CN110833361A

CN110833361A - Cleaning robot and multi-zone cleaning method thereof

Info

Publication number: CN110833361A
Application number: CN201810941791.6A
Authority: CN
Inventors: 许思晨; 张一茗; 陈震
Original assignee: Quick Sense Technology (beijing) Co Ltd
Current assignee: Quick Sense Technology (beijing) Co Ltd; Qfeeltech Beijing Co Ltd
Priority date: 2018-08-17
Filing date: 2018-08-17
Publication date: 2020-02-25

Abstract

The invention provides a cleaning robot and a multi-region cleaning method thereof, wherein the method comprises the following steps: acquiring a regional environment map; determining sub-areas and communication areas among the sub-areas according to the area environment map; determining a pose of the cleaning robot in an area environment map; determining a cleaning sequence of the sub-areas according to the pose of the cleaning robot in the area environment map and the communication areas among the sub-areas, wherein the cleaning sequence enables the cleaning robot to pass through the minimum sub-areas repeatedly or the total path of the cleaning robot moving when the cleaning is finished to be the shortest; controlling the cleaning robot to clean each of the sub-areas according to the cleaning sequence. The invention can avoid repeated cleaning, can clean a larger working area under the same battery power, and has the characteristics of high cleaning efficiency, strong cruising ability and good user experience.

Description

Cleaning robot and multi-zone cleaning method thereof

Technical Field

The invention belongs to the field of robot relocation and path planning, and particularly relates to a cleaning robot and a multi-zone cleaning method thereof.

Background

In recent years, cleaning robots have been developed rapidly, and the most important point for weighing the cleaning robots is to achieve efficient and comprehensive cleaning of a target area space without leakage and with low repetition. At present, most cleaning robots perform cleaning work and map building simultaneously, the map is emptied after the cleaning task is finished every time, and the map is reestablished when the next task is started, namely the cleaning robots do not have the function of memorizing the environment, so that repeated routes can be easily taken in the cleaning process, and the cleaning efficiency is reduced. In addition, for a multi-region space, regardless of whether the cleaning robot stores a map, there is always a problem of repeated cleaning of some regions, so that cleaning efficiency is low, a battery is unnecessarily consumed, a service life of the battery is reduced, and a user experience is affected.

Disclosure of Invention

The cleaning robot is used for solving the defects that when the existing cleaning robot is used for cleaning a multi-region space, some regions are always cleaned repeatedly, the cleaning efficiency is low, the cruising resources are wasted, and the user experience is poor.

In order to solve the above-mentioned drawbacks, a first aspect of the present invention provides a cleaning robot multi-zone cleaning method including:

acquiring a regional environment map;

determining sub-areas and communication areas among the sub-areas according to the area environment map;

determining a pose of the cleaning robot in the regional environment map;

determining a cleaning sequence of each sub-area according to the pose of the cleaning robot in the area environment map and the communication area between the sub-areas, wherein the cleaning sequence enables the cleaning robot to pass through the minimum sub-areas repeatedly or the total path of the cleaning robot moving when the cleaning is finished to be the shortest;

controlling the cleaning robot to clean each of the sub-areas according to the cleaning sequence.

A second aspect of the present invention provides a multi-zone cleaning method of a cleaning robot, including:

acquiring a regional environment map;

determining a pose of the cleaning robot in the regional environment map;

determining a current sub-area where the cleaning robot is located according to the pose of the cleaning robot in the area environment map;

and controlling the cleaning robot to start cleaning from the current sub-area where the cleaning robot is located, and after the cleaning robot finishes cleaning one sub-area, controlling the cleaning robot to clean the sub-area which is not cleaned and is closest to the current position of the cleaning robot according to the communication area between the sub-areas.

In a further embodiment, the regional environment map is created by:

acquiring data detected in the moving process of the cleaning robot;

determining a pose of the cleaning robot from the data;

and establishing the regional environment map according to the pose of the cleaning robot.

In a further embodiment, if the pose of the cleaning robot in the regional environment map fails to be determined, the cleaning robot is controlled to perform cleaning in a mode of exploring and cleaning simultaneously.

In a further embodiment, the process of determining the pose of the cleaning robot in the regional environment map comprises:

sending the regional environment map to a user terminal for display;

receiving the pose of the cleaning robot set by the user and sent by the user terminal;

and correcting the pose of the cleaning robot set by the user to obtain the pose of the cleaning robot in the regional environment map.

displaying the regional environment map;

receiving the pose of the cleaning robot set by a user according to the regional environment map;

In a further embodiment, if a cleaning sequence is determined according to the pose of the cleaning robot in the regional environment map and the communication region between the sub-regions, the sub-regions are cleaned according to the cleaning sequence.

In a further embodiment, if at least two cleaning sequences are determined according to the poses of the cleaning robot in the area environment map and the communication areas between the sub-areas, after the cleaning robot cleans the current sub-area, a next candidate sub-area set is determined according to the cleaning sequences, if the next candidate sub-area set only includes one uncleaned sub-area, the cleaning robot is controlled to clean the uncleaned sub-area, and if the next candidate sub-area set includes at least two uncleaned sub-areas, the cleaning robot is controlled to clean the uncleaned sub-area closest to the current position of the cleaning robot in the candidate sub-area set.

In a further embodiment, the cleaning process of each sub-area comprises:

performing edge cleaning on the sub-area;

and cleaning the interior of the sub-area according to the edge track.

In a further embodiment, the regional environment map is updated during cleaning of the sub-region.

A third aspect of the present invention provides a cleaning robot comprising: the device comprises a cleaning module, a motion module and a processing module;

the motion module is connected with the processing module and is used for driving the cleaning robot to move under the control of the processing module;

the processing module is used for executing the cleaning robot multi-zone cleaning method of any one of the previous embodiments;

the cleaning module is used for cleaning the surface of the ground moved by the motion module.

In a further embodiment, the cleaning robot further comprises: the system comprises a communication module, positioning equipment and image acquisition equipment;

the positioning equipment is used for acquiring position data, and the image acquisition equipment is used for acquiring image data;

the communication module is used for being connected with a user terminal through a wireless network and sending the regional environment map to the user terminal for display; sending the pose of the cleaning robot set by the user received from the user terminal to a processing module; the processing module is further used for correcting the pose of the cleaning robot set by the user to obtain the pose of the cleaning robot in the regional environment map.

