Breakpoint continuation scanning method, system, computer readable medium and floor cleaning robot

Abstract

The application discloses a breakpoint continuation sweeping method, system, computer readable medium and floor cleaning robot. The method comprises the following steps: S10, when the floor cleaning robot is sweeping, it is determined whether the power is lower than the threshold power in real time, if yes, S20 is executed; S20, the floor cleaning robot saves the current position as a breakpoint position; S30, the required power of the to-be-swept area is calculated according to the gear ratio, the required power per unit area and the to-be-swept area, and then the floor cleaning robot returns to the charging device; S40, it is determined whether the required power has been charged, if yes, S50 is executed; S50, the floor cleaning robot navigates to the breakpoint position to continue sweeping; S60, the floor cleaning robot continues the sweeping task; S70, it is determined whether the sweeping task has been completed, if yes, the floor cleaning robot ends the work. When the floor cleaning robot sweeps and the power is insufficient, the application provides a scheme for efficiently calculating the required power of the breakpoint continuation sweeping.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot cleaning, in particular to a breakpoint resuming cleaning method, system, computer readable medium and robot cleaner. BACKGROUND

[0002] When the robot cleaner is continuously cleaning, it may not be able to complete the cleaning task at one time due to insufficient power, at which time it will enter breakpoint resuming cleaning, record the position of the robot and the state at the time of cleaning, and return to the charging pile to charge, and when the charging power is greater than a certain threshold, it will continue to clean. When the insufficient power is preset to 20%, and the charging power threshold is preset to 80%, the problem is that the robot charging from 20% to 80% will cause a long charging time, resulting in poor user experience. SUMMARY

[0003] The present application solves the technical problem of at least one defect in the prior art: the long charging time of the robot cleaner affects the user experience, and provides a breakpoint resuming cleaning method, system, computer readable medium and robot cleaner.

[0004] The technical solution adopted by the present application to solve its technical problems is: a breakpoint resuming cleaning method is constructed, comprising the following steps:

[0005] S10: the robot cleaner determines whether its power is lower than the threshold power in real time when cleaning, and if so, executes S20;

[0006] S20: the robot cleaner saves its current position as a breakpoint position;

[0007] S30: returns to the charging device after calculating the required power for the to-be-cleaned area according to the gear ratio, the required power per unit area, and the to-be-cleaned area;

[0008] S40: determines whether the charging has reached the required power, and if so, executes S50;

[0009] S50: the robot cleaner navigates to the breakpoint position to continue cleaning;

[0010] S60: the robot cleaner continues the cleaning task;

[0011] S70: determines whether the cleaning task has been completed, and if so, the robot cleaner ends work.

[0012] Preferably, in the breakpoint resuming cleaning method of the present application, step S20 further comprises:

[0013] the robot cleaner saves the cleaning state; wherein the cleaning state includes edge cleaning, coverage cleaning and switching partition cleaning.

[0014] Preferably, in the breakpoint continuation cleaning method, the required power is calculated according to the following formula: required power = gear ratio × unit area required power × to-be-cleaned area + random number + threshold power.

[0015] Preferably, in the breakpoint continuation cleaning method, the gear ratio is the ratio of the used gear to the standard gear unit area required power.

[0016] Preferably, in the breakpoint continuation cleaning method, the step S30 further comprises a step of calculating the unit area required power before the step S30:

[0017] S21-1: determining whether there is a global cleaning record, if yes, executing S22; if no, executing S26;

[0018] S22: calculating the unit area required power according to the ratio of the used power to the cleaned area in the global cleaning record;

[0019] S26: calculating the unit area required power according to the ratio of the used power to the cleaned area in the cleaning record before the breakpoint continuation cleaning.

[0020] Preferably, in the breakpoint continuation cleaning method, the step S30 further comprises a step of calculating the to-be-cleaned area before the step S30:

[0021] S21-2: determining whether there is a global cleaning record, if yes, executing S24; if no, executing S27;

[0022] S24: obtaining the to-be-cleaned area by comparing the cleaned area with the global cleaning area;

[0023] S27: obtaining the to-be-cleaned area by comparing the cleaned area with the global cleaning area of the default configuration item.

