Cleaning Logic
1. Edge-following
The robot performs edge-following to build a map of the entire pool while simultaneously planning the bottom cleaning path.
2. Cleaning path:
A. If the first round planning succeeds:
perform one S-pattern bottom cleaning (edge-following + S-pattern) + if the second round planning also succeeds: perform another S-pattern bottom cleaning (edge-following + S-pattern) + one round of wall cleaning.
B. If the first round planning succeeds but the second round fails:
perform one S-pattern bottom cleaning (edge-following + S-pattern) + 20 minutes of DeepSense Mode cleaning (large S-pattern with continuous direction changes) + random cleaning including wall cleaning, until 3 hours have passed, then return.
C. If the first round planning fails:
20 minutes of DeepSense Mode cleaning + random cleaning including wall cleaning, until 3 hours have passed, then return.
3. Transition from bottom to water surface for retrieval:
the robot randomly selects a direction to climb the wall, surfaces, and the pump starts a 20-minute docking wait for the user to retrieve the device.
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