Method and apparatus for segmenting cleaning area of robot, and electronic device

Abstract

A method and apparatus for segmenting a cleaning area of a robot, a cleaning robot for executing or implementing the method, an electronic device and a non-transitory computer-readable storage medium. The method comprises: in response to a cleaning instruction, determining a cleanable area, wherein the cleanable area does not comprise obstacles surrounded by the cleanable area (S101); on the basis of the shape of the cleanable area, determining an area segmentation direction (S103); traversing outer contour points of the cleanable area, and on the basis of the area segmentation direction, determining segmentation points of the cleanable area (S105); and using the segmentation points to divide the cleanable area into a plurality of cleaning sub-areas (S107). In the method, by means of ignoring an obstacle area surrounded by a cleanable area when determining the cleanable area, the number of sub-areas generated during segmentation of the cleanable area is reduced, and the number of times that a robot turns back during execution of cleaning is greatly reduced, thereby greatly improving the cleaning efficiency of the robot.

Description

Methods and apparatuses for dividing the cleaning area of ​​a robot, and electronic equipment. Technical Field

[0001] This application relates, in particular, to a method and apparatus for segmenting the cleaning area of ​​a robot, electronic equipment, and a non-transitory computer-readable storage medium. Background Technology

[0002] A robotic vacuum cleaner is a smart home appliance used to clean floors in a designated area by following a preset path.

[0003] When performing cleaning actions, robotic vacuum cleaners perform obstacle avoidance and bow-shaped cleaning movements. Since the contours of actual cleaning environments are often irregular, the robot encounters planning, turning back, and scheduling issues when performing bow-shaped cleaning. There is significant room for optimization in the overall path planning of current bow-shaped cleaning methods.

[0004] For example, in patent CN114323047A - A Full-Coverage Path Planning Algorithm Based on Polygon Decomposition, due to the large number of feature points in the raster map, the computational load is relatively large and the time consumption is significant when calculating the segmentation direction by comprehensively considering feature points. Furthermore, using internal obstacles as segmentation points further increases the computational load of the entire process.

[0005] For example, patent CN110398964B, "A Low-Energy-Loss Robot Full-Coverage Path Planning Method and System," also suffers from the problem of a large number of Harris corner points and the use of internal obstacles as dividing points. Therefore, the computation is extremely time-consuming, making it difficult to meet the real-time requirements of robotic vacuum cleaners. Summary of the Invention

[0006] This application proposes a method and apparatus for segmenting the cleaning area of ​​a robot, including electronic equipment and a non-transitory computer-readable storage medium, to solve the problem of long time consumption when the robot performs cleaning work.

[0007] According to one aspect of this application, a method for segmenting the cleaning area of ​​a robot is proposed, comprising: in response to a cleaning command, determining a cleanable area, wherein the cleanable area does not include obstacles surrounded by the cleanable area; determining an area segmentation direction based on the shape of the cleanable area; traversing the outer contour points of the cleanable area and determining segmentation points of the cleanable area based on the area segmentation direction; and dividing the cleanable area into multiple cleaning sub-areas using the segmentation points.

[0008] According to some embodiments, the dividing points are included in the outer contour points of the cleanable area, and the cleanable area is divided into multiple outer contour points of convex polygons according to the area division direction.

[0009] According to some embodiments, determining the region segmentation direction based on the shape of the cleanable area includes determining the circumscribed rectangle of the cleanable area based on the shape of the cleanable area; and using the longest side of the circumscribed rectangle as the region segmentation direction.

[0010] According to some embodiments, the outer contour points include a first outer contour point and a second outer contour point. The robot traverses the outer contour points of the cleanable area and determines the segmentation point of the cleanable area based on the region segmentation direction. This includes traversing the outer contour points of the cleanable area and determining the first outer contour point based on the region segmentation direction. The first outer contour point is located on one side of the cleanable area and on the other side of the non-cleanable area. The far end of the non-cleanable area is the cleanable area. The robot continues traversing the outer contour points of the cleanable area to determine the second outer contour point. The second outer contour point is the outer contour point where the robot's walking direction changes in the perpendicular component to the region segmentation direction when traversing the cleanable area.

