Cleaning path planning method and device for cleaning robot

Abstract

The invention provides a cleaning path planning method for a cleaning robot, and the method can comprise the steps: obtaining a to-be-cleaned region which is composed of at least one room region; room attribute information of each room area, space position relation information of each room area and station returning frequency information of the cleaning robot are obtained; according to the room attribute information of each room area, the space position relation information of each room area and the station returning frequency information of the cleaning robot, the cleaning sequence of each room area is determined; and the cleaning robot is controlled to clean all the room areas in sequence according to the cleaning sequence. According to the technical scheme, secondary pollution to the room area is avoided, and meanwhile the cleaning path where the cleaning robot needs to walk is shortened as much as possible.

Description

Technical Field

[0001] The present application relates to the field of network communication technology, and in particular to a cleaning path planning method and device for a cleaning robot. Background Art

[0002] The autonomous path planning problem of cleaning robots is a common problem in the control field. In order to prevent the cleaning robot from causing secondary contamination to the room to be cleaned during work, the existing cleaning path planning scheme usually sets corresponding priorities for different room types in order from low to high dirtiness, and cleans each room in order from high to low according to the room type priority of each room to be cleaned. However, since rooms of the same or adjacent priority may be far apart, the cleaning robot has to walk many repeated paths when cleaning each room based on the cleaning order, and the cleaning efficiency is low. Summary of the invention

[0003] In view of this, the present application provides a cleaning path planning method and device for a cleaning robot, so as to solve the problem of low cleaning efficiency caused by path duplication that is prone to occur during the cleaning process.

[0004] Specifically, this application is implemented through the following technical solutions:

[0005] According to a first aspect of the present application, a cleaning path planning method for a cleaning robot is proposed, which is applied to a self-moving cleaning system. The self-moving cleaning system includes a cleaning robot and a base station. The cleaning robot is provided with a wiping and mopping member, and the base station is provided with a cleaning mechanism for cleaning the wiping and mopping member, including:

[0006] Acquire an area to be cleaned, wherein the area to be cleaned is composed of at least one room area; acquire room attribute information of each room area, spatial position relationship information of each room area and return frequency information of the cleaning robot; wherein the room attribute information is used to characterize functional attributes of the room area, the spatial position relationship information of each room area is used to indicate the distance between each room area, and the return frequency information is used to characterize the frequency of the cleaning robot returning to a base station during the cleaning process; determine the cleaning order of each room area according to the room attribute information of each room area, the spatial position relationship information of each room area and the return frequency information of the cleaning robot; control the cleaning robot to clean each room area in turn according to the cleaning order.

[0007] It can be seen from the technical solution provided by the present application above that the present application determines the cleaning order by comprehensively considering the room attribute information of each room area, the spatial position relationship of each room area and the return frequency of the cleaning robot, so as to ensure that the spatial position relationship of the room areas cleaned by the cleaning robot in each return round is relatively close and conforms to the high to low priority order corresponding to the room attribute information, thereby avoiding secondary pollution to the room area while shortening the cleaning path that the cleaning robot needs to walk as much as possible to improve the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0009] Figure 1 is a flow chart of a cleaning path planning method for a cleaning robot according to an exemplary embodiment of the present application;

[0010] Figure 2 is an environment map shown according to an exemplary embodiment of the present application;

[0011] Figure 3 is a flow chart of a cleaning path planning method for a cleaning robot according to an exemplary embodiment of the present application;

[0012] Figure 4 is a schematic diagram of a topological structure according to an exemplary embodiment of the present application;

[0013] Figure 5 is a schematic diagram of an electronic device for cleaning path planning of a cleaning robot according to an exemplary embodiment of the present application;

[0014] Figure 6 It is a block diagram of a cleaning path planning device of a cleaning robot according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0015] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0016] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0017] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0018] Next, the embodiments of the present application are described in detail.

[0019] The self-mobile cleaning system in the embodiment of the present application may specifically be a sweeping and mopping robot system that supports an automatic return-to-station mopping function. Figure 1 As shown, the self-propelled cleaning system includes a cleaning robot 101 and a base station 102. The cleaning robot 101 is provided with a mopping member 1011 and a driving wheel 1012 at the bottom, the driving wheel 1012 is used to drive the cleaning robot body 101 to walk, and the mopping member 1011 is used to mop the cleaning area during the walking process of the cleaning robot 101. The base station 102 is provided with a cleaning mechanism 1021 at the bottom, and the cleaning mechanism 1021 is used to clean the mopping member 1011 at the bottom of the robot 101 when the cleaning robot 101 returns to the base station 102.

