Cleaning control method of cleaning robot and cleaning robot

Abstract

The present invention discloses a cleaning control method of a cleaning robot and a cleaning robot, wherein the cleaning control method comprises: obtaining a regional map of an area to be cleaned; determining corner areas and open areas based on the regional map; and cleaning the area to be cleaned in the order of cleaning the corner areas first and then cleaning the open areas. Before the cleaning robot cleans the area to be cleaned, it selects to divide the area to be cleaned, identifies the open areas and the corner areas, and when cleaning, cleans the corner areas first, and after cleaning the corner areas, cleans the open areas, which can reduce the omission of sanitary dead corners such as corners, under stools, and where debris is piled up. The problem that traditional cleaning methods are prone to omissions or incomplete cleaning is solved, and the cleaning effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of household appliances, and in particular to a cleaning control method of a cleaning robot and the cleaning robot. Background Art

[0002] With the improvement of living standards, cleaning robots are gradually entering households.

[0003] Taking the home environment as an example, the cleaning robot uses laser ranging or visual sensors to construct a home environment map through SLAM (simultaneous positioning and navigation) technology, and divides it into multiple rectangular cleaning areas of the same size, and cleans simultaneously during the construction process. The traditional cleaning strategy is that after entering a cleaning area, the cleaning robot first moves along the wall or along the edge, and after completing a circle, it performs a bow-shaped cleaning from near to far. In practice, corners, under stools, and areas where debris is piled up are often sanitary dead corners. According to the usual cleaning strategy of the cleaning robot, it is often only cleaned in a bow-shaped cleaning order. The corner areas can only be cleaned once or even missed, and are usually difficult to clean completely. Sanitary dead corners may be formed, resulting in unsatisfactory cleaning effects. Summary of the invention

[0004] In order to solve the technical problems described in the above background technology, the present invention provides a cleaning control method of a cleaning robot and a cleaning robot, so as to reduce the omission of corner areas and improve the cleaning effect.

[0005] According to the first aspect, an embodiment of the present application provides a cleaning control method for a cleaning robot, the control method comprising: obtaining an area map of the area to be cleaned; determining corner areas and open areas based on the area map; and cleaning the area to be cleaned in the order of cleaning the corner areas first and then cleaning the open areas.

[0006] Optionally, cleaning the area to be cleaned in the order of first cleaning the corner areas and then cleaning the open areas includes: cleaning the corner areas with a first cleaning method; cleaning the open areas with a second cleaning method, wherein the cleaning intensity of the first cleaning method is greater than the cleaning intensity of the second cleaning method.

[0007] Optionally, the corner area includes multiple edge corner areas and at least one isolated corner area; cleaning the corner areas with a first cleaning method includes: cleaning the edge corner areas in sequence with the first cleaning method according to a first preset order; when all the edge corner areas are cleaned, cleaning the isolated corner areas in sequence with the first cleaning method according to a second preset order.

[0008] Optionally, determining the corner area based on the area map includes: controlling the robot to move along the edge of the area to be cleaned according to the area map; and identifying the edge corner area during the movement along the edge based on a triangulation method.

[0009] Optionally, the triangulation method-based method for identifying edge and corner areas during edge movement includes: performing line segment fitting on obstacles on the edge movement path of the cleaning robot and the edges of the area to be cleaned to obtain fitting line segments; calculating the angle of the fitting line segments in the direction of the cleaning robot; when the angle is less than a preset angle, taking the area enclosed by the fitting line segments corresponding to the angle as the edge and corner area.

[0010] Optionally, determining the corner area based on the area map includes: identifying isolated obstacles in the area to be cleaned based on the area map; and dividing the isolated obstacles into areas to obtain isolated corner areas.

[0011] Optionally, dividing the isolated obstacle into regions to obtain isolated corner regions includes: acquiring a coordinate mean of the isolated obstacle; clustering the isolated obstacles based on the coordinate mean, and dividing the clustered isolated obstacles into regions to obtain the isolated corner regions.