[0024] Preferably, in the breakpoint continuation cleaning method, the step S24 further comprises:

[0025] S23: determining whether the cleaned area in the global cleaning record is less than the global cleaning area in the record, if yes, executing S24; if no, executing S25;

[0026] S25: obtaining the global cleaning area by adding an area threshold to the cleaned area, and executing S24.

[0027] Preferably, in the breakpoint continuation cleaning method, the step S30 further comprises a step of calculating the to-be-cleaned area before the step S30:

[0028] S28: calculating the area of the zoned cleaning or selected area cleaning according to the number of the cleaned areas and the cleaning times of each area, and obtaining the area to be cleaned by comparing the cleaned area with the area of the zoned cleaning or selected area cleaning.

[0029] The application also constructs a breakpoint continuous cleaning system, comprising:

[0030] The first judging module is used to judge whether the power of the robot is lower than the threshold power in real time when the robot is cleaning, and if yes, the first control module is run;

[0031] The first control module is used to save the current position of the robot as the breakpoint position.

[0032] The power calculating module is used to calculate the required power of the area to be cleaned according to the gear ratio, the required power per unit area and the area to be cleaned, and then return to the charging device.

[0033] The second judging module is used to judge whether the charging is completed to the required power, and if yes, the third control module is run.

[0034] The third control module is used to navigate the robot to the breakpoint position to continue cleaning.

[0035] The fourth control module is used to continue the cleaning task of the robot.

[0036] The third judging module is used to judge whether the cleaning task is completed, and if yes, the robot ends the work.

[0037] Preferably, in the breakpoint continuous cleaning system, the system further comprises: the first control module is further used to save the cleaning state of the robot; wherein the cleaning state comprises edge cleaning, coverage cleaning and switching partition cleaning.

[0038] Preferably, in the breakpoint continuous cleaning system, the formula of the required power is: required power = gear ratio × required power per unit area × area to be cleaned + amplitude random number + threshold power.

[0039] Preferably, in the breakpoint continuous cleaning system, the gear ratio is the ratio value of the used gear and the standard gear required power per unit area.

[0040] Preferably, in the breakpoint continuous cleaning system, the system further comprises:

[0041] The fourth judging module is used to judge whether there is a global cleaning record, and if yes, the first calculating module is run; if not, the fourth calculating module is run.

[0042] The first calculation module is configured to calculate the required power per unit area according to a proportion of the used power and the cleaned area in the global cleaning record.

[0043] The fourth calculation module is configured to calculate the required power per unit area according to a proportion of the used power and the cleaned area in the cleaning record before the breakpoint resuming.

[0044] Preferably, in the breakpoint resuming system, the system further comprises:

[0045] The fourth judgment module is configured to judge whether there is a global cleaning record, if yes, the second calculation module is run, and if no, the fifth calculation module is executed.

[0046] The second calculation module is configured to obtain the to-be-cleaned area according to a comparison between the cleaned area and the global cleaning area.

[0047] The fifth calculation module is configured to obtain the to-be-cleaned area according to a comparison between the cleaned area and the global cleaning area in the default configuration item.

[0048] Preferably, in the breakpoint resuming system, the system further comprises:

[0049] The fifth judgment module is configured to judge whether the cleaned area in the global cleaning record is less than the global cleaning area in the record, if yes, the second calculation module is run, and if no, the third calculation module is run.

[0050] The third calculation module is configured to obtain the global cleaning area according to the cleaned area plus an area threshold, and run the second calculation module.

[0051] Preferably, in the breakpoint resuming system, the system further comprises:

[0052] The sixth calculation module is configured to calculate the zoned cleaning or selected cleaning area according to the number of cleaned areas and the cleaning times of each area, and obtain the to-be-cleaned area according to a comparison between the cleaned area and the zoned cleaning or selected cleaning area.

