CN110833361A - A cleaning robot and its multi-area cleaning method - Google Patents

Abstract

The present invention provides a cleaning robot and a multi-area cleaning method thereof, wherein the method includes: acquiring an area environment map; determining sub-areas and connected areas between the sub-areas according to the area environment map; determining that the cleaning robot is in The pose in the regional environment map; the cleaning sequence of the sub-regions is determined according to the pose of the cleaning robot in the regional environment map and the connected regions between the sub-regions, and the cleaning sequence makes the cleaning robot The number of sub-regions that have been repeatedly passed is the least or the total distance traveled when cleaning is completed is the shortest; the cleaning robot is controlled to clean each of the sub-regions according to the cleaning sequence. The invention can avoid repeated cleaning, and can clean a larger work area under the same battery power, and has the characteristics of high cleaning efficiency, strong endurance and good user experience.

Description

A cleaning robot and its multi-area cleaning method

technical field

The invention belongs to the field of robot relocation and path planning, and in particular relates to a cleaning robot and a multi-area cleaning method.

Background technique

In recent years, cleaning robots have developed rapidly. The most important point for measuring cleaning robots is to achieve efficient and comprehensive cleaning of the target area space without omission and low repetition. At present, most cleaning robots are cleaning and mapping at the same time. The map will be cleared after each cleaning task, and the map will be re-established at the beginning of the next task, that is, the cleaning robot does not have the function of memory environment, resulting in the cleaning process. It is easier to take repeated routes and reduce cleaning efficiency. In addition, for a multi-area space, no matter whether the cleaning robot stores a map or not, there will always be the problem of repeated cleaning of certain areas, which makes cleaning inefficient, consumes batteries unnecessarily, reduces battery life, and affects customers. user experience.

SUMMARY OF THE INVENTION

The present invention is used to solve the defects of low cleaning efficiency, waste of battery life resources and poor user experience when the existing cleaning robot always cleans certain areas repeatedly when cleaning multi-area spaces.

In order to solve the above defects, a first aspect of the present invention provides a multi-area cleaning method for a cleaning robot, including:

Get a regional environment map;

Determine sub-areas and connected areas between the sub-areas according to the area environment map;

determining the pose of the cleaning robot in the area environment map;

The cleaning sequence of each of the sub-areas is determined according to the pose of the cleaning robot in the area environment map and the connected areas between the sub-areas, and the cleaning sequence enables the cleaning robot to repeatedly pass through the sub-areas Minimum or total distance traveled when cleaning is complete;

The cleaning robot is controlled to clean each of the sub-areas according to the cleaning sequence.

A second aspect of the present invention provides a multi-area cleaning method for a cleaning robot, comprising:

Get a regional environment map;

Determine sub-areas and connected areas between the sub-areas according to the area environment map;

determining the pose of the cleaning robot in the area environment map;

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

Control the cleaning robot to start cleaning from the current sub-area where the cleaning robot is located, and after the cleaning robot cleans a sub-area, control the cleaning robot to clean the cleaning distance according to the connected area between the sub-areas. The uncleaned sub-area closest to the robot's current position.

In a further embodiment, the regional environment map is established in the following manner:

acquiring data detected during the movement of the cleaning robot;

Determine the pose of the cleaning robot according to the data;

The area environment map is established according to the pose of the cleaning robot.

In a further embodiment, if the determination of the pose of the cleaning robot in the regional environment map fails, the cleaning robot is controlled to perform cleaning by exploring while cleaning.

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

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

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

The pose of the cleaning robot set by the user is corrected to obtain the pose of the cleaning robot in the regional environment map.

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

displaying an environmental map of the area;

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

The pose of the cleaning robot set by the user is corrected to obtain the pose of the cleaning robot in the regional environment map.

In a further embodiment, if a cleaning order is determined according to the posture of the cleaning robot in the regional environment map and the connected regions between the sub-regions, the sub-regions are cleaned in the order of the cleaning order. area.

In a further embodiment, if at least two cleaning sequences are determined according to the posture of the cleaning robot in the regional environment map and the connected regions between the sub-regions, then when the cleaning robot finishes cleaning the current sub-regions, at least two cleaning sequences are determined. After cleaning the area, determine the next candidate sub-area set according to the cleaning sequence. If the next candidate sub-area set includes only one uncleaned sub-area, control the cleaning robot to clean the uncleaned sub-area. The set includes at least two uncleaned sub-regions, and the cleaning robot is controlled to clean the uncleaned sub-region closest to the current position of the cleaning robot in the set of candidate sub-regions.