[0012] Optionally, the isolated corner area includes at least one of a circular area, a triangular area, a polygonal area, and a rectangular area with one side parallel to the edge of the area to be cleaned.

[0013] Optionally, determining the open area based on the area map includes: taking an area in the area map excluding the corner area as the open area.

[0014] According to the second aspect, an embodiment of the present application provides a cleaning robot, which includes a processor, a memory, and execution instructions stored in the memory, and the execution instructions are configured to enable the cleaning robot to execute the cleaning control method of the cleaning robot described in any one of the above-mentioned first aspects when executed by the processor.

[0015] In the present application, after obtaining the area map of the area to be cleaned, the corner area and the open area can be divided based on the area map, and then the area to be cleaned can be cleaned in the order of cleaning the corner area first and then cleaning the open area. That is, before the cleaning robot cleans the area to be cleaned, it chooses to divide the area to be cleaned, identifies the open area and the corner area, and cleans the corner area first, and then cleans the open area after the corner area is cleaned. This can reduce the omission of sanitary dead corners such as corners, under stools, and where debris is piled up. This solves the problem that traditional cleaning methods are prone to omissions or incomplete cleaning, and improves the cleaning effect.

[0016] Furthermore, since corners are usually more likely to accumulate dust, garbage, etc. than open areas, and are easily missed during cleaning, the cleaning intensity of the cleaning method used when cleaning corners is greater than that of open areas. This allows for focused cleaning and reduced sanitary dead corners, not only reducing missed corners, but also allowing for more thorough cleaning of corners, so that after the entire area to be cleaned is cleaned, each place or corner achieves a better cleaning effect. This avoids the problem of poor cleaning results due to dust accumulation or missed corners.

[0017] Furthermore, when dividing the isolated corner areas, the edges of the isolated corner areas can be divided to be parallel to the walls. Since the edges of the isolated corner areas are parallel to the walls, it is more convenient and efficient to plan and clean the cleaning paths of the isolated corner areas. At the same time, it is easier to seamlessly connect with the cleaning routes of open areas, thereby reducing the probability of missing the areas to be cleaned and improving the cleaning effect and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0019] Figure 1 is a flow chart of a cleaning control method of a cleaning robot according to an embodiment of the present invention;

[0020] Figure 2a A schematic diagram of a corner area according to an embodiment of the present invention;

[0021] Figure 2b A schematic diagram of another corner area according to an embodiment of the present invention;

[0022] Figure 3 A grid diagram of an area map of an area to be cleaned according to an embodiment of the present invention;

[0023] Figure 4 A flowchart of a method for dividing isolated corner areas according to an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of a non-wall obstacle grid according to an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of mean grid coordinates of isolated obstacles in an embodiment of the present invention;

[0026] Figure 7 A schematic diagram of mean grid clustering of isolated obstacles according to an embodiment of the present invention;

[0027] Figure 8 A schematic diagram of dividing isolated corner areas according to an embodiment of the present invention;

[0028] Fig. 9 Schematic diagram of the structure of the cleaning robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention are now described with reference to the accompanying drawings. In the drawings, the same reference numerals represent components with the same structure or similar structures but the same functions.

[0030] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0031] The present application embodiment provides a cleaning control method of a cleaning robot, such as Figure 1 As shown, the cleaning control method may include the following steps:

[0032] S10. Obtain a regional map of the area to be cleaned. As an exemplary embodiment, the cleaning robot can use laser ranging or visual sensors to construct a regional map of the area to be cleaned through SLAM technology. As an optional embodiment, the area to be cleaned can be a known environmental area, and it is possible to obtain regional map information of the area to be cleaned, and the cleaning robot pre-loads the established regional map. Exemplarily, the construction of a regional map using SLAM technology can be used for illustration. Specifically, the cleaning robot can use sensors to obtain environmental characteristics of the area to be cleaned. For example, the cleaning robot can be equipped with a laser sensor or a visual sensor to obtain environmental characteristics, and use SLAM technology to construct a regional map. The regional map can use a grid map, a feature map, etc. In this embodiment, a grid map can be used as an example for illustration.