[0053] The application also constructs a computer readable medium, which stores a computer program, and the computer program is executed by a processor to realize the breakpoint resuming method.

[0054] The application also constructs a sweeping robot, which comprises:

[0055] One or more processors;

[0056] A storage device is configured to store one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the breakpoint continuation method according to any one of the above.

[0057] By implementing the present application, the following advantages are achieved:

[0058] The present application discloses a breakpoint continuation method, system, computer readable medium and a sweeping robot. When the sweeping robot is sweeping and the power is lower than the threshold power, the current sweeping breakpoint position is saved, the sweeping robot is automatically returned to the charging device for charging, and the required power of the remaining sweeping area is calculated according to the gear ratio, the required power per unit area and the to-be-swept area. When the sweeping robot is charged to the required power of the remaining sweeping area, the sweeping robot is automatically navigated to the sweeping breakpoint to continue the sweeping task. The sweeping robot can efficiently continue the sweeping task without long charging time when the power is low. BRIEF DESCRIPTION OF DRAWINGS

[0059] The present application will be further described below with reference to the accompanying drawings and embodiments. In the drawings:

[0060] Figure 1 is a flowchart of the breakpoint continuation method of the present application;

[0061] Figure 2 is a flowchart of the breakpoint continuation method of the first embodiment of the present application;

[0062] Figure 3 is a flowchart of the breakpoint continuation method of the second embodiment of the present application;

[0063] Figure 4 is a module block diagram of the breakpoint continuation system of the present application;

[0064] Figure 5 is a module block diagram of the breakpoint continuation system of the first embodiment of the present application;

[0065] Figure 6 is a module block diagram of the breakpoint continuation system of the second embodiment of the present application. DETAILED DESCRIPTION

[0066] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0067] It should be noted that the flowcharts shown in the drawings are only illustrative, and do not necessarily include all contents and operations / steps, nor are they necessarily executed in the order described. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to actual conditions.

[0068] The block diagrams shown in the drawings are only functional entities, and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0069] In the present embodiment, as shown in Figure 1 A breakpoint continuation method is created, which is applied to a sweeping robot and includes the following steps:

[0070] S10: The sweeping robot determines whether its power is lower than a threshold power in real time when sweeping, and if so, performs S20; if not, performs S60;

[0071] S20: The sweeping robot saves its current position as a breakpoint position;

[0072] S30: Returns to the charging device after calculating the required power of the to-be-swept area according to the gear ratio, the required power per unit area, and the to-be-swept area;

[0073] S40: Determines whether the required power has been charged, and if so, performs S50; if not, performs S41;

[0074] S41: The sweeping robot continues to charge and returns to S40;

[0075] S50: The sweeping robot navigates to the breakpoint position to continue sweeping;

[0076] S60: The sweeping robot continues the sweeping task;

[0077] S70: Determines whether the sweeping task has been completed, and if so, the sweeping robot ends work; if not, returns to S10.

[0078] In some embodiments, the threshold power is set to 20%, and when it is detected that the power of the sweeping robot is less than 20%, the sweeping work is paused, the position of the sweeping robot at this time is stored in the system, and the sweeping robot returns to the charging place according to a preset shortest path to charge.

[0079] In some embodiments, when the power is detected to be lower than the threshold value while the robot is sweeping, the sweeping state of the robot at that time is also saved. When the robot is charged to the required power, the robot can continue to work according to the same sweeping state, including edge sweeping, coverage sweeping, and switching partition sweeping.

[0080] In some embodiments, the gear ratio is the ratio of the used gear to the required power per unit area of the standard gear.

[0081] In some embodiments, the gear power ratio value in the configuration item is obtained according to the current gear. The statistical value of the area of the home is written in the machine configuration file, and the default area is 100 square meters, which can be adjusted. At the same time, the ratio value of the suction power of the robot can be set, which can be freely adjusted. The powerful gear can be set to 1.3 times the standard gear, and the quiet gear can be set to 0.8 times the standard gear.

