Cleaning sequence determination method, device, readable storage medium, and cleaning robot

Abstract

This application proposes a method, apparatus, readable storage medium, and cleaning robot for determining the cleaning order. The method includes: acquiring a cleaning map from the cleaning robot; constructing a room topology map based on N room information from the cleaning map, where the topology map includes N topology nodes, each corresponding to one of the N room information, and N is an integer greater than 1; converting the room topology map into a first tree structure, which includes N tree nodes, each corresponding to one of the N topology nodes; and sorting the N room information according to the N tree nodes in the first tree structure to determine the cleaning order. The cleaning robot in this application sorts the cleaning order of multiple rooms according to their proximity to the starting room, ensuring efficient cleaning of multiple rooms and avoiding secondary pollution during the cleaning process.

Description

Technical Field

[0001] This application relates to the field of self-moving cleaning equipment technology, and more specifically, to a cleaning sequence determination method, apparatus, readable storage medium, and cleaning robot. Background Technology

[0002] With technological advancements, more and more users are choosing self-propelled cleaning robots as their home cleaning tools. During the cleaning process, self-propelled cleaning robots clean each room according to a pre-built indoor cleaning map.

[0003] In related technologies, self-propelled cleaning robots plan their cleaning trajectories directly based on a constructed cleaning map, which makes it impossible to reasonably sort the cleaning order of multiple rooms, resulting in low cleaning efficiency. Furthermore, the cleaning robot may cause secondary pollution when passing through rooms that have already been cleaned. Summary of the Invention

[0004] This application aims to solve one of the technical problems existing in the prior art or related technologies.

[0005] Therefore, the first aspect of this application proposes a method for determining the cleaning sequence.

[0006] The second aspect of this application proposes a cleaning sequence determination device.

[0007] The third aspect of this application proposes a cleaning sequence determination device.

[0008] The fourth aspect of this application proposes a readable storage medium.

[0009] The fifth aspect of this application proposes a cleaning robot.

[0010] In view of this, according to the first aspect of this application, a cleaning order determination method is proposed, applied to a cleaning robot. The cleaning order determination method includes: obtaining a cleaning map of the cleaning robot; constructing a room topology map based on N room information in the cleaning map, the room topology map including N topology nodes, each of which corresponds one-to-one with N room information, where N is an integer greater than 1; converting the room topology map into a first tree structure, the first tree structure including N tree nodes, each of which corresponds one-to-one with N topology nodes; and sorting the N room information according to the N tree nodes in the first tree structure to determine the cleaning order.

[0011] In this embodiment, the cleaning map is obtained by the cleaning robot scanning the indoor environment. This cleaning map includes information about N rooms within the indoor environment. The cleaning map contains information about all rooms in the indoor environment. Based on this cleaning map, a corresponding room topology map is constructed. The topology nodes in the room topology map correspond one-to-one with the room information in the cleaning map, and the number of room information nodes in the cleaning map is the same as the number of topology nodes in the room topology map. The room information includes the location information of the corresponding room and the connectivity information between the room and adjacent rooms. Converting the cleaning map into a room topology map allows the determination of the location information and connectivity relationships between multiple rooms in the cleaning map.

[0012] In this embodiment, after constructing the room topology map, it is converted into a first tree structure. The number of topological nodes in the room topology map is the same as the number of tree nodes in the first tree structure, and there is a one-to-one correspondence between the N topological nodes and the N tree nodes. Converting the room topology map into the first tree structure not only shows the connection relationships between the various rooms in the indoor environment, but also shows the distance relationships between the various rooms during the cleaning robot's operation in the actual indoor environment.

[0013] It should be noted that the first tree structure includes a root node and child nodes. The root node of the first tree structure corresponds to the room where the cleaning robot is currently located, or the room where the cleaning robot's charging dock is located. The child nodes correspond one-to-one with each other room.

[0014] In this embodiment, the cleaning map is converted into a first tree structure. The N tree nodes in the first tree structure correspond one-to-one with the N room information in the cleaning map. The first tree structure can represent the actual path distance between the room where the cleaning robot starts and each room. The N room information is sorted based on the first tree structure.

[0015] In this embodiment, the cleaning robot can convert the cleaning map into a room topology map, and then convert the room topology map into a first tree structure. Based on the tree nodes in the first tree structure that correspond one-to-one with the room information, the cleaning order of multiple rooms is sorted. By converting the cleaning map into a first tree structure, this application determines the topological relationship between multiple rooms, enabling the cleaning robot to sort the cleaning order of multiple rooms according to the relationship between multiple rooms and the starting room from farthest to closest, ensuring the cleaning efficiency of the cleaning robot for multiple rooms, and also avoiding secondary pollution during the cleaning process.

[0016] In some embodiments, optionally, after constructing a room topology map based on the information of N rooms in the cleaning map, the method further includes:

[0017] In the case that the room topology graph includes M ring structures, the room topology graph is updated according to the first topology node so that the room topology graph does not include ring structures. The first topology node corresponds to the room information where the starting point of the cleaning robot is located. The ring structure includes P topology nodes, and the P topology nodes are connected end to end. M is a positive integer and P is an integer greater than 2.

[0018] In this embodiment, after constructing the room topology map, it is necessary to detect whether the room topology map includes a ring structure, which is a node link formed by multiple topology nodes connected end to end. Since the topology nodes in the ring structure are connected end to end, it is difficult to construct the corresponding first tree structure based on the room topology map with the ring structure. Therefore, the room topology map needs to be updated to obtain a room topology map without the ring structure.

[0019] In this embodiment, the ring structure includes at least three topological nodes, and the at least three topological nodes are connected end to end to form a ring structure, that is, the value of P is greater than or equal to 3.

[0020] It should be noted that since the room topology map is a topology map obtained by converting the cleaning map, and there are interconnections between multiple rooms in the indoor environment, there may be at least one loop structure in the constructed room topology map. Therefore, the value of M is greater than or equal to 1.

[0021] In this embodiment, when multiple loop structures are found, all loop structures need to be removed. During the removal of loop structures, to ensure the accuracy and integrity of the topological relationships of each node in the room topology diagram, topological nodes cannot be directly deleted. Instead, the topological edges between adjacent topological nodes in the loop structure need to be deleted to remove the loop structure. The first topological node is the starting point for the cleaning robot when it begins cleaning multiple rooms. Based on this first topological node, the topological edges that need to be deleted in each loop structure can be found. Therefore, the room topology diagram can be updated based on this first topological node, so that all loop structures in the updated room topology diagram are removed.

[0022] In this embodiment of the application, if a ring structure is detected in the converted room topology map, the ring structure needs to be removed to avoid the ring structure in the room topology map affecting the construction of the first tree structure, thereby improving the accuracy of the first tree structure in expressing the relationship between the various rooms.

[0023] In some embodiments, optionally, when the room topology diagram includes M ring structures, updating the room topology diagram based on the first topology node includes:

[0024] Extract the target ring structure from the M ring structures. The target ring structure is the ring structure with the most topological nodes among the M ring structures.

[0025] Delete the target topological edge in the room topological graph based on the first topological node to update the room topological graph. The target topological edge is the topological edge in the target ring structure.

[0026] Return to the step of extracting the target ring structure from the M ring structures, until the room topology map does not contain any ring structures.

[0027] In this embodiment, the target ring structure is the largest ring structure among the M ring structures, where the more topological nodes a ring structure contains, the larger the ring structure. When it is determined that the room topology graph includes multiple ring structures, the largest target ring structure is extracted. Then, based on the first topological node, the target topological edge in the target ring structure is found. By deleting the target topological edge in the room topology graph, the updated room topology graph does not include the target ring structure. After deleting the target topological edge from the found target ring structure, the process returns to the step of extracting the largest target ring structure among the multiple ring structures and removing the target topological edge from that target ring structure. This process is repeated until all target topological edges in all ring structures in the room topology graph are deleted, meaning the room topology graph no longer includes ring structures.