In a further embodiment, the cleaning robot further comprises: the display module and the input module;

the display module is used for displaying the regional environment map;

the input module is used for receiving the pose of the cleaning robot set by a user according to the regional environment map;

the processing module is further used for correcting the pose of the cleaning robot set by the user to obtain the pose of the cleaning robot in the regional environment map.

According to the cleaning robot and the multi-region cleaning method thereof, under the condition that the regional environment map is known and the sub-regions are divided and/or partitioned in the regional environment map, the pose of the cleaning robot in the regional environment map is determined, the cleaning sequence of the sub-regions is determined according to the communication regions among the sub-regions, the sub-regions are cleaned according to the cleaning sequence, repeated cleaning can be avoided, a larger working region can be cleaned under the same battery power, and the cleaning robot and the multi-region cleaning method thereof have the advantages of being high in cleaning efficiency, strong in cruising ability and good in user experience.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 shows a schematic flow diagram of a method for cleaning a multi-zone of a cleaning robot;

FIG. 2 shows a schematic flow diagram of a method of cleaning a multi-zone of a cleaning robot;

FIG. 3a shows a schematic flow chart for determining the pose of the cleaning robot in the map of the regional environment;

FIG. 3b shows a schematic flow chart for determining the pose of the cleaning robot in the map of the regional environment;

FIG. 4 shows a flow diagram of a zone cleaning process;

FIG. 5 shows a schematic view of the sub-region interior cleaning flow;

FIG. 6 shows a schematic block diagram of a data processing apparatus;

FIG. 7 shows a schematic configuration of a data processing apparatus;

fig. 8 shows a schematic configuration of the cleaning robot;

FIG. 9a shows a schematic diagram of a regional environment map;

FIG. 9b is a schematic diagram of the sub-area of the area environment map shown in FIG. 9a after being divided;

FIG. 9c is a schematic view of the communication zones between the subregions of FIG. 9 b;

FIG. 9d is a schematic diagram of a sub-area of the area environment map shown in FIG. 9a after being divided;

FIG. 9e is a schematic view of the communication zones between the subregions shown in FIG. 9 d;

FIG. 10a shows a schematic diagram of a map after repositioning of a cleaner;

FIG. 10b shows a schematic view of the cleaning robot cleaning the sub-area G edgewise;

fig. 10c and 10d are schematic views showing that the cleaning robot cleans the inside of the sub-region G;

FIG. 10e shows a schematic view of the cleaning robot cleaning the edge of the sub-area D;

FIG. 10f shows a schematic view of the cleaning robot cleaning the interior of the sub-area D;

fig. 11 shows a map schematic during cleaning by the cleaning robot;

FIG. 12 shows a schematic of the map after repositioning the cleaner.

Detailed Description

In order to make the technical features and effects of the invention more obvious, the technical solution of the invention is further described below with reference to the accompanying drawings, the invention can also be described or implemented by other different specific examples, and any equivalent changes made by those skilled in the art within the scope of the claims are within the scope of the invention.

In the description herein, references to the description of the terms "an embodiment," "a particular embodiment," "some embodiments," "such as," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The sequence of steps involved in the various embodiments is provided to schematically illustrate the practice of the invention, and the sequence of steps is not limited and can be suitably adjusted as desired.

Fig. 1 is a flowchart illustrating a multi-zone cleaning method of a cleaning robot according to an embodiment of the invention. The embodiment is used for solving the defects that the existing cleaning robot always cleans certain areas repeatedly when cleaning a multi-area space, and has low cleaning efficiency, waste of cruising resources and poor user experience. Specifically, the cleaning robot multi-zone cleaning method comprises the following steps:

step S100, acquiring a regional environment map.

In detail, the regional environment map can be established when the cleaning robot is used for the first time in the working region or updated when the cleaning robot is used in the same working region after the regional environment map is established, or the regional environment map can be an electronic map established by other mapping equipment (such as a cleaning robot of the same type or an intelligent robot with different purposes but a mapping function) and transmitted to the cleaning robot currently used through a storage device or a network. The work area referred to herein refers to a closed work area to be cleaned by the cleaning robot, and may be an indoor area, such as a factory building, a house, or the like, or an outdoor area, such as an outdoor playground or the like. The regional environment map is a two-dimensional or three-dimensional map of the working region of the cleaning robot, and the regional environment map may be as shown in fig. 9a, and in practice, the regional environment map may have different representation methods, and the basic representation method is a grid map.

And S200, determining the sub-areas and the communication areas among the sub-areas according to the area environment map.

In detail, the communication area between the sub-areas refers to an interface area between two or more sub-areas for the cleaning robot to pass through. For example, if the sub-areas are rooms in a house, the communication area between the sub-areas may be doors of adjacent sub-areas communicating with each other. The sub-regions may be obtained by dividing and/or dividing the region environment map, wherein the dividing means dividing each portion of the region environment map connected by the connected region into different sub-regions, such as A, B 'and C, E, F, G, H sub-regions in fig. 9B, and the dividing means artificially dividing one of the sub-regions into a plurality of sub-regions, such as B, D sub-region in fig. 9d, which is obtained by dividing B' sub-region in fig. 9B.

When the step is implemented, the regional environment map can be sent to a user terminal to be displayed so as to be divided by a user, the regional environment map can also be displayed by a display of the cleaning robot, so as to be divided by the user, and the regional environment map can also be automatically divided by a set program (such as a geometric map division algorithm of grid maps, specifically, an algorithm such as a morphological operation division method, a distance transformation division method, a Voronoi map division method, a machine learning division method and/or a Voronoi random field division method can be selected), or the regional environment map can be automatically divided by a deep learning method. The present invention does not limit the specific segmentation and division method. In addition, the sub-area may also be an existing part of the area environment map, for example, after a plurality of sub-area (for example, each room) maps are established, the area environment map is formed by splicing a plurality of sub-area maps, and at this time, the area environment map exists in the existing sub-area, but the sub-area and a communication area between the sub-areas can still be determined according to the area environment map.

And step S300, determining the pose of the cleaning robot in the regional environment map.

