扫地机器人的一种路径规划算法，内螺旋法，首先构建了房间地图，然后遍历了房间。-A path planning algorithm sweeping robot, spiral method, first built room map, then traverse the room.

内螺旋法 矩阵编号 表示为连接顺序，从中间往外顺时针旋转，时间复杂度基本上就是O(N^2)了(The matrix number of the inner helix is expressed as the connection order, clockwise rotation from the center to the outside, and the time complexity is basically O (N^2))