[0082] In some embodiments, as shown in Figure 2 Before calculating the required power of the area to be swept, step S21 is performed to determine whether there is a global sweeping record. When there is a global sweeping record, step S22 is performed to calculate the required power per unit area of sweeping according to the record. The record refers to the data when the latest global sweeping is completed, including the sweeping area and the used power. When there is a global sweeping record, the size of the global sweeping record area and the current swept area are compared. If the current swept area is smaller than the global sweeping record area, the record data is not updated. If the current swept area is larger than the global sweeping record area, the current swept area is set as the global sweeping area and the used power is updated. When there is no global sweeping record, step S26 is performed to use the current sweeping record before the breakpoint continues to sweep, including the swept area and the used power. The required power per unit area is calculated according to the ratio of the swept area and the used power in the sweeping record before the breakpoint continues to sweep. The specific calculation method of the required power per unit area of sweeping is: required power per unit area of sweeping = used power / sweeping area.

[0083] In some embodiments, as shown in Figure 2 Before calculating the required power of the area to be swept, step S21 is performed to determine whether there is a global sweeping record. When there is a global sweeping record, step S23 is performed to determine whether the swept area in the global sweeping record is smaller than the current sweeping area. If the current sweeping area is larger than the sweeping area in the historical record, step S25 is performed to obtain the total area according to the swept area plus an area threshold value, which can be set to 50m 2If the current cleaning area is smaller than the historical cleaning area, step S24 is performed, the total area is the global cleaning area, and the to-be-cleaned area is obtained according to the comparison between the cleaned area and the total area. When there is no global cleaning record, step S27 is performed, the total area is set as a default configuration item, and the to-be-cleaned area is obtained according to the comparison between the cleaned area and the global cleaning area of the default configuration item. The default configuration item can be manually input. The specific calculation method of the to-be-cleaned total area is: to-be-cleaned total area = total area - cleaned area.

[0084] In some embodiments, as shown in Figure 3 the to-be-cleaned area is calculated, the calculation method of the to-be-cleaned area is different from that in Figure 2 the steps S23, S24, S25 and S27 in the above embodiments. Specifically, step S28 is performed when the sweeping robot is controlled to switch to zone cleaning or selected area cleaning, and the zone cleaning or selected area cleaning area is calculated according to the number of cleaned areas and the cleaning times of each area. For example, there are three areas A, B and C, and the cleaning times of each area are 1, 2 and 3 respectively, and the areas of each area are SA, SB and SC respectively. Then the zone cleaning or selected area cleaning area = 1 x SA + 2 x SB + 3 x SC. The specific calculation method of the to-be-cleaned total area is: to-be-cleaned total area = zone cleaning or selected area cleaning area - cleaned area.

[0085] In some embodiments, the specific required power calculation method is: required power = gear ratio x unit area required power x to-be-cleaned area + amplitude random number + threshold power. By setting a certain amplitude random number, the error of power calculation error can be avoided, so that the sweeping work can be accurately completed; the threshold power value is added to serve as the charging amount, to ensure that the required power is not lower than the threshold power when the sweeping robot is charging.

[0086] In some embodiments, when it is judged that the power has been charged to the required power, the sweeping work is continued. First, the sweeping robot is controlled to navigate to the breakpoint position, and then the cleaning task is continued according to the recorded cleaning state.

[0087] In the present embodiment, as shown in Figure 4 the present application creates a breakpoint resuming system for a sweeping robot, which comprises

[0088] The first judgment module is used to judge whether the power of the sweeping robot is lower than the threshold power in real time when the sweeping robot is sweeping. If yes, the first control module is run; if no, the fourth control module is run.

[0089] The first control module is used to save the current position of the sweeping robot as a breakpoint position.

[0090] The computing power module is configured to calculate the required power of the to-be-cleaned area according to the gear ratio, the required power per unit area and the to-be-cleaned area, and return to the charging device;

[0091] The second judging module is configured to judge whether the charging is completed to the required power, if yes, the third control module is run; if no, the second control module is run.