Specifically, the pose information may specifically include position information and heading information, the position information may be two-dimensional coordinates (for example, coordinates in a regional environment map coordinate system), and the heading information may specifically be a heading angle, and the like. The pose of the cleaning robot in the regional environment map is determined by adjusting the pose of the cleaning robot in the regional environment map to be substantially consistent with the actual pose of the cleaning robot in the working area (for example, coordinate positions of the cleaning robot in the regional environment map and the working area are substantially consistent, and heading angles of the cleaning robot in the regional environment map and the working area are substantially consistent), so that the movement of the cleaning robot in the actual working area is consistent with the movement on the regional environment map, and accurate navigation can be realized by using the regional environment map.

In specific implementation, the pose of the cleaning robot in the area environment map may be determined through a repositioning algorithm, and if the repositioning is successful (that is, the obtained pose of the cleaning robot in the area environment map is consistent with the pose of the cleaning robot in the actual working area), as shown in fig. 10a and 12, step S400 is executed.

Further, if the pose of the cleaning robot in the regional environment map fails to be determined, processing is performed according to the situation that the environment is unknown, for example, the cleaning robot can be controlled to clean in a mode of exploring and cleaning at the same time, and the cleaning robot works for the first time. The above-described manner of cleaning while searching may be various cleaning modes such as a edgewise mode or a zigzag mode, but the present invention is not limited thereto.

The success of the test repositioning may be determined by autonomous judgment of the cleaning robot and/or human intervention by the user. In one embodiment of the invention, after the pose of the cleaning robot in the regional environment map is preliminarily determined, the cleaning robot is moved for a period of time or a distance from the current pose, a new pose of the cleaning robot at a later position is obtained according to data obtained by an odometer, an inertial measurement unit and/or an image acquisition device of the cleaning robot, and the calculated value is compared with the measured value to verify whether the repositioning of the cleaning robot is successful, which is a way for the cleaning robot to autonomously judge whether repositioning is successful. The preliminarily determined pose of the cleaning robot in the regional environment map can be sent to a user terminal or a display module, and a user observes whether the actual pose of the cleaning robot in the actual working region is substantially the same as the pose displayed in the regional environment map, which is a way for manual intervention and judgment of the user. The method for judging whether the repositioning is successful or not is not limited, and can also be other judging methods, for example, a user observes the motion track of the cleaning robot in the actual working area and comprehensively judges whether the repositioning is successful or not by comparing the motion tracks in the area environment map; or the cleaning robot finds the interaction between the cliff (such as a step) and the outside according to the collision time and the collision frequency, and autonomously judges whether the pose of the cliff on the regional environment map is correct or not, so as to judge whether the relocation is successful or not.

In specific implementation, the execution sequence of the steps S200 and S300 is not limited, and one of the steps may be executed first, and then the other step may be executed, or both steps may be executed simultaneously; unless one of the steps is executed according to the execution result of the other step, the steps can only be executed in sequence, for example, the step S300 is executed depending on the execution result of the step S200, and then the step S200 and the step S300 can only be executed first.

And S400, determining a cleaning sequence of each sub-area according to the pose of the cleaning robot in the area environment map and the communication area between the sub-areas, wherein the cleaning sequence enables the cleaning robot to pass through the minimum sub-areas repeatedly or the total path of the cleaning robot moving when the cleaning is finished to be the shortest.

In specific implementation, the current sub-area where the cleaning robot is located can be determined according to the pose of the cleaning robot in the area environment map, then the cleaning sequence of each sub-area is determined according to the current sub-area where the cleaning robot is located and the communication area between the current sub-area and other sub-areas, and the current sub-area of the cleaning robot is set to be the sub-area cleaned firstly.

Specifically, if it is desired to avoid that the cleaning robot repeatedly cleans sub-areas adjoining a plurality of sub-areas (i.e. the sub-areas repeatedly passing through are the least), it can be determined from the area environment map whether the adjacent area of the current sub-area of the cleaning robot has a communication area with other adjacent sub-areas (i.e. whether there are other adjoining sub-areas, "adjoining" in the present invention means that two adjacent sub-areas are communicated through a communication area, i.e. the cleaning robot can pass through the communication area from one sub-area to another sub-area of the two adjacent sub-areas), and if so, after cleaning the adjacent sub-area, the cleaning robot moves to the communication area which has not passed through and enters the uncleaned sub-area through the communication area to clean the floor. As shown in fig. 9D, if the cleaning robot is in the D sub-area, the D sub-area is the current sub-area of the cleaning robot, and it is determined from the area environment map whether the neighboring area of the current D sub-area (the B, E, G, F sub-areas are all adjacent to the D sub-area through the connected area of the dotted line in the figure) has a connected area with other neighboring sub-areas besides the current D sub-area, for example, the B sub-area is also adjacent to the A, C sub-area through the connected area besides the current D sub-area; the E subregion is also adjacent to the H subregion in a communication region besides the current D subregion (namely the current D subregion is also adjacent to the H subregion through a communication region indicated by a dotted line); and F, G subregion is not contiguous with other subregions except the current D subregion by a connected region. When the cleaning robot finishes cleaning the current D subregion, and after the E subregion or the B subregion is selected and cleaned, the cleaning robot runs to an EH communication region (a communication region represented by a dotted line between the E subregion and the H subregion in the figure, which is similar to the following description) or a BC communication region which is not passed by yet, and enters the uncleaned H subregion or C subregion through the communication region to be cleaned, but does not return to the D subregion again, so that 'blind cleaning' under the condition of no regional environment map is avoided, namely, the problem of repeated cleaning caused by re-cleaning the D subregion after the D subregion and the E subregion or the B subregion are cleaned is avoided.

And S500, controlling the cleaning robot to clean each subarea according to the cleaning sequence.

Further, after the robot to be cleaned finishes cleaning the working area, the method further comprises the following steps: outputting prompt information (for example, outputting the prompt information to a self-contained display of the cleaning robot or outputting the prompt information to a user terminal through a communication module via a wireless network), wherein the prompt information can be information for prompting a user whether to save a map; receiving a storage instruction input by a user, and storing the positioning and path planning related information (such as the related information of the vSLAM positioning and path planning module).

