cleaned area where the base point is located
  • the second side of the current cleaned area is the other side of the current cleaned area opposite to the first side side.
  • the robot starts at 0 and takes the positive direction of the X axis as the cleaning direction. After completing the cleaning of area 1 #, it reaches point p1; then it completes the cleaning of area 2 # and reaches point p2; then, Continue to clean area 3 # from p2. In the cleaning process of area 3 #, the robot detects the physical boundary p3p14 of the area in the current cleaning direction.
  • the presence of the physical boundary indicates that there is no more cleanable area in the area that continues to extend in the positive direction of the X axis, so After the robot cleans up to point p3, even if the cleaning area does not reach the area of the standard area, the cleaning will not continue, and the point p3 will be used as the end point of cleaning in this area.
  • the robot walks from point p3 to point p2, and cleans the area 4 # with the negative direction of the Y axis as the cleaning direction.
  • there is also a physical boundary p3A2 in the area 4 # the boundary is not in the current cleaning direction, that is, the boundary cannot indicate whether there is an uncleaned area along the negative direction of the Y axis.
  • the robot will continue cleaning until the end of p4. At this time, there is no sweepable area along the negative direction of the Y-axis.
  • the robot takes p4 as the base point and uses the negative direction of the X-axis as the cleaning direction to clean the area 5 #, and sequentially cleans the completed areas 6 #, 7 #, and 8 #.
  • the robot also detects the boundary line formed by the physical boundary p9A5 and the virtual boundary A5p8, so the robot sweeps to the point p8 and finishes cleaning the area 8 #.
  • the robot starts from the point p9, sweeps the area 9 # with the positive direction of the Y axis, and sequentially cleans the area 10 #.
  • the physical The boundary is not in the current cleaning direction (the positive direction of the Y axis), it can only indicate that there is no sweepable area outside the physical boundary, so the robot will always sweep to the virtual boundary A3p10, and complete the cleaning after reaching p10. Then, starting from point p10, the robot cleans the completed areas 11 #, 12 #, 13 # and 14 # in sequence with the positive direction of the X axis as the cleaning direction. When cleaning in area 14 #, the robot detects a physical boundary A1p14 in the current cleaning direction (X-axis positive direction), indicating that there is no clearable area outside the boundary.
  • the robot When the robot cleans to point p14, it ends and completes area 14 # ⁇ cleaning. At this time, the robot judges that there is no uncleaned area in the positive direction of the vertical X axis, so search for the point p15 closest to the navigation distance of point p14, and navigate to point p15 to start the planned cleaning of area 15 #.
  • the cleaning direction can be along
  • the negative direction of the X axis may also be the negative direction of the Y axis. Since the area of area 15 # is just the size of a planned cleaning area, after the cleaning is completed, the cleaning of all areas is completed. Assuming that the area of area 15 # is larger than the size of a planned cleaning area, the adjacent area is cleaned according to the above-mentioned proximity principle. If there is a non-adjacent uncleaned area outside the 15 # area, continue to search other areas by means of map search and navigation until all areas are cleaned.
  • the step S4 specifically includes the following steps:
  • the robot determines the current position as the base point, and then walks forward to start the area planning cleaning of the area directly in front of it.
  • One side may be the left side of the robot, or the right side of the robot.
  • the robot can be set according to requirements.
  • the cleaning direction is the direction toward the side directly in front of the robot, that is, the robot starts cleaning on the left side, then the cleaning direction is from right to left, and the robot starts cleaning on the right side, then the cleaning direction is from left to right right.
  • step S42 After the cleaning of the area is completed, go to step S42; in step S42, the robot takes the current cleaning end point as the base point, and then judges whether there is an uncleaned area in the current cleaning direction, if it is, then proceeds to step S43, if not, then proceeds to step S45; In step S43, the robot selects the same direction as the current cleaning direction, and uses the area boundary of the current cleaned area corresponding to the base point as the adjacent uncleaned area for area planning cleaning, and the cleaning direction remains the current Cleaning direction, and then go to step S44; in step S44, the robot judges whether to sweep to the physical boundary or virtual boundary of the uncleaned area along the current cleaning direction, if yes, go to step S45; if not, the robot continues to clean, Until the robot completes the area planning cleaning of the current area, and then returns to step S42; in step S45, the robot determines that the current cleaning end point is the base point, and then determines whether there is an uncleaned area in a direction perpendicular to
  • step S42 After the area cleaning is completed, return to step S42; If there is no uncleaned area in the direction, the robot selects the direction that is perpendicular to the current cleaning direction and faces the second side of the current cleaned area, with the area boundary on the second side of the current cleaned area as the adjacent uncleaned area
  • the area planning cleaning is performed, the cleaning direction is changed to the direction toward the second side of the currently cleaned area, and after the cleaning is completed, the process returns to step S42.
  • the first side of the current cleaned area is the side of the current cleaned area where the base point is located
  • the second side of the current cleaned area is the other side of the current cleaned area opposite to the first side side.
  • step S41 is added, that is, how to start planning cleaning when the robot is not in the charging position.
  • the robot starts from point O and walks directly forward to start the area planning cleaning of the area on the right side.
  • the cleaning direction is the positive direction of the X axis to complete the area 1 # planning cleaning. After the cleaning is completed, continue to clean the area 2 # and 3 # in sequence along the current cleaning direction.
  • the related cleaning method is similar to the previous embodiment, and will not be repeated here.
  • step S61 the robot starts planning cleaning in the form of a bow-shaped trajectory from the base point, and proceeds to step S62; at step S62 In the process of cleaning, the robot judges in real time whether there is a missing scanning area.
  • the missing scanning area refers to the area that the robot has swept in the cleaning direction during the planned cleaning process, including the area boundary, obstacle boundary line and / or Or a closed-loop uncleaned block surrounded by an uncleaned borderline, and the block has an uncleaned borderline with a length greater than the width of the body of 1.5 robots.
  • step S63 the robot determines that the current position point is the starting point of the supplementary scan, and performs the supplementary scan of the missing scan area from the starting point of the complementary scan. After the completion of the complementary scan, the robot returns to the starting point of the complementary scan and continues Plan to clean the remaining uncleaned area, and return to step S62.
  • the end of the area planning cleaning refers to that when the robot sweeps to the area boundary, the virtual boundary or the physical boundary in the cleaning direction, all the cleaning of the area is completed.
  • the robot judges whether there is a missed scanning area in real time, and timely compensates for the missed scanning area, so that the robot's cleaning is more orderly and the cleaning efficiency is higher. Clean the font, and then make up for the missing scanning area. The cleaning trajectory caused by this cleaning method is messy and the cleaning efficiency is relatively low.
  • the outermost rectangular border in the figure is a virtual area boundary, and the enclosed area is a grid area.
  • the robot When the robot performs cleaning, it is cleaned according to such a grid area.
  • the bow-shaped lines with arrows in the grid area are the trajectories that the robot walks while cleaning the area.
  • the small boxes marked W1 and W2 indicate obstacles. Starting from the T1 point, the robot performs bow-shaped planning and cleaning in the direction indicated by the arrow.
  • the robot When the robot walks to the position of point b, it is judged that there is a missed scan area on the right side, so the robot takes point b as the starting point of the supplementary scan, performs the supplementary scan of the missed scan area along the bow-shaped trajectory line of b1b2b3, and walks At the point b3, the supplementary scan of the missing scan area is completed. Then the robot returns to point b, and continues to walk according to the bow-shaped trajectory line cleaned by the area plan to clean the remaining uncleaned blocks.
  • the robot When the robot sweeps to the b4 point position, it is judged that there is another missing scan area on the left side, so take the b4 point as the starting point of the supplementary scan, perform the supplementary scan of the missing scan area along the bow-shaped trajectory line of b5b6b7, and walk At the point b7, the supplementary scan of the missed scan area is completed. Then, the robot returns to point b4 and continues to walk according to the bow-shaped trajectory of the area plan cleaning, cleaning the remaining uncleaned blocks, and walking to the position T2 to complete the planned cleaning of the entire grid area. In this way, the robot walks from T1 to T2 to complete the cleaning of the entire grid area, the cleaning path is very orderly, and the cleaning efficiency is also very high.
  • the robot When the robot performs supplementary scanning, other types of supplementary scanning can be performed in addition to the above-described supplementary scanning path.
  • the robot starts at point b, walks straight to point b3, and then starts at point b3, following the bow-shaped trajectory of b3-b2-b1-b to perform the sweep.
  • the specific supplementary scanning method can be designed according to the specific use environment and product requirements.
  • the robot described in step S61 starts from the base point and performs the planning and cleaning in the form of a bow-shaped trajectory, which specifically includes the following steps:
  • step S611 the robot starts from the base point and moves along the base point.
  • the area boundary of the area is walked, and the process proceeds to step S612.
  • step S612 the robot determines whether an obstacle is detected, and if so, proceeds to step S613, otherwise it continues to walk along the area boundary of the area until the robot returns to the base point, at which time, the robot is within the area boundary
  • the inner walking circle defines an inner area, and then the robot plans to sweep the circled inner area in the form of a bow-shaped trajectory.
  • step S613 the robot walks along the side of the obstacle within the area, and determines whether it reaches the boundary of the area, if not, it continues to walk along the edge, and if it is, it moves along the edge Walk on the area boundary and return to step S612.