[0033] S20. Determine the corner areas and open areas based on the area map. As an exemplary embodiment, taking the area map as a grid map as an example, the information contained in the area map includes the boundaries of the area. For example, the area to be cleaned is a room, such as a living room, bedroom or kitchen, and the boundaries of the area may include the wall. The information in the area map may also include obstacles, such as furniture in the room, such as wardrobes, TV cabinets and other wall-mounted furniture, and may also include sofas, coffee tables, tables and chairs and other isolated furniture in the room. Exemplarily, the boundaries of the area may constitute corner areas, such as corners, angles between wall-mounted furniture and walls, etc. The angles formed by obstacles and obstacles may serve as corner areas. Isolated obstacles such as isolated furniture may also constitute corner areas, such as sofas, coffee tables, under tables and chairs, or angle areas between isolated obstacles, etc. In this embodiment, after obtaining the area map, the obstacle information in the area map can be obtained, and the corner areas and open areas can be determined based on the obstacle information. For example, in the grid map, the obstacles and open areas can be determined based on the element attributes in the grid. Exemplarily, if the element in the grid is 0, it means an open area, and if the element in the grid is 1, it can represent an obstacle. After determining the obstacles, the encouraged obstacles can be regarded as corner areas, and the areas where the elements in the grid are 0 can be regarded as open areas. Optionally, the cleaning robot can be controlled to move along the edge, and the wall corners can be identified based on the wall corner features, and the wall corners can be regarded as corner areas. As another optional embodiment, when controlling the cleaning robot to move along the edge, the angle between the obstacle and the wall, and the angle between the obstacles can also be regarded as corner areas.

[0034] S30. Clean the area to be cleaned in the order of cleaning the corner area first and then cleaning the open area. As an exemplary embodiment, the cleaning strategy of a cleaning robot is usually to clean the area to be cleaned in a bow-shaped route, and the corner area is often missed or not cleaned properly. Therefore, in this embodiment, after determining the corner area and the open area, the corner area can be cleaned first, and after cleaning the corner area, the open area can be cleaned according to a preset cleaning route, which can reduce the omission of sanitary dead corners such as corners, under stools, and where debris is piled up. The problem that traditional cleaning methods are prone to omissions or incomplete cleaning is solved.

[0035] As an exemplary embodiment, since the corner areas are usually more likely to accumulate dust, garbage, etc. than the open areas, and are easily missed during cleaning, it is necessary to focus on cleaning the corner areas when cleaning them to achieve no sanitary dead corners. In this embodiment, when the area to be cleaned is cleaned in the order of cleaning the corner areas first and then cleaning the open areas, different cleaning methods can be used to clean the corner areas and the open areas. Specifically, the corner areas are cleaned in the first cleaning method; the open areas are cleaned in the second cleaning method. In this embodiment, the second cleaning method can be the normal cleaning intensity of the cleaning robot. The normal cleaning intensity can be set manually or determined autonomously by the cleaning robot based on the pollution level of the current area to be cleaned. Exemplarily, the cleaning robot determines the cleaning intensity based on the dust level, the cleaning intensity can be determined based on the density of garbage on the ground, and the cleaning intensity can also be determined based on the interval time from the last cleaning. Exemplarily, the cleaning robot can use a dust sensor to determine the dust level, and can use a visual sensor such as a camera or a laser sensor, ultrasonic sensor, etc. to determine the density of garbage on the ground. As an exemplary embodiment, the cleaning intensity of the first cleaning method is greater than the cleaning intensity of the second cleaning method. For example, the first cleaning method can be multiple cleanings with the cleaning intensity of the second cleaning method. It is also possible to perform one or more cleanings with a higher intensity cleaning method, for example, the corner areas are cleaned with a higher intensity cleaning method such as spiral sweeping of the corner areas, increasing the amount of water on the mop, increasing the cleaning intensity of the mop, and increasing the strength of the fan. First, the corner areas with the same distance of dust accumulation or garbage are focused on cleaning with a higher intensity cleaning method. After confirming that the cleaning of the corner areas is completed, the open areas are cleaned in a conventional cleaning method, which not only reduces the omission of the corner areas, but also allows the corner areas to be cleaned more thoroughly, so that after the entire area to be cleaned is cleaned, each place or corner achieves a better cleaning effect. Avoid the problem of poor cleaning effect due to easy dust accumulation or omission in the corners.

