Topology-based full-area coverage methods, devices, equipment, and media

Abstract

This application relates to the field of robotics technology, disclosing a method, apparatus, device, and medium for full-area coverage based on topology. The method includes: acquiring a first cleaning area and controlling a robot vacuum to complete coverage within that first cleaning area; after the first cleaning area is covered, acquiring information about the area to be cleaned corresponding to that first cleaning area; acquiring the next cleaning area based on the current position of the robot vacuum and the information about the area to be cleaned; progressively constructing a topological relationship structure according to the sequential relationship between the cleaning areas; and determining the cleaning order of the cleaning areas based on the topological relationship structure, and controlling the robot vacuum to complete full-area coverage cleaning, so that the robot can efficiently and effectively complete full-area cleaning, significantly improving coverage efficiency and cleaning efficiency. This application provides a topology-based full-area coverage method for robot vacuums, capable of efficiently covering the entire house area and significantly improving coverage efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a method, apparatus, device, and medium for full-area coverage based on topology. Background Technology

[0002] With the increasing popularity of intelligent robotic vacuum cleaners and people's rising demands for quality of life, smart homes are gradually becoming a part of daily life, with robotic vacuum cleaners, in particular, gaining popularity. Because robotic vacuum cleaners need to clean all areas within a designated environment, they require optimized, full-coverage routes to ensure efficient cleaning. However, due to limitations imposed by the order of map exploration and room structure, existing robotic vacuum cleaners cannot always achieve full coverage, sometimes requiring additional cleaning in certain areas. This reduces the efficiency of path planning and area cleaning. Summary of the Invention

[0003] The main objective of this invention is to provide a method, apparatus, device, and medium for full-area coverage based on topology, aiming to solve the technical problem that existing sweeping robots cannot efficiently complete full-coverage cleaning of houses.

[0004] The present invention discloses the following technical solutions:

[0005] A topology-based full-area coverage method, the method comprising:

[0006] The first cleaning area is identified, and the sweeping machine is controlled to complete the coverage of the first cleaning area.

[0007] Once the first cleaning area is fully covered, obtain the information of the area to be cleaned corresponding to the first cleaning area;

[0008] Based on the current position of the sweeper and the information of the area to be cleaned, the next area to be cleaned is obtained;

[0009] Based on the sequential relationship of the cleaning areas, a topological relationship structure is gradually constructed;

[0010] Based on the aforementioned topological structure, the cleaning sequence of the cleaning areas is determined sequentially, and the sweeping machine is controlled to complete full-area coverage cleaning.

[0011] Furthermore, the step of obtaining the next cleaning area based on the current position of the sweeping robot and the information of the area to be cleaned includes:

[0012] Obtain traversal information with the endpoint being the midpoint of each open edge;

[0013] Based on the traversal information where the endpoint is the midpoint of each open edge, all alternative paths for the surrounding area are obtained.

[0014] The area corresponding to the shortest path among the proposed path options is selected as the next cleaning area.

[0015] Furthermore, the step of obtaining the next cleaning area based on the current position of the sweeping robot and the information of the area to be cleaned includes:

[0016] Get the size of the area of ​​the un-cleaned region corresponding to the currently open edge, where the open edge is the edge of the area that can still be cleaned;

[0017] Sort the areas that have not yet been cleaned by size;

[0018] The area corresponding to the smallest area will be the next cleaning area.

[0019] Furthermore, the sequential relationship of the cleaning areas includes:

[0020] When the robot vacuum cleaner detects that it is moving from one area to the next new area, the first area is set as the parent area of ​​the next new area, and the next new area is set as the child area of ​​the first area, with the two areas having a parent-child relationship.

[0021] If a cleaned area is found, and the cleaned area is selected as the next cleaned area, the parent area of ​​the cleaned area is not set.

[0022] The parent region has one or more child regions, and a region has only one parent region.

[0023] Furthermore, the step of determining the cleaning order of the cleaning areas sequentially based on the topological relationship structure, and controlling the sweeper to complete full-area coverage cleaning, includes:

[0024] After detecting that the robot vacuum has finished cleaning the current area, it searches for an uncleaned sub-area and completes the cleaning there;

[0025] When it is detected that a sub-region cannot be found, the search returns to its parent region and continues to search for the sub-region using a depth-first search algorithm.

[0026] The system searches all areas based on the topological structure and controls the robot vacuum to complete full-area cleaning.