[0092] The second control module is configured to make the robot vacuum cleaner continue charging and run the second judging module.

[0093] The third control module is configured to make the robot vacuum cleaner navigate to the breakpoint position to continue cleaning.

[0094] The fourth control module is configured to make the robot vacuum cleaner continue the cleaning task.

[0095] The third judging module is configured to judge whether the cleaning task is completed, if yes, the robot vacuum cleaner ends the work; if no, the first judging module is run.

[0096] In some embodiments, the threshold power is set to 20%, when the power of the robot vacuum cleaner is detected to be less than 20%, the cleaning work is paused, the position of the robot vacuum cleaner at this time is stored in the system, and the robot vacuum cleaner returns to the charging position according to the preset shortest path to charge.

[0097] In some embodiments, when the power is detected to be lower than the threshold power when the robot vacuum cleaner is cleaning, the cleaning state of the robot vacuum cleaner at this time is also stored. When the power is charged to the required power, the robot vacuum cleaner can continue to work according to the same cleaning state. The cleaning state includes edge cleaning, coverage cleaning and switching partition cleaning.

[0098] In some embodiments, the gear ratio is the ratio value of the used gear and the required power per unit area of the standard gear.

[0099] In some embodiments, the gear power ratio value in the configuration item is obtained according to the current gear, such as the statistical value of the area of the home written in the machine configuration file. The default area is 100 square meters, and the area value can be adjusted. At the same time, the ratio value of the suction power of the robot vacuum cleaner can be set, which can be freely adjusted. The strong gear can be set to 1.3 times of the standard gear, and the quiet gear can be set to 0.8 times of the standard gear.

[0100] In some embodiments, the system includes:

[0101] The fourth judging module is configured to judge whether there is a global cleaning record. When there is a global cleaning record, the first calculating module is run to calculate the power required for cleaning per unit area according to the record, which refers to the data at the time when the latest global cleaning is completed, including the cleaning area and the power used. When there is the record of the area and the power used at the time when the global cleaning is completed, the size of the global cleaning record area and the current cleaning area is compared. If the current cleaning area is smaller than the global cleaning record area, the record data is not updated. If the current cleaning area is larger than the global cleaning record area, the current cleaning area is set as the global cleaning area and the power used is updated. When there is no global cleaning record, the fourth calculating module is run to calculate the power required for cleaning per unit area, using the current cleaning record before the breakpoint, including the cleaned area and the power used. The specific calculation method of the power required for cleaning per unit area is: power required for cleaning per unit area = power used / cleaning area.

[0102] In some embodiments, as shown in Figure 5 , the system comprises:

[0103] The fifth judging module is configured to judge whether the cleaned area in the global cleaning record is smaller than the current cleaning area when there is a global cleaning record. If the current cleaning area is larger than the cleaning area in the historical record, the third calculating module is run to calculate the total area to be cleaned, wherein the total area is the current cleaning area plus an area threshold, which can be set to 50 m 2 . If the current cleaning area is smaller than the cleaning area in the historical record, the second calculating module is run to calculate the total area to be cleaned, wherein the total area is the global cleaning area. When there is no global cleaning record, the fifth calculating module is run to calculate the total area to be cleaned, wherein the total area adopts a default configuration item, which can be set by a person. The specific calculation method of the total area to be cleaned is: total area to be cleaned = total area-cleaned area.

[0104] In some embodiments, as shown in Figure 6 , the system comprises:

[0105] The sixth calculating module is configured to calculate the area of the divided or selected cleaning area according to the number of cleaned areas and the cleaning times of each area when the sweeping robot is controlled to switch to the divided or selected cleaning. For example, there are three areas A, B and C, and the cleaning times of each divided or selected area are 1, 2 and 3 respectively, and the areas of each divided or selected area are SA, SB and SC respectively. Then the area of the divided or selected cleaning is 1×SA+2×SB+3×SC. The specific calculation method of the total area to be cleaned is: total area to be cleaned = area of the divided or selected cleaning area-cleaned area.

[0106] In some embodiments, the system comprises:

[0107] The power consumption module is configured to calculate the required power consumption of the area to be cleaned, and the specific method for calculating the required power consumption is: required power consumption = gear ratio x required power consumption per unit area x area to be cleaned + limited random number + threshold power consumption. By setting a certain limited random number, the error of power consumption calculation is avoided, so that the sweeping work can be accurately completed. The threshold power consumption value is added to serve as the charging amount, so as to ensure that the required power consumption is not lower than the threshold power consumption when the sweeping robot is charging.

[0108] In some embodiments, when it is judged that the required power consumption has been charged, the sweeping work is started to continue, the sweeping robot is first controlled to navigate to the breakpoint position, and then the sweeping task is completed according to the recorded cleaning state.

[0109] In the embodiment, the application also constructs a computer readable medium, which stores a computer program, and the computer program is executed by a processor to realize the breakpoint resuming sweeping method as described above.

[0110] In the embodiment, the application constructs a sweeping robot, which comprises one or more processors, and a storage device configured to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors realize the breakpoint resuming sweeping method as described above.

[0111] By implementing the application, the following beneficial effects are achieved:

[0112] The application discloses a breakpoint resuming sweeping method, system, computer readable medium and sweeping robot. When the power consumption of the sweeping robot is lower than the threshold power consumption during cleaning, the current cleaning breakpoint position is saved, the sweeping robot is automatically returned to the charging device for charging, and the required power consumption of the remaining cleaning area is calculated according to the gear ratio, the required power consumption per unit area and the area to be cleaned.

[0113] When the sweeping robot is charged to the required power consumption of the remaining cleaning area, the sweeping robot is automatically navigated to the cleaning breakpoint to continue the cleaning task, so that the sweeping robot can efficiently continue the cleaning task without charging for a long time when the power consumption is low.

[0114] It can be understood that the above embodiments only express the preferred embodiments of the application, the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent of the application; it should be pointed out that, for ordinary skilled persons in the art, the above technical features can be freely combined without departing from the concept of the application, and some modifications and improvements can be made, which belong to the protection scope of the application; therefore, any equivalent transformation and modification within the scope of the claims of the application shall belong to the scope of the claims of the application.

Claims

1. A breakpoint continuation method applied to a sweeping robot, characterized in that, The method comprises the following steps: S10: The robot real-time judges whether the power is lower than the threshold value when cleaning, and if so, executes S20; S20: The robot saves the current position as a breakpoint position; S30: The robot returns to the charging device after calculating the required power of the to-be-cleaned area according to the gear ratio, the required power per unit area, and the to-be-cleaned area; the gear ratio is the ratio of the used gear to the required power per unit area of the standard gear; Before step S30, the method further comprises a step of calculating the required power per unit area: S21-1: It is judged whether there is a global cleaning record, and if so, S22 is executed; if not, S26 is executed; S22: The required power per unit area is calculated according to the ratio of the used power to the cleaned area in the global cleaning record; S26: The required power per unit area is calculated according to the ratio of the used power to the cleaned area in the cleaning record before the breakpoint; S40: It is judged whether the charging is completed to the required power, and if so, S50 is executed; S50: The robot navigates to the breakpoint position to continue cleaning; S60: The robot continues the cleaning task; S70: It is judged whether the cleaning task is completed, and if so, the robot ends the work.

2. The break-scan method of claim 1, wherein, Step S20 further comprises: The robot saves the cleaning state; wherein the cleaning state comprises edge cleaning, coverage cleaning, and switching partition cleaning.

3. The break-scan method of claim 1, wherein, The formula for calculating the required power is: required power = gear ratio × required power per unit area × to-be-cleaned area + limit random number + threshold value.

4. The break-scan method of claim 1, wherein, Before step S30, the method further comprises a step of calculating the to-be-cleaned area: S21-2: It is judged whether there is a global cleaning record, and if so, S24 is executed; if not, S27 is executed; S24: The to-be-cleaned area is obtained by comparing the cleaned area with the global cleaning area; S27: The to-be-cleaned area is obtained by comparing the cleaned area with the global cleaning area in the default configuration.