[0028] In this embodiment, when multiple ring structures in the room topology graph may share a common topological edge, it is necessary to sequentially delete the target topological edge for each ring structure. Deleting the topological edge of one ring structure may also cause another ring structure to disappear. Therefore, processing multiple ring structures one by one avoids deleting too many topological edges, further ensuring the integrity of the room information in the final constructed first tree structure. Larger ring structures have more topological nodes and more topological edges. Processing multiple ring structures in descending order prioritizes ring structures that may share more topological edges.

[0029] In this embodiment of the application, when the constructed room topology includes multiple ring structures, the multiple ring structures are processed sequentially in descending order of size. This avoids the situation of removing the common topological edges of the ring structures multiple times. While reducing the amount of data processing, it can also retain the room information in the first tree structure as much as possible.

[0030] In some embodiments, optionally, deleting the target topological edge in the room topology graph based on the first topological node includes:

[0031] The second topological node and two third topological nodes in the target ring structure are determined based on the first topological node. The second topological node is the node in the target ring structure that is farthest from the first topological node, and the third topological node is adjacent to the second topological node.

[0032] Extract the fourth topology node from the two third topology nodes. The fourth topology node is the node that is closest to the first topology node among the two topology nodes.

[0033] Based on the second and fourth topological nodes, determine the target topological edge in the target ring structure;

[0034] Delete the target topological edge in the room topology graph.

[0035] In this embodiment, the first topological node is the topological node corresponding to the starting point of the cleaning robot's movement, the second topological node is the node in the target ring structure that is farthest from the first topological node, and the third topological node is connected to the second topological node, that is, the third topological node is a neighboring node of the second topological node, and there are two third topological nodes, which are located on both sides of the second topological node.

[0036] After determining the second topological node in the target ring structure based on the first topological node, and the two third topological nodes on both sides of the second topological node, the topological node that is closer to the first topological node among the two third topological nodes is taken as the fourth topological node, and the fourth topological node and the second topological node are taken as the two nodes of the target topological edge. The target topological edge in the target ring structure is determined, and the target topological edge in the room topology graph is deleted, thereby removing the target ring structure in the room topology graph.

[0037] In this embodiment, since the first topological node is the topological node corresponding to the room where the cleaning robot's starting point is located, the topological node farthest from the first topological node in the target ring structure is found as the second topological node, and the second topological node is used as a vertex of the target topological edge. Then, the fourth topological node, which is adjacent to the second topological node and closest to the first topological node, is used as another vertex of the target topological edge. This allows the target topological edge to be found and deleted, so that the updated room topology map still retains the topological relationships of other topological nodes in the target ring structure, further ensuring that the cleaning order of multiple rooms can be sorted from far to near based on the topological relationships.

[0038] In some embodiments, optionally, converting the room topology map into a first tree structure includes:

[0039] Given a room topology diagram containing Q fifth topology nodes and X sixth topology nodes, construct a second tree structure based on the X sixth topology nodes and construct Y third tree structures based on the Q fifth topology nodes. The X sixth topology nodes are connected to each other, while the Q fifth topology nodes are not connected to the sixth topology nodes. Q and X are positive integers, and Q + X = N. Merge the second tree structure with the Y third tree structures to obtain the first tree structure.

[0040] In this embodiment, the fifth topology node is an untraversed topology node in the room topology graph, and the sixth topology node is a traversed topology node in the room topology graph. That is, there is no topology relationship between the fifth topology node and the sixth topology node.

[0041] In this embodiment, the number of fifth topological nodes can be zero or at least one. If there is no fifth topological node, the first topological graph, which only includes a sixth topological node, is directly converted into a first tree structure. If at least one fifth topological node is included, a third tree structure is constructed based on the fifth topological node, and a second tree structure is constructed based on the sixth topological node. The second and third tree structures are then merged to obtain the first tree structure, ensuring a one-to-one correspondence between the tree structures in the first tree structure and the topological nodes in the room topological graph.

[0042] It should be noted that when there are multiple fifth topological nodes, these nodes may or may not have connected topological relationships. When multiple fifth topological nodes do not have connected topological relationships, they correspond to multiple third tree structures. When at least some of the fifth topological nodes have connected topological relationships, a third tree structure is generated based on the connected nodes, and each of the remaining unconnected nodes corresponds to a separate third tree structure.

[0043] In this embodiment of the application, if the constructed room topology map includes a fifth topology node and a sixth topology node, a second tree structure is generated based on the sixth topology node, and at least one third tree structure is generated based on the fifth topology node. The second tree structure and at least one third tree structure are merged so that the generated first tree structure retains all the topological relationships in the room topology map, thereby improving the accuracy of the room cleaning order sorting based on the first tree structure.

[0044] In some embodiments, optionally, the second tree structure is merged with Y third tree structures to obtain a first tree structure, including:

[0045] Extract the fourth tree structure from the Y third tree structures. The fourth tree structure is the tree structure that is closest to the second tree structure among the Y third tree structures.

[0046] The fourth tree structure is merged into the second tree structure to update the second tree structure;

[0047] Return to the step of extracting the fourth tree structure from the Y third tree structures, until all Y third tree structures are merged into the second tree structure to obtain the first tree structure.

[0048] In this embodiment, after generating Y third tree structures through Q fifth topology nodes, the fourth tree structure that is closest to the second tree structure among the Y third tree structures is extracted, and the fourth tree structure is merged into the second tree structure to obtain the updated second tree structure. Then, the process returns to the step of finding the fourth tree structure that is closest to the second tree structure among the remaining third tree structures, until all Y third tree structures are merged into the second tree structure, thereby obtaining the complete first tree structure.

[0049] In this embodiment, when multiple third tree structures are generated by the fifth topology node, the distance between each third tree structure and the second tree structure is determined, and the third tree structures are merged into the second tree structure in sequence based on the distance from farthest to closest. This allows most of the topological relationships to be preserved during the merging of tree structures, improving the accuracy of the first tree structure in expressing the topological relationships of each room.

[0050] In some embodiments, optionally, merging the fourth tree structure into the second tree structure to update the second tree structure includes:

[0051] Find the first tree node in the second tree structure and the second tree node in the fourth tree structure. The first tree node is the node in the second tree structure that is closest to the fourth tree structure, and the second tree node is the node in the fourth tree structure that is closest to the second tree structure.

[0052] The fourth tree structure is reconstructed based on the second tree node to obtain the fifth tree structure, where the second tree node is the first root node of the fifth tree structure.

[0053] Based on the second tree node and the first tree node, the fifth tree structure is merged into the second tree structure to update the second tree structure.

[0054] In this embodiment, after determining the second tree structure and the fourth tree structure, based on the relationship between the second tree structure and the fourth tree structure, a first tree node is extracted from the second tree structure, and a second tree node is extracted from the fourth tree structure. The distance between the first tree node and the second tree node is less than the distance between any other node in the second tree structure and any other node in the fourth tree structure.

[0055] In this embodiment, after finding the second tree node in the fourth tree structure, the second tree node is used as the first root node to reconstruct the fourth tree structure, resulting in a fifth tree structure. The topological relationships between the tree nodes in the fifth tree structure match the topological relationships between the tree nodes in the fourth tree structure. Then, the second tree node, acting as the first root node, is added to the child node of the first tree node in the second tree structure, thus merging the fifth tree structure into the second tree structure to obtain the first tree structure.