[0027] Furthermore, the step of determining the cleaning order of the cleaning areas sequentially based on the topological relationship structure, and controlling the sweeper to complete full-area coverage cleaning, includes:

[0028] After detecting that the robot vacuum has finished cleaning the current area, it searches for an uncleaned sub-area and completes the cleaning there;

[0029] When a sub-region cannot be found, the search returns to its parent region and continues to search for sub-regions using a breadth-first search algorithm.

[0030] The system searches all areas based on the topological structure and controls the robot vacuum to complete full-area cleaning.

[0031] Furthermore, after the step of obtaining the first cleaning area and controlling the sweeper to complete the coverage of the first cleaning area, the process includes:

[0032] After the sweeping machine finishes cleaning an area, it marks it as a cleaned area and then fills the cleaned area.

[0033] This application also proposes a topology-based full-area coverage device, including:

[0034] First acquisition module: used to acquire the first cleaning area and control the sweeper to complete the coverage of the first cleaning area;

[0035] The second acquisition module is used to acquire the information of the area to be cleaned corresponding to the first cleaning area after the first cleaning area has been covered.

[0036] The third acquisition module is used to acquire the next cleaning area based on the current position of the sweeping robot and the information of the area to be cleaned.

[0037] Construction module: used to gradually build a topological relationship structure based on the sequential relationship of the cleaning areas;

[0038] Cleaning module: Based on the topological relationship structure, it determines the cleaning order of the cleaning areas in sequence and controls the sweeper to complete full-area coverage cleaning.

[0039] This application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the methods described above.

[0040] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0041] This application provides a method, apparatus, device, and medium for full-area coverage based on topology. First, a first cleaning area is acquired, and a robot vacuum cleaner is controlled to complete coverage within that area. After the first cleaning area is covered, information about the area to be cleaned corresponding to that area is acquired. Based on the current position of the robot vacuum cleaner and the information about the area to be cleaned, the next cleaning area is acquired. A topological relationship structure is gradually constructed according to the sequential relationship between the cleaning areas. Based on the topological relationship structure, the cleaning order of the cleaning areas is determined sequentially, and the robot vacuum cleaner is controlled to complete full-area coverage cleaning. This allows the robot to efficiently and effectively complete full-area cleaning, significantly improving coverage and cleaning efficiency. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the steps of a full-area coverage method based on topology in one embodiment of the present invention;

[0043] Figure 2 This is a schematic block diagram of a topology-based full-area coverage device for a sweeping robot according to an embodiment of the present invention;

[0044] Figure 3 This is a schematic block diagram of the structure of a computer device according to an embodiment of the present invention;

[0045] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0047] Reference Figure 1 To achieve the aforementioned objectives, this application proposes a full-area coverage method based on topology, the method comprising:

[0048] S1: Obtain the first cleaning area and control the sweeper to complete the coverage of the first cleaning area;

[0049] S2: After the first cleaning area is fully covered, obtain the information of the area to be cleaned corresponding to the first cleaning area;

[0050] S3: Based on the current position of the sweeping robot and the information of the area to be cleaned, obtain the next cleaning area;

[0051] S4: Based on the sequential relationship of the cleaning areas, a topological relationship structure is gradually constructed;

[0052] S5: Based on the topological relationship structure, determine the cleaning order of the cleaning areas in sequence, and control the sweeper to complete the full area coverage cleaning.

[0053] In this embodiment, the robot vacuum cleaner builds a map during the cleaning process and gradually constructs individual cleaning areas based on the map. For example, when the robot vacuum cleaner initially cleans, it constructs the first cleaning area. After completing the cleaning of the first area, it fills in the already cleaned area and then explores the open edges of the area (i.e., the edges can still be cleaned) based on the map information. The next area is selected as a candidate area. There are two methods for selecting the next area as a candidate area. One method is to select the midpoint of each open edge based on the robot's current position and the existing open edge relationships, and perform path planning. That is, the starting point is the robot's current position, and the ending point is the midpoint of each open edge. When a route can be planned, it is used as the path scheme to the next area. After traversing all open edges, all path schemes to the surrounding areas are obtained. At this time, the area corresponding to the shortest path is selected as the next cleaning area. Method two involves calculating the size of the undisturbed area within the region corresponding to the open edge based on current map information (using radar-detected map data and existing cleaning information). The calculated undisturbed areas are then sorted across all regions, and the region with the smallest area is selected as the next region. The target point is then searched within the corresponding open edge, selecting the shortest point along the planned path as the target point. Based on the cleaning sequence described above, when moving from one region to a new region, the previous region is designated as the "parent region" of the new region, and the two regions are considered "parent-child" relationships. A topological structure is established for the progressively constructed cleaning areas, and based on this structure, full coverage cleaning of the entire house is achieved, significantly improving coverage and cleaning efficiency.