5. The break-scan method of claim 4, wherein, Before step S24, the method further comprises: S23: It is judged whether the cleaned area in the global cleaning record is less than the global cleaning area in the record, and if so, S24 is executed; if not, S25 is executed; S25: The global cleaning area is obtained by adding an area threshold to the cleaned area, and S24 is executed.

6. The break-scan method of claim 1, wherein, Before step S30, the method further comprises a step of calculating the to-be-cleaned area: S28: The area of the zoned cleaning or selected cleaning is calculated according to the number of cleaned areas and the cleaning times of each area, and the to-be-cleaned area is obtained by comparing the cleaned area with the area of the zoned cleaning or selected cleaning.

7. A break resume system applied to a floor cleaning robot, characterized in that, The method comprises: A first judging module, configured to judge whether the power of the robot is lower than the threshold value when the robot is cleaning, and if so, a first control module is run; A first control module, configured to save the current position of the robot as a breakpoint position; A second judging module, configured to judge whether the charging is completed to the required power, and if so, a second control module is run; A second control module, configured to navigate the robot to the breakpoint position to continue cleaning; A third judging module, configured to judge whether the cleaning task is completed, and if so, the robot ends the work. The computing power module is configured to calculate the required power of the to-be-cleaned area according to the gear ratio, the required power per unit area, and the to-be-cleaned area, and return to the charging device; the gear ratio is a ratio value of a used gear and a standard gear required power per unit area; The second judging module is configured to determine whether the charging has been completed to the required power, and if so, run the third control module; The third control module is configured to guide the sweeping robot to the breakpoint position to continue cleaning; The fourth control module is configured to continue the cleaning task of the sweeping robot; The third judging module is configured to determine whether the cleaning task has been completed, and if so, the sweeping robot ends the work; The system further comprises: The fourth judging module is configured to determine whether there is a global cleaning record, and if so, run the first calculating module; if not, run the fourth calculating module; The first calculating module is configured to calculate the required power per unit area according to the ratio of the used power and the cleaned area in the global cleaning record; The fourth calculating module is configured to calculate the required power per unit area according to the ratio of the used power and the cleaned area in the cleaning record before the breakpoint resuming cleaning.

8. The break-scan system of claim 7, wherein, The first control module is further configured to save the cleaning state of the sweeping robot; wherein the cleaning state includes edge cleaning, coverage cleaning, and switching partition cleaning.

9. The break-scan system of claim 7, wherein, The formula for calculating the required power is: required power = gear ratio × required power per unit area × to-be-cleaned area + limit random number + threshold power.

10. The break-scan system of claim 7, wherein, The system further comprises: The fourth judging module is configured to determine whether there is a global cleaning record, and if so, run the second calculating module; if not, execute the fifth calculating module; The second calculating module is configured to obtain the to-be-cleaned area by comparing the cleaned area with the global cleaning area; The fifth calculating module is configured to obtain the to-be-cleaned area by comparing the cleaned area with the global cleaning area of the default configuration item.

11. The break-scan system of claim 10, wherein, The system further comprises: The fifth judging module is configured to determine whether the cleaned area in the global cleaning record is less than the global cleaning area in the record, and if so, run the second calculating module; if not, run the third calculating module; The third calculating module is configured to obtain the global cleaning area by adding an area threshold to the cleaned area, and run the second calculating module.

12. The break-scan system of claim 7, wherein, The system further comprises: The sixth calculating module is configured to calculate the zoned cleaning or selected cleaning area according to the number of cleaned areas and the cleaning times of each area, and obtain the to-be-cleaned area by comparing the cleaned area with the zoned cleaning or selected cleaning area.

13. A computer readable medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the breakpoint resuming cleaning method of any one of claims 1-6.

14. A robot vacuum cleaner characterised in that, It comprises: One or more processors; Storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, so that the one or more processors realize the breakpoint resuming cleaning method of any one of claims 1-6.

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