CLEANING PATH GUIDANCE METHOD COMBINED WITH DIRT DETECTION MECHANISM
First Claim
1. A cleaning path guidance method combined with a dirt detection mechanism, performed in an automatic cleaning device to generate a cleaning path for the automatic cleaning device to clean an area to be cleaned according to the clean path, wherein a plurality of grids is defined in the area to be cleaned, and the method comprises:
- moving the automatic cleaning device in the area to be cleaned, and clearing dirt away with the automatic cleaning device;
in the process of moving the automatic cleaning device, continuously performing a simultaneous localization and mapping (SLAM) algorithm to determine a current position of the automatic cleaning device;
in the process of moving the automatic cleaning device, detecting a flow of the dirt cleared away to obtain a dirt level of a current gird;
when the dirt level of the current gird exceeds a threshold, marking the grid as a dirty grid;
finding a shortest path passing through all dirty grids as a cleaning path according to the marked dirty grids; and
moving the automatic cleaning device to pass through each dirty grid according to the clean path, so as to clean each dirty gird sequentially.
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Accused Products
Abstract
A cleaning path guidance method combined with a dirt detection mechanism is performed in an automatic cleaning device to generate a cleaning path, so as to guide the automatic cleaning device to clean an area to be cleaned, in which plural grids are defined in the area. The method includes: moving the automatic cleaning device in the area to clear dirt away, and continuously detecting a flow of the dirt cleared away to obtain a dirt level of a current gird; if the dirt level of the current gird exceeds a threshold, marking the grid as a dirty grid; performing an algorithm and finding a shortest path passing through all dirty grids as a cleaning path according to the marked dirty grids; and moving the automatic cleaning device to pass through each dirty grid according to the clean path, so as to clean each dirty gird sequentially.
17 Citations
15 Claims
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1. A cleaning path guidance method combined with a dirt detection mechanism, performed in an automatic cleaning device to generate a cleaning path for the automatic cleaning device to clean an area to be cleaned according to the clean path, wherein a plurality of grids is defined in the area to be cleaned, and the method comprises:
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moving the automatic cleaning device in the area to be cleaned, and clearing dirt away with the automatic cleaning device; in the process of moving the automatic cleaning device, continuously performing a simultaneous localization and mapping (SLAM) algorithm to determine a current position of the automatic cleaning device; in the process of moving the automatic cleaning device, detecting a flow of the dirt cleared away to obtain a dirt level of a current gird; when the dirt level of the current gird exceeds a threshold, marking the grid as a dirty grid; finding a shortest path passing through all dirty grids as a cleaning path according to the marked dirty grids; and moving the automatic cleaning device to pass through each dirty grid according to the clean path, so as to clean each dirty gird sequentially. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification