Cleaning control method, cleaning robot and storage medium

Abstract

The embodiment of the invention relates to the technical field of robots, and discloses a cleaning control method, a cleaning robot and a storage medium, the contour of a to-be-cleaned space in a map is extracted, and the to-be-cleaned space is divided into at least one to-be-cleaned area according to the contour. The cleaning sequence of the to-be-cleaned areas is determined, and the cleaning robot is controlled to clean the to-be-cleaned areas one by one according to the cleaning sequence; wherein the cleaning sequence comprises a first sequence, the navigation path between the to-be-cleaned areas in the first sequence does not go back and forth, and the whole navigation path between the to-be-cleaned areas in the cleaning sequence does not pass through the cleaned areas. In the embodiment, the navigation path in the first sequence of the cleaning sequence does not go back and forth, so that the problem of going back and forth can be effectively reduced, the navigation path can be shortened, and the cleaning efficiency can be improved. In addition, the whole navigation path does not pass through the cleaned area, so that the method can effectively and secondarily pollute the cleaned area, and the cleaning effect is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robotics technology, and in particular, to a cleaning control method, a cleaning robot, and a storage medium. Background Art

[0002] Cleaning robots are an important branch of modern robotics. Cleaning robots are robots that can autonomously perform cleaning tasks in environments such as homes and large venues. Common cleaning robots include sweeping robots, mopping robots, and sweeping and mopping robots.

[0003] Cleaning robots are generally equipped with laser sensors and other equipment to scan obstacles in the environment where the cleaning robot is located and build a map based on the laser scanning results. The cleaning robot plans a full-coverage cleaning path based on the established map and performs the corresponding cleaning tasks.

[0004] In some solutions known to the inventors of this application, the map is first divided and sorted, and each area is cleaned in order to complete the cleaning path planning to cover the entire area. However, when the robot cleans one area and drives to another area, the navigation path during the driving process will pass through the cleaned area, causing the cleaned area to be contaminated again. Or, the order of the areas is unreasonable, resulting in the problem of back-and-forth navigation or too long navigation path when switching between areas. Summary of the invention

[0005] In view of this, some embodiments of the present application provide a cleaning control method, a cleaning robot and a storage medium, so that the cleaning sequence of the cleaning robot can effectively reduce the secondary pollution problem caused by the navigation path passing through the cleaned area, and can also effectively reduce the back-and-forth problem of the navigation path, so as to shorten the navigation path and improve the cleaning efficiency.

[0006] In a first aspect, some embodiments of the present application provide a cleaning control method, which is applied to a cleaning robot, comprising:

[0007] Extracting the outline of the space to be cleaned in the map, and dividing the space to be cleaned into at least one area to be cleaned according to the outline;

[0008] Determine a cleaning sequence of the areas to be cleaned, the cleaning sequence comprising a first sequence, in which a navigation path between the areas to be cleaned has no round trip, and in which the entire navigation path between the areas to be cleaned in the cleaning sequence does not pass through a cleaned area;

[0009] The cleaning robot is controlled to clean the areas to be cleaned one by one in the cleaning order.

[0010] In some embodiments, the above-mentioned determining the cleaning order of the areas to be cleaned includes:

[0011] The to-be-cleaned areas directly adjacent to the target area are sorted in a first direction with the target area as the center to obtain a first order; wherein the target area is the area where the base station is located;

[0012] According to the spatial geometric positions of other areas in the space to be cleaned except the area to be cleaned in the first order, the first order is filled in layers to obtain a cleaning order.

[0013] In some embodiments, the aforementioned sorting of the to-be-cleaned areas directly adjacent to the target area in a first direction with the target area as the center to obtain a first order includes:

[0014] Acquire a first area in the to-be-cleaned area that is directly adjacent to the target area and is closest to the cleaning robot;

[0015] The areas to be cleaned that are directly adjacent to the target area are sorted in a first direction with the first area being the first, to obtain a first order.

[0016] In some embodiments, the first direction is clockwise or counterclockwise.

[0017] In some embodiments, the above-mentioned filling the first sequence in layers according to the positional relationship of other regions in the cleaning space except the region to be cleaned in the first sequence to obtain the cleaning sequence includes:

[0018] For any area to be cleaned in the first sequence, other areas directly adjacent or secondarily adjacent to the area to be cleaned are inserted in front of the area to be cleaned in the first sequence, and the target area is inserted in the last position of the first sequence to obtain a cleaning sequence.

[0019] In some embodiments, the aforementioned inserting other areas that are directly adjacent or secondarily adjacent to the area to be cleaned into the front position of the area to be cleaned in the first sequence includes:

[0020] For other areas to be cleaned that are directly adjacent to or secondarily adjacent to the area to be cleaned, sort them from far to near according to the cascade relationship to obtain the branch order corresponding to the area to be cleaned;

[0021] Insert the branch sequence into the front position of the area to be cleaned in the first sequence.

[0022] In some embodiments, the method further comprises:

[0023] If it is detected that a new area to be cleaned is added in the space to be cleaned, the cleaning order of the areas to be cleaned in the space to be cleaned is re-determined.

[0024] In some embodiments, the above-mentioned determining the cleaning order of the areas to be cleaned includes:

[0025] A cleaning tree is established according to the relative position relationship of the areas to be cleaned; in the cleaning tree, the target area where the base station is located is the root node, and the areas to be cleaned directly adjacent to the target area are the parent nodes of the next level of the root node. The parent nodes are arranged in a clockwise or counterclockwise direction according to the spatial geometric position relative to the root node, and other areas to be cleaned are child nodes or leaf nodes;

[0026] Starting from the subtree corresponding to the to-be-cleaned area closest to the cleaning robot, the cleaning tree is traversed in post-order to obtain the cleaning order.

[0027] In a second aspect, some embodiments of the present application provide a cleaning robot, comprising:

[0028] at least one processor;

[0029] A memory communicatively connected to at least one processor; wherein the memory stores instructions executable by at least one processor, and the instructions are executed by at least one processor so that the at least one processor can execute the cleaning control method of the first aspect.

[0030] In a third aspect, some embodiments of the present application provide a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are used to enable a computer device to execute the cleaning control method of the first aspect.

[0031] Beneficial effects of the embodiments of the present application: Different from the prior art, the cleaning control method provided by the embodiments of the present application extracts the outline of the space to be cleaned in the map, and divides the space to be cleaned into at least one area to be cleaned according to the outline. The cleaning order of these areas to be cleaned is determined, and the cleaning robot is controlled to clean the areas to be cleaned one by one according to the cleaning order; wherein the cleaning order includes a first order, in which the navigation path between the areas to be cleaned has no round trip, and in the cleaning order, the entire navigation path between the areas to be cleaned does not pass through the cleaned area.