  • the robot can know the approximate terrain in advance during the cleaning process and make a plan in advance. For example, when the robot is ready to reach the physical boundary, it can be known by the map, without collision or other sensors to determine the boundary. In addition, some narrow entrances are already known in advance during the lap, and it is not easy to miss when planning the cleaning.
  • W3, W4, and W5 in the figure represent obstacles.
  • the robot starts to walk along the boundary of the area from point D1. It first walks up to point D2, then turns at point D2, and walks toward point D3.
  • the edge W3 is walked along the side of the obstacle W3 within the area, that is, along the trajectory D3-D4-D5-D6.
  • the robot walks along the edge to point D6 and reaches the area boundary D2D7, it continues to walk along the direction of D6D7.
  • D7D8 at point D7 turn to walk in the direction of D8.
  • the robot detects the obstacle W4 at point D8 and walks along the edge of the obstacle W4.
  • the robot detects the obstacle W5 and walks along the side of the obstacle W5 in the area, that is, along the trajectory of D10-D11-D12-D13, and continues to the direction of D13D1 after reaching the point D13 And walk to D1.
  • the robot walked within the boundary of the area to define an inner area surrounded by D1-D2-D3-D4-D5-D6-D7-D8-D9-D10-D11-D12-D13-D1.
  • the robot plans to sweep the circled inner area in the form of a bow-shaped trajectory.
  • the robot delimits the scope first, which is beneficial to the subsequent planned cleaning. Not only can the robot predict the position of the obstacle when planning the cleaning and reduce collisions, but it can also obtain some position information of the narrow entrance in advance to avoid the situation of missed scanning.
  • the step of the robot described in step S62 judging whether there is a missing scanning area in real time during the cleaning process specifically includes the following steps: In step S621, the robot judges that it has traveled along the cleaning direction in the range , Whether there is a closed-loop uncleaned block, if yes, go to step S622, if not, continue cleaning; in step S622, the robot determines whether the uncleaned block has an uncleaned boundary with a length greater than a preset distance Line, the preset distance can be set according to specific product design requirements, and can generally be set to 1.5 to 2 times the width of the robot body.
  • the closed-loop uncleaned block refers to an uncleaned area surrounded by an area boundary, an obstacle boundary line, and / or an uncleaned boundary line.
  • FIG. 8 this figure is similar to FIG. 6, and the main difference is that FIG. 8 marks the missed scanning area by a dotted frame.
  • the robot starts to walk from point T1 and sweeps the area in a bow-shaped plan.
  • point b1 it is judged that there is a closed-loop uncleaned block n1n2n3n4 on the right side of the robot.
  • the uncleaned boundary lines n1n2 and n3n4 are relatively long, greater than twice the width of the robot body, so the robot can enter the block from these two boundary entrances for cleaning.
  • the robot walks directly from point b1 to point n4, and then starts from point n4, taking the direction from right to left as the cleaning direction, and planning to clean the block. After the cleaning is completed, it returns to point b1 to continue the original area planning cleaning.
  • the robot sweeps to point b2
  • the uncleaned boundary lines n5n6 and n7n8 are relatively long, greater than 1.5 times the width of the robot body, so the robot can enter the block from these two boundary entrances for cleaning.
  • the robot walks directly from point b2 to point n7, and then starts from point n7, taking the direction from right to left as the cleaning direction, and planning to clean the block. After the cleaning is completed, the robot returns to point b2 and continues the original area cleaning plan until walking to point T2 to complete the planned area cleaning.
  • the robot described in step S63 determines that the current position point is the starting point of supplementary scanning, and the step of performing supplementary scanning on the missing scanning area from the starting point of the complementary scanning specifically includes the following steps: In step S631, the robot determines that the current position point is the starting point of supplementary scanning, and searches for the map constructed during walking, and then proceeds to step S632; in step S632, the robot selects the missing scanning area and the starting point of supplementary scanning Of the nearest supplementary scan entrance, and select one of the two endpoint positions closest to the starting point of the supplementary scan entrance as the first supplementary scan point, and select the closest supplementary scan The other end position in the entrance serves as the second supplementary scan point, and then proceeds to step S633.
  • step S633 the robot navigates to the first supplementary scan point, starts cleaning toward the second supplementary scan point, and faces the inside of the missed scan area and is parallel to the cleaning direction of the area to plan the cleaning direction
  • the direction is the current cleaning direction
  • a bow-shaped planned cleaning is performed on the missing scanning area until the robot finishes cleaning the missing scanning area, and the supplementary scanning is ended.
  • the robot can perform supplementary scanning nearby, and the supplementary scanning efficiency and the quality of supplementary scanning are higher, avoiding the problem that the cleaning path caused by other supplementary scanning methods is messy and the cleaning efficiency is low.
  • the outermost rectangular border in the figure is a virtual area boundary, and the enclosed area is a grid area.
  • the bow-shaped lines with arrows in the grid area are the trajectories that the robot walks while cleaning the area.
  • the small boxes marked W1 and W2 indicate obstacles. Starting from the T1 point, the robot performs bow-shaped planning and cleaning in the direction indicated by the arrow. When the robot walks to the position of point b, it is judged that there is a missing scan area on the right side (the area marked by the dotted frame in the lower part of the figure).
  • the robot selects the b1 point closest to the current position as the first supplementary scan point in the two end positions b1 and b2 in the entrance on the right, and then walks to the b1 point and points toward the b2 point to start arching the missed scan area Type cleaning, the cleaning direction is from right to left. After the robot completes the cleaning along the trajectory of b1-b2-b3, it returns directly to point b and continues the planned cleaning of the remaining area.
  • the robot selects the b5 point closest to the current position as the first supplementary scan point at the two end positions of b5 and b6 in the entrance on the right, and then walks to b5 point and points toward b6 point to start arching the missed scan area Type cleaning, the cleaning direction is from right to left. After the robot completes the cleaning along the trajectory of b5-b6-b7, it directly returns to point b4 to continue the cleaning of the remaining area. It can be clearly seen from the figure that the robot performs supplementary scanning in this way, and there is no cross trajectory. The quality and effect of supplementary scanning are very good, and the user feels that the cleaning is very organized and the user experience is very high.
  • a chip is used to store program instructions, and the program instructions are used to control the robot to execute the cleaning control method described in the above embodiments.
  • the chip can first control the robot to clean the preset range around the charging base when the robot is in the position of the charging base, forming a cleaning prohibited area so that the robot will not enter during the subsequent cleaning process
  • the forbidden area prevents the robot from accidentally hitting the charging base and changing the position of the charging base.
  • the efficiency and orderliness of robot cleaning can be improved.
  • a cleaning robot may be a sweeping robot or a mopping robot.
  • the robot is equipped with a main control chip, and the main control chip is the chip described in the above embodiments.
  • the robot can first control the robot to clean the preset range around the charging base when the robot is in the position of the charging base to form a cleaning prohibited area so that the robot will not enter the prohibited area during the subsequent cleaning process. Avoid the situation that the robot accidentally hits the charging base and changes the position of the charging base.
  • the efficiency and orderliness of robot cleaning can be improved.
  • the maximum range of robot cleaning is limited by the virtual boundary preset in the system.
  • the four outer longest edges are virtual boundaries, and the area enclosed by the four virtual boundaries is divided into 15 grid areas.
  • the grid area is defined by a virtual area boundary.
  • the robot can cross the virtual area boundary when cleaning the grid area by area.
  • the virtual area boundary p8p9 shown in Figure 2 is on the virtual boundary. After the robot sweeps to the p8p9 line of the area 8 #, it will be considered that the area outside the left side of the p8p9 line has no cleanable area.
  • the area swept by the robot will be limited to the area continuously surrounded by the virtual boundary and the physical boundary, or the area completely enclosed by the physical boundary (if The range enclosed by the physical boundary is completely within the range enclosed by the virtual boundary).
  • the robot sweeps the area defined by A3-A5-p8-p4-A2-A1-p10-A3, where A3-A5 is the physical boundary and A5-p8-p4-A2 is the virtual boundary , A2-A1 is the physical boundary, A1-A3 is the virtual boundary.
  • the physical boundary means that when the robot detects an obstacle, based on the position of the detected obstacle, it corresponds to a boundary line marked on the map.
  • the boundary line may indicate that there is no sweepable area outside the area corresponding to the boundary line.
  • the uncleaned boundary line refers to the boundary between the cleaned area and the uncleaned area.
  • the words “upper”, “lower”, “left” and “right” mentioned in the above embodiments refer to the up, down, left, and right directions in the drawings unless otherwise specified. If there is a specific description, it is defined according to the specific description.
  • the left side of the robot refers to the left side of the robot's direction of travel, not the left side of the drawing.
  • the front of the charging stand mentioned in the above embodiment refers to the direction that the side of the charging stand that is in contact with the robot faces, and an infrared sensor for guiding the robot to return to the seat is provided on the side.
  • the side directly in front of the charging base may be the left side of the charging base or the right side of the charging base, which can be specifically set according to product design requirements. If the side in front of the charging base is set to On the left side, the other side is the right side of the charging base. If the side directly in front of the charging base is set as the right side, the other side is the left side of the charging base.