[0020] Specifically, during the cleaning process, the cleaning robot 101 can start from the base station 102, and move under the drive of the driving wheel 1012, while walking, using the wiping and mopping member 1011 (such as a mop) at the bottom to rub against the ground to mop the ground. When the cleaning robot 101 needs to wash the mop, the cleaning robot 101 can return from the cleaning position to the base station 102 so that the base station can clean the mop at the bottom through the cleaning mechanism 1021, and continue to perform the cleaning task after the cleaning is completed; when the cleaning robot needs to be charged, the cleaning robot 101 can return from the cleaning position to the base station 102 for charging, and continue to perform the cleaning task after the cleaning is completed; when the cleaning robot needs to add water to its internal water tank, the cleaning robot 101 can return from the cleaning position to the base station 102 for adding water, and continue to perform the cleaning task after the cleaning is completed.

[0021] Figure 2FIG. 1 is an environment map shown according to an exemplary embodiment of the present application. Figure 2 As shown, the environment map includes 10 room areas (room area A, room area B ... room area I), among which room area A is the living room, room area B is bedroom 1, room area C is bathroom 1, room area D is the balcony, room area E is the dining room, room area F is bedroom 2, room area G is the study, room area H is bathroom 2, room area I is the kitchen, and room area J is the audio-visual room.

[0022] If, according to the existing cleaning path planning scheme, the rooms are cleaned in order according to the priority of the functional type corresponding to each room area from high to low (for example, the cleaning priority corresponding to the functional type of the room can be preset from high to low as bedroom-study and other types of rooms-living room-dining room-kitchen-bathroom-balcony), the cleaning order of each room area can be determined as: room area B-room area F-return station-room area J-room area G-return station-room area A-room area E-return station-room area I-room area C-return station-room area H-room area D. Since the room areas of the same or adjacent priority may be far apart, the cleaning path walked by the cleaning robot when cleaning each room area based on this cleaning order is longer.

[0023] Furthermore, if the cleaning robot is Figure 1 The cleaning robot shown supports the automatic return to the station and mop function. During the cleaning process, the cleaning robot will return to the room area where the base station is located to clean the mop at a specific return frequency (for example, once every two rooms cleaned). The cleaning path of the cleaning robot will become: room area B-room area F-room area A-room area J-room area G-room area A-room area A-room area E-room area A-room area I-room area C-room area A-room area H-room area D, and there are more repeated walking paths.

[0024] Figure 3 FIG. 1 is a flow chart of a cleaning path planning method for a cleaning robot according to an exemplary embodiment of the present application. Figure 3 As shown, this method is applied to Figure 1 The self-moving cleaning system shown in the figure includes a cleaning robot 101 and a base station 102, the cleaning robot 101 is provided with a mopping member 1011, and the base station is provided with a cleaning mechanism 1021 for cleaning the mopping member, and may include the following steps:

[0025] Step 302: Acquire an area to be cleaned, where the area to be cleaned consists of at least one room area.

[0026] In one embodiment, the terminal is connected to the cleaning robot by communication, and the user can set a cleaning instruction for controlling the cleaning robot through the terminal. The cleaning robot can determine the area to be cleaned corresponding to the cleaning instruction when receiving the cleaning instruction sent by the terminal. Alternatively, the cleaning robot can also be pre-set with a scheduled cleaning task, and when it detects that the current time point reaches a preset time point, it determines the area to be cleaned corresponding to the cleaning task at the preset time point.

[0027] For example, the cleaning robot pre-stores a current environment map, which can be divided into several room areas. When the cleaning robot receives a cleaning instruction of "whole house cleaning", it can determine that the area to be cleaned corresponding to the cleaning instruction is all areas in the environment map; when the cleaning robot receives a cleaning instruction of "regional cleaning", it can select the area selected by the user as the area to be cleaned according to the area selection operation performed by the user on the terminal display interface for the displayed map.

[0028] Step 304: Obtain room attribute information of each room area, spatial position relationship information of each room area and return frequency information of the cleaning robot; wherein the room attribute information is used to characterize the functional attributes of the room area, the spatial position relationship information of each room area is used to indicate the distance between the room areas, and the return frequency information is used to characterize the frequency of the cleaning robot returning to the base station during the cleaning process.

[0029] In one embodiment, the working area of ​​the cleaning robot can be divided into several rooms. According to the different functions of different rooms, the attribute information of the rooms can be set. That is, the functional attributes of the rooms can be represented by the attribute information. For example, according to different attributes, each room can be divided into: living room, kitchen, bathroom, balcony, study, bedroom, other types of rooms (such as cloakroom, audio-visual room, tea room, etc.), etc.

[0030] In one embodiment, determining the room attribute information of each room area includes: obtaining a semantic map corresponding to the area to be cleaned; if the room attribute information of each room area is marked in the semantic map, searching the room attribute information of each room area in the semantic map. If the room attribute information of each room area is not marked in the semantic map, searching the semantic map for feature information in each room area, the feature information including feature type; based on the feature information in each room area, determining the room attribute information of each room area.