[0032] In this embodiment, the first order determines the main level of the cleaning order, and there is no round trip in the navigation path on the main level, so that when the cleaning robot switches areas or returns to the base station, it can reduce invalid back and forth navigation, which is conducive to the shortest navigation path to improve cleaning efficiency. In addition, the entire navigation path will not pass through the cleaned area, and it can also effectively avoid the cleaning robot from secondary contamination of the cleaned area when moving to the next area for cleaning or moving to the base station, so that the cleaning effect can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0034] Figure 1 Schematic diagram of the application environment of the cleaning control method in some embodiments of the present application;

[0035] Figure 2 This is a schematic diagram of a space to be cleaned in some embodiments of the present application;

[0036] Figure 3 This is a schematic diagram of a space to be cleaned in some embodiments of the present application;

[0037] Figure 4 This is a schematic diagram of the structure of the cleaning robot in some embodiments of the present application;

[0038] Figure 5 This is a schematic diagram of the structure of the cleaning control method in some embodiments of the present application;

[0039] Figure 6 A schematic diagram of a semantic segmentation map in some embodiments of the present application;

[0040] Figure 7 This is a schematic diagram of a space to be cleaned in some embodiments of the present application;

[0041] Figure 8 A schematic diagram of a cleaning tree in some embodiments of the present application;

[0042] Fig. 9 A comparative schematic diagram of a cleaning tree in some embodiments of the present application;

[0043] Fig.10 A comparative schematic diagram of navigation paths in some embodiments of the present application;

[0044] Fig.11 This is a schematic diagram of a newly added area to be cleaned in some embodiments of the present application. DETAILED DESCRIPTION

[0045] The present application is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements can also be made without departing from the concept of the present application. These all belong to the protection scope of the present application.

[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other, all within the scope of protection of the present application. In addition, although the functional module division is performed in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a sequence different from the module division in the device or the flow chart. In addition, the words "first", "second", "third", etc. used herein do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0048] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification and in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0049] In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0050] See also Figure 1 , Figure 1 Schematic diagram of an application environment for cleaning control provided in an embodiment of the present application. Figure 1 As shown, the cleaning robot 100 is located on the ground, which may be the ground of a living room, an office, or an outdoor place. The place where the cleaning robot 100 is located includes objects such as a base station 200, a desk, a flower pot, a sofa, a cabinet, or a bed.

[0051] The free walking of the cleaning robot 100 is mainly completed by the mapping, positioning, navigation and obstacle avoidance modules. The cleaning control of the cleaning robot 100 is an important factor affecting the cleaning efficiency and cleaning effect. It is understandable that after sensing the surrounding environment, the cleaning robot 100 plans one or more paths that do not collide with environmental obstacles and achieve full area coverage according to a certain area cleaning sequence or planning method. It is understandable that these modules are implemented by sensors and corresponding control programs.

[0052] In some embodiments, the cleaning robot 100 is equipped with a laser radar and / or a visible light camera, wherein the laser radar scans the surrounding environment of the cleaning robot 100 to obtain a laser point cloud. The visible light camera shoots the surrounding environment of the cleaning robot 100 to obtain an image. The laser radar and the visible light camera are respectively connected to the controller for communication, and the laser point cloud and the image are sent to the controller respectively. The controller calls the pre-set map-building program in the memory of the cleaning robot 100 to build a map based on the laser point cloud and / or the image. Among them, the map-building program may include a program corresponding to the SLAM algorithm (Simultaneous Localization and Mapping, SLAM), which is not described in detail here. In some embodiments, the map is a grid map. The map is saved in the memory of the cleaning robot 100. When the robot moves, the controller calls the map as the basis for autonomous positioning, path planning and obstacle avoidance.

[0053] It is understandable that the SLAM algorithm has both positioning and navigation functions. During the positioning process, the laser radar is controlled to rotate at high speed to emit laser, measure the distance between the cleaning robot and the obstacle, and combine the map to determine the relative position between the cleaning robot and the obstacle, so as to achieve positioning. In some embodiments, the cleaning robot 100 can perform visual positioning based on a visible light camera. During the navigation process, cleaning control is performed based on positioning and cleaning tasks, each area to be cleaned is cleaned one by one, and a full coverage cleaning path is planned in each area to be cleaned to complete the corresponding cleaning task.

[0054] The cleaning robot 100 can be configured into any suitable shape to achieve specific business function operations. For example, in some embodiments, the cleaning robot 100 can be a mobile robot based on a SLAM system. The cleaning robot 100 includes but is not limited to a sweeping robot, a vacuuming robot, a mopping robot, or a floor washing robot.

[0055] In some embodiments, the cleaning robot 100 may include a robot body, a laser radar, a controller, and a walking mechanism. The robot body is the main structure of the cleaning robot 100, and can be selected according to the actual needs of the cleaning robot 100. The corresponding shape structure and manufacturing material (such as hard plastic or metal such as aluminum, iron, etc.) can be selected, for example, it is set to a relatively flat cylindrical shape commonly seen in the cleaning robot 100.

[0056] The walking mechanism is a structural device arranged on the robot body to provide mobility for the cleaning robot 100. The walking mechanism can be implemented by any type of mobile device, such as rollers, crawlers, etc.

[0057] The laser radar is arranged on the body of the cleaning robot 100, and is used to sense obstacles in the surrounding environment of the mobile cleaning robot 100, scan and obtain laser point cloud data, and send it to the controller so that the controller can build a map based on the laser point cloud data and perform walking obstacle avoidance, etc. In some embodiments, the laser radar includes pulse laser radar, continuous wave laser radar and other radars.

[0058] The controller is an electronic computing core built into the robot body, which is used to perform logical operation steps to realize intelligent control of the cleaning robot. In the embodiment of the present application, the controller is connected to the laser radar for establishing a map based on the laser point cloud data and controlling the cleaning robot to walk. It is also used for cleaning control based on the map and cleaning tasks, such as dividing the cleaning area, generating the cleaning order of the cleaning area, controlling the cleaning robot to clean the cleaning area one by one according to the cleaning order, and planning the cleaning path in each cleaning area to cover the entire area.

[0059] It is understood that the controller can be a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. The controller can also be any conventional processor, controller, microcontroller or state machine. The controller can also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP and / or any other such configuration, or a combination of one or more of a microcontroller unit (MCU), a field programmable gate array (FPGA), and a system on chip (SoC).