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Abstract

一种机器人的清扫控制方法和芯片以及清洁机器人，可以提高机器人的清扫质量和清扫效率。该机器人的清扫控制方法在机器人处于充电座的位置时，先控制机器人对充电座周围的预设范围进行清扫，形成一个清扫禁区，以便机器人在后续的清扫过程中不会进入该禁区，避免机器人误撞到充电座而改变充电座位置的情况。此外，通过控制机器人根据就近原则进行区域规划清扫，可以提高机器人清扫的高效性和有序性。

Description

一种机器人的清扫控制方法和芯片以及清洁机器人 技术领域
本发明涉及智能机器人领域，具体涉及一种机器人的清扫控制方法和芯片以及清洁机器人。
背景技术
SLAM算法有很多种，比如基于激光扫描导航的，基于视觉导航的，前者成本上比较贵，普通的都要300～500元之间，小米扫地机器人也是基于这个原理实现的slam算法，后者成本相对低点，但是技术门槛比较高，目前市面上带有视觉导航的，做得效果不错的不是很多，如Roomba 980，效果就比较好。但是上面两种做法，从成本上都是比较高的。目前市面上大部分低成本的地图导航方案，还是基于陀螺仪的，但是仅仅基于陀螺仪的方案，要做到地图准确，以及各种复杂环境下都能实现路径规划和导航效率高，是很有技术门槛的。目前市面上的扫地机器人，还有很大一部分是随机算法的，这个随机算法的各种弊端随着地图导航方案的出现慢慢的放大了，比如没有目标性，清扫效率低等等。近几年新出来的slam算法的扫地机器人也呈现出了各家的技术，这些技术都各有优劣。
发明内容
本发明提供了一种机器人的清扫控制方法和芯片以及清洁机器人，可以提高机器人的清扫效率。本发明所述的具体技术方案如下：
一种机器人的清扫控制方法，包括如下步骤：步骤S1：机器人接收到启动清扫的控制指令，并判断当前是否处于充电座的位置，如果是，则进入步骤S2，如果否，则进入步骤S4；步骤S2：机器人下座，并对以所述充电座为基点的预设范围进行规划清扫，清扫结束后进入步骤S3；步骤S3：机器人以当前清扫结束点为基点，根据就近原则对所述预设范围以外的区域进行清扫，如果就近原则不适用，则进入步骤S5；步骤S4：机器人以当前位置点为基点，开始进行区域规划清扫，并根据就近原则进行其它区域的区域规划清扫，如果就近原则不适用，则进入步骤S5；步骤S5：选择与当前清扫结束点的导航距离最近的未清扫区域中的一个位置点为基点，再根据就近原则对该未清扫区域进行区域规划清扫，在清扫过程中，如果就近原则不适用，则选择下一个与当前的清扫结束点的导航距离最近的未清扫区域中的一个位置点为基点，继续根据就近原则对该未清扫区域进行区域规划清扫，以此类推，直到所有区域清扫完毕。其中，所述就近原则是指机器人优先选择与当前清扫方向相同的方向上，以所述基点所对应的已清扫区域的一条区域边界为邻边的未清扫区域进行区域规划清扫；其次选择与当前清扫方向相垂直的方向上，以所述基点所对应的已清扫区域的一条区域边界为邻边的未清扫区域进行区域规划清扫；最后选择与当前清扫方向相垂直的方向上，以所述基点所对应的已清扫区域的一条区域边界相对的另一条区域边界为邻边的未清扫区域进行区域规划清扫。其中，所述区域规划清扫是指机器人对预设长度和预设宽度的区域按照预定轨迹形式进行清扫的方式。其中，所述清扫方向是指机器人进行区域规划清扫时，清扫范围从区域的一端向另一端延伸时的方向。
具体的，步骤S2中所述的对以所述充电座为基点的预设范围进行规划清扫的步骤，具体包括如下步骤：机器人朝所述充电座的正前方向前行走，开始对所述充电座的正前方的一侧的第一区域进行弓字型规划清扫，清扫结束后，再沿所述第一区域的区域边界回到所述充电座的正前方，然后对所述充电座的正前方的另一侧的第二区域进行弓字型规划清扫。其中，所述第一区域和所述第二区域的长度相同，所述第一区域和所述第二区域的宽度相同，并且，所述第一区域和所述第二区域的长度之和等于所述预设范围的长度，所述第一区域的宽度或者所述第二区域的宽度等于所述预设范围的宽度。
具体的，所述步骤S3具体包括如下步骤：步骤S31：机器人确定当前清扫结束点为基点，然后判断当前清扫方向上是否有未清扫区域，如果是，则进入步骤S32，如果否，则进入步骤S34；步骤S32：机器人选择与当前清扫方向相同的方向上，以所述基点所对应的当前已清扫区域的一条区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向保持为当前清扫方向，然后进入步骤S33；步骤S33：机器人判断沿当前清扫方向是否清扫至所述未清扫区域的物理边界或者虚拟边界，如果是，则进入步骤S34；如果否，则机器人继续清扫，直到机器人完成当前区域的区域规划清扫，然后返回步骤S31；步骤S34：机器人确定当前清扫结束点为基点，然后判断与当前清扫方向相垂直的方向上是否有未清扫区域，如果是，则进入步骤S35，如果否，则进入步骤S5；步骤S35：机器人选择与当前清扫方向相垂直，且朝向当前已清扫区域的第一侧的方向上，以当前已清扫区域的第一侧的区域边界为邻边的未清扫区域进行区域规划清扫，清扫 方向改变为朝向当前已清扫区域的第一侧的方向，清扫结束后返回步骤S31；如果朝向当前已清扫区域的第一侧的方向上没有未清扫区域，则机器人选择与当前清扫方向相垂直，且朝向当前已清扫区域的第二侧的方向上，以当前已清扫区域的第二侧的区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向改变为朝向当前已清扫区域的第二侧的方向，清扫结束后返回步骤S31；其中，所述当前已清扫区域的第一侧为所述基点所在的当前已清扫区域的一侧，所述当前已清扫区域的第二侧为当前已清扫区域中与其第一侧相对的另一侧。
具体的，所述步骤S4具体包括如下步骤：步骤S41：机器人确定当前位置点为基点，然后向前行走，开始对其正前方的一侧的区域进行区域规划清扫，清扫方向为朝向所述机器人正前方的所述一侧的方向，清扫结束后，进入步骤S42；步骤S42：机器人以当前清扫结束点为基点，然后判断当前清扫方向上是否有未清扫区域，如果是，则进入步骤S43，如果否，则进入步骤S45；步骤S43：机器人选择与当前清扫方向相同的方向上，以所述基点所对应的当前已清扫区域的一条区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向保持为当前清扫方向，然后进入步骤S44；步骤S44：机器人判断沿当前清扫方向是否清扫至所述未清扫区域的物理边界或者虚拟边界，如果是，则进入步骤S45；如果否，则机器人继续清扫，直到机器人完成当前区域的区域规划清扫，然后返回步骤S42；步骤S45：机器人确定当前清扫结束点为基点，然后判断与当前清扫方向相垂直的方向上是否有未清扫区域，如果是，则进入步骤S46，如果否，则进入步骤S5；步骤S46：机器人选择与当前清扫方向相垂直，且朝向当前已清扫区域的第一侧的方向上，以当前已清扫区域的第一侧的区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向改变为朝向当前已清扫区域的第一侧的方向，区域规划清扫结束后返回步骤S42；如果朝向当前已清扫区域的第一侧的方向上没有未清扫区域，则机器人选择与当前清扫方向相垂直，且朝向当前已清扫区域的第二侧的方向上，以当前已清扫区域的第二侧的区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向改变为朝向当前已清扫区域的第二侧的方向，清扫结束后返回步骤S42；其中，所述当前已清扫区域的第一侧为所述基点所在的当前已清扫区域的一侧，所述当前已清扫区域的第二侧为当前已清扫区域中与其第一侧相对的另一侧。
具体的，机器人进行所述区域规划清扫时，具体包括如下步骤：步骤S61：机器人从所述基点开始，以弓字型轨迹形式进行规划清扫，进入步骤S62；步骤S62：机器人在清扫过程中实时判断是否有漏扫区域，如果是，则进入步骤S63，如果否，则继续进行规划清扫，直到所述区域规划清扫结束；步骤S63：机器人确定当前位置点为补扫起始点，从所述补扫起始点开始对所述漏扫区域进行补扫，补扫结束后，机器人回到所述补扫起始点，继续对剩余的未清扫区域进行规划清扫，并返回步骤S62。其中，所述区域规划清扫结束是指机器人沿清扫方向清扫至区域边界、虚拟边界或者物理边界时，完成所述区域的全部清扫。