According to the cleaning method and the cleaning robot, under the condition that the regional environment map is known and the sub-regions are divided and/or segmented in the regional environment map, the pose of the cleaning robot in the regional environment map is determined, the cleaning sequence of the sub-regions is determined according to the communication regions among the sub-regions, the sub-regions are cleaned according to the cleaning sequence, repeated cleaning of the sub-regions can be reduced, a larger working region can be cleaned under the same battery power, and the cleaning method and the cleaning robot have the advantages of being high in cleaning efficiency, strong in cruising ability and good in user experience.

In an embodiment of the present invention, as shown in fig. 2, the multi-zone cleaning method of the cleaning robot includes steps S100 to S300 in the foregoing embodiment:

step S100, acquiring a regional environment map.

Further, if the pose of the cleaning robot in the regional environment map fails to be determined, processing is carried out according to the situation that the environment is unknown, and the cleaning robot is controlled to clean in a mode of exploring and cleaning at the same time, and the cleaning robot works for the first time.

Further, the method for cleaning multiple areas of the cleaning robot includes steps S100 to S300 in the above embodiment, and further includes:

and step S400', determining the current sub-area where the cleaning robot is located according to the pose of the cleaning robot in the area environment map and the sub-area.

Step S500', the cleaning robot is controlled to start cleaning from the current sub-area where the cleaning robot is located, after the cleaning robot cleans one sub-area, the cleaning robot is controlled to clean the uncleaned sub-area which is closest to the current position of the cleaning robot according to the communication area between the sub-areas (namely, the cleaning robot runs to the communication area which is not passed through, the cleaning robot runs to the uncleaned sub-area from the communication area, or the cleaning robot judges which sub-area is not cleaned according to the communication area which is not passed through). As shown in fig. 11, after the cleaning robot has cleaned the current sub-area B, the cleaning robot is located at a position close to one side of the sub-area D, and at this time, the cleaning robot will clean the uncleaned sub-area D closest to the current position of the cleaning robot according to the connected area (shown by the dotted line in fig. 11).

According to the embodiment, when the cleaning robot finishes cleaning a certain subarea, the repeated path that the cleaning robot returns to the cleaned subarea again to clean the subarea repeatedly is reduced, so that the cleaning efficiency is improved; and more floors can be cleaned under the condition of the same electric quantity.

In an embodiment of the present invention, the process of establishing the regional environment map includes:

and step S110, acquiring data detected in the moving process of the cleaning robot.

In particular, the detected data includes, but is not limited to, codewheel data, IMU data, image data, and other sensor data (e.g., crash sensor data, infrared data from a proximity sensor and/or cliff sensor, and/or laser data from a range sensor, etc.).

And step S120, determining the pose (including the position and the pose of the cleaning robot) of the cleaning robot according to the data acquired in the step S110.

Specifically, in the implementation of this step, the data obtained in step S110 is input to the vSLAM positioning module, and the vSLAM positioning module processes the data obtained in step S110 to obtain the position and posture (x, y, θ) of the cleaning robot.

And step S130, establishing and storing an area map according to the pose of the cleaning robot and the positions of surrounding obstacles.

In detail, when the step is implemented, the pose, the image data and other sensor data of the cleaning robot can be transmitted to the path planning module, the path planning module establishes a regional environment map according to the data, and records the images shot on each coordinate of the cleaning robot and the characteristics on the images.

In an embodiment of the present invention, in the step S200, the area environment map may be divided and divided according to the internal boundary line of the area environment map, for example, the internal boundary line is extended, and a position of the extended line in the area environment map is a communication area between the sub-areas, as shown by a dotted line in fig. 9 b. Assuming that there is a communication region between the sub-regions X and Y, the communication region between the sub-regions X and Y can be represented by (X, Y), "XY" or "X-Y" (as shown in fig. 9c and 9 e).

The following describes the division of sub-areas and the communication areas between the sub-areas in a specific embodiment, for example, fig. 9a is a map of the area environment, the solid lines in the map are the boundaries of the working area of the cleaning robot (including the walls and obstacles in the actual working area), the map of the area environment is divided according to the internal boundary lines of the map of the area environment, the division result is shown in fig. 9b, the whole environment is divided into 7 sub-areas A, B' and C, E, F, G, H, and the communication areas between the 7 sub-areas can be shown in fig. 9 c.

Of course, after the map of the area environment shown in fig. 9a is divided into the map shown in fig. 9B, some larger areas may be further divided by a manual method, as shown in fig. 9D, the atomic area B' is divided into sub-areas B and D, so that the whole environment has 8 sub-areas, and the corresponding connected area is shown in fig. 9 e.

Further, in order to avoid repeated cleaning as much as possible, when dividing sub-regions into sub-regions of a known region environment map, the number of sub-regions connected (i.e. adjacent) to each sub-region is determined, and if the number of sub-regions connected to a certain sub-region is greater than a predetermined threshold (e.g. 5), the sub-region is further divided, as shown in the sub-region B' in fig. 9B.

In an embodiment of the present invention, as shown in fig. 3a, the process of determining the pose of the cleaning robot in the regional environment map in step S300 may be completed by means of particle filtering, and the steps thereof are briefly described as follows, including:

and step S311, sending the regional environment map to a user terminal for displaying, so that the user can set the pose of the cleaning robot according to the regional environment map. In this step, the user sets the approximate pose of the cleaning robot, and a certain error exists between the approximate pose and the actual pose of the cleaning robot. The pose of the cleaning robot set by the user may determine an initial area range, such as a circular area of radius 1m centered on the cleaning robot position set by the user.

Step S312, receiving the pose of the cleaning robot set by the user and sent by the user terminal, determining an initial area range according to the pose of the cleaning robot set by the user, and randomly determining a plurality of initial poses (equivalent to particles in the particle filter) in the initial area range.

And step S313, enabling the cleaning robot to move in a spiral line mode (other movement modes are also available), correcting the initial pose of the cleaning robot in real time in a particle filtering mode until all particles are converged into a small enough range, and taking the average value of all particles as the current pose of the cleaning robot in the regional environment map.