[0060] In some embodiments, the robot body may further include a clean water tank, a sewage tank, a detergent box, a dust collection box, and the like. In this embodiment, the base station 200 includes a base, a cleaning device, a water supply device, a dust collection device, a power supply device, a detergent replenishing device, and a sewage collection device (not shown). The base, the cleaning device, the water supply device, the dust collection device, the power supply device, the detergent replenishing device, and the sewage collection device are not shown in the figure. The base is used to dock the cleaning robot, the cleaning device is used to clean the cleaning robot, the water supply device is used to supply water to the cleaning robot and / or to the cleaning device, and the dust collection device is used to collect dust in the dust collection box of the cleaning robot. The power supply device is used to charge the cleaning robot. The sewage collection device is used to collect sewage in the sewage tank of the cleaning robot.

[0061] It is understandable that the surface of the base station 200 for approaching the cleaning robot 100 matches the shape of the cleaning robot. For example, the cleaning robot 100 is commonly a relatively flat cylindrical shape, and accordingly, the base station 200 is provided with an open docking cavity for accommodating the cleaning robot 100, and the docking cavity is semi-cylindrical, and its surface is an arc surface. In some embodiments, the radius of the docking cavity is 5-10 cm larger than the radius of the cleaning robot, so that when the cleaning robot 100 is docked with the base station 200, the cleaning robot 100 is accommodated in the docking cavity.

[0062] It should be noted that, depending on the tasks to be completed, in addition to the above functional modules, the main body of the cleaning robot can also be equipped with one or more other different functional modules (such as a water tank, a mop, etc.) to cooperate with each other to perform corresponding tasks.

[0063] In some cleaning control methods known to the inventor of the present application, the cleaning robot is controlled to clean the rooms one by one in the order of cleaning the rooms from near to far. However, there is a defect that the cleaned room partitions are contaminated again.

[0064] like Figure 2 As shown, assuming that the cleaning robot cleans room 1 first, then room 3 and room 4, and then room 2, the cleaning robot will inevitably pass through rooms 1 and 4 on the way to room 2. In this way, the pollutants in room 3 will be dragged to rooms 1 and 4 by the mop on the cleaning robot, causing pollution to rooms 1 and 4.

[0065] In some cleaning control methods known to the inventor of the present application, the cleaning robot is controlled to clean the rooms one by one in the order of cleaning the rooms from near to far. This scheme sets the greatest weight for the farthest room and cleans it according to the priority of the room with the greatest weight. There are problems of back-and-forth navigation or too long paths caused by unreasonable cleaning order.

[0066] like Figure 3 As shown, assume that the base station is in room 1 and the cleaning robot is currently in room 3. According to the room weight setting, the cleaning order is: 7-6-5-3-2-4-1. It can be seen that the cleaning robot starts from room 3, passes through rooms 2-1-5-6 to 7, and then starts cleaning. After cleaning rooms 7, 6, and 5, it will pass through rooms 1-3 again to reach room 2 to continue cleaning (since the weight of room 2 is higher than that of room 4, the cleaning robot will clean room 2 first). This shows that there is a back-and-forth navigation problem. Back-and-forth navigation problems or long paths caused by unreasonable cleaning order

[0067] In view of the above problems, some embodiments of the present application provide a cleaning control method, which extracts the outline of the space to be cleaned in the map, and divides the space to be cleaned into at least one area to be cleaned according to the outline. The cleaning order of these areas to be cleaned is determined, and the cleaning robot is controlled to clean the areas to be cleaned one by one according to the cleaning order; wherein the cleaning order includes a first order, in which the navigation path between the areas to be cleaned has no round trip, and in the cleaning order, the entire navigation path between the areas to be cleaned does not pass through the cleaned area.

[0068] In this embodiment, the first order determines the main level of the cleaning order, and there is no round trip in the navigation path on the main level, so that when the cleaning robot switches areas or returns to the base station, it can reduce invalid back and forth navigation, which is conducive to the shortest navigation path to improve cleaning efficiency. In addition, the entire navigation path will not pass through the cleaned area, and it can also effectively avoid the cleaning robot from secondary contamination of the cleaned area when moving to the next area for cleaning or moving to the base station, so that the cleaning effect can be improved.

[0069] Some embodiments of the present application provide a cleaning robot. Figure 4 The cleaning robot 100 includes at least one processor 102 and a memory 103 ( Figure 4 (a bus connection and a processor are used as an example).

[0070] It can be understood that the processor 102 is used to provide computing and control capabilities to control the cleaning robot to execute any one of the cleaning control methods provided in the following embodiments.

[0071] It is understandable that the processor 102 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0072] As a non-transient computer-readable storage medium, the memory 103 can be used to store non-transient software programs, non-transient computer executable programs and modules, such as program instructions / modules corresponding to the cleaning control method in the embodiment of the present invention. The processor 102 can implement any one of the cleaning control methods provided in the following embodiments by running the non-transient software programs, instructions and modules stored in the memory 103. Specifically, the memory 103 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device or other non-transient solid-state storage devices. In some embodiments, the memory 103 may also include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0073] In some embodiments, the cleaning robot 100 may also include other sensors such as a gyroscope, an odometer, a magnetic field meter, an accelerometer or a speedometer. It is understood that the structure of the present embodiment example does not constitute a limitation to the cleaning robot 100. In some implementations, the cleaning robot 100 may include more or less components than shown in the figure, or combine some components, or split some components, or different component arrangements. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0074] It can be understood from the above that the cleaning control method provided in the embodiment of the present application can be implemented by a cleaning robot, for example, by one or more processors of the cleaning robot. In some embodiments, the cleaning control method provided in the embodiment of the present application can also be implemented by other devices with computing and processing capabilities. Other devices with computing and processing capabilities can be intelligent devices that are connected to the cleaning robot in communication, such as servers.

[0075] The cleaning control method provided by the embodiment of the present application is described below in conjunction with the exemplary application and implementation of the cleaning robot provided by the embodiment of the present application. Figure 5 , Figure 5 It is a flow chart of the cleaning control method provided in the embodiment of the present application. It can be understood that the execution subject of the cleaning control method can be one or more processors of the cleaning robot.

[0076] like Figure 5 As shown, the method S00 includes but is not limited to the following steps:

[0077] S10: extracting the outline of the space to be cleaned in the map, and dividing the space to be cleaned into at least one area to be cleaned according to the outline.

[0078] Among them, the map reflects the obstacles in the environment where the cleaning robot is located. In some implementations, the map can be a grid map. The grid map represents a two-dimensional space description method, which divides the two-dimensional space into sub-units with a minimum resolution. For example, a two-dimensional space of 1m*1m is described as a 20*20 grid matrix after being divided with a resolution of 5cm. The size of each element in the grid matrix corresponding to the actual physical size is 5cm*5cm. In the grid map, a free grid refers to a grid that is not occupied by an object, and an obstacle grid refers to a grid occupied by an object. Those skilled in the art will understand that the cleaning robot can establish a map based on the point cloud data obtained by lidar scanning and the SLAM algorithm.