具体的，步骤S61所述的机器人从所述基点开始，以弓字型轨迹形式进行规划清扫的步骤，具体包括如下步骤：步骤S611：机器人从所述基点开始，沿所述区域的区域边界行走，并进入步骤S612；步骤S612：机器人判断是否检测到障碍物，如果是，则进入步骤S613，否则继续沿所述区域的区域边界行走，直到机器人回到所述基点，此时，机器人在所述区域边界范围内行走圈定了一个内区域，然后机器人以弓字型轨迹形式对所圈定的所述内区域进行规划清扫；步骤S613：机器人沿着所述障碍物中位于所述区域范围内的一侧进行沿边行走，并判断是否到达所述区域边界，如果否，则继续沿边行走，如果是，则沿所述区域边界行走，并返回步骤S612。
具体的，步骤S62中所述的机器人在清扫过程中实时判断是否有漏扫区域的步骤，具体包括如下步骤：步骤S621：机器人判断其沿清扫方向所走过的范围中，是否具有闭环的未清扫区块，如果是，则进入步骤S622，如果否，则继续清扫；步骤S622：机器人判断所述未清扫区块中是否具有长度大于预设距离的未清扫边界线，如果是，则确定有漏扫区域，如果否，则确定没有漏扫区域。其中，所述闭环的未清扫区块是指由区域边界、障碍物边界线和/或未清扫边界线所围成的一块未清扫区域。
具体的，步骤S63中所述的机器人确定当前位置点为补扫起始点，从所述补扫起始点开始对所述漏扫区域进行补扫的步骤，具体包括如下步骤：步骤S631：机器人确定当前位置点为补扫起始点，并搜索行走过程中所构建的地图，然后进入步骤S632；步骤S632：机器人选择所述漏扫区域中与所述补扫起始点的导航距离最近的补扫入口，并选择所述最近的补扫入口的两个端点位置中距离所述补扫起始点最近的一个端点位置作为第一补扫点，选择所述最近的补扫入口中的另一个端点位置作为第二补扫点，然后进入步骤 S633；步骤S633：机器人导航至所述第一补扫点，开始朝所述第二补扫点行走清扫，并以朝向所述漏扫区域内部，且平行于所述区域规划清扫的清扫方向的方向为当前清扫方向，对所述漏扫区域进行弓字型规划清扫，直到机器人完成对所述漏扫区域的清扫，则补扫结束。
一种芯片，用于存储程序指令，所述程序指令用于控制机器人执行上述任一方案所述的清扫控制方法。
一种清洁机器人，包括主控芯片，所述主控芯片为上述的芯片。
所述机器人的清扫控制方法，在机器人处于充电座的位置时，先控制机器人对充电座周围的预设范围进行清扫，形成一个清扫禁区，以便机器人在后续的清扫过程中不会进入该禁区，避免机器人误撞到充电座而改变充电座位置的情况。此外，通过控制机器人根据就近原则进行区域规划清扫，可以提高机器人清扫的高效性和有序性。
附图说明
图1为本发明所述的一种机器人清扫控制方法实施例的流程示意图。
图2为机器人位于充电座位置时的清扫规划分析示意图。
图3为机器人不是位于充电座位置时的清扫规划分析示意图。
图4为机器人对以充电座为基点的预设范围进行规划清扫的分析示意图。
图5为机器人根据就近原则对充电座附近的预设范围以外的区域进行规划清扫的分析示意图。
图6为机器人进行区域规划清扫时的分析示意图。
图7为机器人圈定栅格区域时的分析示意图。
图8为机器人判断是否有漏扫区域的分析示意图。
图9为机器人进行补扫时的分析示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行详细描述。应当理解，下面所描述的具体实施例仅用于解释本发明，并不用于限定本发明。在下面的描述中，给出具体细节以提供对实施例的透彻理解。然而，本领域的普通技术人员将理解，可以在没有这些具体细节的情况下实施实施例。例如，电路可以在框图中显示，避免在不必要的细节中使实施例模糊。在其他情况下，为了不混淆实施例，可以不详细显示公知的电路、结构和技术。
一种机器人的清扫控制方法，其中，所述机器人是可以自主移动的智能机器人，所述清扫不局限于扫地和吸尘，还可以指代拖地、抛光或者打蜡等清洁功能。即机器人按照所述清扫控制方法，可以进行扫地吸尘、拖地、地板的抛光或者打蜡。如图1所示，所述清扫控制方法包括如下步骤：在步骤S1中，机器人接收到启动清扫的控制指令，并判断当前是否处于充电座的位置。所述控制指令可以是用户通过遥控器或者智能手机等遥控装置发出的控制信号，也可以是用户操作机器人机体上的控制面板的按键所产生的控制信号。判断是否处于充电座的方式，则可以通过检测机器人充电端的接触片的电信号状态进行判断。当机器人检测到当前是处于充电座的位置时，则进入步骤S2。当机器人检测到当前不是处于充电座的位置时，则进入步骤S4。
在步骤S2中，机器人先后退，从充电座上退下来以后，原地转向180°，朝向充电座的正前方，从而完成下座。机器人完成下座以后，开始对以所述充电座为基点的预设范围进行规划清扫，所述预设范围可以根据具体的产品设计需求进行相应设置，一般可以设置为一个2*2米的矩形区域，具体的，所述充电座位于矩形区域的一条边的中点，矩形区域中相对的另一条边则位于所述充电座的正前方，如此，以充电座的正前方的方向为分割线，可以把所述矩形区域分为相互对称的1*2米的长方形区域。机器人分别对这两个长方形区域进行规划清扫。通过先清扫所述预设范围，可以在机器人行走累积的误差不是很大的情况下，完成充电座周边区域的清扫，划分出一个禁区，机器人后续清扫时不会再进入该禁区，从而避免后续长时间清扫后，累积的行走误差较大，机器人容易碰撞到充电座，无法有效回座充电的问题。当然，所设置的预设范围的形状和大小可以与此不同。所述规划清扫的方式也是可以根据具体的产品设计需求进行设置的，比如设置为弓字型规划清扫、回字型规划清扫或者辐射形式的规划清扫等，优选的，本实施例和后续其它实施例所述的规划清扫，都是按照弓字型轨迹形式进行清扫的方式。机器人对所述预设范围清扫结束后进入步骤S3。在步骤S3中，机器人以当前清扫结束点为基点，如果机器人是对所述预设范围进行清扫，则当前清扫结束点为完成预设范围遍历清扫的最后一个位置点。如果机器人是对其它区域进行清扫，则当 前结束点是遍历清扫完相应区域的最后一个位置点。机器人基于所述基点，根据就近原则对所述预设范围以外的区域进行清扫。其中，所述就近原则是指机器人优先选择与当前清扫方向相同的方向上，以所述基点所对应的已清扫区域的一条区域边界为邻边的未清扫区域进行区域规划清扫；如果没有相应区域，其次选择与当前清扫方向相垂直的方向上，以所述基点所对应的已清扫区域的一条区域边界为邻边的未清扫区域进行区域规划清扫；如果也没有相应区域，则最后选择与当前清扫方向相垂直的方向上，以所述基点所对应的已清扫区域的一条区域边界相对的另一条区域边界为邻边的未清扫区域进行区域规划清扫。所述区域规划清扫是指机器人对预设长度和预设宽度的区域按照预定轨迹形式进行清扫的方式。所述预设长度和所述预设宽度可以根据具体的设计需求进行设置，比如，预设长度可以设置为3米、4米或者5米，预设宽度也可以设置为3米、4米或者5米，所述预设长度可以与所述预设宽度相同，也可以不同。所述预定轨迹线形式可以根据具体的设计需求进行设置，可以设置为弓字型轨迹形式、回字型轨迹形式或者辐射状的轨迹形式等。所述清扫方向是指机器人进行区域规划清扫时，清扫范围从区域的一端向另一端延伸时的方向。如果所述的就近原则不适用，即上述可以选择的区域都没有，则进入步骤S5。该步骤通过控制机器人根据就近原则进行区域规划清扫，可以提高机器人清扫的高效性和有序性。
在步骤S4中，机器人以当前位置点为基点，开始进行区域规划清扫，并根据所述就近原则进行其它区域的区域规划清扫，如果就近原则不适用，则进入步骤S5。
在步骤S5中，机器人选择与当前清扫结束点的导航距离最近的未清扫区域中的一个位置点为基点，再根据就近原则对该未清扫区域进行区域规划清扫，在清扫过程中，如果就近原则不适用，则选择下一个与当前的清扫结束点的导航距离最近的未清扫区域中的一个位置点为基点，继续根据就近原则对该未清扫区域进行区域规划清扫，以此类推，直到所有区域清扫完毕。其中，所述导航距离是指机器人搜索地图所确定的从当前位置点到达目标位置点的机器人可行走的路径长度。如果到达目标位置点的路径有多条，则路径长度最短的就是导航距离最近的。所述地图是机器人在行走过程中所构建的栅格地图，所述栅格地图由很多个栅格单元构成，机器人会把已行走过的栅格单元标示为已行走单元，把检测到障碍物时所对应的栅格单元标示为障碍单元，等等。每个栅格单元可以设置为以机器人的半个机身宽度为边长的正方形格子，或者设置为以机器人的整个机身宽度为边长的正方形格子。若干个栅格单元共同组成一个规划清扫区域，即栅格区域。
所述机器人的清扫控制方法，在机器人处于充电座的位置时，先控制机器人对充电座周围的预设范围进行清扫，形成一个清扫禁区，以便机器人在后续的清扫过程中不会进入该禁区，避免机器人误撞到充电座而改变充电座位置的情况，提高机器人的回座准确率和回座效率。