[0056] In this embodiment, by finding the closest first and second tree nodes in the second and fourth tree structures, and using the second tree node as the root node to reconstruct the fourth tree structure, the reconstructed fifth tree structure is merged into the corresponding second tree structure to obtain the first tree structure, thereby ensuring that the topological relationship between each room is completely preserved in the generated first tree structure.

[0057] In some embodiments, optionally, the cleaning order is determined by sorting the N room information according to the N tree nodes in the first tree structure, including:

[0058] Obtain the second root node from N tree nodes. The second root node corresponds to the room information where the cleaning robot starts its journey.

[0059] Determine the cleaning sequence based on the second root node.

[0060] In this embodiment, the second root node is the root node among N tree nodes in the first tree structure, and the room information corresponding to the second root node is the room information from which the cleaning robot starts. Based on the topological relationship between the second root node and each node in the first tree structure, the cleaning order of multiple rooms in the cleaning map is sorted according to the topological relationship. This allows the cleaning robot to sort the cleaning order of multiple rooms according to their distance from the starting room, ensuring the cleaning efficiency of the cleaning robot in cleaning multiple rooms and avoiding secondary pollution during the cleaning process.

[0061] In some embodiments, determining the cleaning sequence based on the second root node includes:

[0062] Determine Z leaf nodes from N tree nodes, where Y is a positive integer and Z < N;

[0063] Get the Z distance values ​​between the second root node and the Z leaf nodes;

[0064] Delete the first leaf node among the Z leaf nodes. The first leaf node is the node that is farthest from the second root node among the Z leaf nodes.

[0065] Return to the step of determining the Z leaf nodes out of the N tree nodes, until the first tree structure no longer contains leaf nodes;

[0066] Get the deletion order of the Z leaf nodes;

[0067] The cleaning order is determined based on the deletion order.

[0068] In this embodiment, the first tree structure includes Z leaf nodes, which is less than the total number of tree nodes. Z distance values ​​are extracted between the second root node and the Z leaf nodes. Based on these Z distance values, the first leaf node is selected from the Z leaf nodes. This first leaf node is the furthest from the second root node and is deleted from the first tree structure. After deleting the first leaf node, the leaf nodes in the first tree structure are recounted, and the first leaf node furthest from the second root node in the updated first tree structure is deleted again, until the first tree structure contains only the second root node. During this process, the deletion order of multiple leaf nodes is recorded. Since multiple leaf nodes correspond to multiple rooms, the deletion order is mapped to multiple rooms to obtain the cleaning order for multiple rooms.

[0069] In this embodiment, after obtaining the first tree structure, the first leaf node farthest from the second root node in the first tree structure is deleted sequentially until all leaf nodes in the first tree structure are deleted. The deletion order of the leaf nodes is then used as the cleaning order of multiple rooms, so that the cleaning robot sorts the cleaning order of multiple rooms according to the relationship between multiple rooms and the starting room from farthest to near, ensuring the cleaning efficiency of the cleaning robot for multiple rooms and avoiding secondary pollution during the cleaning process.

[0070] According to a second aspect of this application, a cleaning sequence determination device is proposed for use with a cleaning robot. The cleaning sequence determination device includes: an acquisition module for acquiring a cleaning map of the cleaning robot; a construction module for constructing a room topology map based on N room information in the cleaning map, the room topology map including N topology nodes, each of which corresponds one-to-one with N room information, where N is an integer greater than 1; a conversion module for converting the room topology map into a first tree structure, the first tree structure including N tree nodes, each of which corresponds one-to-one with N topology nodes; and a sorting module for sorting the N room information according to the N tree nodes in the first tree structure to determine the cleaning sequence.

[0071] In this embodiment, the cleaning robot can convert the cleaning map into a room topology map, and then convert the room topology map into a first tree structure. Based on the tree nodes in the first tree structure that correspond one-to-one with the room information, the cleaning order of multiple rooms is sorted. By converting the cleaning map into a first tree structure, this application determines the topological relationship between multiple rooms, enabling the cleaning robot to sort the cleaning order of multiple rooms according to the relationship between multiple rooms and the starting room from farthest to closest, ensuring the cleaning efficiency of the cleaning robot for multiple rooms, and also avoiding secondary pollution during the cleaning process.

[0072] According to a third aspect of this application, a cleaning sequence determination device is provided, comprising a processor and a memory, wherein the memory stores a program or instructions, which, when executed by the processor, implement the steps of the cleaning sequence determination method as described in any of the above-described technical solutions. Therefore, this cleaning sequence determination device possesses all the beneficial effects of the cleaning sequence determination method in any of the above-described technical solutions, and will not be elaborated further here.

[0073] According to the fourth aspect of this application, a readable storage medium is provided on which a program or instructions are stored. When the program or instructions are executed by a processor, they implement the cleaning order determination method as described in any of the above technical solutions, and thus have all the beneficial technical effects of the cleaning order determination method in any of the above technical solutions.

[0074] According to the fifth aspect of this application, a cleaning robot is proposed, comprising: a cleaning sequence determination device as in any of the above technical solutions, and / or a readable storage medium as in any of the above technical solutions, thus having all the beneficial technical effects of the cleaning sequence determination device as in any of the above technical solutions, and / or the readable storage medium as in any of the above technical solutions, which will not be elaborated further here.

[0075] Additional aspects and advantages of this application will become apparent in the following description or may be learned by practice of this application. Attached Figure Description

[0076] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0077] Figure 1 A flowchart illustrating a method for determining a cleaning sequence is shown in some embodiments of this application;

[0078] Figure 2 Schematic diagrams of cleaning maps and room topology diagrams provided in some embodiments of this application are shown;

[0079] Figure 3The diagram shows a room topology and a schematic diagram of a first tree structure provided in some embodiments of this application;

[0080] Figure 4 This application provides schematic diagrams of cleaning maps, room topology maps, and first tree structures in some embodiments.

[0081] Figure 5 One of the schematic block diagrams of a cleaning sequence determination device is shown in some embodiments of this application;

[0082] Figure 6 The second schematic block diagram shows a cleaning sequence determination device provided in some embodiments of this application. Detailed Implementation

[0083] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, these embodiments and the features described herein can be combined with each other.

[0084] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0085] The following reference Figures 1 to 6 This application describes a method, apparatus, readable storage medium, and cleaning robot for determining cleaning order according to some embodiments.

[0086] According to one embodiment of this application, Figure 1 The following is a flowchart illustrating a method for determining a cleaning sequence in some embodiments of this application, such as... Figure 1 As shown, a method for determining the cleaning sequence is proposed and applied to a cleaning robot. The method for determining the cleaning sequence includes:

[0087] Step 102: Obtain the cleaning map from the cleaning robot;

[0088] In this embodiment, the cleaning map is a cleaning map obtained by the cleaning robot scanning the indoor environment, and the cleaning map includes information on N rooms in the indoor environment.

[0089] For example, the cleaning robot includes sensor components such as infrared sensors, radar sensors, and image sensors. During its patrol in the indoor environment, the cleaning robot collects indoor environmental information through the sensor components, thereby constructing a cleaning map.

[0090] Step 104: Construct a room topology map based on the information of N rooms in the cleaning map;

[0091] The room topology diagram includes N topology nodes, and each of the N topology nodes corresponds one-to-one with information about N rooms, where N is an integer greater than 1.

[0092] In this embodiment, the cleaning map includes information on all rooms in the indoor environment. A corresponding room topology map is constructed based on this cleaning map. The topology nodes in the room topology map correspond one-to-one with the room information in the cleaning map, and the number of room information nodes in the cleaning map is the same as the number of topology nodes in the room topology map. The room information includes the location information of the corresponding room, as well as connectivity information between the room and adjacent rooms.