[0079] Among them, the space to be cleaned refers to the environmental ground space that the cleaning robot needs to clean when performing a cleaning task. For example, the space to be cleaned can be a room area or a family space composed of multiple room units. When the environment in which the cleaning robot is located includes a living room, a master bedroom, a second bedroom, a kitchen and a bathroom, if the cleaning task set by the user includes cleaning the living room, the master bedroom and the second bedroom, the space to be cleaned includes the floor of the living room, the master bedroom and the second bedroom. For another example, the space to be cleaned can also be an office in an office building, an area in a shopping mall, an airport or a factory. For another example, the space to be cleaned can also be a partial area of ​​a room unit. In the embodiment of the present application, the space to be cleaned is not specifically limited.

[0080] Due to the presence of obstacles such as walls and cabinets, the space to be cleaned is a closed area with an edge having an outline. It can be understood that the outline is composed of the boundary between the free grid and the obstacle grid at the edge of the space to be cleaned. Therefore, the outline of the space to be cleaned can be extracted based on the map.

[0081] The space to be cleaned is divided into at least one area to be cleaned according to the outline. The area to be cleaned may be part or all of the space to be cleaned. In some embodiments, when the space to be cleaned is a large-area connected ground, the space to be cleaned may be used as an area to be cleaned. In some embodiments, when the space to be cleaned is divided into several areas by obstacles, the space to be cleaned may be divided into multiple areas to be cleaned based on the division of the obstacles. For example, when the space to be cleaned is a family space, since the family space is divided by walls, a room unit may be used as an area to be cleaned. For another example, when the space to be cleaned is a shopping mall floor, since the shopping mall floor is divided by objects such as elevators and exhibits, a large-area connected area in the shopping mall floor may be used as an area to be cleaned.

[0082] The specific division method may be to use a related algorithm model to identify the area and number the area. In some embodiments, a pre-trained semantic recognition model may be used to identify the map, identify connected areas (such as room units), assign different pixel values ​​to different areas, and obtain the following: Figure 6 The semantic segmentation map shown in the figure. From the semantic segmentation map, different areas to be cleaned can be determined according to pixel values, and the areas to be cleaned can be numbered, such as room 1, room 2, room 3, etc.

[0083] S20: Determine the cleaning order of the areas to be cleaned.

[0084] The cleaning sequence refers to the order in which the cleaning robot cleans at least one area to be cleaned. Figure 6 In the illustrated embodiment, the area to be cleaned includes room 1, room 2, room 2, room 4, room 5, and room 6, and the cleaning sequence includes the order of these six rooms.

[0085] It is understandable that the cleaning order instructs the cleaning robot to clean each area in a certain order. In the process of switching areas, the cleaning robot navigates to the next area to be cleaned based on the map and positioning, for example, navigating from room 3 to room 4. In the process of returning to the base station after cleaning is completed, the cleaning robot navigates to the base station based on the map and positioning. As a result, the cleaning robot generates a navigation path in the process of completing the cleaning. The navigation path includes the path that the cleaning robot needs to walk from the current position to the cleaning starting point of the next area to be cleaned, and the path that needs to be walked to move to the base station.

[0086] In the embodiment of the present application, the cleaning sequence is determined based on the spatial geometric relative position relationship between the areas to be cleaned and the base station position. The cleaning sequence includes a first sequence, in which the navigation path between the areas to be cleaned has no round trip, and the entire navigation path between the areas to be cleaned in the cleaning sequence does not pass through the cleaned area.

[0087] Among them, the first order is the main level of the cleaning order, which determines the main cleaning direction. The navigation path between the areas to be cleaned in the first order does not have a round trip, that is, when the cleaning robot cleans in the first order, it cleans in a certain direction without going back and forth. It can be understood that the first order is distributed in the cleaning order, and any two adjacent elements in the first order may be adjacent or non-adjacent in the cleaning order.

[0088] For example, the first sequence includes areas to be cleaned near the center of the space to be cleaned, and these areas to be cleaned are arranged in a certain direction. The first sequence enables the cleaning robot to clean from the center of the space to be cleaned to the surroundings, and the branch areas in various directions are cleaned one by one.

[0089] It can be seen that based on the fact that there is no round-trip navigation path between the areas to be cleaned in the first order, there is no round-trip navigation path on the main level, which can effectively reduce the problem of round-trip navigation and is conducive to the shortest navigation path. Therefore, when the cleaning robot switches areas or returns to the base station, it can reduce invalid round-trip navigation to improve cleaning efficiency.

[0090] In addition, the entire navigation path between the areas to be cleaned in the cleaning sequence does not pass through the cleaned area. That is to say, during the cleaning process, the navigation path does not pass through the cleaned area, and the cleaning robot walks in the area to be cleaned, and the dust and garbage on the mop will not be dragged to the cleaned area, thereby effectively avoiding secondary contamination of the cleaned area and improving the cleaning effect.

[0091] In some embodiments, the aforementioned step S20 specifically includes:

[0092] S21: sorting the to-be-cleaned areas directly adjacent to the target area in a first direction with the target area as the center to obtain a first order.

[0093] The target area is the area where the base station is located. It is understandable that the base station is generally fixed at a certain location in the clean space to connect to the power supply, water source or sewage outlet. Figure 7 , the base station is set in room 1 (the area to be cleaned), then room 1 is taken as the target area. With room 1 as the center, the areas to be cleaned directly adjacent to room 1 (the target area) (i.e., room 5, room 4, and room 2) are searched, and these directly adjacent areas to be cleaned are sorted in the first direction to obtain the first order.

[0094] In some embodiments, the first direction is a clockwise direction or a counterclockwise direction. Here, the counterclockwise direction is used as an example for illustrative description. For room 5, room 4, and room 2, the first order is [room 2, room 4, room 5] according to the counterclockwise order with room 1 (target area) as the center.

[0095] It is understandable that, based on the fact that the area to be cleaned in the first order is directly adjacent to the target area, the cleaning robot needs to pass through the area to be cleaned in the first order when it goes to other areas in the space to be cleaned (such as room 3, room 6 or room 7) or when it returns to the base station after cleaning other areas. In other words, the first order determines the main hierarchy of the cleaning order. Other areas can be sorted in layers according to their relative positional relationship with the area to be cleaned in the first order, so that the navigation path avoids the cleaned area.