[0031] Generally, after the cleaning robot is turned on for the first time, it is necessary to map the working area through the sensors set on it (such as laser radar, infrared depth ranging sensor, camera, etc.) to obtain the electronic map corresponding to the working area. There are two types of existing electronic maps. One is a contour information obtained based on the two-dimensional plane information of the entire working area scanned by laser radar. It does not contain any semantic information. It is only a grid map, which includes several small grids, each grid has three states, namely, obstacles, obstacles and unexplored areas. The other is that the laser radar cooperates with the camera or depth camera, combined with the AI ​​algorithm to determine the type of detected objects, so that an electronic map containing semantic information can be obtained, which can also be called a semantic map. The material of the floor, the type of object, etc. can be known through the semantic map. On this basis, the work area can be divided into several rooms based on the semantic map, and the room attribute information can be set according to the type of objects in the room. Of course, the user can also modify or set the room area in the map and the corresponding room attribute information on the terminal as needed, which is not displayed in this application.

[0032] For example, when building an environmental map, a cleaning robot can use a laser radar module installed on the cleaning robot to perform a laser radar scan on the target house to obtain laser radar scan data of the current environment, and build an original map of the current environment based on the scan data. On this basis, the original map constructed by the laser radar scan data can be segmented using a preset segmentation algorithm to determine several room areas within the original map.

[0033] Furthermore, the cleaning robot can analyze and process the depth images of the characteristic objects contained in each room area, and determine the characteristic object information in each room area according to the processing results, so as to determine the room attribute information of each room area according to the preset correspondence between the characteristic object information and the room attribute information. For example, when the characteristic object information is a sofa or a coffee table, the corresponding room attribute is a living room; when the characteristic object information is a bed, the corresponding room attribute is a bedroom; when the characteristic object information is a computer desk or a bookshelf, the corresponding room attribute is a study; when the characteristic object information is a cabinet or a stove, the corresponding room attribute is a kitchen; when the characteristic object information is a toilet or a shower, the corresponding room attribute is a bathroom. By updating and displaying the original map with the above-mentioned room attribute information, the room attribute information mark can be displayed in the corresponding room area, thereby obtaining a semantic map of the current environment.

[0034] In one embodiment, the room attribute information is room category information, including at least one category of living room, kitchen, dining room, bathroom, balcony, study, and bedroom; the order of cleaning priority from high to low is: first level: bedroom; second level: study and other types of rooms; third level: living room; fourth level: dining room; fifth level: kitchen; sixth level: bathroom; seventh level: balcony.

[0035] This embodiment takes into account that in actual scenarios, based on the daily cleaning habits of users, the degree of dirtiness of each room area, and the different cleaning effect requirements of users for each room area, if the cleaning robot prioritizes cleaning the room areas with a high degree of daily dirtiness, such as the bathroom, and moves to the bedroom for cleaning after cleaning such room areas, not only will the dirtiness of the bathroom be brought into the bedroom, causing pollution to the bedroom, but also because the mop of the cleaning robot is dirty after cleaning the bathroom, the cleaning effect of the cleaning robot on the bedroom will be poor.

[0036] Therefore, the present application can pre-set the cleaning priority corresponding to the room attribute information based on prior information such as the user's daily cleaning habits, the degree of dirtiness of each room area, and the user's requirements for the cleaning effect of each room area. The cleaning priority is used to characterize the order in which the cleaning robot cleans rooms of different attributes without returning to the station. The lower the degree of dirtiness of the room area, the higher the cleaning priority and / or the higher the user's requirements for the cleaning effect of the room area, the higher the cleaning priority. Of course, the cleaning priority can also be set by the user on the terminal according to the needs of the user, and the present application does not limit this.

[0037] Exemplarily, the cleaning priority can be set in the order from high to low as follows: first level: bedroom; second level: study and other types of rooms; third level: living room; fourth level: dining room; fifth level: kitchen; sixth level: bathroom; seventh level: balcony.

[0038] In one embodiment, determining the spatial position relationship of each room area includes: obtaining a map of the area to be cleaned; determining the connectivity relationship between each room area based on the map; taking each room area as a node, establishing a topological structure based on the connectivity relationship, and the topological structure is used to characterize the spatial position relationship of each room area.

[0039] Figure 4 is a schematic diagram of a topological structure according to an exemplary embodiment of the present application, the topological structure corresponds to Figure 2 The environment map is shown. Figure 4 As shown, according to Figure 2 The connectivity relationship between the room areas in the environment map shown can be constructed by taking each room area as a node and connecting all the interconnected room areas to represent Figure 2The spatial position of each room area in the environment map shown is related to the topological structure diagram. According to the topological structure diagram, the distance between each node can be determined according to the number of edges passed between each node in the diagram. The fewer the number of edges passed, the closer the room area corresponding to the node is. For example, from node B to node D, one edge is passed, and from node B to node F, three edges are required. Therefore, the distance between room area B and room area D is closer than the distance between room area B and room area F.

[0040] In one embodiment, the return station frequency information includes return station cleaning frequency information and / or return station charging frequency information and / or return station watering frequency information.