[0093] In this embodiment, the cleaning map is converted into a room topology map, and the location information and connectivity between multiple rooms in the cleaning map can be determined based on the room topology map.

[0094] Figure 2 Schematic diagrams of cleaning maps and room topology diagrams provided in some embodiments of this application are shown, such as... Figure 2 As shown, the cleaning map 210 includes 10 rooms 212. A room topology map 220 is constructed based on the positional and connectivity relationships between the 10 rooms. The room topology map 220 includes 10 topology nodes 222, and the 10 topology nodes 222 correspond one-to-one with the 10 rooms 212.

[0095] Step 106: Convert the room topology diagram into a first tree structure, which includes N tree nodes, and the N tree nodes correspond one-to-one with the N topology nodes;

[0096] In this embodiment, after constructing the room topology map, it is converted into a first tree structure. The number of topological nodes in the room topology map is the same as the number of tree nodes in the first tree structure, and there is a one-to-one correspondence between the N topological nodes and the N tree nodes. Converting the room topology map into the first tree structure not only shows the connection relationships between the various rooms in the indoor environment, but also shows the distance relationships between the various rooms during the cleaning robot's operation in the actual indoor environment.

[0097] It should be noted that the first tree structure includes a root node and child nodes. The root node of the first tree structure corresponds to the room where the cleaning robot is currently located, or the room where the cleaning robot's charging dock is located. The child nodes correspond one-to-one with each other room.

[0098] Figure 3 The following diagrams illustrate room topology diagrams and schematic diagrams of the first tree structure provided in some embodiments of this application, such as... Figure 3As shown, the room topology diagram 220 includes 10 topology nodes 222, and the converted first tree structure 230 includes 10 tree nodes 232. Among them, node 7 is the root node in the first tree structure 230, node 3, node 1, node 8 and node 9 are the leaf nodes of the first tree structure, and the remaining nodes are the child nodes in the first tree structure.

[0099] Step 108: Sort the information of N rooms according to the N tree nodes in the first tree structure to determine the cleaning order.

[0100] In this embodiment, the cleaning map is converted into a first tree structure. The N tree nodes in the first tree structure correspond one-to-one with the N room information in the cleaning map. The first tree structure can represent the actual path distance between the room where the cleaning robot starts and each room. The N room information is sorted based on the first tree structure.

[0101] In this embodiment, the cleaning robot can convert the cleaning map into a room topology map, and then convert the room topology map into a first tree structure. Based on the tree nodes in the first tree structure that correspond one-to-one with the room information, the cleaning order of multiple rooms is sorted. By converting the cleaning map into a first tree structure, this application determines the topological relationship between multiple rooms, enabling the cleaning robot to sort the cleaning order of multiple rooms according to the relationship between multiple rooms and the starting room from farthest to closest, ensuring the cleaning efficiency of the cleaning robot for multiple rooms, and also avoiding secondary pollution during the cleaning process.

[0102] In some embodiments, optionally, after constructing a room topology map based on the information of N rooms in the cleaning map, the method further includes:

[0103] In the case that the room topology graph includes M ring structures, the room topology graph is updated according to the first topology node so that the room topology graph does not include ring structures. The first topology node corresponds to the room information where the starting point of the cleaning robot is located. The ring structure includes P topology nodes, and the P topology nodes are connected end to end. M is a positive integer and P is an integer greater than 2.

[0104] In this embodiment, after constructing the room topology map, it is necessary to detect whether the room topology map includes a ring structure, which is a node link formed by multiple topology nodes connected end to end. Since the topology nodes in the ring structure are connected end to end, it is difficult to construct the corresponding first tree structure based on the room topology map with the ring structure. Therefore, the room topology map needs to be updated to obtain a room topology map without the ring structure.

[0105] In this embodiment, the ring structure includes at least three topological nodes, and the at least three topological nodes are connected end to end to form a ring structure, that is, the value of P is greater than or equal to 3.

[0106] like Figure 3 As shown, nodes 10, 6, 5, 2, and 4 in the room topology diagram are connected to form a ring structure.

[0107] It should be noted that since the room topology map is a topology map obtained by converting the cleaning map, and there are interconnections between multiple rooms in the indoor environment, there may be at least one loop structure in the constructed room topology map. Therefore, the value of M is greater than or equal to 1.

[0108] In this embodiment, when multiple loop structures are found, all loop structures need to be removed. During the removal of loop structures, to ensure the accuracy and integrity of the topological relationships of each node in the room topology diagram, topological nodes cannot be directly deleted. Instead, the topological edges between adjacent topological nodes in the loop structure need to be deleted to remove the loop structure. The first topological node is the starting point for the cleaning robot when it begins cleaning multiple rooms. Based on this first topological node, the topological edges that need to be deleted in each loop structure can be found. Therefore, the room topology diagram can be updated based on this first topological node, so that all loop structures in the updated room topology diagram are removed.

[0109] For example, the room information corresponding to the first topology node is the room information of the room where the charging station of the cleaning robot is located.

[0110] In this embodiment of the application, if a ring structure is detected in the converted room topology map, the ring structure needs to be removed to avoid the ring structure in the room topology map affecting the construction of the first tree structure, thereby improving the accuracy of the first tree structure in expressing the relationship between the various rooms.

[0111] In some embodiments, optionally, when the room topology diagram includes M ring structures, updating the room topology diagram based on the first topology node includes:

[0112] Extract the target ring structure from the M ring structures. The target ring structure is the ring structure with the most topological nodes among the M ring structures.

[0113] Delete the target topological edge in the room topological graph based on the first topological node to update the room topological graph. The target topological edge is the topological edge in the target ring structure.

[0114] Return to the step of extracting the target ring structure from the M ring structures, until the room topology map does not contain any ring structures.

[0115] In this embodiment, the target ring structure is the largest ring structure among the M ring structures, where the more topological nodes a ring structure contains, the larger the ring structure. When it is determined that the room topology graph includes multiple ring structures, the largest target ring structure is extracted. Then, based on the first topological node, the target topological edge in the target ring structure is found. By deleting the target topological edge in the room topology graph, the updated room topology graph does not include the target ring structure. After deleting the target topological edge from the found target ring structure, the process returns to the step of extracting the largest target ring structure among the multiple ring structures and removing the target topological edge from that target ring structure. This process is repeated until all target topological edges in all ring structures in the room topology graph are deleted, meaning the room topology graph no longer includes ring structures.

[0116] In this embodiment, when multiple ring structures in the room topology graph may share a common topological edge, it is necessary to sequentially delete the target topological edge for each ring structure. Deleting the topological edge of one ring structure may also cause another ring structure to disappear. Therefore, processing multiple ring structures one by one avoids deleting too many topological edges, further ensuring the integrity of the room information in the final constructed first tree structure. Larger ring structures have more topological nodes and more topological edges. Processing multiple ring structures in descending order prioritizes ring structures that may share more topological edges.

[0117] In this embodiment of the application, when the constructed room topology includes multiple ring structures, the multiple ring structures are processed sequentially in descending order of size. This avoids the situation of removing the common topological edges of the ring structures multiple times. While reducing the amount of data processing, it can also retain the room information in the first tree structure as much as possible.

[0118] In some embodiments, optionally, deleting the target topological edge in the room topology graph based on the first topological node includes:

[0119] The second topological node and two third topological nodes in the target ring structure are determined based on the first topological node. The second topological node is the node in the target ring structure that is farthest from the first topological node, and the third topological node is adjacent to the second topological node.

[0120] Extract the fourth topology node from the two third topology nodes. The fourth topology node is the node that is closest to the first topology node among the two topology nodes.