In an embodiment of the present invention, as shown in fig. 3b, the process of determining the pose of the cleaning robot in the regional environment map in S300 may be completed by a particle filtering method, and the steps thereof are briefly described as follows, including:

and S321, displaying the regional environment map on a display of the cleaning robot so that a user can set the pose of the cleaning robot according to the regional environment map. In this step, the user sets the approximate pose of the cleaning robot, and a certain error exists between the approximate pose and the actual pose of the cleaning robot. The pose of the cleaning robot set by the user may determine an initial area range, such as a circular area of radius 1m centered on the cleaning robot position set by the user.

Step S322, receiving the pose of the cleaning robot set by the user according to the regional environment map, determining an initial regional range according to the pose of the cleaning robot set by the user, and randomly determining a plurality of initial poses (equivalent to particles in the particle filter) in the range.

And step S323, enabling the cleaning robot to move in a spiral line mode (other movement modes are also available), correcting the initial pose of the cleaning robot in real time in a particle filtering mode until all particles are converged into a small enough range, and taking the average value of all particles as the current pose of the cleaning robot in the regional environment map.

In a specific implementation, the above steps S313 and S323 may adopt an existing repositioning algorithm to correct the pose of the cleaning robot set by the user, and the repositioning algorithm is not specifically limited in the present invention.

In some embodiments, assuming that N initial poses are determined within the initial area range according to the poses set by the user, the execution process of the repositioning algorithm includes:

in step S351, the cleaning robot is controlled to rotate (e.g., move outward in a spiral manner).

Step S352, in the movement process, positioning data (including data measured by distance measuring and positioning equipment such as a laser distance meter and an ultrasonic position finder) is obtained, and a plurality of actual local maps of the surrounding environment of the cleaning robot are established according to the positioning data.

Step S353, matching the actual local map established in each first preset travel (such as 1 meter) of the cleaning robot in the movement with the theoretical local map corresponding to each initial pose, counting the number of the initial poses successfully matched, if the number of the initial poses successfully matched is equal to a preset threshold (such as 1), executing step S354, if the number of the initial poses successfully matched is greater than the preset threshold, continuing to execute step S353, and if the number of the initial poses successfully matched is still greater than the preset threshold after the cleaning robot moves for a preset time or after the cleaning robot moves for a second preset travel (such as 5 meters), executing step S355; if the number of the successfully matched initial poses is 0, step S355 is also executed.

Step S354, the relocation is successful, and the process is ended.

In step S355, the relocation fails, and the process ends.

In another embodiment, the image information corresponding to coordinates of each point on the regional environment map is also obtained while the regional environment map is obtained, assuming that N initial poses are determined in an initial region range according to poses set by a user, the execution process of the relocation algorithm includes:

in step S361, the cleaning robot is controlled to rotate (e.g., move outward in a spiral manner).

In step S362, in the process of movement, image information is acquired, and the process proceeds to step S363.

Step S363, for image information acquired within each first predetermined travel (for example, 1 meter) of the movement of the cleaning robot, matching the image information with image information corresponding to each initial pose, counting the number of the initial poses successfully matched, if the number of the initial poses successfully matched is equal to a predetermined threshold (for example, 1), executing step S364, if the number of the initial poses successfully matched is greater than the predetermined threshold, continuing to execute step S363, and if the number of the initial poses successfully matched is still greater than the predetermined threshold after the cleaning robot moves for a predetermined time or after a second predetermined travel (for example, 5 meters), executing step S365; if the number of the successfully matched initial poses is 0, step S365 is also executed.

And step S364, the relocation is successful and the operation is finished.

Step S365, the relocation fails, and ends.

In an embodiment of the present invention, in the step S400, if a cleaning sequence is determined according to the communication area between the sub-areas and the current sub-area where the cleaning robot is located, the sub-areas are sequentially cleaned according to the cleaning sequence. As shown in fig. 10a, a to H each indicate one sub-area, the initial posture of the cleaning robot is in the sub-area G of fig. 10a, and if the number of sub-areas repeatedly passed by the cleaning robot is minimized, the cleaning sequence determined by this is: G-D-F- (D) -E-H-C-B-A, wherein (D) represents a repeatedly passed sub-region. If the requirement of the shortest total route moved when cleaning is completed is met, the cleaning sequence with the shortest total route in various possible routes such as G-D-F- (D) -E-H-C-B-A, G-D-F- (D) -B-A- (B) -C-H-E, G-D-E-H-C-B-A- (B) - (D) -F needs to be specifically calculated, and then each subarea is cleaned according to the cleaning sequence. The two above-mentioned determination criteria of the cleaning sequence may sometimes obtain the same cleaning sequence, but sometimes obtain different cleaning sequences, because the first determination criterion is measured by the least number of sub-regions that pass repeatedly, since the size of each sub-region is likely to be different and often different, if there is only one sub-region that passes repeatedly, but the one sub-region that passes repeatedly is much larger than other sub-regions, the actual distance that the cleaning robot moves according to the cleaning sequence may be larger than the distance that the cleaning robot passes repeatedly through a plurality of sub-regions, but the calculation power required according to the first determination criterion is small, the cleaning robot can obtain the cleaning sequence relatively quickly, for the environment map of the region with small area difference of each sub-region, the cleaning sequence can also achieve the purpose of short total distance of movement, therefore, the larger sub-region can be manually divided by the user (for example, the sub-region B' of fig. 9B is larger, manually segmented by the user into two sub-areas of BD in fig. 9 d) the areas of the sub-areas do not differ much, so that a relatively accurate cleaning sequence is obtained relatively quickly by the first criterion. The second judgment standard is to calculate the cleaning sequence with the shortest total travel of the cleaning robot, and the total travel under various cleaning sequences is calculated by combining the current pose of the cleaning robot and the communication area of each sub-area, so that the calculation requirement is higher, the time for obtaining the cleaning sequence is longer, and the more accurate cleaning sequence with the shortest total travel can be obtained when the number of moving objects in the area environment map is less.