[0036] As an exemplary embodiment, the corner area includes an edge corner area and an isolated corner area. For example, the edge corner area may include a wall corner area, a corner area composed of a wall and an obstacle, or a corner area composed of obstacles and obstacles. For example, the isolated corner area may include a corner area composed of isolated obstacles in the area to be cleaned, for example, a corner area composed of isolated furniture or obstacles such as under a sofa, under a table and a chair. When cleaning the corner area, in order to save cleaning time, improve cleaning efficiency and cleaning effect. The edge corner area may be cleaned in sequence in the first cleaning method according to the first preset order; when all the edge corner areas are cleaned, the isolated corner areas may be cleaned in sequence in the first cleaning method according to the second preset order. As an exemplary embodiment, the edge corner area may be cleaned first, and then the isolated corner area may be cleaned, or the isolated corner area may be cleaned first, and then the edge corner area may be cleaned. In this embodiment, the edge corner area may be cleaned first, and then the isolated corner area may be cleaned as an example:

[0037] The cleaning robot enters an area to be cleaned, moves along the wall, and identifies the edge and corner areas during the movement along the wall. After identification, the edge and corner areas are focused on cleaning according to the first cleaning method, and then continue to move along the wall; after identifying the second edge and corner area, it is also focused on cleaning according to the first cleaning method; then continue to move along the wall until the movement along the wall is completed. The cleaning of the edge and corner areas is completed. After that, the isolated obstacles inside the map are clustered, the isolated corner areas are identified, and the isolated corner areas are sequentially focused on cleaning according to the first cleaning method in the order of distance from the cleaning entrance (the starting point of the cleaning robot). After completing the edge and corner areas and the isolated corner areas, the open areas are cleaned normally according to the second cleaning method.

[0038] As an optional embodiment, when cleaning the corner areas, all the corner areas can be sorted according to the distance from the cleaning entrance, and cleaned in sequence according to the sorting, wherein the edge corner areas can be identified and located when constructing the area map. The walking route of the cleaning robot can be reduced, and the cleaning efficiency can be improved. Optionally, the cleaning of the corner areas can also be carried out according to other cleaning sequences, for example, it can be cleaned in a manually set sequence.

[0039] As an exemplary embodiment, the determination of the corner area can be carried out by using different methods for the edge corner area and the isolated corner area. For example, for the edge corner area, the robot can be controlled to move along the edge of the area to be cleaned according to the area map; the edge corner area can be identified during the movement along the edge based on the triangle method. Usually, for the edge corner area, the area that is difficult for the cleaning robot to clean is often a triangular area formed by the corner of the wall or the angle between the wall and the obstacle. Therefore, the identification of the triangular area during the movement along the edge based on the triangle method can quickly and accurately identify the edge corner area.

[0040] As an optional embodiment, as shown in FIG2 , the recognition of corner areas can be performed by fitting a line segment and calculating the angle. Specifically, line segment fitting is performed on the obstacles on the edge motion path of the cleaning robot and the edge of the area to be cleaned to obtain a fitting line segment; the angle of the fitting line segment in the direction of the cleaning robot is calculated; when the angle is less than a preset angle, the area enclosed by the fitting line segment corresponding to the angle is used as the edge corner area. As an exemplary embodiment, the angle shown in FIG2 is used as an example for explanation:

