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生成和跟踪家庭清洁机器人清洁轨迹的方法和装置
Method and apparatus for generating and tracing cleaning trajectory of home cleaning robot
US-7860608-B2用于规划家庭清洁机器人的清洁路径。
专利摘要
一种生成和跟踪家庭清洁机器人清洁轨迹的方法和装置，该方法包括：控制家庭清洁机器人从对接站直线行进设定距离，然后旋转行进，保持与对接站的设定距离，直到家庭清洁机器人到达两个墙壁之一；如果家庭清洁机器人到达墙壁，则控制其沿墙壁行进设定距离，并恢复围绕对接站的旋转行进，保持对接站与家庭清洁机器人之间的距离增加设定距离，直到其到达两个墙壁之一；以及重复控制家庭清洁机器人，如果其到达墙壁，则沿墙壁行进设定距离，并恢复围绕对接站的旋转行进，保持对接站与家庭清洁机器人之间的距离增加设定距离，直到其到达两个墙壁之一，直到家庭清洁机器人到达其无法在对接站与家庭清洁机器人之间的距离增加的方向上行进的点。
Original abstractA method and apparatus generating and tracing a cleaning trajectory of a home cleaning robot the method including: controlling the home cleaning robot to straightly travel as much as a set distance from the docking station and then rotationally travel, maintaining the set distance from the docking station, until the home cleaning robot reaches one of two walls; controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until it reaches one of the two walls; and repeatedly controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until it reaches one of the two walls until the home cleaning robot arrives at a point where it cannot travel in a direction in which a distance between the docking station and the home cleaning robot increases.
专利附图（8）
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