In a further embodiment, the cleaning process of each sub-region includes:

edge-cleaning the sub-region;

The interior of the sub-region is cleaned according to the edgewise trajectory.

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

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

The motion module is connected to the processing module, and is used to drive the cleaning robot to move under the control of the processing module;

The processing module is configured to execute the multi-area cleaning method for a cleaning robot described in any of the foregoing embodiments;

The cleaning module is used for cleaning the surface of the ground where the motion module moves.

In a further embodiment, the cleaning robot further includes: a communication module, a positioning device and an image acquisition device;

The positioning device is used for collecting position data, and the image collecting device is used for collecting image data;

The communication module is used for connecting with the user terminal through a wireless network, and sending the regional environment map to the user terminal for display; and sending the pose of the cleaning robot set by the user received from the user terminal to the processing module; the The processing module is further configured to correct 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 includes: a display module and an input module;

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

The input module is configured to receive the pose of the cleaning robot set by the user according to the regional environment map;

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

The present invention provides a cleaning robot and a multi-area cleaning method thereof. In the case where an area environment map is known and each sub-area has been divided and/or divided in the area environment map, the location of the cleaning robot in the area environment map is determined. The cleaning sequence of the sub-areas is determined according to the connected area between the sub-areas. Cleaning the sub-areas according to the cleaning sequence can avoid repeated cleaning, and can clean a larger working area under the same battery power, with cleaning efficiency High performance, strong battery life, and good user experience.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 shows a schematic flowchart of a multi-area cleaning method for a cleaning robot;

FIG. 2 shows a schematic flowchart of a multi-area cleaning method for a cleaning robot;

Figure 3a shows a schematic flowchart of determining the pose of the cleaning robot in the regional environment map;

Figure 3b shows a schematic flowchart of determining the pose of the cleaning robot in the regional environment map;

Figure 4 shows a schematic flow diagram of an area cleaning process;

Figure 5 shows a schematic diagram of the internal cleaning process of the sub-region;

Figure 6 shows a schematic structural diagram of a data processing device;

FIG. 7 shows a schematic structural diagram of a data processing apparatus;

Figure 8 shows a schematic structural diagram of a cleaning robot;

Figure 9a shows a schematic diagram of a regional environment map;

Fig. 9b is a schematic diagram of sub-regions after the regional environment map shown in Fig. 9a is divided;

Fig. 9c is a schematic diagram of the connected area between the sub-areas of Fig. 9b;

Figure 9d is a schematic diagram of a sub-region after the regional environment map shown in Figure 9a is segmented;

FIG. 9e is a schematic diagram of a connected region between the sub-regions shown in FIG. 9d;

Figure 10a shows a schematic diagram of the map after relocating the cleaner;

Figure 10b shows a schematic diagram of the edge cleaning of the sub-region G by the cleaning robot;

10c and 10d show schematic diagrams of cleaning the interior of the sub-region G by the cleaning robot;

Figure 10e shows a schematic diagram of the edge cleaning of the sub-region D by the cleaning robot;

Figure 10f shows a schematic diagram of the cleaning robot cleaning the interior of sub-region D;

Figure 11 shows a schematic map of the cleaning process of the cleaning robot;

Figure 12 shows a schematic diagram of the map after relocating the cleaning robot.

Detailed ways

In order to make the technical features and effects of the present invention more obvious, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings. The present invention can also be described or implemented with other different specific examples. Any person skilled in the art is within the scope of the claims. Equivalent transformations made within all belong to the protection scope of the present invention.

In the description of this specification, description with reference to the terms "an embodiment", "a particular embodiment", "some embodiments", "such as", etc. means the specific features, structures, materials described in connection with the embodiment or example Or features are included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms 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 each embodiment is used to schematically illustrate the implementation of the present invention, and the sequence of steps therein is not limited, and can be appropriately adjusted as required.

FIG. 1 is a schematic flowchart of a multi-area cleaning method for a cleaning robot according to an embodiment of the present invention. This embodiment is used to solve the defects of low cleaning efficiency, waste of battery life resources, and poor user experience when the existing cleaning robot always cleans certain areas repeatedly when performing multi-area space cleaning. Specifically, the multi-area cleaning method of the cleaning robot includes:

Step S100, acquiring a regional environment map.