[0011] According to some embodiments, dividing the cleanable area into multiple cleaning sub-regions using the dividing points includes dividing the cleanable area into the multiple cleaning sub-regions along the region division direction based on the dividing points of the cleanable area.

[0012] According to some embodiments, the method further includes merging the dividing lines that pass through the dividing points of the cleanable area based on the area segmentation direction and the distance between the dividing points of the cleanable area.

[0013] According to some embodiments, the method further includes merging cleaning sub-regions with an area smaller than a preset threshold area into adjacent cleaning sub-regions.

[0014] According to some embodiments, the method further includes:

[0015] The dividing points that pass through the second outer contour point and are determined along the region dividing direction are merged into the adjacent cleaning sub-regions.

[0016] According to one aspect of this application, an apparatus for segmenting the cleaning area of ​​a robot is provided, comprising: a cleanable area determination unit, which determines a cleanable area in response to a cleaning command, wherein the cleanable area does not include obstacles surrounded by the cleanable area; an area segmentation direction determination unit, which determines an area segmentation direction based on the shape of the cleanable area; a segmentation point determination unit, which traverses the outer contour points of the cleanable area and determines segmentation points of the cleanable area based on the area segmentation direction; and a cleaning sub-area division unit, which divides the cleanable area into multiple cleaning sub-areas using the segmentation points.

[0017] According to one aspect of this application, a cleaning robot is proposed for performing the method as described in any of the preceding embodiments.

[0018] According to one aspect of this application, an electronic device is provided, comprising one or more processing units; a storage unit for storing one or more programs; wherein when the one or more programs are executed by the one or more processing units, the one or more processing units perform the method as described in any of the preceding embodiments.

[0019] According to one aspect of this application, a non-transitory computer-readable storage medium is provided, having stored thereon computer-readable instructions that, when executed by a processor, cause the processor to perform the method as described in any of the preceding embodiments.

[0020] According to the example embodiments of this application, by ignoring the obstacle areas surrounded by the cleanable area when determining the cleanable area, the number of sub-regions generated when dividing the cleanable area is reduced, which greatly reduces the number of times the robot turns back when performing cleaning and greatly improves the cleaning efficiency of the robot.

[0021] According to other embodiments, the calculation speed of the entire segmentation process is accelerated by dividing the cleanable area into multiple cleaning sub-areas in the horizontal or vertical direction.

[0022] According to other embodiments, by merging dividing lines and dividing areas, redundant cleaning sub-areas are reduced, the number of robot backtracking trips is reduced, and the robot's cleaning efficiency is improved.

[0023] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0025] Figure 1 shows a flowchart of a method for segmenting the cleaning area of ​​a robot according to an example embodiment of this application.

[0026] Figure 2 shows a schematic diagram of a cleanable area according to an example embodiment of this application.

[0027] Figure 3 shows a schematic diagram of determining a region segmentation direction according to an example embodiment of this application.

[0028] Figure 4 shows a schematic diagram of determining the segmentation points of a cleanable area according to an example embodiment of this application.

[0029] Figure 5 shows a schematic diagram of dividing a cleaning sub-region according to an example embodiment of this application.

[0030] Figure 6 shows a flowchart of another method for segmenting the cleaning area of ​​a robot according to an example embodiment of this application.

[0031] Figure 7a shows a schematic diagram of dividing a cleaning sub-region according to an example embodiment of this application.

[0032] Figure 7b shows a schematic diagram of a merged cleaning sub-region according to an example embodiment of this application.

[0033] Figure 7c shows a schematic diagram of a merged cleaning sub-region according to an example embodiment of this application.

[0034] Figure 8 shows a block diagram of a device for dividing the cleaning area of ​​a robot according to an example embodiment of this application.