具体的，如图2所示，每个方格表示一个规划清扫区域，O点为充电座所在的位置点，Y轴方向为充电座的正前方。当机器人接收到启动清扫的控制指令，并判断当前是处于充电座的位置0点时，机器人从充电退下来，并转向180°，朝向Y轴方向。然后机器人朝前行走，并对以0点为基点的预设范围1#进行规划清扫，清扫至p1点时，预设范围清扫结束。此时，机器人的清扫方向是沿X轴正方向。然后，机器人以p1点为基点，选择在X轴正方向上，与预设范围1#相邻的未清扫的区域2#作为待清扫区域，并对区域2#进行规划清扫。到达p2点时完成区域2#的清扫。同样的，继续沿X轴正方向规划清扫至p3点，此时，沿当前清扫方向(X轴正方向)已经没有可清扫的区域了，所以，机器人选择与X轴方向相垂直的Y轴方向上，p3点所对应的区域边界(即区域3#的上边界)为邻边的未清扫的区域4#作为待清扫区域，然后以Y轴正方向为清扫方向，对区域4#进行规划清扫。到达p4点时完成区域4#的清扫。由于沿当前清扫方向(Y轴正方向)已没有其它清扫区域，所以，机器人以p4为基点，以X轴负方向为清扫方向，对区域5#进行规划清扫。到达p5点时完成区域5#的清扫后，继续以X轴负方向为清扫方向，一直清扫至p8点，完成了区域6#、7#和8#的规划清扫。机器人位于p8点时，沿X轴负方向已经没有可清扫区域，沿Y轴正方向也没有可清扫区域，所以，机器人选择Y轴负方向的未清扫的区域9#作为待清扫区域，从p8点行走至p9点，然后从p9点开始，以Y轴负方向为清扫方向，对区域9#进行规划清扫。清扫至p10点时，完成对区域9#和10#的规划清扫。接着，又以X轴正方向为清扫方向，清扫至p14点，完成对区域11#、12#、13#和14#的规划清扫。机器人在p14点时，在X轴正方向、Y轴正方向和Y轴负方向上，都已经没有可选择的未清扫的区域。所以，机器人开始搜索地图，选择与p14点的导航距离最近的未清扫的区域15#的p15点作为基点，从p15点开始对区域15#进行规划清扫，清扫方向可以是沿X轴负方向，也可以是沿Y轴正 方向。由于区域15#的面积刚好为一个规划清扫区域的大小，所以清扫结束后，就完成了全部区域的清扫。假设区域15#的面积大于一个规划清扫区域的大小，则按照上述的就近原则进行相邻区域的清扫。如果15#区域以外还有不相邻的未清扫区域，则继续通过地图搜索和导航的方式，清扫其它区域，直到全部区域都清扫完毕为止。
如图3所示，机器人的清扫方式与上述实施例类似，不同之处在于：机器人接收到启动清扫的控制指令时，不是处于充电座的位置，而是处于地面的任意一位置点O点。此时，机器人不需要先清扫预设范围的区域，即不需要先划分出禁区，可以从0点开始直接进行区域规划清扫。机器人从0点开始，向前沿Y轴正方向行走，并对区域1#进行规划清扫，然后按上述实施例相同的方式，依次清扫完成区域1#至15#。
作为其中一种实施方式，步骤S2中所述的对以所述充电座为基点的预设范围进行规划清扫的步骤，具体包括如下步骤：机器人朝所述充电座的正前方向前行走，开始对所述充电座的正前方的一侧的第一区域进行弓字型规划清扫，清扫结束后，再沿所述第一区域的区域边界回到所述充电座的正前方，然后对所述充电座的正前方的另一侧的第二区域进行弓字型规划清扫。其中，所述第一区域和所述第二区域的长度相同，所述第一区域和所述第二区域的宽度相同，并且，所述第一区域和所述第二区域的长度之和等于所述预设范围的长度，所述第一区域的宽度或者所述第二区域的宽度等于所述预设范围的宽度。具体的，如图4所示，充电座所在的位置点为O1点，充电座的正前方为Y轴正方向。所述第一区域为O1、O2、O3和O4所围成的区域，所述第二区域为O1、O2、O5和O6所围成的区域。机器人从O1点开始，沿Y轴正方向朝O2点行走，并以X轴负方向为清扫方向，对第一区域进行弓字型清扫。到达O4点时，完成对第一区域的规划清扫。然后，机器人沿边界O4O1行走至O1点，然后又从O1点开始，沿Y轴正方向朝O2点行走，并以X轴正方向为清扫方向，对第二区域进行弓字型清扫。达到O6点时，完成对第二区域的规划清扫。如此，就完成了对预设范围O3O4O5O6的清扫，确定了禁区。避免后续长时间清扫后，累积的行走误差较大，机器人容易碰撞到充电座，无法有效回座充电的问题。此外，通过将预设范围的面积等同于规划清扫区域(区域2#、3#或者4#等)的大小，把预设范围划分为相同的第一区域和第二区域，可以使得机器人的清扫更有条理，更加有序，也能由此提高机器人的清扫效率。
作为其中一种实施方式，所述步骤S3具体包括如下步骤：在步骤S31中，机器人确定当前清扫结束点为基点，然后判断当前清扫方向上是否有未清扫区域，如果是，则进入步骤S32，如果否，则进入步骤S34；在步骤S32中，机器人选择与当前清扫方向相同的方向上，以所述基点所对应的当前已清扫区域的一条区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向保持为当前清扫方向，然后进入步骤S33；在步骤S33中，机器人判断沿当前清扫方向是否清扫至所述未清扫区域的物理边界或者虚拟边界，如果是，则进入步骤S34；如果否，则机器人继续清扫，直到机器人完成当前区域的区域规划清扫，然后返回步骤S31。在步骤S34中，机器人确定当前清扫结束点为基点，然后判断与当前清扫方向相垂直的方向上是否有未清扫区域，如果是，则进入步骤S35，如果否，则进入步骤S5。在步骤S35中，机器人选择与当前清扫方向相垂直，且朝向当前已清扫区域的第一侧的方向上，以当前已清扫区域的第一侧的区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向改变为朝向当前已清扫区域的第一侧的方向，清扫结束后返回步骤S31；如果朝向当前已清扫区域的第一侧的方向上没有未清扫区域，则机器人选择与当前清扫方向相垂直，且朝向当前已清扫区域的第二侧的方向上，以当前已清扫区域的第二侧的区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向改变为朝向当前已清扫区域的第二侧的方向，清扫结束后返回步骤S31。其中，所述当前已清扫区域的第一侧为所述基点所在的当前已清扫区域的一侧，所述当前已清扫区域的第二侧为当前已清扫区域中与其第一侧相对的另一侧。
具体地，如图5所示，机器人从0点开始，以X轴正方向为清扫方向，完成区域1#的清扫后，到达p1点；接着完成区域2#的清扫，到达p2点；然后，继续从p2点开始进行区域3#的清扫。在区域3#的清扫过程中，机器人在当前清扫方向上检测到该区域的物理边界p3p14，该物理边界的存在，表明该区域中继续沿X轴正方向延伸已经没有可清扫的区域了，所以，机器人清扫至p3点后，即使清扫面积未达到标准区域的面积，也不会继续清扫，将p3点作为该区域的清扫结束点。接着，机器人从p3点开始朝p2点行走，并以Y轴负方向为清扫方向，对区域4#进行清扫。虽然区域4#中也存在物理边界p3A2，但是该边界并不是在当前清扫方向上，即该边界不能表明沿Y轴负方向上是否还有未清扫的区域。所以，机器人会继续清扫，直到p4点结束。此时，沿Y轴负方向已经没有可清扫区域了，机器人将p4点作为基点，以X 轴负方向作为清扫方向，清扫区域5#，并依次清扫完成区域6#、7#和8#。同样的，在区域8#中，机器人也检测到了物理边界p9A5和虚拟边界A5p8构成的边界线，所以，机器人清扫至p8点时结束并完成区域8#的清扫。紧接着，机器人又从p9点开始，以Y轴正方向为清扫方向，对区域9#进行清扫，并依次清扫完成区域10#，虽然这两个区域也存在物理边界p9A4和A4A3，但是该物理边界不是在当前清扫方向(Y轴正方向)上，只能表明该物理边界的外侧没有可清扫区域，所以机器人会一直清扫至虚拟边界A3p10，并在到达p10点后完成清扫。再接着，机器人又从p10点开始，以X轴正方向为清扫方向，依次清扫完成区域11#、12#、13#和14#。在区域14#进行清扫时，机器人在当前清扫方向(X轴正方向)上检测到物理边界A1p14，表明该边界的外侧已经没有可清扫区域，机器人清扫至p14点时，结束并完成对区域14#的清扫。此时，机器人判断垂直X轴正方向也已经没有未清扫区域，所以，搜索离p14点的导航距离最近的p15点，并导航至p15点开始对区域15#进行规划清扫，清扫方向可以是沿X轴负方向，也可以是沿Y轴负方向。由于区域15#的面积刚好为一个规划清扫区域的大小，所以清扫结束后，就完成了全部区域的清扫。假设区域15#的面积大于一个规划清扫区域的大小，则按照上述的就近原则进行相邻区域的清扫。如果15#区域以外还有不相邻的未清扫区域，则继续通过地图搜索和导航的方式，清扫其它区域，直到全部区域都清扫完毕为止。