In detail, the area environment map may be created by the cleaning robot when the work area is used for the first time or updated when the cleaning robot continues to use the same work area after the establishment, and the area environment map may also be created by other mapping equipment (such as The established electronic map of the same cleaning robot or an intelligent robot with a mapping function for different purposes) is transmitted to the currently used cleaning robot through a storage device or network. The work area mentioned here refers to a closed work area for cleaning by the cleaning robot, which can be an indoor area, such as a factory building, a house, etc., or an outdoor area, such as an outdoor sports field. The regional environment map is a two-dimensional or three-dimensional map of the working area of the cleaning robot. The regional environment map can be shown in Figure 9a. In practice, the regional environment map may have different representation methods, and its basic representation is a grid map. .

Step S200: Determine the sub-regions and the connected regions between the sub-regions according to the regional environment map.

In detail, the connected area between the sub-areas refers to a boundary area between two or more sub-areas that the cleaning robot can pass through. For example, if the sub-regions are rooms in a house, the connected regions between the sub-regions may be the doors of adjacent sub-regions that are connected to each other. The sub-regions can be obtained by dividing and/or dividing the regional environment map. The division refers to dividing the parts connected by the connected regions in the regional environment map into different sub-regions, such as A, B', C, E, The sub-regions F, G, and H are divided into sub-regions artificially divided into multiple sub-regions.

When this step is implemented, the regional environment map can be sent to the user terminal for display so that the user can segment the regional environment map, and it can also be displayed by the cleaning robot's own display so that the user can segment the regional environment map. Map segmentation algorithm segmentation of grid maps, specifically, morphological operation segmentation method, distance transformation segmentation method, Voronnoi map segmentation method, machine learning segmentation method and/or Voronnoi random field segmentation method, etc.) can be used to automatically divide the regional environment map, Or use the deep learning method to automatically divide the regional environment map. The present invention does not limit the specific segmentation and division methods. In addition, the sub-area can also be an existing part of the regional environment map. For example, after multiple sub-region (such as each room) maps are established, the regional environment map is formed by splicing several sub-region maps. There is a regional environment map, but sub-regions and connected regions between sub-regions can still be determined according to the regional environment map.

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

In detail, the pose information may specifically include position information and heading information, the position information may be two-dimensional coordinates (such as coordinates in a regional environment map coordinate system), and the heading information may specifically be a heading angle and the like. Determining the posture of the cleaning robot in the regional environment map is to adjust the posture of the cleaning robot in the regional environment map and the actual posture of the cleaning robot in the working area to be roughly consistent (for example, make the cleaning robot work in the regional environment map and work. The coordinate position of the area is generally consistent, and the heading angle of the cleaning robot in the regional environment map and the working area is generally consistent), so that the movement of the cleaning robot in the actual working area is consistent with the movement on the regional environment map, so that the area can be used. Environment map for accurate navigation.

In the specific implementation, the position and orientation of the cleaning robot in the regional environment map can be determined through the relocation algorithm. The posture is the same), as shown in FIG. 10a and FIG. 12 , then step S400 is executed.

Further, if the position and orientation of the cleaning robot in the regional environment map fails to be determined, it will be handled as the environment is unknown. For example, the cleaning robot can be controlled to clean while exploring, as if the cleaning robot was working for the first time. The manner of cleaning while exploring may be various cleaning modes such as an edgewise mode or an arcuate mode, which is not limited in the present invention.

Whether the relocation is successful can be checked by the cleaning robot's autonomous judgment and/or the user's human intervention judgment. In one embodiment of the present invention, after the pose of the cleaning robot in the regional environment map is preliminarily determined, the cleaning robot is moved from the current pose for a period of time or a distance, according to the odometer, inertial measurement unit and/or image of the cleaning robot The data acquired by the acquisition device acquires the new pose of the cleaning robot at the latter position, and compares the calculated value with the measured value to verify whether the cleaning robot is repositioned successfully. This is how the cleaning robot autonomously judges whether the repositioning is successful. The preliminarily determined pose of the cleaning robot in the regional environment map can also be sent to the user terminal or display module, and the user can observe whether the actual pose of the cleaning robot in the actual working area and the pose displayed in the regional environment map are not. Roughly the same, this is a way for the user to manually intervene in judgment. The present invention does not limit the way of judging whether the relocation is successful, and other judgment ways are also possible. For example, the user observes the movement track of the cleaning robot in the actual working area, and compares the movement track in the regional environment map to comprehensively judge whether The relocation is successful; or the cleaning robot can independently judge whether its posture on the regional environment map is correct according to the time of collision and the number of collisions, and the time and number of times when the cliff (such as steps) is found to interact with the outside world. Determine whether the relocation is successful.