[0035] Figure 9 illustrates an electronic device according to an exemplary embodiment of this application. Detailed Implementation

[0036] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0037] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of these specific details, or other methods, components, materials, apparatus, or operations may be employed. In these cases, well-known structures, methods, apparatuses, implementations, materials, or operations will not be shown or described in detail.

[0038] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0039] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0040] The specific embodiments according to this application will now be described in detail with reference to the accompanying drawings.

[0041] Figure 1 shows a flowchart of a method for segmenting the cleaning area of ​​a robot according to an exemplary embodiment of this application. The method shown in Figure 1 includes steps S101, S103, S105, and S107. The method for segmenting the cleaning area of ​​a robot according to an exemplary embodiment of this application will be described in detail below with reference to Figure 1.

[0042] As shown in Figure 1, in step S101, in response to the cleaning command, the area that can be cleaned is determined.

[0043] It should be noted that the cleanable area can be generated by the robot using LiDAR to scan the environment, or it can be pre-input into the robot's memory by the user via a mobile phone or tablet. There is no limitation on this. When performing a cleaning task, the robot directly retrieves the pre-set cleanable area from its memory.

[0044] In a specific embodiment, before performing the cleaning task, the robot first performs wall-side cleaning to identify the cleanable area inside the closed loop.

[0045] According to an embodiment of this application, the cleanable area does not include obstacles surrounded by the cleanable area. As shown in Figure 2, the area surrounded by the contour curve is the cleanable area, but the squares within it are internal obstacles. To reduce the interference caused by obstacles surrounded by the cleanable area on the segmentation of the robot's cleaning area, the cleanable area determined in step S101 does not include obstacles surrounded by the cleanable area. This eliminates the need to use the corners of internal obstacles as segmentation points when segmenting the cleanable area, thereby reducing the number of sub-regions generated when segmenting the cleanable area and significantly reducing the number of back-and-forth movements the robot makes during cleaning. According to an embodiment of this application, not only is the overall computational load reduced, the time consumption is shorter, and the real-time performance is better, but when the robot performs the cleaning task based on the segmentation points, it can directly bypass internal obstacles and return to the starting point of the obstacle bypass to continue performing bow-shaped cleaning, further reducing the number of back-and-forth movements the robot makes during cleaning.

[0046] In step S103, the region segmentation direction is determined according to the shape of the cleanable area.

[0047] In order to reduce the number of times the robot turns back and speed up the cleaning efficiency, according to the embodiments of this application, the determined area segmentation direction is the direction with the longest side length in the outer contour of the cleanable area.

[0048] In a specific embodiment, in step S103, firstly, the circumscribed rectangle of the cleanable area is determined according to the shape of the cleanable area; then, the longest side of the circumscribed rectangle is used as the area segmentation direction.

[0049] To reduce the number of times the robot turns back, one side of the circumscribed rectangle has the same length as the robot's arc-shaped cleaning direction. In some embodiments, the longest side of the circumscribed rectangle is parallel to the robot's cleaning direction.

[0050] As shown in Figure 3, since side length b is greater than side length a, the direction of side length b (i.e., the horizontal direction) is used as the area division direction for the cleanable area. The robot's cleaning direction is also horizontal.

[0051] In step S105, the outer contour points of the cleanable area are traversed, and the segmentation points of the cleanable area are determined based on the area segmentation direction.

[0052] According to an embodiment of this application, the dividing points are included in the outer contour points of the cleanable area, and the cleanable area is divided into multiple outer contour points of convex polygons according to the area division direction.

[0053] In a specific embodiment, the outer contour points include a first outer contour point and a second outer contour point. In step S105, firstly, the outer contour points of the cleanable area are traversed, and the first outer contour point is determined based on the area segmentation direction. In the area segmentation direction, one side of the first outer contour point is the cleanable area, and the other side is the non-cleanable area. The far end of the non-cleanable area is the cleanable area. Then, the outer contour points of the cleanable area are traversed again to determine the second outer contour point. The second outer contour point is the outer contour point when the robot changes its walking direction in the direction perpendicular to the area segmentation direction while traversing the cleanable area.