[0054] Furthermore, the step of obtaining the next cleaning area based on the current position of the sweeping robot and the information of the area to be cleaned includes:

[0055] Obtain traversal information with the endpoint being the midpoint of each open edge;

[0056] Based on the traversal information where the endpoint is the midpoint of each open edge, all alternative paths for the surrounding area are obtained.

[0057] The area corresponding to the shortest path among the proposed path options is selected as the next cleaning area.

[0058] This example demonstrates one method for constructing a single next cleaning area. Based on the robot's current location and existing open edge relationships, the search begins at the midpoint of each open edge for path planning. The starting point is the robot's current location, and the ending point is the midpoint of each open edge. When a route can be planned, it becomes the path to the next area. After traversing all open edges, all possible path options to surrounding areas are obtained. The area corresponding to the shortest path is then selected as the next cleaning area. The specific location can be determined by the robot using GPS based on a map. For example, if the room is divided into four areas: upper left, lower left, upper right, and lower right, when the robot finishes cleaning the lower left area, the open edges are those adjacent to the upper left and lower right areas. Based on the robot's location, for example, in the lower left corner, the search proceeds by traversing the path from the lower left corner to the midpoint of the adjacent area's edge. Once all traversal information is obtained, the area with the shortest path is selected as the next cleaning area.

[0059] Furthermore, the step-by-step construction of a single next cleaning area based on the acquired map information also includes:

[0060] Get the size of the area that has not yet been cleared in the region corresponding to the currently open edge;

[0061] Sort the areas that have not yet been cleaned by size;

[0062] The area corresponding to the smallest area is determined as the next cleaning area.

[0063] This example demonstrates another method for constructing a single next cleaning area. The robot vacuum calculates the size of the undisturbed area in the region corresponding to the open edge based on the current map information (based on the map information explored by radar and the cleaning information that has already been filled). It sorts the calculated undisturbed areas in all regions, selects the region with the smallest area as the next region, and searches for the target point from the corresponding open edge, selecting the shortest point of the planned path as the target point.

[0064] Furthermore, the sequential relationship of the cleaning areas includes:

[0065] When the robot vacuum cleaner detects that it is moving from one area to the next new area, the first area is set as the parent area of ​​the next new area, and the next new area is set as the child area of ​​the first area, with the two areas having a parent-child relationship.

[0066] If a cleaned area is found, and the cleaned area is selected as the next cleaned area, the parent area of ​​the cleaned area is not set.

[0067] The parent region has one or more child regions, and a region has only one parent region.

[0068] In this embodiment, a relationship is established between areas. When the robot vacuum cleaner finishes cleaning the current area and moves to the next area, area A is the area that has been cleaned and area B is the area that is about to be cleaned. At this time, area A is the parent area of ​​area B and area B is the child area of ​​area A. The two areas have a parent-child relationship. All areas establish a relationship before using this method, which is more conducive to the rational arrangement of cleaning paths. However, if the robot vacuum cleaner finds an already cleaned area when searching for open edges to select the next area, such as a 4x4 area divided by a wall, and the area is separated by the wall, the robot vacuum cleaner has not yet turned to the other side of the wall during the first cleaning. After the robot vacuum cleaner turns, the open edges of this area are updated, but the "parent area" relationship of this area has already been determined during the first cleaning. In this case, when selecting this area as the next cleaning area, the parent area of ​​this area to be cleaned is not set, because this area has already been partially cleaned. In order to make the subsequent path planning more reasonable, the area to be cleaned is not set as a child area of ​​the currently cleaned area. Moreover, the rule is that a "parent area" can have multiple "child areas", but an area can only have one "parent area".

[0069] Furthermore, the step of determining the cleaning order of the cleaning areas sequentially based on the topological relationship structure, and controlling the sweeper to complete full-area coverage cleaning, includes:

[0070] After detecting that the robot vacuum has finished cleaning the current area, it searches for an uncleaned sub-area and completes the cleaning there;

[0071] When it is detected that a sub-region cannot be found, the search returns to its parent region and continues to search for the sub-region using a depth-first search algorithm.

[0072] The system searches all areas based on the topological structure and controls the robot vacuum to complete full-area cleaning.