In an embodiment of the present invention, in the step S400, if at least two cleaning sequences are determined according to the connected region between the sub-regions and the current sub-region where the cleaning robot is located, after the cleaning robot finishes cleaning the current sub-region, a next candidate sub-region set is determined according to the cleaning sequences, if the next candidate sub-region set (a sub-region set sorted next in all the cleaning sequences) includes only one uncleaned sub-region, the cleaning robot is controlled to clean the uncleaned sub-region, and if the next candidate sub-region set includes at least two uncleaned sub-regions, the cleaning robot is controlled to clean the uncleaned sub-region closest to the current position of the cleaning robot in the candidate sub-region set. As shown in fig. 11, the cleaning robot initial position is in the sub area a, and the cleaning sequence determined by the above step S400 includes: A-B-D- (B) -C- (B) -E, A-B-D- (B) -E- (B) -C, A-B-C- (B) -D- (B) -E, A-B-C- (B) -E- (B) -D, A-B-E- (B) -C- (B) -D, A-B-E- (B) -D- (B) -C. When in specific cleaning, the subarea A is cleaned firstly; after the sub-region A is cleaned, obtaining a next candidate sub-region set { B }, wherein the next candidate sub-region set only comprises one sub-region, and therefore, cleaning the sub-region B next; after the sub-region B is cleaned, a next candidate sub-region set { D, C, E } is obtained, where the next candidate sub-region set includes a plurality of sub-regions, and at this time, it is necessary to determine which sub-region is to be cleaned next according to the current position of the cleaning robot, as shown in fig. 11, the cleaning robot is closer to the sub-region D in the candidate sub-region set { D, C, E }, so that the sub-region D is to be cleaned next. It should be noted that the "controlling the cleaning robot to clean the uncleaned sub-area closest to the current position of the cleaning robot in the candidate sub-area set" refers to that the cleaning robot moves to the sub-area with the closest actual moving distance in each sub-area in the candidate sub-area set, rather than the shortest straight-line distance between the cleaning robot and each sub-area in the candidate sub-area set. Since the present invention aims to reduce the repeated cleaning path of the cleaning robot and thus improve the cleaning efficiency, it is considered that the actual moving distance, in conjunction with the above-described embodiment, is actually selected as the sub-area to be cleaned next, the shortest one of the paths being moved to the connected area of each sub-area adjacent to its current sub-area according to the current position of the cleaning robot. Similarly, the "controlling the cleaning robot to clean the uncleaned sub-area closest to the current position of the cleaning robot according to the communication area between the sub-areas" means that the cleaning robot moves to and cleans the uncleaned sub-area having the shortest actual moving distance in the other sub-areas through the communication area between the current sub-area and the other sub-areas adjacent to the current sub-area, rather than the uncleaned sub-area having the shortest straight-line distance between the cleaning robot and the current sub-area. For the same reason, no further description is given.

The embodiment can avoid the cleaning robot from repeatedly cleaning the cleaned area to the maximum extent, and improves the cleaning efficiency.

In an embodiment of the present invention, as shown in fig. 4, in the above S500, the cleaning process of each sub-area includes:

and S510, performing edgewise cleaning along the boundary of the sub-area.

In detail, the process of cleaning the sub-area along the edge comprises the following steps:

controlling the cleaning robot to move to a junction point with the boundary of the sub-area along the current direction; controlling the cleaning robot to move around the sub-area from the junction point along the boundary until the cleaning robot returns to the junction point; if the cleaning robot encounters an obstacle while traveling around the sub-area along the boundary, the cleaning robot is controlled to travel along an edge of the obstacle within the sub-area.

And S520, cleaning the interior of the sub-area surrounded by the boundary of the sub-area.

In some embodiments of this embodiment, as shown in fig. 5, the process of cleaning the inside of the sub-area enclosed by the boundary of the sub-area includes:

s521: the cleaning robot is controlled to travel inside the sub-area in a first cleaning direction, which is an upward travel direction in fig. 10d, to meet the boundary of the cleaned area.

S522: and controlling the cleaning robot to turn to a first steering to a first offset direction which is the same as the meeting boundary direction to continue to run for a first offset length, and turn to a second cleaning direction which is parallel to and opposite to the first cleaning direction. The first direction of rotation is clockwise in fig. 10 d.

S523: the cleaning robot is controlled to travel inside the sub-area in a second cleaning direction, which is the downward travel direction in fig. 10d, to meet the boundary of the cleaned area.

S524: and controlling the cleaning robot to turn to a second deviation direction which is the same as the meeting boundary direction in a second turning direction and continue to run for a second deviation length, and turning to the first cleaning direction in the second turning direction. The second steering direction is opposite to the first steering direction, counterclockwise in fig. 10 d. The second offset length is the same or different than the first offset length.

S525: the SSs 521 to S525 are repeated until the trajectory of the cleaning robot traverses the runnable area within the sub-area. Steps S522 to S525 are shown in fig. 10d and 10 f.

Further, if the cleaning robot runs in the current cleaning direction in the sub-area and meets an obstacle, the cleaning robot is controlled to run along the edge of the obstacle, the projection length of a track running along the edge of the obstacle on the perpendicular line of the current cleaning direction is calculated in real time, when the projection length is equal to a third offset length, the cleaning robot is controlled to turn to the cleaning direction opposite to the current cleaning direction to continue running, and when the projection length is equal to 0, the cleaning robot is controlled to turn to the current cleaning direction to continue running.

In other embodiments of this embodiment, other manners may also be used to clean the interior of the sub-region, such as a random mode, a dot coverage mode, a cross cleaning mode, and the like.

In an embodiment of the present invention, in order to clearly distinguish the cleaned area from the area to be cleaned in the map, the area environment map is also updated during the process of executing the step S500, and a clean route is drawn in the map.

Based on the same inventive concept, the embodiment of the present invention further provides two data processing apparatuses of the cleaning robot, as described in the following embodiments. Because the principle of the device for solving the problems is similar to the multi-zone cleaning method of the cleaning robot, the implementation of the device can be referred to the implementation of the multi-zone cleaning method of the cleaning robot, and repeated details are not repeated. In specific implementation, the device can be implemented by a logic circuit or a chip, or installed in an existing high-performance cleaning robot, or the functions of each component are implemented by software in a functional module manner.

Specifically, as shown in fig. 6, a data processing apparatus of a cleaning robot includes:

the obtaining module 610 is configured to obtain a regional environment map.

And the analysis module 620 is used for determining the sub-areas and the communication areas among the sub-areas according to the area environment map.