[0054] As shown in Figure 4, one side of the outer contour point A on the cleaning area outline is a cleanable area, and the other side is a non-cleanable area. Furthermore, the far end of the non-cleanable area is a cleanable area. Therefore, outer contour point A is recorded as the first outer contour point. At this time, subsequent contour points of outer contour point A may become segmentation points.

[0055] Continue traversing the outer contour points and record the vertical relationship between subsequent outer contour points and outer contour point A. When the robot moves to outer contour point B, the component of the direction from outer contour point A to outer contour point B perpendicular to the region segmentation direction is downward, while the component of the direction from outer contour point B to any subsequent outer contour point (e.g., outer contour point C) perpendicular to the region segmentation direction is upward, which is opposite to the direction of the component of the direction from outer contour point A to outer contour point B perpendicular to the region segmentation direction. Therefore, outer contour point B is used as the segmentation point of the cleanable area.

[0056] In step S107, the cleanable area is divided into multiple cleaning sub-areas using dividing points.

[0057] According to an embodiment of this application, in step S107, the cleanable area is divided into multiple cleaning sub-areas according to the dividing point of the cleanable area along the area dividing direction.

[0058] As shown in Figure 5, according to the region segmentation direction determined in step S103, the cleanable region is segmented along the outer contour point B to obtain sub-regions 1, 2 and 3.

[0059] According to the embodiment shown in Figure 1, by ignoring the obstacle area surrounded by the cleanable area when determining the cleanable area, the number of sub-regions generated when dividing the cleanable area is reduced, which greatly reduces the number of times the robot turns back when performing cleaning and greatly improves the cleaning efficiency of the robot.

[0060] Figure 6 shows a flowchart of another method for segmenting the cleaning area of ​​a robot according to an example embodiment of this application. As shown in Figure 6, the method includes step S109 in addition to steps S101 to S107 shown in Figure 1. For convenience, only the differences between Figure 6 and Figure 1 are described here, and their similarities are not repeated.

[0061] As shown in Figure 6, in step S109, the cleaning sub-regions are merged.

[0062] According to an embodiment of this application, in step S109, based on the region segmentation direction, the segmentation lines passing through the segmentation points of the cleanable region are merged according to the distance between the segmentation points of the cleanable region.

[0063] In a specific embodiment, when the number of dividing points in the cleanable area determined in step S105 includes multiple dividing points, and the distance between two dividing points in the direction perpendicular to the area dividing direction is less than a preset threshold distance, then adjacent dividing lines are merged. For example, the longer dividing line is selected as the merged dividing line.

[0064] As shown in Figure 7a, the dividing points B1 and B2 divide the cleanable area into cleaning sub-regions 1, 2, 3, 4, and 5. Since the distance between dividing points B1 and B2 in the direction perpendicular to the region division direction is less than a preset threshold distance (e.g., 5 pixels), cleaning sub-region 5 is merged into cleaning sub-region 4, as shown in Figure 7b.

[0065] According to other embodiments, in step S109, cleaning sub-regions smaller than a preset threshold area in multiple cleaning sub-regions are merged into adjacent cleaning sub-regions.

[0066] As shown in Figure 7b, the area of ​​cleaning sub-region 1 is smaller than the preset threshold area. According to the embodiment of this application, cleaning sub-region 1 is merged into cleaning sub-region 4, as shown in Figure 7c.

[0067] It should be noted that merging cleaning sub-regions with areas smaller than a preset threshold into adjacent cleaning sub-regions may result in the merged cleaning sub-region not being a convex polygon. However, since the area of ​​the merged cleaning sub-region is small, the impact on the final computational performance is negligible.

[0068] According to an embodiment of this application, it is also necessary to merge the dividing line that passes through the second outer contour point and is determined along the region division direction into the adjacent cleaning sub-region.

[0069] In some embodiments, the dividing line passing through the dividing point is merged into any adjacent cleaning sub-region.