[0096] In some embodiments, the aforementioned step S21 specifically includes:

[0097] S211: Acquire a first area in the to-be-cleaned area directly adjacent to the target area and closest to the cleaning robot;

[0098] S212: taking the first area as the first priority, sorting the areas to be cleaned that are directly adjacent to the target area in a first direction to obtain a first order.

[0099] Please continue reading Figure 7 , assuming that the base station is in room 1, and the current position of the cleaning robot before performing the cleaning task is room 4, that is, the target area is room 1, and the areas to be cleaned directly adjacent to the target area are room 2, room 4 and room 5. Room 4 is closest to the cleaning robot, so room 4 is taken as the first area.

[0100] For the areas to be cleaned (e.g., rooms 2, 4, and 5) that are directly adjacent to the target area (e.g., room 1), the first area (e.g., room 4) is placed at the top of the first order, that is, room 4 is ranked first, and the other adjacent areas (e.g., room 2 and room 5) are sorted in the first direction to obtain the first order. When the first direction is counterclockwise, the first order is [room 4, room 5, room 2], and when the first direction is clockwise, the first order is [room 4, room 2, room 5].

[0101] The main level of the cleaning sequence is determined based on the first order, and the first area closest to the cleaning robot is placed at the top of the first order, so that the cleaning robot can start cleaning from the first area or the branch where the first area is located, without having to go to the farthest room to start cleaning. Figure 7 As shown in the figure, room 4 has no deeper adjacent room, so the cleaning robot starts cleaning from room 4. If the previous position is room 2, then room 2 is at the first place in the first sequence, and since there is a deeper adjacent room 3 around room 2, cleaning starts from room 3.

[0102] Thus, the cleaning robot can start cleaning from the first area or the branch where the first area is located. There is no need to go to the farthest room to start cleaning, and there is no need to navigate back and forth, which reduces the cleaning time caused by turning back and forth and improves the cleaning efficiency. At the same time, the navigation path can also take into account not passing through the cleaned area, avoiding the problem of secondary pollution.

[0103] S22: filling the first sequence in layers according to the spatial geometric positions of other regions in the space to be cleaned except the region to be cleaned in the first sequence, to obtain a cleaning sequence.

[0104] The spatial geometric positions of the other regions include the positions of these regions relative to the regions to be cleaned in the first order. Figure 7, the spatial geometric position of room 3 is adjacent to room 2, the spatial geometric position of room 6 is adjacent to room 5, and the spatial geometric position of room 7 is on the branch of room 5 and adjacent to room 6.

[0105] The main level of the cleaning sequence is determined based on the first order, so that the local cleaning sequence can be determined hierarchically based on the spatial geometric positions of other regions, that is, the first order is filled hierarchically to obtain the cleaning sequence.

[0106] For example, after determining the first order [room 2, room 4, room 5], room 3, room 6, and room 7 are hierarchically inserted into the first order to obtain a cleaning order. It is understandable that in order to avoid the navigation path turning back and forth and secondary contamination problems, room 3 adjacent to room 2 is filled in the vicinity of room 2 in the first order, and room 6 adjacent to room 5 and room 7 adjacent to room 6 are filled in the vicinity of room 5 in the first order, so that the cleaning robot cleans the branch of rooms 2 and 3, then cleans room 4, and then cleans the branch of rooms 5, 6, and 7.

[0107] In this way, the cleaning sequence enables the cleaning robot to clean the branch areas around the target area (such as room 1) one by one in the first direction (clockwise or counterclockwise), which can effectively avoid the navigation path from going back and forth (achieving the shortest navigation path) and secondary contamination problems.

[0108] In some embodiments, the aforementioned step S22 specifically includes: for any area to be cleaned in the first order, other areas directly adjacent to or secondarily adjacent to the area to be cleaned are inserted into the front position of the area to be cleaned in the first order, and the target area is inserted into the last position of the first order to obtain a cleaning order.

[0109] Please refer again Figure 7 , after determining the first order [room 2, room 4, room 5], room 3 adjacent to room 2 is inserted to the front position of room 2 in the first order, room 6 adjacent to room 5 and room 7 adjacent to room 6 are inserted to the front position of room 5 in the first order, and room 1 (target area) is inserted to the end of the first order, obtaining the cleaning order [room 3, room 2, room 4, room 6, room 7, room 5, room 1], or, [room 3, room 2, room 4, room 7, room 6, room 5, room 1].

[0110] It is understandable that after the cleaning robot finishes cleaning room 3, it will inevitably pass through room 2 when driving to other areas. In order to prevent the cleaning robot from dragging garbage and impurities in room 3 to the already cleaned room 2, the branch area (room 3) where room 2 is located is inserted in the front position of room 2 in the first sequence, so that the cleaning robot cleans room 3 first and then room 2. Similarly, the branch area of ​​room 5 (room 6 and room 7) is inserted in the front position of room 5 in the first sequence, so that the cleaning robot cleans rooms 6 and 7 first and then room 5.

[0111] That is, in this embodiment, the cleaning robot starts cleaning from the end of the branch area, cleans the branch areas one by one in a clockwise or counterclockwise direction, and finally cleans the target area where the base station is located, and then returns to the base station, so that the areas passed by the navigation path are all uncleaned areas, and garbage and impurities will not be dragged into the cleaned areas, thereby, no secondary pollution will be caused to the cleaned areas.

[0112] In some embodiments, the aforementioned “inserting other areas that are directly adjacent or secondarily adjacent to the area to be cleaned into the front position of the area to be cleaned in the first sequence” specifically includes:

[0113] (1) Other areas to be cleaned that are directly adjacent to or secondarily adjacent to the area to be cleaned are sorted from far to near according to a cascade relationship to obtain a branching order corresponding to the area to be cleaned.

[0114] (2) Insert the branch sequence into the front position of the area to be cleaned in the first sequence.

[0115] It is understood that, among them, directly adjacent means that the passage between two areas does not need to pass through other areas, and secondary adjacent means that the passage between two areas needs to pass through other areas. Figure 7 , Room 5 is directly adjacent to Room 6, Room 7 is directly adjacent to Room 6, and Room 7 is secondarily adjacent to Room 5.

[0116] Among them, the cascade relationship refers to adjacent levels, including direct or secondary relationships. It can be understood that the secondary adjacent areas are relatively far away, and the directly adjacent areas are relatively close.

[0117] For room 5, the areas directly adjacent or secondary adjacent to it include room 6 and room 7. Room 6 and room 7 are sorted from far to near according to the cascade relationship to obtain the branch order [room 7, room 6] corresponding to room 5.