[0073] In this embodiment, when no next uncleaned area can be found (i.e., no next area can be searched), the process returns to the parent region and explores the next area, since a parent region may contain multiple child regions. Following the depth-first search algorithm, when no next uncleaned area can be found in the current area, the process returns to the parent region to search for and clean an uncleaned child region. After cleaning the current child region, the process explores for the next uncleaned child region within that region. If no next uncleaned area can be found, the depth-first search algorithm is repeated. As the cleaning progresses, the cleaning of the area gradually ascends to the highest-level parent region, constructing a topological map of the currently cleaned area. Because during the expansion of the region, there may be situations where the region jumps to other branch structures and then returns to the highest-level "parent region", there may be situations where other regions have not been traversed in other branches. Therefore, after returning to the highest-level region, it is necessary to perform open edge search on all regions and perform region supplementary scanning. When all open edges of all regions cannot be searched, it is determined that the whole house search is completed.

[0074] Furthermore, the step of determining the cleaning order of the cleaning areas sequentially based on the topological relationship structure, and controlling the sweeper to complete full-area coverage cleaning, includes:

[0075] After detecting that the robot vacuum has finished cleaning the current area, it searches for an uncleaned sub-area and completes the cleaning there;

[0076] When a sub-region cannot be found, the search returns to its parent region and continues to search for sub-regions using a breadth-first search algorithm.

[0077] The system searches all areas based on the topological structure and controls the robot vacuum to complete full-area cleaning.

[0078] In this embodiment, when no further un-cleaned area can be found (i.e., no next area can be searched), the robot returns to its parent area to explore the next area, since a parent area may have multiple child areas. Following the depth-first search algorithm, after returning to the parent area, all surrounding areas with discoverable open edges are designated as child areas. These areas are then cleaned sequentially to minimize the robot vacuum's random movement. After cleaning all child areas of the current area, the robot returns to its parent area and repeats the breadth-first search algorithm, constructing a topological map of the currently cleaned house. When the last level is reached and no more child areas can be designated, additional cleaning is performed. When no more open edges can be searched, the entire house search is considered complete. Similar to the depth-first search algorithm, when searching for open edges, already cleaned areas are found. The hierarchy of these areas is determined during the first cleaning and is not redefined. Unlike the depth-first search algorithm, which selects one area as a sub-region, the breadth-first search algorithm first defines all explorable open edges in the surrounding area as sub-regions, and then cleans these sub-regions. When the last level is reached and no more sub-regions can be defined, the relationships between all areas in the house are determined. The algorithm then iterates through all areas from the beginning to check for any remaining open edges, performs additional cleaning in these areas, and finally completes the overall cleaning of the house.

[0079] Furthermore, after the step of obtaining the first cleaning area and controlling the sweeper to complete the coverage of the first cleaning area, the process includes:

[0080] After the sweeping machine finishes cleaning an area, it marks it as a cleaned area and then fills the cleaned area.

[0081] In this embodiment, after the robot vacuum acquires a map and completes cleaning the first cleaning area, it fills the acquired map with the first area that has been cleaned to indicate that the area has been cleaned, thus avoiding repeated cleaning and improving cleaning efficiency. The house map can be obtained by the robot vacuum collecting environmental images of the cleaning area through cameras or laser scanning and then marking the cleaned areas.

[0082] Reference Figure 2 A schematic block diagram of a topology-based full-area coverage device for robotic vacuum cleaners, including:

[0083] First acquisition module 100: used to acquire the first cleaning area and control the sweeper to complete the coverage of the first cleaning area;

[0084] The second acquisition module 200 is used to acquire the information of the area to be cleaned corresponding to the first cleaning area after the first cleaning area has been covered.

[0085] The third acquisition module 300 is used to acquire the next cleaning area based on the current position of the sweeping robot and the information of the area to be cleaned;

[0086] Construction module 400: used to gradually construct a topological relationship structure based on the sequential relationship of the cleaning areas;

[0087] Cleaning module 500: Based on the topological relationship structure, it determines the cleaning order of the cleaning areas in sequence and controls the sweeper to complete full-area coverage cleaning.