[0041] First, a grid map of the area to be cleaned is established using SLAM technology. In the process of following the edge, the grid coordinates corresponding to the wall in the map are subjected to Hough transformation, and line segments can be fitted. As shown in Figure 2, for example, see Figure 2a As shown, the front line segment 2 and the side line segment 3 are fitted, and the angle α therebetween is calculated. If α is less than a preset angle, such as 90°, it is considered that line segment 2 and line segment 3 form an edge corner area S of a triangle. The edge corner area S is composed of points A, O, and B. In this example, the area of ​​S can be a fixed size, or it can be determined based on the size of the angle α. For example, the smaller the angle, the larger the area, and the larger the angle, the smaller the area. O is the intersection of line segment 2 and line segment 3, and A and B are points selected from point O on line segments 2 and 3, respectively. Generally, OA=OB. As an exemplary embodiment, the angle β formed by line segment 1 and line segment 2 is greater than a preset angle. For example, an obtuse angle, it is considered that it does not constitute an edge corner area. As an optional embodiment, such as Figure 2b As shown, the corner formed between the obstacle and the wall can also be used as the edge corner area, where line segment 2 and line segment 3 do not intersect, and the angle formed by their extended lines can be calculated. When the angle is less than the preset angle, the triangle area formed by the intersection O of line segment 2 and line segment 3 and their extended lines can also be used as the edge corner area. Those skilled in the art should understand that the preset angle can be 90° or other angles. In addition, when determining the edge corner area, the two sides OA and OB of the triangle can be equal or unequal.

[0042] After identifying the edge and corner areas, the first cleaning method is used to focus on cleaning the area, such as multiple edge sweeps, multiple back and forth sweeps, increasing the fan strength, increasing the mop strength, etc. This is different from the second cleaning method in the open area. The edge and corner areas can be targeted for all-round focus cleaning, and each place or corner can achieve a good cleaning effect. Avoid the problem of poor cleaning effect due to dust accumulation or easy omission in the corners.

[0043] As an exemplary embodiment, for the identification and cleaning of isolated corner areas, isolated obstacles in the area to be cleaned are identified based on the area map; the isolated obstacles are divided into regions to obtain isolated corner areas. Exemplarily, after obtaining the area map, information about obstacles in the area to be cleaned can be searched in the area map. Exemplarily, isolated obstacles can be clustered and divided into one or more isolated regions as isolated corner areas. As an optional embodiment, the area map uses a grid map, and the number 0 can be used to indicate that the grid is an idle area, the number 1 can be used to indicate an obstacle area, and the number -1 can be used to indicate an unknown area. Figure 3 As shown, Figure 3 The obstacle area, idle area and unknown area are shown. Specifically, when building a grid map, you can refer to Figure 4 The steps for dividing the isolated corner area are shown:

[0044] S41. Obtain the coordinate mean of the isolated obstacle. Specifically, Figure 5 As shown, according to the movement of the cleaning robot along the edge, it can be known whether the obstacle grid in the map belongs to the wall, and the non-wall obstacles in the map can be extracted accordingly. Figure 5 Multiple non-wall obstacle grids are shown. Isolated obstacle grids are extracted. For each obstacle grid, the number of its adjacent obstacle grids N can be calculated. If N <N threshold , then the adjacent obstacles are confirmed to be isolated obstacle grids. The average coordinates of these isolated obstacle grids are calculated to obtain the mean grid. Figure 6 The isolated obstacle mean grid is shown. Exemplarily, the isolated obstacle grid can represent the legs of isolated obstacles such as sofas, tables and chairs. Therefore, after obtaining the mean grid, the mean grid needs to be clustered to simulate the isolated obstacles and obtain isolated corner areas.

[0045] S42. Cluster the isolated obstacles based on the coordinate mean. As an exemplary embodiment, after obtaining the mean grid, the mean grid of the isolated obstacles can be clustered based on the mean grid and a preset search radius. Exemplarily, the mean grid of the indoor obstacle is randomly selected, and with it as the center, the mean grids of the remaining obstacles within a search radius of R are searched, and these obstacles are clustered into zones. The search radius R can be the radius of the cleaning robot. For details, please refer to Figure 7 The schematic diagram of the mean grid after clustering is shown.