[0121] Based on the second and fourth topological nodes, determine the target topological edge in the target ring structure;

[0122] Delete the target topological edge in the room topology graph.

[0123] In this embodiment, the first topological node is the topological node corresponding to the starting point of the cleaning robot's movement, the second topological node is the node in the target ring structure that is farthest from the first topological node, and the third topological node is connected to the second topological node, that is, the third topological node is a neighboring node of the second topological node, and there are two third topological nodes, which are located on both sides of the second topological node.

[0124] After determining the second topological node in the target ring structure based on the first topological node, and the two third topological nodes on both sides of the second topological node, the topological node that is closer to the first topological node among the two third topological nodes is taken as the fourth topological node, and the fourth topological node and the second topological node are taken as the two nodes of the target topological edge. The target topological edge in the target ring structure is determined, and the target topological edge in the room topology graph is deleted, thereby removing the target ring structure in the room topology graph.

[0125] In this embodiment, since the first topological node is the topological node corresponding to the room where the cleaning robot's starting point is located, the topological node farthest from the first topological node in the target ring structure is found as the second topological node, and the second topological node is used as a vertex of the target topological edge. Then, the fourth topological node, which is adjacent to the second topological node and closest to the first topological node, is used as another vertex of the target topological edge. This allows the target topological edge to be found and deleted, so that the updated room topology map still retains the topological relationships of other topological nodes in the target ring structure, further ensuring that the cleaning order of multiple rooms can be sorted from far to near based on the topological relationships.

[0126] In some embodiments, optionally, converting the room topology map into a first tree structure includes:

[0127] Given a room topology diagram containing Q fifth topology nodes and X sixth topology nodes, construct a second tree structure based on the X sixth topology nodes and construct Y third tree structures based on the Q fifth topology nodes. The X sixth topology nodes are connected to each other, while the Q fifth topology nodes are not connected to the sixth topology nodes. Q and X are positive integers, and Q + X = N. Merge the second tree structure with the Y third tree structures to obtain the first tree structure.

[0128] In this embodiment, the fifth topology node is an untraversed topology node in the room topology graph, and the sixth topology node is a traversed topology node in the room topology graph. That is, there is no topology relationship between the fifth topology node and the sixth topology node.

[0129] In this embodiment, the number of fifth topological nodes can be zero or at least one. If there is no fifth topological node, the first topological graph, which only includes a sixth topological node, is directly converted into a first tree structure. If at least one fifth topological node is included, a third tree structure is constructed based on the fifth topological node, and a second tree structure is constructed based on the sixth topological node. The second and third tree structures are then merged to obtain the first tree structure, ensuring a one-to-one correspondence between the tree structures in the first tree structure and the topological nodes in the room topological graph.

[0130] It should be noted that when there are multiple fifth topological nodes, these nodes may or may not have connected topological relationships. When multiple fifth topological nodes do not have connected topological relationships, they correspond to multiple third tree structures. When at least some of the fifth topological nodes have connected topological relationships, a third tree structure is generated based on the connected nodes, and each of the remaining unconnected nodes corresponds to a separate third tree structure.

[0131] For example, if there is one fifth topological node, then one fifth topological node is used as the third tree structure.

[0132] For example, if there are 4 fifth topological nodes, and 3 of them have connected topological relationships, then the 3 fifth topological nodes with connected topological relationships are used to generate a third tree structure, and the other 1 fifth topological node without connected topological relationships is used as a separate third tree structure.

[0133] Figure 4 The following diagrams illustrate cleaning maps, room topology maps, and first tree structures provided in some embodiments of this application, such as... Figure 4 As shown, the cleaning map 210 includes 8 rooms 212, which correspond to 8 topological nodes 222 in the room topology map 220. Among them, node 8 is the fifth topological node that has not been traversed, and the remaining nodes are the sixth topological nodes that have been traversed. The sixth topological node generates a second tree structure 234, and the fifth topological node generates a third tree structure 236. By merging the third tree structure 236 with the second tree structure 234, a first tree structure 230 is generated.

[0134] In this embodiment of the application, if the constructed room topology map includes a fifth topology node and a sixth topology node, a second tree structure is generated based on the sixth topology node, and at least one third tree structure is generated based on the fifth topology node. The second tree structure and at least one third tree structure are merged so that the generated first tree structure retains all the topological relationships in the room topology map, thereby improving the accuracy of the room cleaning order sorting based on the first tree structure.

[0135] In some embodiments, optionally, the second tree structure is merged with Y third tree structures to obtain a first tree structure, including:

[0136] Extract the fourth tree structure from the Y third tree structures. The fourth tree structure is the tree structure that is closest to the second tree structure among the Y third tree structures.

[0137] The fourth tree structure is merged into the second tree structure to update the second tree structure;

[0138] Return to the step of extracting the fourth tree structure from the Y third tree structures, until all Y third tree structures are merged into the second tree structure to obtain the first tree structure.

[0139] In this embodiment, after generating Y third tree structures through Q fifth topology nodes, the fourth tree structure that is closest to the second tree structure among the Y third tree structures is extracted, and the fourth tree structure is merged into the second tree structure to obtain the updated second tree structure. Then, the process returns to the step of finding the fourth tree structure that is closest to the second tree structure among the remaining third tree structures, until all Y third tree structures are merged into the second tree structure, thereby obtaining the complete first tree structure.

[0140] In this embodiment, when multiple third tree structures are generated by the fifth topology node, the distance between each third tree structure and the second tree structure is determined, and the third tree structures are merged into the second tree structure in sequence based on the distance from farthest to closest. This allows most of the topological relationships to be preserved during the merging of tree structures, improving the accuracy of the first tree structure in expressing the topological relationships of each room.

[0141] In some embodiments, optionally, merging the fourth tree structure into the second tree structure to update the second tree structure includes:

[0142] Find the first tree node in the second tree structure and the second tree node in the fourth tree structure. The first tree node is the node in the second tree structure that is closest to the fourth tree structure, and the second tree node is the node in the fourth tree structure that is closest to the second tree structure.

[0143] The fourth tree structure is reconstructed based on the second tree node to obtain the fifth tree structure, where the second tree node is the first root node of the fifth tree structure.

[0144] Based on the second tree node and the first tree node, the fifth tree structure is merged into the second tree structure to update the second tree structure.

[0145] In this embodiment, after determining the second tree structure and the fourth tree structure, based on the relationship between the second tree structure and the fourth tree structure, a first tree node is extracted from the second tree structure, and a second tree node is extracted from the fourth tree structure. The distance between the first tree node and the second tree node is less than the distance between any other node in the second tree structure and any other node in the fourth tree structure.

[0146] In this embodiment, after finding the second tree node in the fourth tree structure, the second tree node is used as the first root node to reconstruct the fourth tree structure, resulting in a fifth tree structure. The topological relationships between the tree nodes in the fifth tree structure match the topological relationships between the tree nodes in the fourth tree structure. Then, the second tree node, acting as the first root node, is added to the child node of the first tree node in the second tree structure, thus merging the fifth tree structure into the second tree structure to obtain the first tree structure.

[0147] In this embodiment, by finding the closest first and second tree nodes in the second and fourth tree structures, and using the second tree node as the root node to reconstruct the fourth tree structure, the reconstructed fifth tree structure is merged into the corresponding second tree structure to obtain the first tree structure, thereby ensuring that the topological relationship between each room is completely preserved in the generated first tree structure.

[0148] In some embodiments, optionally, the cleaning order is determined by sorting the N room information according to the N tree nodes in the first tree structure, including:

[0149] Obtain the second root node from N tree nodes. The second root node corresponds to the room information where the cleaning robot starts its journey.