[0041] The frequency of the cleaning robot returning to the station for cleaning can be preset at the factory, or can be selected by the user on the terminal as needed, and this application does not limit this. Specifically, in the embodiment of this application, the frequency of returning to the station for cleaning can be set according to the preset number of rooms, for example, the mop returns to the base station for cleaning every two room areas.

[0042] Furthermore, in order to avoid the situation where the cleaning robot cannot backwash the room area in time due to the large area of ​​some room areas in the environment when returning to the station according to the number of rooms, thus affecting the subsequent cleaning effect, the cleaning robot can pre-divide the room when determining the cleaning order, divide the room area larger than the preset area into several sub-room areas, and determine the attribute information of each sub-room area after division, the spatial position relationship of each sub-room area and the backwash frequency of the cleaning robot.

[0043] Step 306: Determine the cleaning order of each room area according to the room attribute information of each room area, the spatial position relationship information of each room area and the return frequency information of the cleaning robot;

[0044] Step 308: Control the cleaning robot to clean each room area in sequence according to the cleaning sequence.

[0045] In one embodiment, the cleaning order of each room area is determined according to the room attribute information of each room area, the spatial position relationship of each room area and the return frequency of the cleaning robot, including: determining the cleaning priority of each room area according to the room attribute information of each room area; determining the cleaning order of each room area according to the cleaning priority, the spatial position relationship of each room area and the return frequency of the cleaning robot, the cleaning order satisfies that the room areas in each room area set are sorted from high to low according to the cleaning priority, and the distance between them and the corresponding target room area is sorted from near to far; wherein the room area set is a collection of room areas cleaned by each round of the cleaning robot, and the target room area is the room area that the cleaning robot cleans first after each round of the cleaning robot.

[0046] by Figure 2 Take the environment map shown as an example. In this environment map, the room attribute information of room area A is the living room, the room attribute information of room area B is the bedroom, the room attribute information of room area C is the bathroom, the room attribute information of room area D is the balcony, the room attribute information of room area E is the dining room, the room attribute information of room area F is the bedroom, the room attribute information of room area G is the study, the room attribute information of room area H is the bathroom, the room attribute information of room area I is the kitchen, and the room attribute information of room area J is other types of rooms.

[0047] According to the room attribute information of each room area, the cleaning priority of each room area can be determined as follows: first level: room area B and room area F; second level: room area G and room area J; third level: room area A; fourth level: room area E; fifth level: room area I; sixth level: room area C and room area H; seventh level: room area D.

[0048] Based on the cleaning priority, the distance between each room area and the return frequency of the cleaning robot, the cleaning order of each room area can be determined to ensure that the spatial positions of the room areas cleaned by the cleaning robot in each return round are relatively close and conform to the high to low priority order corresponding to the room attribute information, thereby avoiding secondary pollution of the room area while shortening the cleaning path that the cleaning robot needs to walk as much as possible.

[0049] In one embodiment, the cleaning order of each room area is determined according to the cleaning priority, the spatial position relationship of each room area and the return frequency of the cleaning robot, including: determining the number N of room areas cleaned by the cleaning robot for each return station according to the return frequency of the robot; determining the room area with the highest cleaning priority in the area to be cleaned as the first target room area; determining N-1 room areas in the order of gradually moving away from the first target room area and gradually decreasing cleaning priority according to the cleaning priority and the spatial position relationship of each room area; determining the room area with the highest cleaning priority among the room areas that have not yet been sorted in the area to be cleaned as the second target room area; determining N-1 room areas among the room areas that have not yet been sorted according to the cleaning priority and the spatial position relationship of each room area, in the order of gradually moving away from the second target room area and gradually decreasing cleaning priority; and so on, determining the cleaning order of each room area in the area to be cleaned.

[0050] by Figure 2 Taking the environment map shown in the figure as an example, as mentioned above, the cleaning priorities of the room areas in the environment map are room area B, room area F-room area G, room area J-room area A-room area E-room area I-room area C, room area H-room area D. If the current cleaning robot's return station frequency is set to return to the station after cleaning three rooms, it can be determined that the number of room areas N cleaned by the cleaning robot each time it returns to the station is 3.

[0051] First, the room area B with the highest cleaning priority in the above-mentioned area to be cleaned can be determined as the first target room area; then two room areas, such as room area A and room area E, are determined in the order of gradually moving away from room area A and gradually decreasing cleaning priority. The room area B, room area A and room area E can constitute the first room area set. Among them, the specific method of determining the two room areas in the order of gradually moving away from room area A and gradually decreasing cleaning priority can refer to the relevant description in the following embodiments, which will not be repeated here.

[0052] Then the room areas that have not been sorted in the to-be-cleaned area ( Figure 2 The room area F with the highest cleaning priority among the remaining room areas after removing room area A, room area B, and room area E from the environment map shown in the figure is determined as the second target room area; again, in the order of gradually moving away from room area F and gradually decreasing cleaning priority, the room areas ( Figure 2In the environment map shown in FIG. 1 , two room areas are determined from the remaining room areas after removing room area A, room area B, room area E, and room area F, for example, room area G and room area H. The room area F, room area G, and room area H can constitute a second room area set. The specific method of determining the two room areas in the order of gradually moving away from room area F and gradually decreasing cleaning priority can refer to the relevant description in the following embodiments, which will not be repeated here.