During specific implementation, the present invention does not limit the order of execution of steps S200 and S300, either one of the steps can be executed first, then the other step, or both steps can be executed simultaneously; unless one of the steps depends on the other The execution results of the steps can only be executed in sequence. For example, step S300 can only be executed depending on the execution results of step S200. In this case, only step S200 can be executed first, and then step S300 can be executed.

Step S400: Determine the cleaning sequence of each sub-area according to the posture of the cleaning robot in the regional environment map and the connected area between the sub-areas, and the cleaning sequence minimizes the sub-areas repeatedly passed by the cleaning robot or when the cleaning is completed. The total distance traveled is the shortest.

In specific implementation, the current sub-region where the cleaning robot is located can be determined according to the pose of the cleaning robot in the regional environment map, and then the current sub-region where the cleaning robot is located and the connected regions between the current sub-region and other sub-regions can be determined. The cleaning order of the sub-areas, set the current sub-area of the cleaning robot as the sub-area to be cleaned first.

Specifically, to prevent the cleaning robot from repeatedly cleaning sub-areas adjacent to multiple sub-areas (that is, the number of sub-areas repeatedly passed through is the least), the area environment map can be used to determine the adjacent area of the cleaning robot's current sub-area except the current sub-area. Whether there is a connected area with other adjacent sub-areas (that is, whether there are other adjacent sub-areas, “adjacent” in the present invention means that two adjacent sub-areas are connected through the connected area, that is, the cleaning robot can One of the two adjacent sub-regions passes through the connected region to reach the other sub-region), if there is, after cleaning the adjacent sub-region, the cleaning robot runs to the connected region that has not yet traveled and passes through the connected region Enter the uncleaned sub-area to clean its floor. As shown in Figure 9d, if the cleaning robot is in the D sub-area, then the D sub-area is the current sub-area of the cleaning robot, and the adjacent areas of the current D sub-area are determined by the regional environment map (B, E, G, F sub-areas in Figure 9d The area is adjacent to the D sub-area through the connected area of the dotted line in the figure) Whether there is a connected area with other adjacent sub-areas besides the current D sub-area, for example, the B sub-area is connected to the A and C sub-areas in addition to the current D sub-area The regions are respectively adjacent to the connected regions; the E subregions are adjacent to the H subregions in addition to the current D subregions (that is, the current D subregions are also adjacent to the H subregions through the connected regions indicated by dotted lines); while the F and G subregions are adjacent to the H subregions. Except for the current sub-region D, the region is not adjacent to other sub-regions as a connected region. When the cleaning robot cleans the current D sub-region and selects and cleans the E sub-region or the B sub-region, it will run to the EH connected region that has not been passed (the dotted line between the E sub-region and the H sub-region in the figure represents the The connected area of is similar to the following, not repeated) or BC connected area, and enters the uncleaned H sub-area or C sub-area for cleaning through the aforementioned connected area, instead of returning to the D sub-area, thus avoiding the situation of no area environment map. "Blind cleaning" under the "Blind Cleaning", that is to say, the repeated cleaning problem caused by re-cleaning the D sub-region after cleaning the D sub-region and the E or B sub-region is avoided.

Step S500, controlling the cleaning robot to clean each sub-area according to the cleaning sequence.

Further, after the cleaning robot cleans the work area, it also includes: outputting prompt information (such as outputting prompt information to the cleaning robot's own display or outputting prompt information to the user terminal through a communication module via a wireless network), and the prompt information can be a prompt. Whether the user saves the map information; receives the save instruction input by the user, and saves the positioning and path planning related information (such as vSLAM positioning and the related information of the path planning module).

In this embodiment, when the regional environment map is known and each sub-region has been divided and/or divided in the regional environment map, the pose of the cleaning robot in the regional environment map is determined, and according to the connectivity between the sub-regions The area determines the cleaning sequence of the sub-areas. Cleaning each sub-area according to the cleaning sequence can reduce the repeated cleaning of the sub-areas, and can clean a larger work area under the same battery power. It has high cleaning efficiency, strong battery life and good user experience. Features.

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

Step S100, acquiring a regional environment map.

Step S200: Determine the sub-regions and the connected regions between the sub-regions according to the regional environment map.