[0046] S43. Divide the clustered isolated obstacles into regions to obtain the isolated corner regions. As an optional embodiment, in order to facilitate the cleaning robot to plan the cleaning path and avoid missing the area to be cleaned, R1 can be set as the radius of the cleaning robot in each cluster area, and the center of each obstacle mean grid is taken as the center, and the edges are parallel to the wall to form a rectangular region to form an isolated corner region. For details, see Figure 8 As shown, since the edges of the isolated corner areas are parallel to the walls, it is more convenient and efficient to plan and clean the cleaning paths of the isolated corner areas. At the same time, it is easier to seamlessly connect with the cleaning routes of open areas, reducing the probability of missing the areas to be cleaned. Improve the cleaning effect and cleaning efficiency. As another optional embodiment, the shape division of the isolated corner areas can also adopt other shapes, such as at least one of a circular area, a triangular area, a polygonal area, and a rectangular area with one side parallel to the edge of the area to be cleaned. As an exemplary embodiment, when dividing the isolated corner areas, the cleaning order can also be sorted from far to near based on the distance from the center of the isolated corner area to the cleaning entrance, such as Figure 8 As shown, the cleaning sequence can be a->b->c->d. After the cleaning robot finishes cleaning along the wall, it performs key cleaning according to the rectangular area number a->b->c->d, such as performing multiple edge sweeps, multiple back and forth sweeps, increasing the fan strength, increasing the mop strength, and other measures on the obstacles in these areas.

[0047] Those skilled in the art should understand that the numerical values ​​and numerical ranges in the above examples are merely illustrative examples for ease of understanding, and the protection scope of this embodiment is not limited to the numerical values ​​and numerical ranges in the above examples.

[0048] Fig. 9 The figure is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention.

[0049] like Fig. 9As shown, the present application also provides a cleaning robot, which includes a processor, a memory and an execution instruction stored in the memory, and the execution instruction is configured to enable the cleaning robot to execute the above-mentioned cleaning control method when executed by the processor. Optionally, it also includes a memory and a bus, and the water dispenser is also allowed to include hardware required for other services.

[0050] In some embodiments of the present invention, the cleaning robot may include a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. While completing the cleaning of the open area, the corner area can be cleaned more effectively, and the corner area can be avoided from being missed, the generation of sanitary dead corners can be prevented, and the cleaning effect can be improved.

[0051] Optionally, a memory and a bus are also included. In addition, the cleaning robot is also allowed to include hardware required for other services. The memory may include a memory and a non-volatile memory, and provide execution instructions and data to the processor. Exemplarily, the memory may be a high-speed random access memory (RAM), and the non-volatile memory may be at least one disk storage.

[0052] The bus is used to connect the processor, memory and network interface to each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 Although only one bidirectional arrow is used in the diagram, this does not mean that there is only one bus or only one type of bus.

[0053] In a feasible implementation of the cleaning robot, the processor may first read the corresponding execution instruction from the non-volatile memory into the memory and then run it, or may first obtain the corresponding execution instruction from other devices and then run it. When the processor executes the execution instruction stored in the memory, any one of the cleaning control methods disclosed above can be implemented.

[0054] It will be appreciated by those skilled in the art that the above-mentioned cleaning control method can be applied to a processor or can be implemented with the aid of a processor. Exemplarily, a processor is an integrated circuit chip having the ability to process signals. In the process of the processor executing the above-mentioned cleaning control method, each step of the above-mentioned cleaning control method can be completed by an integrated logic circuit in the form of hardware or an instruction in the form of software in the processor. Further, the above-mentioned processor can be a general-purpose processor, such as a central processing unit (CPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, microprocessors, and any other conventional processors.