A repositioning module 630 for determining a pose of the cleaning robot in the map of the regional environment.

The sorting module 640 is configured to determine a cleaning sequence of the sub-areas according to the poses of the cleaning robot in the area environment map and the communication areas between the sub-areas, where the cleaning sequence minimizes the sub-areas repeatedly passed by the cleaning robot or minimizes the total path traveled by the cleaning robot when cleaning is completed.

A control module 650 for controlling the cleaning robot to clean the sub-areas according to the cleaning sequence.

As shown in fig. 7, a data processing apparatus of a cleaning robot includes:

the obtaining module 710 is configured to obtain a regional environment map.

And the first analysis module 720 is used for determining the sub-areas and the communication areas among the sub-areas according to the area environment map.

A repositioning module 730 for determining a pose of the cleaning robot in the map of the regional environment.

And the second analysis module 740 determines the current sub-area where the cleaning robot is located according to the pose of the cleaning robot in the area environment map.

And the control module 750 is used for controlling the cleaning robot to start cleaning from the current sub-area where the cleaning robot is located, and after the cleaning robot finishes cleaning one sub-area, controlling the cleaning robot to clean the sub-area which is not cleaned and is closest to the current position of the cleaning robot according to the communication area between the sub-areas.

The data processing device provided by the invention is arranged on the cleaning robot, so that the cleaning robot can avoid repeated cleaning, a larger working area can be cleaned under the same battery power, and the data processing device has the characteristics of high cleaning efficiency, strong cruising ability and good user experience.

In an embodiment of the present invention, as shown in fig. 8, fig. 8 shows a schematic view of a cleaning robot. Specifically, the cleaning robot includes: a cleaning module 810, a motion module 820, and a processing module 830.

The motion module 820 is connected to the processing module 830 for driving the cleaning robot to move under the control of the processing module.

The processing module 830 is configured to perform any of the embodiments of the cleaning robot multi-zone cleaning methods described above.

The cleaning module 810 is used to clean the surface of the floor over which the motion module 820 is moved.

In an embodiment of the present invention, referring back to fig. 8, the cleaning robot further includes: a communication module 840, a positioning module 850, and an image acquisition device 860.

The positioning module 840 is used to collect position data and the image collection device 850 is used to collect image data. In detail, the positioning module 840 may be one or more of a camera vision positioning module, a laser range finding positioning module (LDS) or odometer, an inertial measurement unit IMU. Of course, in specific implementation, in order to accurately position the cleaning robot, an ultrasonic sensor may be further disposed on the cleaning robot.

The communication module 840 is used for connecting with a user terminal through a wireless network and sending the regional environment map to the user terminal for display; and transmits the pose of the cleaning robot set by the user received from the user terminal to the processing module 830.

The processing module 830 is further configured to correct the pose of the cleaning robot set by the user, so as to obtain the pose of the cleaning robot in the regional environment map.

In an embodiment of the present invention, referring back to fig. 8, the cleaning robot further includes: a display module 870 and an input module 880.

The display module 870 is configured to display the regional environment map;

the input module 880 is used for receiving the pose of the cleaning robot set by the user according to the regional environment map;

In some embodiments of the present invention, the cleaning robot may further include all the components included in the existing cleaning robot, and the details are not described herein.

The cleaning robot provided by the embodiment determines the pose of the cleaning robot in the area environment map under the condition that the map is known and the sub-areas in the map are divided/segmented well, determines the cleaning sequence of the sub-areas according to the pose of the cleaning robot in the area environment map and the communication areas among the sub-areas, cleans the sub-areas according to the cleaning sequence, can avoid repeated cleaning, can clean a larger working area under the same battery power, and has the characteristics of high cleaning efficiency, strong cruising ability and good user experience.

In order to more clearly illustrate the technical solution of the present invention, several specific examples are described in detail below.

One specific embodiment of the invention: the cleaning robot stores a regional environment map as shown in fig. 9a, and the cleaning robot multi-region cleaning process includes:

step S910: whether regional environment map exists is inquired at first after the cleaning robot is started, a prompt interface is sent to a user terminal APP (cleaning robot management APP) after the regional environment map is inquired, the prompt interface is used for prompting whether a user needs to use the regional environment map, the user terminal receives an instruction of the regional environment map which is input by the user, and the instruction is sent to the cleaning robot.

Step S920: the cleaning robot incorporates a geometric map division algorithm, and the regional environment map is divided into a plurality of sub-regions by the geometric map division algorithm, as shown in fig. 9b, the dotted line is a division line, and the solid line is a boundary line that the cleaning robot can reach. Further, the larger sub-area B' is further divided into sub-areas B, D by manual means, as shown in fig. 9d, a connected area can be obtained according to the area environment map and the sub-areas, as shown in fig. 9e, the characters in the boxes represent the sub-areas, and the connecting line between the two boxes represents that the two boxes are connected areas.

In this step, when the method is implemented, the area environment map may be sent to the user terminal APP for displaying, so that the user divides the area environment map into a plurality of sub-areas, as shown in fig. 9b or 9 d.

Step S930: the cleaning robot sends the divided map to the user terminal APP for display, so that the user demarcates the pose of the cleaning robot according to the actual pose of the cleaning robot, as shown in fig. 10 a.

Or the user directly demarcates the pose of the cleaning robot on the user terminal APP and moves the cleaning robot to the corresponding position.

Or, the cleaning robot is placed at a certain position of the sub-area G, and then the pose of the cleaning robot is defined on the user terminal APP.

In the specific implementation of this step, a repositioning algorithm is also set in the cleaning robot (for the specific algorithm, refer to the foregoing embodiment, and details are not described here), and the pose of the cleaning robot defined by the user is corrected according to the repositioning algorithm, so as to obtain the pose of the cleaning robot in the regional environment map.

Step S940: according to the pose of the cleaning robot in the regional environment map, the current sub-region where the cleaning robot is located is determined.

Step S950: and determining the cleaning sequence of the sub-areas according to the communication areas among the sub-areas and the current sub-area where the cleaning robot is located.