[0053] Similarly, the room areas that have not been sorted in the area to be cleaned ( Figure 2 The room area J with the highest cleaning priority among the remaining room areas (after removing room area A, room area B, room area E, room area F, room area G and room area H from the environment map shown in the figure) is determined as the third target room area; again, in the order of gradually moving away from room area F and gradually decreasing cleaning priority, the room areas ( Figure 2 In the environment map shown in the figure, two room areas are determined, for example, room area C and room area D, from the remaining room areas after removing room area A, room area B, room area E, room area F, room area G, room area H, and room area J. The room area J, room area C, and room area D can form a third room area set. The specific method of determining the two room areas in the order of gradually moving away from room area J and gradually decreasing cleaning priority can refer to the relevant description in the following embodiments, which will not be repeated here.

[0054] Similarly, the room areas that have not been sorted in the area to be cleaned ( Figure 2 The room area I with the highest cleaning priority among the remaining room areas (after removing room area A, room area B, room area E, room area F, room area G, room area H, room area J, room area C and room area D) in the environment map shown is determined as the fourth target room area. Figure 2 All the rooms in the environment map shown are sorted, and the room area I can be used as the fourth room area set.

[0055] Based on this, it can be determined Figure 2 The cleaning order of each room area in the environment map shown is: room area B-room area A-room area E-return to the station-room area F-room area G-room area H-return to the station-room area J-room area C-room area D-return to the station-room area I. Compared with the cleaning path planned according to the existing cleaning path planning scheme, there are obviously fewer repeated paths, and the total path that the cleaning robot needs to walk is shorter, which greatly improves the cleaning efficiency of the cleaning robot.

[0056] In one embodiment, determining the cleaning order of each room area according to the room attribute information of each room area, the spatial position relationship information of each room area and the return frequency information of the cleaning robot includes: determining the number N of room areas cleaned by the cleaning robot for each round of the cleaning robot according to the return frequency information of the cleaning robot; determining at least one target room area according to the room attribute information of each room area, the target room area being the room area that is first cleaned by the cleaning robot after each round of the cleaning robot; in the topological structure, traversing all the first-level child nodes of each target room area, and determining the first room area corresponding to each target room area according to the room attribute information of each room area; in the topological structure, traversing all the first-level child nodes of each first room area, and determining the second room area corresponding to each target room area according to the room attribute information of each room area; and so on, determining N-1 room areas corresponding to each target room area.

[0057] Furthermore, if there is no qualified room area in all the first-level child nodes of any target room area, all the second-level child nodes of any target room area are traversed, and the first room area corresponding to any target room area is determined in all the second-level child nodes of any target room area, and so on.

[0058] As mentioned above, when the cleaning robot determines N-1 room areas in the order of gradually moving away from the first target room area and gradually decreasing cleaning priority according to the cleaning priority and the spatial position relationship of the room areas, it can traverse all the first-level child nodes of the node corresponding to the first target room area in the topological structure, and take the room area with the highest cleaning priority among the room areas that are not sorted and have a cleaning priority not higher than that of the first target room area among all the first-level child nodes of the first target room area as the first room area; in the topological structure, it traverse all the first-level child nodes of the node corresponding to the first room area, and take the room area with the highest cleaning priority among the room areas that are not sorted and have a cleaning priority not higher than that of the first room area among all the first-level child nodes of the first room area as the second room area; and so on, determine N-1 room areas with gradually decreasing cleaning priorities.

[0059] If there is no unsorted room area with a cleaning priority not higher than that of the first target room area in all the first-level child nodes of the first target room area, then all the second-level child nodes of the first target room area are traversed, and the room area with the highest cleaning priority among the room areas that are unsorted and have a cleaning priority not higher than that of the first target room area in all the second-level child nodes of the first target room area is taken as the first room area, and so on.

[0060] Still Figure 2 As an example, after determining that room area B is the first target area, the room area B can be taken as the center, according to Figure 4 The topological structure diagram shown determines all the first-level child nodes of room area B: room area D, room area C, and room area A. Traverse room area D, room area C, and room area A to determine that room area D, room area C, and room area A are not sorted and have a lower cleaning priority than room area B. Therefore, the room area with the highest cleaning priority can be selected, for example, room area A is used as the first room area in the first room area set. Among them, the first-level child nodes of room area B are used to represent all nodes that are directly adjacent to room area B in the topological structure, that is, all nodes that are one edge away from room area B.

[0061] Then, we can take room area A as the center and Figure 4 The topological structure diagram shown determines all first-level child nodes of room area A: room area B, room area E, and room area J. Traversing room area B, room area A, and room area J, it is determined that room area E is still sorted and its cleaning priority is not higher than that of room area A, so room area E can be used as the second room area.