作为其中一种实施方式，所述步骤S4具体包括如下步骤：在步骤S41中，机器人确定当前位置点为基点，然后向前行走，开始对其正前方的一侧的区域进行区域规划清扫，这一侧可以是机器人的左侧，也可以是机器人的右侧，具体可以根据需求对机器人进行设置。清扫方向为朝向所述机器人正前方的所述一侧的方向，即机器人开始清扫的是左侧，则清扫方向是从右向左，机器人开始清扫的是右侧，则清扫方向是从左向右。该区域清扫结束后，进入步骤S42；在步骤S42中，机器人以当前清扫结束点为基点，然后判断当前清扫方向上是否有未清扫区域，如果是，则进入步骤S43，如果否，则进入步骤S45；在步骤S43中，机器人选择与当前清扫方向相同的方向上，以所述基点所对应的当前已清扫区域的一条区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向保持为当前清扫方向，然后进入步骤S44；在步骤S44中，机器人判断沿当前清扫方向是否清扫至所述未清扫区域的物理边界或者虚拟边界，如果是，则进入步骤S45；如果否，则机器人继续清扫，直到机器人完成当前区域的区域规划清扫，然后返回步骤S42；在步骤S45中，机器人确定当前清扫结束点为基点，然后判断与当前清扫方向相垂直的方向上是否有未清扫区域，如果是，则进入步骤S46，如果否，则进入步骤S5；在步骤S46中，机器人选择与当前清扫方向相垂直，且朝向当前已清扫区域的第一侧的方向上，以当前已清扫区域的第一侧的区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向改变为朝向当前已清扫区域的第一侧的方向，区域规划清扫结束后返回步骤S42；如果朝向当前已清扫区域的第一侧的方向上没有未清扫区域，则机器人选择与当前清扫方向相垂直，且朝向当前已清扫区域的第二侧的方向上，以当前已清扫区域的第二侧的区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向改变为朝向当前已清扫区域的第二侧的方向，清扫结束后返回步骤S42。其中，所述当前已清扫区域的第一侧为所述基点所在的当前已清扫区域的一侧，所述当前已清扫区域的第二侧为当前已清扫区域中与其第一侧相对的另一侧。
本实施例与上一实施例的区别在于，增加了第一个步骤(步骤S41)，也就是在机器人不处于充电位置时，如何开始规划清扫。如图3所示，机器人从O点开始，直接向前行走，开始对其右侧的区域进行区域规划清扫，清扫方向为X轴正方向，完成区域1#的规划清扫。清扫完成后，继续沿当前清扫方向，依次完成区域2#和3#的清扫。相关清扫方式与上一实施例相似，在此不再赘述。
作为其中一种实施方式，机器人进行所述区域规划清扫时，具体包括如下步骤：在步骤S61中，机器人从所述基点开始，以弓字型轨迹形式进行规划清扫，进入步骤S62；在步骤S62中，机器人在清扫过程中实时判断是否有漏扫区域，所述漏扫区域是指机器人在规划清扫过程中，沿清扫方向清扫过的区域中，包含有由区域边界、障碍物边界线和/或未清扫边界线所围成的一块闭环的未清扫区块，且该区块具有长度大于1.5个机器人的机身宽度的未清扫边界线。如果是，则进入步骤S63进行补扫，如果否，则继续进行规划清扫，直到所述区域规划清扫结束。在步骤S63中，机器人确定当前位置点为补扫起始点，从所述补扫起始点开始对所述漏扫区域进行补扫，补扫结束后，机器人回到所述补扫起始点，继续对剩余的未清扫区域进行规划清扫，并返回步骤S62。其中，所述区域规划清扫结束是指机器人沿清扫方向清扫至区域边界、虚拟边界或者物理边界时，完成所述区域的全部清扫。该实施例中，机器人通过实时判断是否有漏 扫区域，并及时对发现的漏扫区域进行补扫，使得机器人的清扫更有序，清扫效率更高，避免现有的机器人先进行区域整体弓字型清扫，再进行漏扫区域的补扫，这种清扫方式所带来的清扫轨迹杂乱，清扫效率比较低的问题。
具体的，如图6所述，图中的最外侧的长方形边框是一个虚拟的区域边界，所围成的区域就是一个栅格区域，机器人进行规划清扫时，就是按这样一个一个栅格区域清扫的方式进行的。栅格区域中的带箭头的弓字型线路就是机器人进行区域规划清扫时所行走的轨迹。标示W1和W2的小方框则表示障碍物。机器人从T1点位置开始，沿箭头指引的方向进行弓字型规划清扫。当机器人行走至b点位置时，判断其右侧有一个漏扫区域，于是，机器人以b点为补扫起始点，沿b1b2b3的弓字型轨迹线进行漏扫区域的补扫，并在行走至b3点时，完成该漏扫区域的补扫。然后机器人回到b点，继续按区域规划清扫的弓字型轨迹线行走，清扫剩余的未清扫区块。当机器人清扫至b4点位置时，判断其左侧又有一个漏扫区域，于是以b4点作为补扫起始点，沿b5b6b7的弓字型轨迹线进行该漏扫区域的补扫，并在行走至b7点时，完成该漏扫区域的补扫。接着，机器人回到b4点，继续按区域规划清扫的弓字型轨迹线行走，清扫剩余的未清扫区块，行走至T2点位置时，完成整个栅格区域的规划清扫。如此，机器人从T1点行走至T2点，就完成了整个栅格区域的清扫，清扫路径十分有序，清扫效率也很高。如果按照现有的机器人清扫方式，是从T1点位置一直按弓字型轨迹行走至T2点位置，然后再从T2点位置回到障碍物W1和W2所对应的两个漏扫区域进行补扫，如此，机器人的行走轨迹就会有较多的交叉，清扫路径就显得比较杂乱，不仅降低了清扫效率，还会让用户看到机器人清扫的无序性，认为机器人是在乱扫，从而影响用户的使用体验。
机器人进行补扫时，除了上述的补扫路径外，还可以进行其它方式的补扫。比如，机器人从b点开始，直线行走至b3点，然后从b3点开始，按b3-b2-b1-b的弓字型轨迹，进行补扫。当然，也可以把从上向下作为清扫方向，或者从下往上作为清扫方向，进行补扫。具体的补扫方式，可以根据具体的使用环境和产品需求进行设计。
作为其中一种实施方式，步骤S61所述的机器人从所述基点开始，以弓字型轨迹形式进行规划清扫的步骤，具体包括如下步骤：在步骤S611中，机器人从所述基点开始，沿所述区域的区域边界行走，并进入步骤S612。在步骤S612中，机器人判断是否检测到障碍物，如果是，则进入步骤S613，否则继续沿所述区域的区域边界行走，直到机器人回到所述基点，此时，机器人在所述区域边界范围内行走圈定了一个内区域，然后机器人以弓字型轨迹形式对所圈定的所述内区域进行规划清扫。在步骤S613中，机器人沿着所述障碍物中位于所述区域范围内的一侧进行沿边行走，并判断是否到达所述区域边界，如果否，则继续沿边行走，如果是，则沿所述区域边界行走，并返回步骤S612。本实施例通过先圈定栅格区域的可清扫范围，再对圈定的范围进行规划清扫，机器人可以在清扫过程中预先知道大概的地形，提前做好规划。比如，机器人准备到达物理边界时，靠地图就能知道，而不用碰撞或者其他传感器判断边界，此外，有些比较窄的入口，在圈定时已经提前知道，后续进行规划清扫时就不容易遗漏。
具体的，如图7所示，图中的W3、W4和W5表示障碍物。机器人从D1点开始沿区域边界行走，首先往上朝D2点行走，然后在D2点转向，朝D3点方向行走。在D3点检测到障碍物W3，则沿障碍物W3的位于该区域范围内的一侧进行沿边行走，即沿着D3-D4-D5-D6轨迹行走。当机器人沿边行走至D6点时，到达了区域边界D2D7，则沿D6D7方向继续行走。在D7点到达区域边界D7D8，则转向朝D8方向行走。机器人在D8点检测到障碍物W4，并沿着障碍物W4的边缘行走。在D9点到达区域边界D1D9，然后沿着D9D10方向，行走至D10点。此时，机器人检测到障碍物W5，并沿着障碍物W5的位于该区域范围内的一侧进行沿边行走，即沿着D10-D11-D12-D13轨迹行走，到达D13点后继续沿D13D1方向，行走至D1点。最终，机器人在该区域边界范围内行走圈定了一个由D1-D2-D3-D4-D5-D6-D7-D8-D9-D10-D11-D12-D13-D1围成的内区域。然后机器人以弓字型轨迹形式对所圈定的所述内区域进行规划清扫。机器人通过先进行范围圈定，有利于后续的规划清扫，不仅可以使机器人在规划清扫时预知障碍物的位置而减少碰撞，还可以提前获取一些入口较窄的位置信息，避免出现漏扫的情况。
作为其中一种实施方式，步骤S62中所述的机器人在清扫过程中实时判断是否有漏扫区域的步骤，具体包括如下步骤：在步骤S621中，机器人判断其沿清扫方向所走过的范围中，是否具有闭环的未清扫区块，如果是，则进入步骤S622，如果否，则继续清扫；在步骤S622中，机器人判断所述未清扫区块中是否具有长度大于预设距离的未清扫边界线，所述预设距离可以根据具体的产品设计需求进行设置，一般可 以设置为1.5至2倍机器人机身宽度。如果具有，则表明机器人可以从该未清扫的边界线进入该区块进行清扫，所以，可以确定有漏扫区域，如果否，则表明该区块无法清扫，所以，确定没有漏扫区域。其中，所述闭环的未清扫区块是指由区域边界、障碍物边界线和/或未清扫边界线所围成的一块未清扫区域。通过本实施例所述方法，可以实时准确地判断是否有漏扫区域，有效避免机器人漏扫的情况，提高机器人的清扫质量。