[0150] Determine the cleaning sequence based on the second root node.

[0151] In this embodiment, the second root node is the root node among N tree nodes in the first tree structure, and the room information corresponding to the second root node is the room information from which the cleaning robot starts. Based on the topological relationship between the second root node and each node in the first tree structure, the cleaning order of multiple rooms in the cleaning map is sorted according to the topological relationship. This allows the cleaning robot to sort the cleaning order of multiple rooms according to their distance from the starting room, ensuring the cleaning efficiency of the cleaning robot in cleaning multiple rooms and avoiding secondary pollution during the cleaning process.

[0152] In some embodiments, determining the cleaning sequence based on the second root node includes:

[0153] Determine Z leaf nodes from N tree nodes, where Y is a positive integer and Z < N;

[0154] Get the Z distance values ​​between the second root node and the Z leaf nodes;

[0155] Delete the first leaf node among the Z leaf nodes. The first leaf node is the node that is farthest from the second root node among the Z leaf nodes.

[0156] Return to the step of determining the Z leaf nodes out of the N tree nodes, until the first tree structure no longer contains leaf nodes;

[0157] Get the deletion order of the Z leaf nodes;

[0158] The cleaning order is determined based on the deletion order.

[0159] In this embodiment, the first tree structure includes Z leaf nodes, which is less than the total number of tree nodes. Z distance values ​​are extracted between the second root node and the Z leaf nodes. Based on these Z distance values, the first leaf node is selected from the Z leaf nodes. This first leaf node is the furthest from the second root node and is deleted from the first tree structure. After deleting the first leaf node, the leaf nodes in the first tree structure are recounted, and the first leaf node furthest from the second root node in the updated first tree structure is deleted again, until the first tree structure contains only the second root node. During this process, the deletion order of multiple leaf nodes is recorded. Since multiple leaf nodes correspond to multiple rooms, the deletion order is mapped to multiple rooms to obtain the cleaning order for multiple rooms.

[0160] In this embodiment, after obtaining the first tree structure, the first leaf node farthest from the second root node in the first tree structure is deleted sequentially until all leaf nodes in the first tree structure are deleted. The deletion order of the leaf nodes is then used as the cleaning order of multiple rooms, so that the cleaning robot sorts the cleaning order of multiple rooms according to the relationship between multiple rooms and the starting room from farthest to near, ensuring the cleaning efficiency of the cleaning robot for multiple rooms and avoiding secondary pollution during the cleaning process.

[0161] In some embodiments, the cleaning sequence determination method may optionally further include:

[0162] Step 1: Read the room information on the map and determine the first topology node V_start corresponding to the starting room based on the current position of the cleaning robot and / or the position of the charging dock;

[0163] Step 2: Based on the information of each room and its adjacent rooms, abstract each room as a vertex V of the room topology graph, and abstract the adjacency relationship between rooms as an edge E_(i,j) of the room topology graph, and construct the room topology graph M(V,E).

[0164] Step 3: Determine whether there is a loop structure in the room topology diagram M(V,E). If there is a loop structure, proceed to step 4; otherwise, proceed to step 5.

[0165] Step 4: Extract the largest target ring structure L from the room topology graph M(V,E). Find the second topology node V_far on the target ring structure L that is farthest from the first topology node V_start. Find the neighbor nodes of V_far on the target ring structure, namely the two third topology nodes V_neighbor1 and V_neighbor2. Calculate the distance between the first topology node V_start and the two third topology nodes V_neighbor1 and V_neighbor2. Select the closest fourth topology node V_neighbor among the two third topology nodes. Delete the target topology edge E(V_far,V_neighbor) from the topology graph M(V,E). After completion, return to step 3 and continue until there are no ring structures in the room topology graph M(V,E).

[0166] Step 5: Based on the first topological node V_start corresponding to the starting room, convert the topological graph M(V,E) into a second tree structure T_main. Based on the first topological node V_start corresponding to the starting room, construct tree information in the topological graph M(V,E). After construction, check if there is an unvisited fifth topological node V_unvisit in M(V,E). If there is, proceed to step 6; otherwise, use the second tree structure T_main as the first tree structure and proceed to step 8.

[0167] Step 6: Construct a third tree structure T by using the fifth unvisited topology node V_unvisit in the room topology graph M(V,E) as the root node;

[0168] Step 7: Find the second tree node V_near^T that is closest to the second tree structure T_main in the third tree structure T, and the first tree node V_near^main. Reconstruct the third tree structure T based on the second tree node V_near^T, making the second tree node V_near^T the root node of the third tree structure T, updating it to the fourth tree structure T, and adding the second tree node V_near^T to the child nodes of the first tree node V_near^main to obtain the first tree structure T_main. Return to step 5, and continue until there is no untraversed fifth topology node in the room topology graph M(V,E).

[0169] Step 8: Check if T_main is empty. If it is empty, it is determined that there is no connection between multiple rooms in the cleaning map, so the method ends; if it is not empty, proceed to step 9.

[0170] Step 9: Find the middle leaf node V_leaves in the first tree structure T_main, and find the first leaf node V_leaf that is farthest from V_start. Take it as the first room to be cleaned, V_current, and delete it from T_main.

[0171] Step 10: Find the middle leaf node V_leaves in the first tree structure T_main. Using V_current as the starting point, find the nearest first leaf node V_leaf on the grid map and designate it as the next room to be cleaned, V_current. Delete it from the first tree structure T_main. Repeat this step until the first tree structure T_main is empty, and use the deletion order as the cleaning order.

[0172] According to one embodiment of this application, Figure 5 The following is a schematic block diagram of one of the embodiments of this application that provides a cleaning sequence determination device, such as Figure 5 As shown, a cleaning sequence determination device 500 is proposed for use in a cleaning robot. The cleaning sequence determination device 500 includes:

[0173] The acquisition module 502 is used to acquire the cleaning map of the cleaning robot;

[0174] Module 504 is used to construct a room topology map based on the information of N rooms in the cleaning map. The room topology map includes N topology nodes, and each of the N topology nodes corresponds one-to-one with the information of N rooms, where N is an integer greater than 1.

[0175] The conversion module 506 is used to convert the room topology map into a first tree structure, which includes N tree nodes, and the N tree nodes correspond one-to-one with the N topology nodes.

[0176] The sorting module 508 is used to sort the information of N rooms according to the N tree nodes in the first tree structure in order to determine the cleaning order.

[0177] In this embodiment, the cleaning robot can convert the cleaning map into a room topology map, and then convert the room topology map into a first tree structure. Based on the tree nodes in the first tree structure that correspond one-to-one with the room information, the cleaning order of multiple rooms is sorted. By converting the cleaning map into a first tree structure, this application determines the topological relationship between multiple rooms, enabling the cleaning robot to sort the cleaning order of multiple rooms according to the relationship between multiple rooms and the starting room from farthest to closest, ensuring the cleaning efficiency of the cleaning robot for multiple rooms, and also avoiding secondary pollution during the cleaning process.

[0178] In some embodiments, the cleaning sequence determination device 500 may optionally further include:

[0179] The update module is used to update the room topology map based on the first topology node when the room topology map includes M ring structures, so that the room topology map does not include ring structures. The first topology node corresponds to the room information where the starting point of the cleaning robot is located. The ring structure includes P topology nodes, and the P topology nodes are connected end to end. M is a positive integer and P is an integer greater than 2.

[0180] In this embodiment of the application, if a ring structure is detected in the converted room topology map, the ring structure needs to be removed to avoid the ring structure in the room topology map affecting the construction of the first tree structure, thereby improving the accuracy of the first tree structure in expressing the relationship between the various rooms.