[0062] Based on this, it can be determined that the three room areas in the first room area set corresponding to the first return to the station are room area B, room area A and room area E in sequence.

[0063] After determining that the room area F is the second target area, the room area F can be taken as the center, according to Figure 4 The topological structure diagram shown determines all first-level child nodes of room area F: room area E, room area H, and room area G. Traverse room area E, room area H, and room area G to determine that room area H and room area G are not sorted and have a lower cleaning priority than room area F. Therefore, the room area with the highest cleaning priority can be selected, such as room area G, as the first room area in the second room area set.

[0064] Then, we can take the room area G as the center and Figure 4 The topological structure diagram shown determines all the first-level child nodes of room area G: room area F. Since room area F does not meet the conditions of being unsorted and having a lower cleaning priority than room area G, it is necessary to traverse all the second-level child nodes of room area G: room area H and room area E, and determine that room area H is not sorted and has a lower cleaning priority than room area G, so room area H can be used as the second room area in the second room area set. Among them, the second-level child nodes of room area G are used to represent all nodes in the topological structure that are separated from room area G by one node, that is, all nodes that are two edges away from room area G.

[0065] Based on this, it can be determined that the three room areas in the second room area set corresponding to the second return to the station are room area F, room area G, and room area H, respectively.

[0066] After determining that room area J is the third target area, the room area J can be taken as the center, according to Figure 4 The topological structure diagram shown determines all the first-level child nodes of room area J: room area A. Since room area A does not meet the conditions of being unsorted and having a lower cleaning priority than room area J, it is necessary to traverse all the second-level child nodes of room area J: room area B and room area E. Since room area B and room area E also do not meet the conditions of being unsorted and having a lower cleaning priority than room area J, it is necessary to traverse all the third-level child nodes of room area J: room area D, room area C, room area F, and room area I. It is determined that room area C and room area D are both unsorted and have a lower cleaning priority than room area J, so the room area with the highest cleaning priority can be selected, for example, room area C can be selected as the first room area in the third room area set. Among them, the third-level child nodes of room area J are used to represent all nodes in the topological structure that are separated from room area J by two nodes, that is, all nodes that are three sides away from room area J.

[0067] Then, we can take the room area C as the center and Figure 4 The topological structure diagram shown determines all the first-level child nodes of room area C: room area B. Since room area B does not meet the conditions of being unsorted and having a lower cleaning priority than room area C, it is necessary to traverse all the second-level child nodes of room area C: room area A and room area D, and determine that room area D is not sorted and has a lower cleaning priority than room area C, so room area D can be used as the second room area in the third room area set.

[0068] Based on this, it can be determined that the three room areas in the third room area set corresponding to the third return to the station are room area J, room area C, and room area D, respectively.

[0069] It can be seen from the technical solution provided by the present application above that the present application determines the cleaning order by comprehensively considering the room attribute information of each room area, the spatial position relationship of each room area and the return frequency of the cleaning robot, so as to ensure that the spatial position relationship of the room areas cleaned by the cleaning robot in each return round is relatively close and conforms to the high to low priority order corresponding to the room attribute information, thereby avoiding secondary pollution to the room area while shortening the cleaning path that the cleaning robot needs to walk as much as possible.

[0070] Corresponding to the above method embodiment, this specification also provides an embodiment of a device.

[0071] Figure 51 is a schematic diagram of a cleaning robot's cleaning path planning electronic device according to an exemplary embodiment of the present application. Figure 5 At the hardware level, the electronic device includes a processor 502, an internal bus 504, a network interface 506, a memory 508, and a non-volatile memory 510, and may also include hardware required for other services. The processor 502 reads the corresponding computer program from the non-volatile memory 510 into the memory 508 and then runs it, forming a device for solving the cleaning path planning problem of the cleaning robot at the logical level. Of course, in addition to software implementations, this application does not exclude other implementations, such as logic devices or a combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0072] Figure 6 is a block diagram of a cleaning path planning device for a cleaning robot according to an exemplary embodiment of the present application. Figure 6 , the device includes a region acquisition unit 602, an information acquisition unit 604, a sequence determination unit 606 and a control unit 608, wherein:

[0073] The area acquisition unit 602 is configured to acquire an area to be cleaned, wherein the area to be cleaned is composed of at least one room area;

[0074] The information acquisition unit 604 is configured to acquire room attribute information of each room area, spatial position relationship information of each room area, and return frequency information of the cleaning robot; wherein the room attribute information is used to characterize the functional attributes of the room area, the spatial position relationship information of each room area is used to indicate the distance between each room area, and the return frequency information is used to characterize the frequency of the cleaning robot returning to the base station during the cleaning process;

[0075] The sequence determination unit 606 is configured to determine the cleaning sequence of each room area according to the room attribute information of each room area, the spatial position relationship information of each room area and the return frequency information of the cleaning robot;

[0076] The control unit 608 is configured to control the cleaning robot to clean each room area in sequence according to the cleaning sequence.