[0118] Insert the branch sequence [room 7, room 6] in the front position of room 5 in the first sequence. Traverse each area to be cleaned in the first sequence, and insert the adjacent areas to be cleaned in the order of farthest to nearest in the cascade relationship into the front position of the area to be cleaned, and obtain the cleaning sequence [room 3, room 2, room 4, room 7, room 6, room 5, room 1].

[0119] In this embodiment, the areas to be cleaned adjacent to the areas to be cleaned in the first order are inserted in the front position of the area to be cleaned in a cascade relationship from far to near, so that the cleaning robot starts cleaning from the very end of each branch area. As a result, the areas passed by the navigation path are all unclean areas, and garbage and impurities will not be dragged into the cleaned areas, thereby preventing secondary pollution to the cleaned areas.

[0120] In some embodiments, the aforementioned step S20 specifically includes:

[0121] S23: Establish a cleaning tree according to the relative position relationship of the areas to be cleaned; in the cleaning tree, the target area where the base station is located is the root node, the areas to be cleaned directly adjacent to the target area are the parent nodes of the next level of the root node, and the parent nodes are arranged in a clockwise or counterclockwise direction with the target area as the center, and other areas to be cleaned are child nodes or leaf nodes.

[0122] S24: Starting from the branch corresponding to the to-be-cleaned area closest to the cleaning robot, perform post-order traversal on the cleaning tree to obtain a cleaning order.

[0123] Among them, the relative position relationship refers to the adjacent relationship of the spatial geometric position of the area to be cleaned. In some embodiments, the outer contours of each room in the semantic segmentation map can be traversed to obtain the relative position relationship. It can be understood that in the semantic segmentation map, different areas (such as rooms). As can be seen from the foregoing, the semantic segmentation map is obtained by using a semantic segmentation model to identify the map, and different areas in the semantic segmentation map are represented by different pixel values.

[0124] For example, extracting Figure 7 The outer contour of room 3 is shown in the figure. Each pixel point of the outer contour is traversed (for example, the pixel value of room 3 is 3). If there are pixel values ​​of other rooms in the 8 regions around the pixel point (for example, the pixel value of room 2 is 2), then record room 2 adjacent to room 3. After traversing the contour, all rooms adjacent to room 3 can be obtained, which are recorded as (room 3, room 2). This is done for each room, and the relative position relationship (adjacent relationship) between the rooms can be obtained: (room 3, room 2), (room 1, room 2), (room 1, room 4), (room 1, room 5), (room 5, room 6), (room 6, room 7).

[0125] According to these relative positional relationships, a cleaning tree is established. In certain embodiments, the cleaning tree can be a binary tree. In the cleaning tree, the target area at the base station is a root node, and the area to be cleaned directly adjacent to the target area is a parent node of the next level of the root node, and the parent node is arranged in a clockwise or counterclockwise direction with the target area as the center, and other areas to be cleaned are as child nodes or leaf nodes.

[0126] like Figure 7 As shown, the base station is in room 1, so the target area is room 1, with room 1 as the root node. In the aforementioned neighbor relationship {(room 3, room 2), (room 1, room 2), (room 1, room 4), (room 1, room 5), (room 5, room 6), (room 6, room 7)}, traverse the rooms directly adjacent to room 1 to obtain room 5, room 4, and room 2.

[0127] Take room 5, room 4 and room 2 as the parent nodes of the next level of the root node, and you will get the following: Figure 8 The binary tree shown in (a) in . Figure 8 The binary tree described in (a) above, combined with Figure 7 , arrange the parent nodes (Room 5, Room 4 and Room 2) in a clockwise or counterclockwise direction according to the spatial geometric position relative to the root node (Room 1). For example, arrange the parent nodes (Room 5, Room 4 and Room 2) in a counterclockwise direction according to the spatial geometric position relative to the root node (Room 1), and you will get Figure 8 The binary tree shown in (b) in .

[0128] Other areas to be cleaned are used as child nodes or leaf nodes. Figure 7 In the space to be cleaned shown, in addition to the root node and the parent node, the remaining areas to be cleaned include room 3, room 6 and room 7. It can be understood that room 3 is adjacent to room 2, so room 3 is taken as the leaf node of room 2. Room 6 is adjacent to room 5, and room 7 is adjacent to room 6, so room 6 is taken as the child node of room 5, and room 7 is taken as the leaf node of room 6, and the following is obtained: Figure 8 The cleaning tree described in (c).

[0129] Starting from the subtree corresponding to the area to be cleaned that is closest to the cleaning robot, the cleaning tree is traversed in post-order to obtain the cleaning order. Among them, post-order traversal is a type of binary tree traversal. Post-order traversal first traverses the left subtree, then traverses the right subtree, and finally visits the root node. When traversing the left and right subtrees, the left subtree is still traversed first, then the right subtree, and finally the root node.

[0130] For example, Figure 8In the cleaning tree shown in (c), if the cleaning robot is currently in room 3, then room 3 is closest to the cleaning robot. Starting from the subtree corresponding to room 3, the cleaning tree is traversed in post-order. Specifically, room 3 is the left node, room 2 is the root node, and room 3 has no sibling nodes, that is, no right node, so the traversal order is: room 3->room 2. Now take room 2 as the left node and room 4 as the right node, and get the order: room 3->room 2->room 4. Then, room 4 is the left node and room 5 is the right node. At the same time, room 5 has a child node room 6, and room 6 has a child node room 7. Therefore, the next room to be cleaned is room 7, and the order is: room 3->room 2->room 4->room 7. And so on, it is finally confirmed that the cleaning order is [room 3->room 2]->[room 4]->[room 7->room 6->room 5]->room 1. Among them, the nodes between the brackets "[]" represent a subtree.

[0131] For another example, if the cleaning robot is currently in room 4, the cleaning tree is traversed in post-order starting from room 4, and the cleaning order is [room 4]->[room 7->room 6->room 5]->[room 3->room 2]->room 1. For another example, if the cleaning robot is currently in room 5, the cleaning tree is traversed in post-order starting from the subtree where room 5 is located, and the cleaning order is [room 7->room 6->room 5]->[room 3->room 2]->[room 4]->room 1.

[0132] In this embodiment, the parent nodes of the next level of the root node in the cleaning tree are arranged in a clockwise or counterclockwise direction according to the spatial geometric position relative to the root node, and the cleaning tree is post-order traversed from the subtree where the cleaning robot is located. The cleaning order obtained by the post-order traversal enables the cleaning robot to start cleaning from the end of the subtree where it is located, clean the subtrees one by one in a clockwise or counterclockwise direction, and finally clean the root node where the base station is located, and then return to the base station, so that the areas passed by the navigation path are all uncleaned areas, and garbage impurities will not be dragged to the cleaned area, thereby, secondary pollution will not be caused to the cleaned area. In addition, the cleaning robot can start cleaning nearby from the subtree where it is located, clean one subtree by one in a clockwise or counterclockwise direction, and start cleaning from the very end of the subtree. It does not need to go to the farthest room to start cleaning, and there is no need to navigate back and forth, which reduces the time-consuming cleaning caused by turning back and forth and improves the cleaning efficiency.