[0181] In some embodiments, the cleaning sequence determination device 500 may optionally further include:

[0182] The extraction module is used to extract the target ring structure from M ring structures. The target ring structure is the ring structure with the most topological nodes among the M ring structures.

[0183] The deletion module is used to delete the target topological edge in the room topology graph based on the first topological node in order to update the room topology graph. The target topological edge is the topological edge in the target ring structure.

[0184] The execution module returns the steps for extracting the target ring structure from the M ring structures until the room topology diagram does not contain any ring structures.

[0185] In this embodiment of the application, when the constructed room topology includes multiple ring structures, the multiple ring structures are processed sequentially in descending order of size. This avoids the situation of removing the common topological edges of the ring structures multiple times. While reducing the amount of data processing, it can also retain the room information in the first tree structure as much as possible.

[0186] In some embodiments, the cleaning sequence determination device 500 may optionally further include:

[0187] The determination module is used to determine the second topological node and two third topological nodes in the target ring structure based on the first topological node. The second topological node is the node in the target ring structure that is farthest from the first topological node, and the third topological node is adjacent to the second topological node.

[0188] The extraction module is used to extract the fourth topology node from two third topology nodes. The fourth topology node is the node that is closest to the first topology node among the two topology nodes.

[0189] The determination module is used to determine the target topological edge in the target ring structure based on the second and fourth topological nodes;

[0190] The delete module is used to delete target topological edges in the room topology graph.

[0191] In this embodiment, since the first topological node is the topological node corresponding to the room where the cleaning robot's starting point is located, the topological node farthest from the first topological node in the target ring structure is found as the second topological node, and the second topological node is used as a vertex of the target topological edge. Then, the fourth topological node, which is adjacent to the second topological node and closest to the first topological node, is used as another vertex of the target topological edge. This allows the target topological edge to be found and deleted, so that the updated room topology map still retains the topological relationships of other topological nodes in the target ring structure, further ensuring that the cleaning order of multiple rooms can be sorted from far to near based on the topological relationships.

[0192] In some embodiments, optionally, the construction module 504 is configured to construct a second tree structure based on the X sixth topological nodes and a third tree structure based on the Q fifth topological nodes when the room topology diagram includes Q fifth topological nodes and X sixth topological nodes, wherein the X sixth topological nodes are connected to each other, the Q fifth topological nodes are not connected to the sixth topological nodes, Q and X are positive integers, and Q+X=N;

[0193] The cleaning sequence determination device 500 also includes:

[0194] The merging module is used to merge the second tree structure with Y third tree structures to obtain the first tree structure.

[0195] In this embodiment of the application, if the constructed room topology map includes a fifth topology node and a sixth topology node, a second tree structure is generated based on the sixth topology node, and at least one third tree structure is generated based on the fifth topology node. The second tree structure and at least one third tree structure are merged so that the generated first tree structure retains all the topological relationships in the room topology map, thereby improving the accuracy of the room cleaning order sorting based on the first tree structure.

[0196] In some embodiments, optionally, the extraction module is used to extract a fourth tree structure from Y third tree structures, wherein the fourth tree structure is the tree structure among the Y third tree structures that is closest to the second tree structure;

[0197] The update module is used to merge the fourth tree structure into the second tree structure in order to update the second tree structure;

[0198] The execution module is used to return to the step of extracting the fourth tree structure from the Y third tree structures, until all Y third tree structures are merged into the second tree structure to obtain the first tree structure.

[0199] In this embodiment, when multiple third tree structures are generated by the fifth topology node, the distance between each third tree structure and the second tree structure is determined, and the third tree structures are merged into the second tree structure in sequence based on the distance from farthest to closest. This allows most of the topological relationships to be preserved during the merging of tree structures, improving the accuracy of the first tree structure in expressing the topological relationships of each room.

[0200] In some embodiments, the cleaning sequence determination device 500 may optionally further include:

[0201] The search module is used to search for the first tree node in the second tree structure and the second tree node in the fourth tree structure. The first tree node is the node in the second tree structure that is closest to the fourth tree structure, and the second tree node is the node in the fourth tree structure that is closest to the second tree structure.

[0202] The reconstruction module is used to reconstruct the fourth tree structure based on the second tree node to obtain the fifth tree structure, where the second tree node is the first root node of the fifth tree structure.

[0203] The merging module is used to merge the fifth tree structure into the second tree structure based on the second tree node and the first tree node, so as to update the second tree structure.

[0204] In this embodiment, by finding the closest first and second tree nodes in the second and fourth tree structures, and using the second tree node as the root node to reconstruct the fourth tree structure, the reconstructed fifth tree structure is merged into the corresponding second tree structure to obtain the first tree structure, thereby ensuring that the topological relationship between each room is completely preserved in the generated first tree structure.

[0205] In some embodiments, optionally, the acquisition module 502 is used to acquire the second root node among N tree nodes, the second root node corresponding to the room information where the starting point of the cleaning robot is located;

[0206] The determination module is used to determine the cleaning sequence based on the second root node.

[0207] In this embodiment, the second root node is the root node among N tree nodes in the first tree structure, and the room information corresponding to the second root node is the room information from which the cleaning robot starts. Based on the topological relationship between the second root node and each node in the first tree structure, the cleaning order of multiple rooms in the cleaning map is sorted according to the topological relationship. This allows the cleaning robot to sort the cleaning order of multiple rooms according to their distance from the starting room, ensuring the cleaning efficiency of the cleaning robot in cleaning multiple rooms and avoiding secondary pollution during the cleaning process.

[0208] In some embodiments, the determining module is used to determine Z leaf nodes out of N tree nodes, where Y is a positive integer and Z < N;

[0209] The acquisition module 502 is used to acquire the Z distance values ​​between the second root node and the Z leaf nodes;

[0210] The delete module is used to delete the first leaf node among Z leaf nodes. The first leaf node is the node that is farthest from the second root node among the Z leaf nodes.

[0211] The execution module is used to return to the steps of determining Z leaf nodes out of N tree nodes, until the first tree structure does not contain any leaf nodes;

[0212] Module 502 is used to obtain the deletion order of the Z leaf nodes;

[0213] The determination module is used to determine the cleaning order based on the deletion order.

[0214] In this embodiment, after obtaining the first tree structure, the first leaf node farthest from the second root node in the first tree structure is deleted sequentially until all leaf nodes in the first tree structure are deleted. The deletion order of the leaf nodes is then used as the cleaning order of multiple rooms, so that the cleaning robot sorts the cleaning order of multiple rooms according to the relationship between multiple rooms and the starting room from farthest to near, ensuring the cleaning efficiency of the cleaning robot for multiple rooms and avoiding secondary pollution during the cleaning process.

[0215] According to one embodiment of this application, Figure 6 The second schematic block diagram shows a cleaning sequence determination device provided in some embodiments of this application, such as... Figure 6 As shown, the cleaning sequence determination device 600 includes a processor 602 and a memory 604. The memory 604 stores a program or instructions, which, when executed by the processor 602, implement the steps of the cleaning sequence determination method as described in any of the above embodiments. Therefore, the cleaning sequence determination device 600 possesses all the beneficial effects of the cleaning sequence determination method in any of the above embodiments, and will not be elaborated further here.

[0216] According to one embodiment of this application, optionally, a readable storage medium is provided, on which a program or instructions are stored. When the program or instructions are executed by a processor, they implement the cleaning order determination method as described in any of the above embodiments, and thus have all the beneficial technical effects of the cleaning order determination method in any of the above embodiments.

