CLEANING SUBAREA PLANNING METHOD FOR ROBOT WALKING ALONG EDGE, CHIP AND ROBOT

摘要

A cleaning subarea planning method for a robot walking along an edge, a chip and a robot. According to the cleaning subarea planning method, a complete global map does not need to be prestored, instead, an initial room cleaning subarea of the robot needs to be divided in a predefined cleaning area in real time on the basis of map image pixel information obtained by means of laser scanning when the robot walks along an edge; and in the same predefined cleaning area, the initial room cleaning subarea of the robot is expanded by means of repeated iterative processing of the wall body boundary of an uncleaned area, thereby ensuring that the contour boundary of a preset room cleaning subarea finally formed in the same predefined cleaning area is similar to the wall body boundary of an indoor household room, improving the efficiency of navigation of the robot along the boundary of the preset room cleaning subarea, and effectively preventing the robot from being repeatedly cleaned in the preset room cleaning subarea.