[0088] This embodiment acquires map information of the house through an acquisition module and constructs the first cleaning area. After cleaning the first area, it fills in the already cleaned area. Then, in the construction module, a single next cleaning area is gradually constructed based on the acquired map information. According to the discovered open edges, the next area is expanded for cleaning. Theoretically, there can be up to four areas (up, down, left, and right) as candidates for the next area. In the setting module, the relationship between areas is set according to the robot's position and map state after each cleaning. According to the order of area cleaning, when moving from one area to a new area, the previous area is set as the "parent area" of the new area, and the two areas are "parent-child" to each other. Finally, the topological relationship structure is set for the gradually constructed cleaning areas by the cleaning module, and the entire house is cleaned in full coverage according to the relationship structure. This allows the robot to complete the full coverage cleaning work in a targeted and efficient manner, significantly improving coverage efficiency and cleaning efficiency.

[0089] Furthermore, the third acquisition module 300 includes:

[0090] The first information acquisition unit is used to acquire traversal information with the endpoint being the midpoint of each open edge;

[0091] The second information acquisition unit is used to obtain all path candidate schemes in the surrounding area based on the traversal information where the endpoint is the midpoint of each open edge.

[0092] The first determining unit is used to determine the area corresponding to the shortest path among the path candidate schemes, and to select the next cleaning area.

[0093] Furthermore, the third acquisition module 300 also includes:

[0094] The third information acquisition unit is used to acquire the area size of the un-cleaned area corresponding to the current open edge, wherein the open edge is the edge of the area where the edge can still be cleaned;

[0095] A sorting unit is used to sort the areas that have not yet been cleaned by size.

[0096] The second determining unit is used to designate the area corresponding to the smallest area as the next cleaning area.

[0097] Furthermore, module 400 is constructed, including:

[0098] The first setting unit is used to set the first area as the parent area of ​​the next new area and the next new area as the child area of ​​the first area when the sweeping robot detects that it has moved from one area to the next new area. The two areas are in a parent-child relationship.

[0099] The second setting unit is used to not set the parent area of ​​the cleaned area when a cleaned area is found and the cleaned area is selected as the next cleaned area.

[0100] The third setting unit is used in which the parent region has one or more child regions, and a region has only one parent region.

[0101] Furthermore, the cleaning module 500 includes:

[0102] The first cleaning unit is used to detect that the robot vacuum has finished cleaning the current area, search for an uncleaned sub-area, and complete the cleaning.

[0103] The first search unit is used to return to its parent region when it is detected that a sub-region cannot be found, and to continue searching for the sub-region using a depth-first algorithm.

[0104] The first full-area cleaning unit is used to search all areas according to the topological relationship structure and control the sweeper to complete full-area coverage cleaning.

[0105] Furthermore, the cleaning module 500 also includes:

[0106] The second cleaning unit is used to detect that the robot vacuum has finished cleaning the current area, search for an uncleaned sub-area, and complete the cleaning.

[0107] The second search unit is used to return to its parent region when it is detected that a sub-region cannot be found, and to continue searching for the sub-region using the breadth-first search algorithm.

[0108] The second full-area cleaning unit is used to search all areas according to the topological relationship structure and control the sweeper to complete full-area coverage cleaning.

[0109] Furthermore, the first acquisition module 100 also includes:

[0110] The filling module is used to mark a cleaned area as cleaned area after the robot vacuum has finished cleaning it, and to fill the cleaned area.

[0111] Reference Figure 3This application also provides a computer device, which may be a server, and its internal structure may be as follows: Figure 3 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data such as the sweeping robot's database. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a topology-based full-area coverage method.

[0112] One embodiment of this application also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements a data access method, including the steps of: obtaining a first cleaning area and controlling a sweeping machine to complete coverage of the first cleaning area; after the first cleaning area is covered, obtaining information about the area to be cleaned corresponding to the first cleaning area; obtaining the next cleaning area based on the current position of the sweeping machine and the information about the area to be cleaned; gradually constructing a topological relationship structure according to the sequential relationship of the cleaning areas; and determining the cleaning order of the cleaning areas in sequence based on the topological relationship structure, and controlling the sweeping machine to complete full-area coverage cleaning.

[0113] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media provided in this application and used in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual-rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0114] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for full-area coverage based on topology, characterized in that, The method includes: The first cleaning area is identified, and the sweeping machine is controlled to complete the coverage of the first cleaning area. Once the first cleaning area is fully covered, it is marked as a cleaned area in real time and filled. Based on the filling result, the open edge information of the first cleaning area is dynamically updated, and the information of the area to be cleaned corresponding to the first cleaning area is obtained. The information of the area to be cleaned includes the open edge information of the first cleaning area, where the open edge is the edge of the area that can still be cleaned. Based on the current position of the sweeper and the information of the area to be cleaned, the next area to be cleaned is obtained; Based on the sequential relationship of the cleaning areas, a topological relationship structure is gradually constructed; wherein, when the robot vacuum is detected to move from one area to the next new area, the first area is set as the parent area of ​​the next new area, and the next new area is a child area of ​​the first area. The two areas are in a parent-child relationship, and each area has only one parent area. Based on the aforementioned topological structure, the cleaning order of the cleaning areas is determined sequentially, and the sweeping machine is controlled to complete full-area coverage cleaning. During the full-area coverage process, each area is marked as a cleaned area and filled in real time after cleaning is completed, and the status of all open edges associated with that area is updated synchronously until all areas are filled and there are no valid open edges.