[0077] Optionally, the sequence determination unit includes:

[0078] a priority determination unit, configured to determine the cleaning priority of each room area according to the room attribute information of each room area;

[0079] The sorting unit is configured to determine the cleaning order of each room area according to the cleaning priority, the spatial position relationship of each room area and the return frequency of the cleaning robot, wherein the cleaning order satisfies that the room areas in each room area set are sorted from high to low according to the cleaning priority, and the distances between the room areas and the corresponding target room areas are sorted from near to far; wherein the room area set is a collection of room areas cleaned by the cleaning robot at each return station, and the target room area is the room area that the cleaning robot cleans first after each return station.

[0080] Optionally, the sequence determination unit is configured to: determine the number N of room areas cleaned by the cleaning robot at each round trip according to the frequency of the robot's return to the station; determine the room area with the highest cleaning priority in the area to be cleaned as the first target room area; determine N-1 room areas in the order of gradually moving away from the first target room area and gradually decreasing cleaning priority according to the cleaning priority and the spatial position relationship between the room areas; determine the room area with the highest cleaning priority among the room areas that have not yet been sorted in the area to be cleaned as the second target room area; determine N-1 room areas in the room areas that have not yet been sorted according to the cleaning priority and the spatial position relationship between the room areas, in the order of gradually moving away from the second target room area and gradually decreasing cleaning priority; and so on, determine the cleaning order of each room area in the area to be cleaned.

[0081] Optionally, the information acquisition unit includes:

[0082] A first map acquisition unit is configured to acquire a map of the area to be cleaned;

[0083] a connectivity determination unit, configured to determine connectivity relationships between room areas according to the map;

[0084] The construction unit is configured to use each room area as a node and establish a topological structure according to the connectivity relationship, wherein the topological structure is used to characterize the spatial position relationship between each room area.

[0085] Optionally, the sequence determination unit is configured to: determine the number N of room areas cleaned by the cleaning robot at each return station according to the return frequency information of the cleaning robot; determine at least one target room area according to the room attribute information of each room area, and the target room area is the room area that the cleaning robot cleans first after each return station; in the topological structure, traverse all the first-level child nodes of each target room area, and determine the first room area corresponding to each target room area according to the room attribute information of each room area; in the topological structure, traverse all the first-level child nodes of each first room area, and determine the second room area corresponding to each target room area according to the room attribute information of each room area; and so on, determine N-1 room areas corresponding to each target room area.

[0086] Optionally, the sequence determination unit is further configured to: if there is no qualified room area in all the first-level sub-nodes of any target room area, traverse all the second-level sub-nodes of any target room area, and determine the first room area corresponding to any target room area in all the second-level sub-nodes of any target room area, and so on.

[0087] Optionally, the information determining unit includes:

[0088] The second map acquisition unit is configured to acquire a semantic map corresponding to the area to be cleaned;

[0089] The first searching unit is configured to search for the room attribute information of each room area in the semantic map if the room attribute information of each room area is marked in the semantic map.

[0090] Optionally, the information determination unit further includes:

[0091] A second search unit is configured to search for feature information in each room area in the semantic map if the room attribute information of each room area is not marked in the semantic map, wherein the feature information includes a feature type;

[0092] The attribute determination unit is configured to determine room attribute information of each room area based on feature information in each room area.

[0093] Optionally, the room attribute information is room category information, including at least one category of living room, kitchen, dining room, bathroom, balcony, study, and bedroom; in descending order of cleaning priority: first level: bedroom; second level: study; third level: living room; fourth level: dining room; fifth level: kitchen; sixth level: bathroom; seventh level: balcony.

[0094] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0095] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, 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 they 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 present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0096] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions, and the above instructions can be executed by a processor of a cleaning path planning device of a cleaning robot to implement any method as described in the above embodiments, for example, the method may include:

[0097] Acquire an area to be cleaned, wherein the area to be cleaned is composed of at least one room area; acquire room attribute information of each room area, spatial position relationship information of each room area and return frequency information of the cleaning robot; wherein the room attribute information is used to characterize functional attributes of the room area, the spatial position relationship information of each room area is used to indicate the distance between each room area, and the return frequency information is used to characterize the frequency of the cleaning robot returning to a base station during the cleaning process; determine the cleaning order of each room area according to the room attribute information of each room area, the spatial position relationship information of each room area and the return frequency information of the cleaning robot; control the cleaning robot to clean each room area in turn according to the cleaning order.

[0098] The non-temporary computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc., and the present application does not limit this.