As shown in fig. 10a, assuming that the cost between the sub-regions is represented by the number +1 of the sub-regions passed by the cleaning robot, it can be known from the connected region shown in fig. 9E that if cleaning is performed in the order of G-D-F- (D) -E-H-C-B-a ("-" represents one sub-region to another sub-region), starting from the sub-region G, the minimum cost of traversing all the sub-regions is 8 times (the cost of F-E is 2, and the rest is 1). There are many ways to calculate the minimum cost route traversing all the sub-regions, and the most common way is depth-first search, that is, exhaustive search is performed on all possible situations to obtain the route with the minimum cost.

Step S960: the environment shown in FIG. 10a was cleaned according to the cleaning sequence G-D-F- (D) -E-H-C-B-A. The specific cleaning process comprises the following steps:

in step S961, performing the edge cleaning along the boundary of the sub-region G, and after the edge cleaning is completed, performing the supplementary cleaning inside the sub-region G enclosed by the boundary of the sub-region G, as shown in fig. 10b to 10d, where an arrow indicates a cleaning path.

In step S962, after the cleaning of the sub-area G is completed, the cleaning robot navigates to the boundary of the sub-area D and repeatedly performs the edge cleaning according to the cleaning sequence of G-D-F- (D) -E-H-C-B-a with the sub-area D as the next area to be cleaned, as shown in fig. 10E. After the edge cleaning of the sub-area D is completed, the supplementary cleaning of the interior of the sub-area D is continued, as shown in fig. 10 f.

After the sub-area D is cleaned, if the area environment map is unknown, the cleaning robot is located at the lower left corner of the area D, and the nearest sub-area B is located, so that the cleaning robot selects the sub-area B as the next cleaning area, which may increase the number of passing repeated areas at least once, and affect the cleaning efficiency. However, with the cleaning method of the present invention, the cleaning robot will select sub-zone F as the next clean zone after sub-zone D has been cleaned, in accordance with the predetermined cleaning sequence described above (i.e., G-D-F- (D) -E-H-C-B-a in fig. 9E). Compared with the existing cleaning method, the cleaning method provided by the invention can avoid repeated cleaning, can clean a larger working area under the same battery power, and has the characteristics of high cleaning efficiency, strong cruising ability and good user experience.

And step S963, continuing to clean the subarea F, the subarea E, the subarea H, the subarea C, the subarea B and the subarea A in sequence according to the cleaning sequence of G-D-F- (D) -E-H-C-B-A, and referring to 1) and 2), which is not described in detail herein.

Another embodiment of the present invention: when the cleaning robot has cleaned a certain sub-area, and has two (or more) routes with the minimum cost, the cleaning robot can preferentially select the sub-area with the closer distance. The embodiment can avoid the cleaning robot to repeatedly clean the cleaned area as much as possible, and improves the cleaning efficiency.

As shown in fig. 11, in the case where both sub-area a and sub-area B have completed cleaning, any one of the next candidate sub-areas C, D, E has a cost of 1, and the minimum total cost is the same, at which point the cleaning robot will select sub-area D as the next cleaning area because it is closer to sub-area D.

In another embodiment of the present invention: the cleaning sequence of the sub-areas of the whole environment (such as a house) may not be determined at the beginning of cleaning, but may be determined in turn according to the position of the cleaning robot at the moment after the cleaning robot cleans each sub-area in the cleaning process. Eventually all areas in the environment are cleaned.

As shown in fig. 12, with respect to the embodiment of fig. 10a, the sub-region H is reduced, so that around the sub-region D there are sub-regions E and F, which are at the same cost and are both 1. Since the costs of D-B, D-E, D-F are all 1, the costs of B-A and B-C are all 1, and at this time, according to the distance between the position of the cleaning robot when completing the cleaning task in the sub-area D and the sub-area E, F, B, the sub-area closest to the cleaning task is selected to be cleaned in advance, and then the next area is selected to be cleaned according to the distance between the position of the cleaning robot when completing the cleaning task in the last area and the sub-area with the same cost of uncleaning. When the cleaning robot has finished cleaning area B, it also has the problem of selecting sub-area A, C, and the solution is also determined by the distance between the position at which cleaning of area B was finished and the entrance of area A, C.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The above description is only for the purpose of illustrating the present invention, and any person skilled in the art can modify and change the above embodiments without departing from the spirit and scope of the present invention. Therefore, the scope of the claims should be accorded the full scope of the claims.

Claims

1. A cleaning robot multi-zone cleaning method, the method comprising:

acquiring a regional environment map;

determining a pose of the cleaning robot in the regional environment map;

2. A cleaning robot multi-zone cleaning method, the method comprising:

acquiring a regional environment map;

determining a pose of the cleaning robot in the regional environment map;

3. The method according to claim 1 or 2, characterized in that if the pose determination of the cleaning robot in the regional environment map fails, the cleaning robot is controlled to perform cleaning in a way of cleaning while exploring.

4. The method of claim 1 or 2, wherein determining the pose of the cleaning robot in the regional environment map comprises:

sending the regional environment map to a user terminal for display;

5. The method of claim 1 or 2, wherein determining the pose of the cleaning robot in the regional environment map comprises:

displaying the regional environment map;

6. The method of claim 1, wherein if at least two cleaning sequences are determined according to the pose of the cleaning robot in the area environment map and the communication area between sub-areas, after the cleaning robot has cleaned a current sub-area, determining a next candidate sub-area set according to the cleaning sequences, and if the next candidate sub-area set only includes one uncleaned sub-area, controlling the cleaning robot to clean the uncleaned sub-area, and if the next candidate sub-area set includes at least two uncleaned sub-areas, controlling the cleaning robot to clean an uncleaned sub-area in the candidate sub-area set closest to the current position of the cleaning robot.

7. The method of claim 1 or 2, wherein the cleaning process of the cleaning robot for each sub-area comprises:

performing edgewise cleaning along the boundary of the sub-region;

cleaning the interior of the sub-area enclosed by the boundary of the sub-area.

8. A cleaning robot, characterized by comprising: the device comprises a cleaning module, a motion module and a processing module;

the processing module is configured to perform the method of any one of claims 1 to 3;

9. The cleaning robot of claim 8, further comprising: the system comprises a communication module, positioning equipment and image acquisition equipment;

10. The cleaning robot of claim 8, further comprising: the display module and the input module;

the display module is used for displaying the regional environment map;