[0133] S30: Control the cleaning robot to clean the areas to be cleaned one by one according to the cleaning sequence.

[0134] It is understandable that after obtaining the cleaning order, the cleaning robot is controlled to clean the areas to be cleaned one by one according to the cleaning order. For example, for the above cleaning order [Room 3->Room 2]->[Room 4]->[Room 7->Room 6->Room 5]->Room 1, the cleaning robot first cleans Room 3, then Room 2, and so on, until it finishes cleaning Room 1 and returns to the base station.

[0135] In some embodiments, for each room, the path planning can be performed in the following manner: control the cleaning robot to walk back and forth in a "bow" shape from the starting corner point of the room to the end corner point to exit the room. Among them, the end corner point can be a corner point on one side of the room exit, and the starting corner point can be a corner point on the side opposite to the room exit. In some embodiments, the path planning can also be performed in the following manner: first walk back and forth in a "bow" shape, and for areas that have not been cleaned, use a search and navigation method to clean. It can be understood that the path planning in each area to be cleaned (such as a room) described above is merely an exemplary description, and the embodiments of the present application do not impose any restrictions on the path planning in the area to be cleaned.

[0136] It can be seen from the above embodiments that when the cleaning robot performs a cleaning operation, it cleans at least one area to be cleaned according to the cleaning order. The first order determines the main level of the cleaning order. There is no round trip in the navigation path on the main level, so that when the cleaning robot switches areas or returns to the base station, it can reduce invalid back-and-forth navigation, which is conducive to the shortest navigation path to improve cleaning efficiency. In addition, the entire navigation path will not pass through the cleaned area, and it can also effectively avoid the cleaning robot from secondary contamination of the cleaned area when it moves to the next area for cleaning or moves to the base station, so that the cleaning effect can be improved.

[0137] The following examples are provided to illustrate the beneficial effects of the cleaning control method in the embodiments of the present application:

[0138] In some technologies known to the inventor of the present application, the subtree with the longest path is placed on the rightmost, and the remaining nodes are randomly placed, and the clean tree is obtained by traversing from the subtree with the longest path. Fig. 9 In the cleaning space shown in (a) of FIG, when constructing the cleaning tree, the room where the base station is located is taken as the root node, the subtree with the longest path is placed on the rightmost, and the remaining nodes are placed randomly, and the result is as follows: Fig. 9In the cleaning tree described in (b), room 8 is the parent node, and rooms 7, 6, 4, and 3 are its child nodes. The length (number of nodes) of the subtree "room 8-room 6-room 5" is the longest and is placed on the rightmost side of the cleaning tree. When the child nodes of rooms 7, 6, 4, and 3 are arranged from left to right in the cleaning tree, they are rearranged as: room 7, room 3, room 4, and room 6. That is, the prior art places the subtree with the longest path on the rightmost side, and starts cleaning from the rightmost subtree. The cleaning order is: room 5, room 6, room 4, room 3, room 7, room 8, room 2, and finally cleans room 1 where the base station is located.

[0139] It is understandable that after the cleaning robot cleans room 5, it cleans room 6, and then cleans room 4, and then needs to return to room 4. After cleaning room 4, it cleans room 3, and then returns to room 7 for cleaning, and finally cleans room 8, room 2, and room 1 in sequence. It can be seen that this cleaning sequence causes the cleaning robot to turn back and forth during the cleaning process, affecting the cleaning efficiency.

[0140] In the embodiment of the present application, for example Fig. 9 In the space to be cleaned shown in (a), the room where the base station is located is taken as the root node. For the parent node room 8, the rooms adjacent to room 8 are searched in a counterclockwise direction to find rooms 7, 6, 4, and 3. Therefore, the order of the child nodes of the parent node room 8 is room 7, 6, 4, and 3. Then, the remaining rooms are added to the binary tree as child nodes or leaf nodes, and the following is obtained: Fig. 9 The cleaning tree of (c) in . If the cleaning robot stops at the base station when performing the cleaning task, and the subtree closest to the cleaning robot is room 8, then starting from the subtree where room 8 is located, the cleaning tree is traversed in post-order, and the cleaning order is: room 7, 5, 6, 4, 3, 8, 2, 1.

[0141] In this embodiment, the cleaning robot starts cleaning from the end of the subtree that is closest to it, and sorts the subtrees counterclockwise (or clockwise) according to the spatial position relationship, cleans the subtrees one by one, and finally cleans the root node where the base station is located, and then returns to the base station, so that the areas passed by the navigation path are all uncleaned areas, and no secondary pollution is caused to the cleaned areas. In addition, the cleaning robot can start cleaning nearby from the subtree where it is located, clean each subtree clockwise or counterclockwise, and start cleaning from the very end of the subtree. It does not need to go to the farthest room to start cleaning, and there is no need to navigate back and forth, which reduces the time spent on cleaning due to turning back and forth, and improves cleaning efficiency.

[0142] For easier understanding, see the navigation path for further comparison. Fig.10 , Fig.10 (a) is a navigation path for cleaning control according to the above scheme known to the inventor of the present application, Fig.10(b) is a navigation path for cleaning control according to the scheme in the embodiment of the present application, wherein the arrow represents the path of the cleaning robot from one area to be cleaned to another area to be cleaned.

[0143] like Fig.10 As shown in (a) of FIG. 1 , according to the method known to the inventor of the present application that the longest subtree is cleaned last, the cleaning order is: room 1-2-3-4-5-6-7-8-9. Fig.10 As shown in (b), the embodiment of the present application starts with the subtree where the cleaning robot is located, cleans the subtree in a certain direction, and cleans each subtree from the end. The cleaning order is: room 1-2-7-8-9-4-3-5-6. Comparing the two solutions, it is obvious that Fig.10 The navigation path in (a) is chaotic and relatively long, which is not conducive to improving cleaning efficiency. Fig.10 The navigation path in (b) is concise and relatively short, which can effectively improve the cleaning efficiency.

[0144] In some embodiments, the method S100 further includes:

[0145] S40: If it is detected that a new area to be cleaned is added in the space to be cleaned, the cleaning order of the areas to be cleaned in the space to be cleaned is re-determined.