[0099] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A cleaning path planning method for a cleaning robot, characterized in that: Applied to a self-moving cleaning system, the self-moving cleaning system comprises a cleaning robot and a base station, the cleaning robot is provided with a wiping and mopping member, the base station is provided with a cleaning mechanism for cleaning the wiping and mopping member, the method comprises: Acquire an area to be cleaned, where the area to be cleaned consists of at least one room area; Acquire room attribute information of each room area, spatial position relationship information of each room area, and return frequency information of the cleaning robot; wherein the room attribute information is used to characterize the functional attributes of the room area, the spatial position relationship information of each room area is used to indicate the distance between each room area, and the return frequency information is used to characterize the frequency of the cleaning robot returning to the base station during the cleaning process; Determine the cleaning order of each room area according to the room attribute information of each room area, the spatial position relationship information of each room area and the return frequency information of the cleaning robot; The cleaning robot is controlled to clean each room area in sequence according to the cleaning sequence.

2. The cleaning path planning method of the cleaning robot according to claim 1, characterized in that: The return station frequency information includes return station cleaning frequency information and / or return station charging frequency information and / or return station watering frequency information.

3. The cleaning path planning method of the cleaning robot according to claim 1, characterized in that: The step of determining the cleaning order of each room area according to the room attribute information of each room area, the spatial position relationship information of each room area, and the return frequency information of the cleaning robot comprises: Determining the cleaning priority of each room area according to the room attribute information of each room area; The cleaning order of each room area is determined according to the cleaning priority, the spatial position relationship information of each room area and the return frequency information of the cleaning robot, and the cleaning order satisfies that the room areas in each room area set are sorted from high to low according to the cleaning priority, and the distances to the corresponding target room areas are sorted from near to far; wherein, the room area set is a collection of room areas cleaned by each return station of the cleaning robot, and the target room area is the room area that the cleaning robot cleans first after each return station.

4. The cleaning path planning method of the cleaning robot according to claim 3, characterized in that: The step of determining the cleaning order of each room area according to the cleaning priority, the spatial position relationship of each room area, and the return frequency of the cleaning robot comprises: Determine the number N of room areas that the cleaning robot cleans each time it returns to the station according to the frequency information of the cleaning robot returning to the station; Determine the room area with the highest cleaning priority in the to-be-cleaned area as the first target room area; According to the spatial position relationship between the cleaning priorities and the room regions, determining N-1 room regions in an order of gradually moving away from the first target room region and gradually decreasing cleaning priorities; Determine the room area with the highest cleaning priority among the room areas that have not been sorted in the area to be cleaned as the second target room area; According to the spatial position relationship between the cleaning priorities and the room areas, determining N-1 room areas from the room areas that have not been sorted in the order of gradually moving away from the second target room area and gradually decreasing cleaning priorities; In the same way, the cleaning order of each room area in the area to be cleaned is determined.

5. The cleaning path planning method of the cleaning robot according to claim 3, characterized in that: The room attribute information is room category information, including at least one of a living room, a kitchen, a dining room, a bathroom, a balcony, a study, and a bedroom; The order of cleaning priority from highest to lowest is: First level: bedrooms; Level 2: Study; Level 3: Living room; Level 4: Restaurant; Level 5: Kitchen; Level 6: Bathroom; Level 7: Balcony.

6. The cleaning path planning method of the cleaning robot according to claim 1, characterized in that: Determining the spatial position relationship of each room area includes: Obtaining a map of the area to be cleaned; Determine the connectivity between the room areas according to the map; Taking each room area as a node, a topological structure is established according to the connectivity relationship, and the topological structure is used to characterize the spatial position relationship of each room area.

7. The cleaning path planning method of the cleaning robot according to claim 6, characterized in that: Determining the cleaning order of each room area according to the room attribute information of each room area, the spatial position relationship information of each room area, and the return frequency information of the cleaning robot includes: Determine the number N of room areas that the cleaning robot cleans each time it returns to the station according to the frequency information of the cleaning robot returning to the station; Determine at least one target room area according to the room attribute information of each room area, wherein the target room area is the room area that the cleaning robot cleans first after each round trip; In the topological structure, all first-level child nodes of each target room area are traversed, and the first room area corresponding to each target room area is determined according to the room attribute information of each room area; In the topological structure, all first-level subnodes of each first room area are traversed, and the second room area corresponding to each target room area is determined according to the room attribute information of each room area; And so on, determine N-1 room areas corresponding to each target room area.

8. The cleaning path planning method of the cleaning robot according to claim 7, characterized in that: The method further comprises: If there is no qualified room area in all the first-level child nodes of any target room area, all the second-level child nodes of any target room area are traversed to determine the first room area corresponding to any target room area in all the second-level child nodes of any target room area, and so on.

9. The cleaning path planning method of a cleaning robot according to any one of claims 1 to 8, characterized in that: The determining of the room attribute information of each room area includes: Obtaining a semantic map corresponding to the area to be cleaned; If the room attribute information of each room area is marked in the semantic map, the room attribute information of each room area is searched in the semantic map.

10. The cleaning path planning method of the cleaning robot according to claim 9, characterized in that: The determining of the room attribute information of each room area also includes: If the room attribute information of each room area is not marked in the semantic map, searching the semantic map for feature information in each room area, the feature information including the feature type; Based on the feature information in each room area, the room attribute information of each room area is determined.

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