[0055] It is also understood by those skilled in the art that the steps of the above-mentioned cleaning control method embodiment of the present disclosure can be performed by a hardware decoding processor, or can be performed by a combination of hardware and software modules in the decoding processor. Among them, the software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, and other mature storage media in the art. The storage medium is located in a memory, and the processor reads the information in the memory and then combines its hardware to complete the execution of the steps in the above-mentioned cleaning control method embodiment.

[0056] So far, the technical solutions of the present disclosure have been described in combination with the above multiple embodiments, but it is easy for those skilled in the art to understand that the protection scope of the present disclosure is not limited to these specific embodiments. Without departing from the technical principles of the present disclosure, those skilled in the art can split and combine the technical solutions in the above-mentioned various embodiments, and can also make equivalent changes or replacements to the relevant technical features. Any changes, equivalent replacements, improvements, etc. made within the technical concept and / or technical principle of the present disclosure will fall within the protection scope of the present disclosure.

[0057] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0058] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A cleaning control method for a cleaning robot, characterized in that: The control method comprises: Obtain an area map of the area to be cleaned; Determine corner areas and open areas based on the area map; Clean the area to be cleaned in the order of cleaning the corner area first and then the open area; Cleaning the corner area in a first cleaning manner; The corner area includes a plurality of edge corner areas and at least one isolated corner area; and the cleaning of the corner area in a first cleaning manner includes: Cleaning the edge and corner areas in sequence in a first preset order using the first cleaning method; After all the edge and corner areas are cleaned, the isolated edge and corner areas are cleaned in sequence in a second preset order using the first cleaning method; The edge corner area includes a wall corner area, a corner area formed by a wall and an obstacle, or a corner area formed by obstacles and obstacles, and the isolated corner area includes a corner area formed by isolated obstacles in the area to be cleaned.

2. The cleaning control method according to claim 1, characterized in that: The cleaning of the area to be cleaned in the order of first cleaning the corner area and then cleaning the open area comprises: The open area is cleaned in a second cleaning manner, wherein the cleaning intensity of the first cleaning manner is greater than the cleaning intensity of the second cleaning manner.

3. The cleaning control method according to claim 1, characterized in that: Determining the corner area based on the area map includes: Controlling the robot to move along the edge of the area to be cleaned according to the area map; Identify edge corner areas during edge motion based on the triangulation method.

4. The cleaning control method according to claim 3, characterized in that: The method of identifying edge corner areas during the edge movement based on the triangulation method includes: Performing line segment fitting on obstacles on the edge motion path of the cleaning robot and the edge of the area to be cleaned to obtain fitting line segments; Calculating the angle of the fitting line segment in the direction of the cleaning robot; When the angle of the included angle is smaller than a preset angle, the area surrounded by the fitting line segment corresponding to the included angle is used as the edge corner area.

5. The cleaning control method according to any one of claims 1 to 4, characterized in that: Determining the corner area based on the area map includes: identifying isolated obstacles within the area to be cleaned based on the area map; The isolated obstacle is divided into regions to obtain isolated corner regions.

6. The cleaning control method according to claim 5, characterized in that: The step of dividing the isolated obstacle into regions to obtain isolated corner regions comprises: Obtaining the mean coordinate value of the isolated obstacle; Clustering the isolated obstacles based on the coordinate means; The clustered isolated obstacles are divided into regions to obtain the isolated corner regions.

7. The cleaning control method according to claim 5, characterized in that: The isolated corner area includes: At least one of a circular area, a triangular area, a polygonal area, and a rectangular area with one side parallel to the edge of the area to be cleaned.

8. The cleaning control method according to claim 1, characterized in that: Determining the open area based on the area map includes: The area in the area map excluding the corner area is used as the open area.

9. A cleaning robot, characterized in that: The cleaning robot comprises a processor, a memory and execution instructions stored in the memory, wherein the execution instructions are configured to enable the cleaning robot to execute the cleaning control method of the cleaning robot according to any one of claims 1 to 8 when executed by the processor.

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