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

Further, if the position and orientation of the cleaning robot in the regional environment map fails to be determined, it is handled as the environment is unknown, and the cleaning robot is controlled to clean while exploring, as if the cleaning robot was working for the first time.

Further, in addition to the steps S100 to S300 in the above embodiment, the multi-area cleaning method for a cleaning robot further includes:

Step S400', according to the pose of the cleaning robot in the regional environment map and the sub-region, determine the current sub-region where the cleaning robot is located.

In step S500', the cleaning robot is controlled to start cleaning from the current sub-area where the cleaning robot is located, and after the cleaning robot has cleaned a sub-area, the cleaning robot is controlled to clean the uncleaned sub-areas closest to the current position of the cleaning robot according to the connected area between the sub-areas. area (that is, the cleaning robot runs to a connected area that has not yet traveled, and runs from the connected area to an uncleaned sub-area, or determines which sub-area has not been cleaned according to the connected area that has not been traveled). As shown in Figure 11, after the cleaning robot cleans the current sub-area B, it is located near the sub-area D. At this time, the cleaning robot will clean the area closest to the current position of the cleaning robot according to the connected area (shown by the dotted line in Figure 11). Sub-area D is not cleaned.

This embodiment can reduce the repeated path of the cleaning robot returning to the cleaned sub-area for repeated cleaning when the cleaning robot finishes cleaning a certain sub-area, thereby improving the cleaning efficiency; and in the case of the same amount of electricity, it can clean more the ground.

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

Step S110, acquiring data detected during the movement of the cleaning robot.

In detail, the detected data includes but is not limited to code wheel data, IMU data, image data, and other sensor data (such as collision sensor data, infrared data from proximity sensors and/or cliff sensors, and/or laser from ranging sensors). data, etc.).

In step S120, the pose of the cleaning robot (including the position and pose of the cleaning robot) is determined according to the data obtained in step S110.

In detail, when this step is implemented, the data obtained in step S110 is input into the vSLAM positioning module, and the vSLAM positioning module processes the data obtained in step S110 to obtain the position and attitude (x, y, θ) of the cleaning robot.

In step S130, an area map is established and saved according to the posture of the cleaning robot and the positions of surrounding obstacles.

In detail, when this step is implemented, the posture, image data and other sensor data of the cleaning robot can be transmitted to the path planning module, and the path planning module can build a regional environment map according to these data, and record the coordinates of the cleaning robot. Capture the image and the features on the image.

In an embodiment of the present invention, the above step S200 may divide and divide the regional environment map according to the internal boundary line of the regional environment map, for example, extend the internal boundary line, and the location of the extension line in the regional environment map is the connected area between the sub-regions , as shown by the dotted line in Figure 9b. Assuming that there is a connected area between sub-area X and sub-area Y, the connected area between sub-area X and sub-area Y can be (X, Y), "XY" or "X-Y" (as shown in Figure 9c and Figure 9e ) ), etc.

The division of the sub-regions and the connected regions between the sub-regions are described below with a specific embodiment. Figure 9a is a regional environment map, and the solid line in the figure is the boundary of the working region of the cleaning robot (including the walls and Obstacles), divide the regional environment map according to the internal boundary line of the regional environment map, and the division result is shown in Figure 9b. The whole environment is divided into 7 sub-regions A, B', C, E, F, G, and H. , the connected region between these seven sub-regions can be represented by Fig. 9c.

Of course, after the regional environment map shown in Fig. 9a is divided into the map shown in Fig. 9b, some larger regions can be further divided by manual means. As shown in Fig. 9d, the atomic region B' is divided into sub-regions B and D, so that the whole environment has 8 sub-regions, and the corresponding connected regions are shown in Fig. 9e.

Further, in order to avoid repeated cleaning as much as possible, when sub-regions are divided into known regional environmental maps, the number of connected (ie adjacent) sub-regions of each sub-region should be determined. If the number of connected sub-regions of a sub-region is greater than a predetermined When the threshold value (eg 5) is set, as shown in the sub-region B' in Fig. 9b, the sub-region needs to be further divided.

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 can be completed by means of particle filtering. The steps are briefly described as follows, including:

In step S311, the regional environment map is sent to the user terminal for display, 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, which has a certain error with the actual pose of the cleaning robot. The pose of the cleaning robot set by the user can determine an initial area range, such as a circular area with a radius of 1m centered on the position of the cleaning robot set by the user.

Step S312: Receive the pose of the cleaning robot set by the user sent by the user terminal, determine an initial area range according to the pose of the cleaning robot set by the user, and randomly determine a plurality of initial poses (equivalent to particle filtering) within the initial range. particles in ).