2. The full-area coverage method based on topology structure according to claim 1, characterized in that, The step of obtaining the next cleaning area based on the current position of the sweeping robot and the information of the area to be cleaned includes: Obtain traversal information with the endpoint being the midpoint of each open edge; Based on the traversal information where the endpoint is the midpoint of each open edge, all alternative paths for the surrounding area are obtained. The area corresponding to the shortest path among the proposed path options is selected as the next cleaning area.

3. The full-area coverage method based on topology structure according to claim 1, Its features are, The step of obtaining the next cleaning area based on the current position of the sweeping robot and the information of the area to be cleaned includes: Get the size of the area of ​​the un-cleaned region corresponding to the currently open edge; Sort the areas that have not yet been cleaned by size; The area corresponding to the smallest area will be the next cleaning area.

4. The full-area coverage method based on topology structure according to claim 1, characterized in that, The sequential relationship of the cleaning areas includes: If a cleaned area is found, and the cleaned area is selected as the next cleaned area, the parent area of ​​the cleaned area is not set.

5. The full-area coverage method based on topology structure according to claim 4, characterized in that, The step of determining the cleaning order of the cleaning areas based on the topological relationship structure and controlling the sweeper to complete full-area coverage cleaning includes: After detecting that the robot vacuum has finished cleaning the current area, it searches for an uncleaned sub-area and completes the cleaning; When it is detected that a sub-region cannot be found, the search returns to its parent region and continues to search for the sub-region using a depth-first search algorithm. Based on the aforementioned topological structure, all areas are searched, and the sweeping machine is controlled to complete full-area coverage cleaning.

6. The full-area coverage method based on topology structure according to claim 4, characterized in that, The step of determining the cleaning order of the cleaning areas based on the topological relationship structure and controlling the sweeper to complete full-area coverage cleaning includes: After detecting that the robot vacuum has finished cleaning the current area, it searches for an uncleaned sub-area and completes the cleaning; When a sub-region cannot be found, the search returns to its parent region and continues to search for sub-regions using a breadth-first search algorithm. Based on the aforementioned topological structure, all areas are searched, and the sweeping machine is controlled to complete full-area coverage cleaning.

7. The full-area coverage method based on topology structure according to claim 1, characterized in that, After the steps of obtaining the first cleaning area and controlling the sweeper to complete the coverage of the first cleaning area, the following steps are included: After the sweeping machine finishes cleaning an area, it marks it as a cleaned area and then fills the cleaned area.

8. A full-area coverage device based on topology, characterized in that, include: First acquisition module: used to acquire the first cleaning area and control the sweeper to complete the coverage of the first cleaning area; The second acquisition module is used to mark the first cleaning area as a cleaned area in real time and fill it after the first cleaning area is fully covered, dynamically update the open edge information of the first cleaning area based on the filling result, and acquire the information of the area to be cleaned corresponding to the first cleaning area; the information of the area to be cleaned includes the open edge information of the first cleaning area, and the open edge is the edge of the area where the edge can still be cleaned; The third acquisition module is used to acquire the next cleaning area based on the current position of the sweeping robot and the information of the area to be cleaned. Construction module: used to gradually build a topological relationship structure based on the sequential relationship of the cleaning areas; wherein, when the robot vacuum is detected to move from one area to the next new area, the first area is set as the parent area of ​​the next new area, and the next new area is the child area of ​​the first area, the two areas are in a parent-child relationship, and each area has only one parent area; Cleaning module: Based on the topological relationship structure, it determines the cleaning order of the cleaning areas in sequence and controls the sweeper to complete full-area coverage cleaning; during the full-area coverage process, after each area is cleaned, the area is marked as a cleaned area and filled in real time, and the status of all open edges associated with the area is updated synchronously until all areas are filled and there are no valid open edges.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the topology-based full-area coverage method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the topology-based full-area coverage method according to any one of claims 1 to 7.

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