[0070] For example, as shown in Figure 5, the dividing line passing through the dividing point B is merged into the cleaning sub-regions 3, 1, or 2 to prevent the area where the dividing line is located from being missed during cleaning.

[0071] In other embodiments, the dividing line passing through the dividing point is merged into the larger cleaning sub-region with adjacent connected areas.

[0072] For example, as shown in Figure 5, the cleaning sub-region indicated by the component direction of the direction from outer contour point A to outer contour point B in the direction perpendicular to the region segmentation direction is the cleaning sub-region merged by the segmentation line passing through segmentation point B. Since the cleaning sub-region indicated by the component direction of the direction from outer contour point A to outer contour point B in the direction perpendicular to the region segmentation direction is sub-region 3, the segmentation line passing through segmentation point B is merged into cleaning sub-region 3.

[0073] According to some embodiments of this application, different colors are used to identify different cleaning sub-areas so that the robot can identify different cleaning sub-areas and perform cleaning tasks in sequence.

[0074] In other embodiments, within the same cleaning sub-area, the cleaned area and the uncleaned area are marked with different colors to prevent missed areas from being cleaned in the cleaning sub-area.

[0075] The above description primarily focuses on the methodological aspects of the embodiments of this application. Those skilled in the art should readily recognize that, based on the operations or steps described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Those skilled in the art can implement the described functionality in different ways for each specific operation or method, and such implementations should not be considered beyond the scope of this application.

[0076] The apparatus embodiments of this application are described below. For details not described in the apparatus embodiments of this application, please refer to the method embodiments of this application.

[0077] Figure 8 shows a block diagram of a device for segmenting the cleaning area of ​​a robot according to an example embodiment of this application. The device shown in Figure 8 includes a cleanable area determination unit 801, an area segmentation direction determination unit 803, a segmentation point determination unit 805, and a cleaning sub-area division unit 807. Specifically, the cleanable area determination unit 801 determines a cleanable area in response to a cleaning command, wherein the cleanable area does not include obstacles surrounded by the cleanable area; the area segmentation direction determination unit 803 is used to determine the area segmentation direction based on the shape of the cleanable area; the segmentation point determination unit 805 is used to traverse the outer contour points of the cleanable area and determine the segmentation points of the cleanable area based on the area segmentation direction; and the cleaning sub-area division unit 807 is used to divide the cleanable area into multiple cleaning sub-areas using the segmentation points.

[0078] According to embodiments of this application, a cleaning robot is proposed. The cleaning robot is used to perform the methods as described in any of the preceding embodiments.

[0079] Figure 9 illustrates an electronic device according to an exemplary embodiment of this application. The electronic device 200 according to this embodiment of the present application will now be described with reference to Figure 9. The electronic device 200 shown in Figure 9 is merely an example and should not be construed as limiting the functionality and scope of the embodiments of this application.

[0080] As shown in Figure 9, the electronic device 200 is presented in the form of a general-purpose computing device. The components of the electronic device 200 may include, but are not limited to: at least one processing unit 210, at least one storage unit 220, a bus 230 connecting different system components (including storage unit 220 and processing unit 210), a display unit 240, etc.

[0081] The storage unit stores program code, which can be executed by the processing unit 210 to perform the methods described in this specification according to various exemplary embodiments of this application. For example, the processing unit 210 can perform the method shown in FIG1.

[0082] Storage unit 220 may include readable media in the form of volatile storage units, such as random access memory (RAM) 2201 and / or cache memory 2202, and may further include read-only memory (ROM) 2203.

[0083] Storage unit 220 may also include a program / utility 2204 having a set (at least one) program module 2205, such program module 2205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0084] Bus 230 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0085] Electronic device 200 can also communicate with one or more external devices 300 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 200, and / or with any device that enables electronic device 200 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 250. Furthermore, electronic device 200 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 260. Network adapter 260 can communicate with other modules of electronic device 200 via bus 230. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0086] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. The technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, or network device, etc.) to execute the methods described above according to the embodiments of this application.

