Traversal method and system, robot and readable storage medium

• Main Authors: YUAN LICHAO, CUI JIANGWEI, ZHU SHAOMING
• Format: Patent
• Language: Chinese; English
• Published: 25.06.2021
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention provides a traversal method and system, a robot and a readable storage medium. The method comprises the steps that a grid map is obtained, and a rectangular coordinate system covering the grid map is built; if traversal is carried out for the first time, the robot is driven to arrive at the starting point, and the robot is driven to traverse the working area where the starting point is located according to a randomly selected preset rule and synchronously work; when it is confirmed that a current preset rule applied to first-time traversal cannot be executed continuously, the area of each independent working area in the remaining working areas is obtained, and if the area of any independent working area is not smaller than a preset area threshold value, any coordinate point is selected from the working areas with the area not smaller than the preset area threshold value as a working starting point, and the robot is driven to reach the working starting point, a preset rule from the working starti