如图8所示，该图与图6近似，主要区别在于：图8通过虚线框对漏扫区域进行标示。首先，机器人从T1点开始行走，并对该区域进行弓字型规划清扫。当机器人行走至b1点时，判断机器人右侧有一个闭环的未清扫区块n1n2n3n4，该区块由区域边界n1n4、障碍物边界线n2n3、未清扫边界线n1n2和n3n4共同围成。并且，未清扫边界线n1n2和n3n4都比较长，大于2倍的机器人机身宽度，所以，机器人可以从这两个边界入口进入该区块进行清扫。最优的，机器人直接从b1点行走至n4点，然后从n4点开始，以从右向左的方向为清扫方向，对该区块进行规划清扫。清扫完成后又回到b1点，继续原来的区域规划清扫。当机器人清扫至b2点时，判断其左侧有一个闭环的未清扫区块n5n6n7n8，该区块由区域边界n6n7、障碍物边界线n5n8、未清扫边界线n5n6和n7n8共同围成。并且，未清扫边界线n5n6和n7n8都比较长，大于1.5倍的机器人机身宽度，所以，机器人可以从这两个边界入口进入该区块进行清扫。最优的，机器人直接从b2点行走至n7点，然后从n7点开始，以从右向左的方向为清扫方向，对该区块进行规划清扫。清扫完成后机器人又回到b2点，继续原来的区域规划清扫，直到行走至T2点，完成整个区域的规划清扫。
作为其中一种实施方式，步骤S63中所述的机器人确定当前位置点为补扫起始点，从所述补扫起始点开始对所述漏扫区域进行补扫的步骤，具体包括如下步骤：在步骤S631中，机器人确定当前位置点为补扫起始点，并搜索行走过程中所构建的地图，然后进入步骤S632；在步骤S632中，机器人选择所述漏扫区域中与所述补扫起始点的导航距离最近的补扫入口，并选择所述最近的补扫入口的两个端点位置中距离所述补扫起始点最近的一个端点位置作为第一补扫点，选择所述最近的补扫入口中的另一个端点位置作为第二补扫点，然后进入步骤S633。在步骤S633中，机器人导航至所述第一补扫点，开始朝所述第二补扫点行走清扫，并以朝向所述漏扫区域内部，且平行于所述区域规划清扫的清扫方向的方向为当前清扫方向，对所述漏扫区域进行弓字型规划清扫，直到机器人完成对所述漏扫区域的清扫，则补扫结束。通过本实施例的补扫方式，机器人可以就近进行补扫，补扫效率和补扫质量更高，避免其它补扫方式所带来的清扫路径比较杂乱，清扫效率较低的问题。
具体的，如图9所示，图中的最外侧的长方形边框是一个虚拟的区域边界，所围成的区域就是一个栅格区域。栅格区域中的带箭头的弓字型线路就是机器人进行区域规划清扫时所行走的轨迹。标示W1和W2的小方框则表示障碍物。机器人从T1点位置开始，沿箭头指引的方向进行弓字型规划清扫。当机器人行走至b点位置时，判断其右侧有一个漏扫区域(图中下方的虚线框标示的区域)，通过搜索地图可知，该区域有两个补扫入口，一个是虚线框左边的虚线所对应的入口，一个是虚线框右边的虚线所对应的入口，该右边的入口距离机器人当前位置最近。机器人在右边入口中的b1和b2两个端点位置中，选择距离当前位置最近的b1点作为第一补扫点，然后行走至b1点，并朝向b2点，开始对该漏扫区域进行弓字型规划清扫，清扫方向为从右向左。机器人沿着b1-b2-b3的轨迹完成清扫后，直接返回b点，继续进行剩余的区域规划清扫。同样的，当机器人行走至b4点位置时，判断其左侧有一个漏扫区域(图中上方的虚线框标示的区域)，通过搜索地图可知，该区域有两个补扫入口，一个是虚线框左边的虚线所对应的入口，一个是虚线框右边的虚线所对应的入口，该右边的入口距离机器人当前位置最近。机器人在右边入口中的b5和b6两个端点位置中，选择距离当前位置最近的b5点作为第一补扫点，然后行走至b5点，并朝向b6点，开始对该漏扫区域进行弓字型规划清扫，清扫方向为从右向左。机器人沿着b5-b6-b7的轨迹完成清扫后，直接返回b4点，继续进行剩余的区域规划清扫。从图中可以明显看出，机器人按此方式进行补扫，没有出现交叉错乱的轨迹线，补扫质量和效果很好，并且让用户觉得清扫很有条理性，用户体验很高。
一种芯片，用于存储程序指令，所述程序指令用于控制机器人执行如上各实施例所述的清扫控制方法。所述芯片通过配置所述程序指令，可以在机器人处于充电座的位置时，先控制机器人对充电座周围的预设范围进行清扫，形成一个清扫禁区，以便机器人在后续的清扫过程中不会进入该禁区，避免机器人误撞到充电座而改变充电座位置的情况。此外，通过控制机器人根据就近原则进行区域规划清扫，可以提高机器人清扫的高效性和有序性。
一种清洁机器人，可以是扫地机器人或者拖地机器人，该机器人中装配有主控芯片，所述主控芯片为如上各实施例所述的芯片。机器人通过装配所述芯片，可以在机器人处于充电座的位置时，先控制机器人对充电座周围的预设范围进行清扫，形成一个清扫禁区，以便机器人在后续的清扫过程中不会进入该禁区，避免机器人误撞到充电座而改变充电座位置的情况。此外，通过控制机器人根据就近原则进行区域规划清扫，可以提高机器人清扫的高效性和有序性。
需要说明的是，上述各实施例中，机器人清扫的最大范围是由***中预设的虚拟边界进行限定的，当机器人清扫至最***的虚拟边界时，就不会继续向外扩张清扫。比如图2中，最***的四条长边就是虚拟边界，四条虚拟边界所围成的区域被划分为15个栅格区域。栅格区域由虚拟的区域边界限定，只要该虚拟的区域边界不在最***的虚拟边界上，机器人在进行逐个栅格区域的清扫时，就可以跨过虚拟的区域边界。图2中所示的虚拟的区域边界p8p9在虚拟边界上，机器人清扫至区域8#的p8p9线后，就会认为p8p9线左侧外的区域已经没有可清扫的区域了。如果，在虚拟边界所限定的范围内，有物理边界，则机器人所清扫的范围就会限定在由虚拟边界和物理边界连续围成的区域内，或者完全由物理边界围成的区域内(如果物理边界围成的范围完全在虚拟边界围成的范围内)。如图5所示，机器人清扫的范围为A3-A5-p8-p4-A2-A1-p10-A3所限定的区域，其中，A3-A5为物理边界，A5-p8-p4-A2为虚拟边界，A2-A1为物理边界，A1-A3为虚拟边界。机器人行走至虚拟边界和物理边界时，会认为边界对应的外侧已经没有可清扫的区域。所述物理边界是指机器人检测到障碍物时，基于检测到的障碍物的位置，对应地图所标示的边界线，该边界线可以表明边界线对应的区域外侧已经没有可清扫区域。未清扫边界线是指已清扫区域和未清扫区域之间的交界线。
上述实施例中所提到的“上”、“下”、“左”和“右”等方向字词，如果没有具体说明，则是指代附图中的上下左右等方向。如果有具体说明，则按具体说明定义，比如机器人的左侧，则是指代机器人前进方向的左侧，不是指代附图的左侧。
上述实施例所提到的充电座的正前方是指充电座中与机器人对接的一侧所朝向的方向，该侧面上设有用于引导机器人回座的红外传感器。所述充电座的正前方的一侧，可以是充电座的左侧，也可以是充电座的右侧，具体可以根据产品设计需求进行设置，如果所述充电座的正前方的一侧设置为左侧时，另一侧则为充电座的右侧，如果所述充电座的正前方的一侧设置为右侧时，另一侧则为充电座的左侧。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。这些程序可以存储于计算机可读取存储介质(比如ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质)中。该程序在执行时，执行包括上述各方法实施例的步骤。最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (10)

  1. 一种机器人的清扫控制方法，其特征在于，包括如下步骤：
    步骤S1：机器人接收到启动清扫的控制指令，并判断当前是否处于充电座的位置，如果是，则进入步骤S2，如果否，则进入步骤S4；
    步骤S2：机器人下座，并对以所述充电座为基点的预设范围进行规划清扫，清扫结束后进入步骤S3；
    步骤S3：机器人以当前清扫结束点为基点，根据就近原则对所述预设范围以外的区域进行清扫，如果就近原则不适用，则进入步骤S5；
    步骤S4：机器人以当前位置点为基点，开始进行区域规划清扫，并根据就近原则进行其它区域的区域规划清扫，如果就近原则不适用，则进入步骤S5；
    步骤S5：选择与当前清扫结束点的导航距离最近的未清扫区域中的一个位置点为基点，再根据就近原则对该未清扫区域进行区域规划清扫，在清扫过程中，如果就近原则不适用，则选择下一个与当前的清扫结束点的导航距离最近的未清扫区域中的一个位置点为基点，继续根据就近原则对该未清扫区域进行区域规划清扫，以此类推，直到所有区域清扫完毕；
    其中，所述就近原则是指机器人优先选择与当前清扫方向相同的方向上，以所述基点所对应的已清扫区域的一条区域边界为邻边的未清扫区域进行区域规划清扫；其次选择与当前清扫方向相垂直的方向上，以所述基点所对应的已清扫区域的一条区域边界为邻边的未清扫区域进行区域规划清扫；最后选择与当前清扫方向相垂直的方向上，以所述基点所对应的已清扫区域的一条区域边界相对的另一条区域边界为邻边的未清扫区域进行区域规划清扫；
    其中，所述区域规划清扫是指机器人对预设长度和预设宽度的区域按照预定轨迹形式进行清扫的方式；
    其中，所述清扫方向是指机器人进行区域规划清扫时，清扫范围从区域的一端向另一端延伸时的方向。
  2. 根据权利要求1所述的方法，其特征在于，步骤S2中所述的对以所述充电座为基点的预设范围进行规划清扫的步骤，具体包括如下步骤：
    机器人朝所述充电座的正前方向前行走，开始对所述充电座的正前方的一侧的第一区域进行弓字型规划清扫，清扫结束后，再沿所述第一区域的区域边界回到所述充电座的正前方，然后对所述充电座的正前方的另一侧的第二区域进行弓字型规划清扫；
    其中，所述第一区域和所述第二区域的长度相同，所述第一区域和所述第二区域的宽度相同，并且，所述第一区域和所述第二区域的长度之和等于所述预设范围的长度，所述第一区域的宽度或者所述第二区域的宽度等于所述预设范围的宽度。
  3. 根据权利要求2所述的方法，其特征在于，所述步骤S3具体包括如下步骤：
    步骤S31：机器人确定当前清扫结束点为基点，然后判断当前清扫方向上是否有未清扫区域，如果是，则进入步骤S32，如果否，则进入步骤S34；
    步骤S32：机器人选择与当前清扫方向相同的方向上，以所述基点所对应的当前已清扫区域的一条区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向保持为当前清扫方向，然后进入步骤S33；
    步骤S33：机器人判断沿当前清扫方向是否清扫至所述未清扫区域的物理边界或者虚拟边界，如果是，则进入步骤S34；如果否，则机器人继续清扫，直到机器人完成当前区域的区域规划清扫，然后返回步骤S31；
    步骤S34：机器人确定当前清扫结束点为基点，然后判断与当前清扫方向相垂直的方向上是否有未清扫区域，如果是，则进入步骤S35，如果否，则进入步骤S5；
    步骤S35：机器人选择与当前清扫方向相垂直，且朝向当前已清扫区域的第一侧的方向上，以当前已清扫区域的第一侧的区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向改变为朝向当前已清扫区域的第一侧的方向，清扫结束后返回步骤S31；如果朝向当前已清扫区域的第一侧的方向上没有未清扫区域，则机器人选择与当前清扫方向相垂直，且朝向当前已清扫区域的第二侧的方向上，以当前已清扫区域的第二侧的区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向改变为朝向当前已清扫区域的第二侧的方向，清扫结束后返回步骤S31；其中，所述当前已清扫区域的第一侧为所述基点所在的当前已清扫区域的一侧，所述当前已清扫区域的第二侧为当前已清扫区域中与其第一侧相对的另一侧。
  4. 根据权利要求1所述的方法，其特征在于，所述步骤S4具体包括如下步骤：
    步骤S41：机器人确定当前位置点为基点，然后向前行走，开始对其正前方的一侧的区域进行区域规划清扫，清扫方向为朝向所述机器人正前方的所述一侧的方向，清扫结束后，进入步骤S42；
    步骤S42：机器人以当前清扫结束点为基点，然后判断当前清扫方向上是否有未清扫区域，如果是，则进入步骤S43，如果否，则进入步骤S45；
    步骤S43：机器人选择与当前清扫方向相同的方向上，以所述基点所对应的当前已清扫区域的一条区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向保持为当前清扫方向，然后进入步骤S44；
    步骤S44：机器人判断沿当前清扫方向是否清扫至所述未清扫区域的物理边界或者虚拟边界，如果是，则进入步骤S45；如果否，则机器人继续清扫，直到机器人完成当前区域的区域规划清扫，然后返回步骤S42；
    步骤S45：机器人确定当前清扫结束点为基点，然后判断与当前清扫方向相垂直的方向上是否有未清扫区域，如果是，则进入步骤S46，如果否，则进入步骤S5；
    步骤S46：机器人选择与当前清扫方向相垂直，且朝向当前已清扫区域的第一侧的方向上，以当前已清扫区域的第一侧的区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向改变为朝向当前已清扫区域的第一侧的方向，区域规划清扫结束后返回步骤S42；如果朝向当前已清扫区域的第一侧的方向上没有未清扫区域，则机器人选择与当前清扫方向相垂直，且朝向当前已清扫区域的第二侧的方向上，以当前已清扫区域的第二侧的区域边界为邻边的未清扫区域进行区域规划清扫，清扫方向改变为朝向当前已清扫区域的第二侧的方向，清扫结束后返回步骤S42；其中，所述当前已清扫区域的第一侧为所述基点所在的当前已清扫区域的一侧，所述当前已清扫区域的第二侧为当前已清扫区域中与其第一侧相对的另一侧。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，机器人进行所述区域规划清扫时，具体包括如下步骤：
    步骤S61：机器人从所述基点开始，以弓字型轨迹形式进行规划清扫，进入步骤S62；
    步骤S62：机器人在清扫过程中实时判断是否有漏扫区域，如果是，则进入步骤S63，如果否，则继续进行规划清扫，直到所述区域规划清扫结束；
    步骤S63：机器人确定当前位置点为补扫起始点，从所述补扫起始点开始对所述漏扫区域进行补扫，补扫结束后，机器人回到所述补扫起始点，继续对剩余的未清扫区域进行规划清扫，并返回步骤S62；
    其中，所述区域规划清扫结束是指机器人沿清扫方向清扫至区域边界、虚拟边界或者物理边界时，完成所述区域的全部清扫。
  6. 根据权利要求5所述的方法，其特征在于，步骤S61所述的机器人从所述基点开始，以弓字型轨迹形式进行规划清扫的步骤，具体包括如下步骤：
    步骤S611：机器人从所述基点开始，沿所述区域的区域边界行走，并进入步骤S612；
    步骤S612：机器人判断是否检测到障碍物，如果是，则进入步骤S613，否则继续沿所述区域的区域边界行走，直到机器人回到所述基点，此时，机器人在所述区域边界范围内行走圈定了一个内区域，然后机器人以弓字型轨迹形式对所圈定的所述内区域进行规划清扫；
    步骤S613：机器人沿着所述障碍物中位于所述区域范围内的一侧进行沿边行走，并判断是否到达所述区域边界，如果否，则继续沿边行走，如果是，则沿所述区域边界行走，并返回步骤S612。
  7. 根据权利要求5所述的方法，其特征在于，步骤S62中所述的机器人在清扫过程中实时判断是否有漏扫区域的步骤，具体包括如下步骤：
    步骤S621：机器人判断其沿清扫方向所走过的范围中，是否具有闭环的未清扫区块，如果是，则进入步骤S622，如果否，则继续清扫；
    步骤S622：机器人判断所述未清扫区块中是否具有长度大于预设距离的未清扫边界线，如果是，则确定有漏扫区域，如果否，则确定没有漏扫区域；
    其中，所述闭环的未清扫区块是指由区域边界、障碍物边界线和/或未清扫边界线所围成的一块未清扫区域。
  8. 根据权利要求5所述的方法，其特征在于，步骤S63中所述的机器人确定当前位置点为补扫起始点，从所述补扫起始点开始对所述漏扫区域进行补扫的步骤，具体包括如下步骤：
    步骤S631：机器人确定当前位置点为补扫起始点，并搜索行走过程中所构建的地图，然后进入步骤 S632；
    步骤S632：机器人选择所述漏扫区域中与所述补扫起始点的导航距离最近的补扫入口，并选择所述最近的补扫入口的两个端点位置中距离所述补扫起始点最近的一个端点位置作为第一补扫点，选择所述最近的补扫入口中的另一个端点位置作为第二补扫点，然后进入步骤S633；
    步骤S633：机器人导航至所述第一补扫点，开始朝所述第二补扫点行走清扫，并以朝向所述漏扫区域内部，且平行于所述区域规划清扫的清扫方向的方向为当前清扫方向，对所述漏扫区域进行弓字型规划清扫，直到机器人完成对所述漏扫区域的清扫，则补扫结束。
  9. 一种芯片，用于存储程序指令，其特征在于，所述程序指令用于控制机器人执行权利要求1至8中任意一项所述的清扫控制方法。
  10. 一种清洁机器人，包括主控芯片，其特征在于，所述主控芯片为权利要求9所述的芯片。
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