[0146] That is, after the cleaning robot starts cleaning according to the cleaning order, it simultaneously detects in real time whether there is a new area to be cleaned (for example, a new room) in the space to be cleaned, and adjusts the cleaning order when there is a new area.

[0147] It is understandable that the home environment usually changes, and the user may need to open the door to allow the cleaning robot to enter the newly added room for cleaning. For the newly added room, it is inserted into the original cleaning tree as a new node. Specifically, if the new node is before the current cleaning node sequence, it is not inserted into the original cleaning tree to avoid secondary contamination of the cleaned area. If the new node is after the current cleaning node sequence, the new node is inserted into the cleaning tree, and the room sequence after the new change can be cleaned.

[0148] like Fig.11As shown, the original cleaning sequence is: 1-2-7-8- <9> -4-3-5-6. If rooms 1, 2, 7, and 8 have been cleaned, and the cleaning robot is currently in room 9, suppose the user opens the door and adds rooms 10 and 11. If rooms 10 and 11 are inserted into the cleaning tree, the cleaning order is 1-2-7-

[10] -8- <9> -4-3-5-6-

[11] , where room 10 is on the left side of room 9. When the cleaning robot drives to room 10, it must pass through room 8, which will cause secondary pollution to room 8. Therefore, room 10 is not inserted into the cleaning tree and room 10 is not cleaned. Room 11 is after room 9. When the cleaning robot drives to room 11, it will not secondary pollute any room. Therefore, room 11 is inserted into the cleaning tree and the new cleaning order is followed. <9> -4-3-5-6-

[11] Continue cleaning. After cleaning room 6, the cleaning robot continues to clean room 11.

[0149] In this embodiment, the cleaning robot processes the newly added area to be cleaned, and while taking into account secondary pollution and the shortest navigation path, it can effectively avoid missing out on cleaning the newly added area to be cleaned.

[0150] In summary, the cleaning robot starts cleaning from the end of the subtree where it is located, cleans the subtrees one by one in a clockwise or counterclockwise direction, and finally cleans the root node where the base station is located, and then returns to the base station, so that the areas passed by the navigation path are all uncleaned areas, and garbage impurities will not be dragged to the cleaned area, so that the cleaned area will not be secondary polluted. The cleaning robot can start cleaning nearby from the subtree where it is located, clean one subtree at a time in a clockwise or counterclockwise direction, and start cleaning from the very end of the subtree. It does not need to go to the farthest room to start cleaning, and there is no need to navigate back and forth, which reduces the time-consuming cleaning caused by the return and improves the cleaning efficiency. In addition, for the newly added area to be cleaned (new node), if it is before the current cleaning node sequence, it will not be inserted into the original cleaning tree to avoid secondary pollution of the cleaned area. If the new node is after the current cleaning node sequence, the new node will be inserted into the cleaning tree, and the cleaning of the room sequence after the new change can effectively avoid missing the cleaning of the newly added area to be cleaned.

[0151] The present application also provides a computer-readable storage medium, such as a memory including a program code, which can be executed by a processor to complete the cleaning control method in the above embodiment. For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CDROM), a magnetic tape, a floppy disk, and an optical data storage device.

[0152] The present application also provides a computer program product, which includes one or more program codes stored in a computer-readable storage medium. A processor of an electronic device reads the program code from the computer-readable storage medium, and the processor executes the program code to complete the steps of the cleaning control method provided in the above embodiment.

[0153] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0154] Through the description of the above implementation methods, ordinary technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0155] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning control method, applied to a cleaning robot, characterized in that: include: Extracting the outline of the space to be cleaned in the map, and dividing the space to be cleaned into at least one area to be cleaned according to the outline; Determining a cleaning sequence of the areas to be cleaned, the cleaning sequence comprising a first sequence, in which a navigation path between the areas to be cleaned has no round trip, and in which the entire navigation path between the areas to be cleaned does not pass through a cleaned area; The cleaning robot is controlled to clean the areas to be cleaned one by one according to the cleaning sequence.

2. The method according to claim 1, characterized in that The step of determining the cleaning order of the areas to be cleaned comprises: Taking the target area as the center, the areas to be cleaned that are directly adjacent to the target area are sorted in a first direction to obtain the first order; wherein the target area is the area where the base station is located; According to the spatial geometric positions of other areas in the space to be cleaned except the area to be cleaned in the first sequence, the first sequence is filled in layers to obtain the cleaning sequence.

3. The method according to claim 2, characterized in that The method of sorting the to-be-cleaned areas directly adjacent to the target area in a first direction with the target area as the center to obtain a first order includes: Acquire a first area in the to-be-cleaned area directly adjacent to the target area that is closest to the cleaning robot; The first area is placed first and the areas to be cleaned that are directly adjacent to the target area are sorted according to the first direction to obtain the first order.

4. The method according to claim 2 or 3, characterized in that: The first direction is clockwise or counterclockwise.

5. The method according to claim 2 or 3, characterized in that: The step of filling the first sequence in layers according to the positional relationship of other regions in the cleaning space except the region to be cleaned in the first sequence to obtain the cleaning sequence includes: For any area to be cleaned in the first sequence, other areas directly adjacent or secondarily adjacent to the area to be cleaned are inserted in front of the area to be cleaned in the first sequence, and the target area is inserted in the last position of the first sequence to obtain the cleaning sequence.

6. The method according to claim 5, characterized in that The step of inserting other areas that are directly adjacent to or secondarily adjacent to the area to be cleaned into a front position of the area to be cleaned in the first sequence comprises: For other areas to be cleaned that are directly adjacent to or secondarily adjacent to the area to be cleaned, sort them from far to near according to the cascade relationship to obtain a branching order corresponding to the area to be cleaned; Insert the branch sequence into the front position of the area to be cleaned in the first sequence.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: If it is detected that a new area to be cleaned is added in the space to be cleaned, the cleaning order of the areas to be cleaned in the space to be cleaned is re-determined.

8. The method according to claim 1, characterized in that The step of determining the cleaning order of the areas to be cleaned comprises: A cleaning tree is established according to the relative position relationship of the areas to be cleaned; in the cleaning tree, the target area where the base station is located is a root node, the areas to be cleaned directly adjacent to the target area are parent nodes of the next level of the root node, the parent nodes are arranged in a clockwise or counterclockwise direction according to the spatial geometric position relative to the root node, and other areas to be cleaned are child nodes or leaf nodes; Starting from the subtree corresponding to the to-be-cleaned area closest to the cleaning robot, the cleaning tree is traversed in post-order to obtain the cleaning sequence.

9. A cleaning robot, characterized in that: include: at least one processor; A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor so that the at least one processor can execute the cleaning control method as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer device to execute the cleaning control method according to any one of claims 1 to 8.

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