[0217] Among them, readable storage media include read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0218] A computer-readable storage medium can be a tangible device that holds and stores instructions for use by an instruction execution device. A computer-readable storage medium can be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing, but is not limited thereto. A non-exhaustive list of more specific examples of computer-readable storage media includes: portable computer floppy disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable optical disc read-only memory (CD-ROM), digital universal disk (DVD), memory cards, floppy disks, encoding mechanical devices (e.g., punched cards or grooves with raised structures for recording instructions), and any suitable combination of the foregoing. The computer-readable storage medium used herein should not be construed as the transmission of signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media, or electrical signals transmitted through wires.

[0219] Optionally, according to one embodiment of this application, a cleaning robot is provided, including: a cleaning sequence determination device as described in any of the above embodiments, and / or a readable storage medium as described in any of the above embodiments, thus having all the beneficial technical effects of the cleaning sequence determination device and / or the readable storage medium as described in any of the above embodiments, which will not be elaborated further here.

[0220] It should be clarified that in the claims, description, and accompanying drawings of this application, the term "multiple" refers to two or more objects. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description process, not to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limitations on this application. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this application can be understood based on the specific circumstances of the above data.

[0221] In the claims, description, and accompanying drawings of this application, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In the claims, description, and accompanying drawings of this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0222] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for determining the cleaning sequence, characterized in that, The cleaning sequence determination method, applied to cleaning robots, includes: Obtain the cleaning map of the cleaning robot; Based on the information of N rooms in the cleaning map, a room topology map is constructed. The room topology map includes N topology nodes, and each of the N topology nodes corresponds one-to-one with the information of the N rooms, where N is an integer greater than 1. The room topology map is converted into a first tree structure, which includes N tree nodes, and the N tree nodes correspond one-to-one with the N topology nodes; The cleaning order is determined by sorting the N room information according to the N tree nodes in the first tree structure. The step of sorting the N room information according to the N tree nodes in the first tree structure to determine the cleaning order includes: Obtain the second root node from N tree nodes, where the second root node corresponds to the room information where the cleaning robot's starting point is located; The cleaning sequence is determined based on the second root node; Determining the cleaning sequence based on the second root node includes: Determine Z leaf nodes from the N tree nodes, where Z is a positive integer and Z < N; Obtain the Z distance values ​​between the second root node and the Z leaf nodes; Based on the Z distance values, delete the first leaf node among the Z leaf nodes, where the first leaf node is the node that is farthest from the second root node among the Z leaf nodes; Return to the step of determining Z leaf nodes out of N tree nodes, until the first tree structure no longer contains the leaf nodes; Obtain the deletion order of the Z leaf nodes; The cleaning order is determined based on the deletion order.

2. The method for determining the cleaning sequence according to claim 1, characterized in that, After constructing the room topology map based on the information of N rooms in the cleaning map, the process further includes: When the room topology map includes M ring structures, the room topology map is updated according to the first topology node so that the room topology map does not include the ring structure. The first topology node corresponds to the room information where the starting point of the cleaning robot is located. The ring structure includes P topology nodes, and the P topology nodes are connected end to end. M is a positive integer and P is an integer greater than 2.

3. The method for determining the cleaning sequence according to claim 2, characterized in that, In the case where the room topology diagram includes M ring structures, updating the room topology diagram based on the first topology node includes: Extract the target ring structure from the M ring structures, where the target ring structure is the ring structure with the most topological nodes among the M ring structures. Delete the target topological edge in the room topological graph according to the first topological node to update the room topological graph, wherein the target topological edge is the topological edge in the target ring structure; Return to the step of extracting the target ring structure from the M ring structures, until the room topology map does not include the ring structure.

4. The method for determining the cleaning sequence according to claim 3, characterized in that, The step of deleting the target topological edge in the room topology graph based on the first topological node includes: The second topological node and two third topological nodes in the target ring structure are determined based on the first topological node. The second topological node is the node in the target ring structure that is farthest from the first topological node, and the third topological node is adjacent to the second topological node. Extract the fourth topology node from the two third topology nodes, where the fourth topology node is the node that is closest to the first topology node among the two topology nodes; Based on the second topology node and the fourth topology node, the target topology edge in the target ring structure is determined; Delete the target topological edge from the room topology graph.

5. The method for determining the cleaning sequence according to any one of claims 1 to 4, characterized in that, The step of converting the room topology map into a first tree structure includes: In the case that the room topology diagram includes Q fifth topology nodes and X sixth topology nodes, a second tree structure is constructed based on the X sixth topology nodes, and Y third tree structures are constructed based on the Q fifth topology nodes. The X sixth topology nodes are connected to each other, and the Q fifth topology nodes are not connected to the sixth topology nodes. Q and X are positive integers, and Q + X = N. The second tree structure is merged with Y of the third tree structures to obtain the first tree structure.

6. The method for determining the cleaning sequence according to claim 5, characterized in that, The step of merging the second tree structure with Y of the third tree structures to obtain the first tree structure includes: Extract the fourth tree structure from the Y third tree structures, wherein the fourth tree structure is the Y tree structure that is closest to the second tree structure of the third tree structure; The fourth tree structure is merged into the second tree structure to update the second tree structure; Return to the step of extracting the fourth tree structure from the Y third tree structures, until all Y third tree structures are merged into the second tree structure to obtain the first tree structure.

7. The method for determining the cleaning sequence according to claim 6, characterized in that, The step of merging the fourth tree structure into the second tree structure to update the second tree structure includes: Find the first tree node in the second tree structure and the second tree node in the fourth tree structure, wherein the first tree node is the node in the second tree structure that is closest to the fourth tree structure, and the second tree node is the node in the fourth tree structure that is closest to the second tree structure; The fourth tree structure is reconstructed based on the second tree node to obtain the fifth tree structure, where the second tree node is the first root node of the fifth tree structure. Based on the second tree node and the first tree node, the fifth tree structure is merged into the second tree structure to update the second tree structure.

8. A cleaning sequence determination device, characterized in that, The cleaning sequence determination device, applied to cleaning robots, includes: The acquisition module is used to acquire the cleaning map of the cleaning robot; The construction module is used to construct a room topology map based on the information of N rooms in the cleaning map. The room topology map includes N topology nodes, and the N topology nodes correspond one-to-one with the information of N rooms, where N is an integer greater than 1. A conversion module is used to convert the room topology map into a first tree structure, wherein the first tree structure includes N tree nodes, and the N tree nodes correspond one-to-one with the N topology nodes; The sorting module is used to sort the N room information according to the N tree nodes in the first tree structure to determine the cleaning order; The acquisition module is used to acquire the second root node among N tree nodes, and the second root node corresponds to the room information where the starting point of the cleaning robot is located; The determining module is used to determine the cleaning sequence based on the second root node; The determination module is used to determine Z leaf nodes out of N tree nodes, where Z is a positive integer and Z < N; The acquisition module is used to acquire Z distance values ​​between the second root node and the Z leaf nodes; The deletion module is used to delete the first leaf node among the Z leaf nodes based on the Z distance values, wherein the first leaf node is the node that is farthest from the second root node among the Z leaf nodes; The execution module is used to return to the step of determining Z leaf nodes among the N tree nodes, until the first tree structure does not contain the leaf nodes; The acquisition module is used to acquire the deletion order of the Z leaf nodes; The determination module is used to determine the cleaning order based on the deletion order.

9. A cleaning sequence determination device, characterized in that, include: processor; A memory storing programs or instructions, wherein the processor, when executing the programs or instructions in the memory, implements the steps of the cleaning sequence determination method as described in any one of claims 1 to 7.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the cleaning sequence determination method as described in any one of claims 1 to 7.

11. A cleaning robot, characterized in that, include: The cleaning sequence determination device as described in claim 8 or 9; and / or The readable storage medium as described in claim 10.

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