[0087] Software products may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example,, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0088] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0089] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0090] The aforementioned computer-readable medium carries one or more programs, which, when executed by a device, cause the computer-readable medium to perform the aforementioned functions.

[0091] Those skilled in the art will understand that the above modules can be distributed in the device as described in the embodiments, or they can be modified accordingly and used in one or more devices that are unique to this embodiment. The modules in the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0092] According to an embodiment of this application, a computer program is proposed, including a computer program or instructions, which, when executed by a processor, can perform the methods described above.

[0093] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. Furthermore, any changes or modifications made by those skilled in the art based on the ideas of this application, and on the specific implementation methods and application scope of this application, are all within the scope of protection of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for dividing the cleaning area of ​​a robot, characterized in that, include: In response to a cleaning command, a cleanable area is determined, wherein the cleanable area does not include obstacles surrounded by the cleanable area; The region segmentation direction is determined based on the shape of the cleanable area; Traverse the outer contour points of the cleanable area and determine the segmentation points of the cleanable area based on the region segmentation direction; The cleanable area is divided into multiple cleaning sub-areas using the dividing points.

2. The method according to claim 1, characterized in that, The dividing points are included in the outer contour points of the cleanable area, and the cleanable area is divided into multiple outer contour points of convex polygons according to the area division direction.

3. The method according to claim 2, characterized in that, Determining the region segmentation direction based on the shape of the cleanable area includes: The circumscribed rectangle of the cleanable area is determined based on the shape of the cleanable area; The longest side of the circumscribed rectangle is used as the region segmentation direction.

4. The method according to claim 2, characterized in that, The outer contour points include a first outer contour point and a second outer contour point. The cleaning area's outer contour points are traversed, and the cleaning area's segmentation points are determined based on the area segmentation direction, including: Traverse the outer contour points of the cleanable area, and determine the first outer contour point based on the area segmentation direction. In the area segmentation direction, one side of the first outer contour point is the cleanable area, the other side is the non-cleanable area, and the far end of the non-cleanable area is the cleanable area. Continue traversing the outer contour points of the cleanable area to determine the second outer contour point, wherein the second outer contour point is the outer contour point when the robot changes its walking direction in the perpendicular direction component to the area division direction while traversing the cleanable area.

5. The method according to claim 4, characterized in that, Dividing the cleanable area into multiple cleaning sub-areas using the aforementioned dividing points includes: The cleanable area is divided into multiple cleaning sub-areas according to the dividing point of the cleanable area along the dividing direction of the area.

6. The method according to claim 5, characterized in that, Also includes: Based on the region segmentation direction, the segmentation lines passing through the segmentation points of the cleanable region are merged according to the distance between the segmentation points of the cleanable region.

7. The method according to claim 6, characterized in that, Also includes: The cleaning sub-regions smaller than a preset threshold area are merged into adjacent cleaning sub-regions.

8. The method according to claim 5, characterized in that, Also includes: The dividing points that pass through the second outer contour point and are determined along the region dividing direction are merged into the adjacent cleaning sub-regions.

9. A device for dividing the cleaning area of ​​a robot, characterized in that, include: A cleanable area determination unit, in response to a cleaning command, determines a cleanable area, wherein the cleanable area does not include obstacles surrounded by the cleanable area; A region segmentation direction determination unit is used to determine the region segmentation direction based on the shape of the cleanable region; The segmentation point determination unit is used to traverse the outer contour points of the cleanable area and determine the segmentation points of the cleanable area based on the area segmentation direction. A cleaning sub-area division unit is used to divide the cleanable area into multiple cleaning sub-areas using the dividing points.

10. A cleaning robot, characterized in that, The cleaning robot is used to perform the method as described in any one of claims 1-8.

11. An electronic device, characterized in that, include: One or more processing units; A storage unit is used to store one or more programs; When the one or more programs are executed by the one or more processing units, the one or more processing units implement the method as described in any one of claims 1-8.

12. A non-transitory computer-readable storage medium having stored thereon computer-readable instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-8.

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