Step S313, let the cleaning robot move in a spiral manner (other motion methods are also possible), and use particle filtering to correct the initial pose of the cleaning robot in real time until all particles converge to a sufficiently small range, and take all particles. The mean value of is used 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 the above S300 can be completed by means of particle filtering. The steps are briefly described as follows, including:

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

Step S322, receive the pose of the cleaning robot set by the user according to the regional environment map, determine an initial area range according to the pose of the cleaning robot set by the user, and randomly determine a plurality of initial poses (equivalent to particle filtering) within this range. particles in ).

Step S323, let the cleaning robot move in a spiral manner (other motion methods are also possible), and use particle filtering to correct the initial pose of the cleaning robot in real time until all particles converge to a small enough range, take all the The mean value of the particles is used as the current pose of the cleaning robot in the regional environment map.

During specific implementation, the above-mentioned steps S313 and S323 may use the existing relocation algorithm to correct the posture of the cleaning robot set by the user, and the present invention does not specifically limit the relocation algorithm.

In some embodiments, it is assumed that N initial poses are determined within the range of the initial region according to the poses set by the user, and the execution process of the relocation algorithm includes:

Step S351, controlling the cleaning robot to rotate (for example, to move outward in a helical manner).

Step S352 , during the movement, obtain positioning data (including data measured by distance measuring and positioning equipment such as laser rangefinders and ultrasonic locators), and build multiple actual local maps of the surrounding environment of the cleaning robot according to the positioning data.

Step S353, for the actual local map established within the first predetermined stroke (such as 1 meter) of each movement of the cleaning robot, match it with the theoretical local map corresponding to each initial pose, and count the number of successfully matched initial poses. The number of successfully matched initial poses is equal to the predetermined threshold (such as 1), then step S354 is performed. If the number of successfully matched initial poses is greater than the predetermined threshold, step S353 is continued. If the cleaning robot moves for a predetermined time or After the second predetermined travel (eg, 5 meters), the number of successfully matched initial poses is still greater than the predetermined threshold, then step S355 is performed; if the number of successfully matched initial poses is 0, step S355 is also performed.

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

Step S355, the relocation fails, and the process ends.

In other embodiments, the image information corresponding to the coordinates of each point on the regional environment map is also obtained while the regional environment map is obtained. It is assumed that N initial poses are determined within the initial area according to the poses set by the user, and the execution of the relocation algorithm is performed. The process includes:

Step S361, controlling the cleaning robot to rotate (for example, to move outward in a helical manner).

In step S362, during the motion, image information is acquired, and the process proceeds to step S363.

Step S363, for the image information obtained within the first predetermined stroke (such as 1 meter) of each movement of the cleaning robot, match it with the image information corresponding to each initial pose, and count the number of successfully matched initial poses. The number of successful initial poses is equal to the predetermined threshold (such as 1), then step S364 is performed. If the number of successfully matched initial poses is greater than the predetermined threshold, step S363 is continued. If the cleaning robot moves for a predetermined time or on the first After two predetermined distances (eg, 5 meters), if the number of successfully matched initial poses is still greater than the predetermined threshold, step S365 is performed; if the number of successfully matched initial poses is 0, step S365 is also performed.

Step S364, the relocation is successful, and the process ends.

Step S365, the relocation fails, and the process ends.

In an embodiment of the present invention, in the above 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 cleaned sequentially according to the cleaning sequence . As shown in Figure 10a, A to H respectively represent a sub-area, and the initial pose of the cleaning robot is in the sub-area G in Figure 10a. 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 the repeated subregion. According to the requirement of the shortest total distance moved when cleaning is completed, 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)- Among various possible routes such as F, the cleaning sequence with the shortest total distance, and then each sub-area is cleaned according to the cleaning sequence. The judgment criteria of the above two cleaning sequences can sometimes obtain the same cleaning sequence, but sometimes obtain different cleaning sequences, because the first judgment criterion is based on the minimum number of repeated sub-regions. It may be different, and often very different. If there is only one sub-area that is repeatedly passed, but this sub-area is much larger than the other sub-areas, the actual distance that the cleaning robot moves in the cleaning sequence may be greater than that of the repeated sub-areas. After the distance traveled by multiple sub-regions, but the computing power required according to the first judgment standard is small, the cleaning robot can obtain the cleaning sequence relatively quickly. It can also achieve the purpose of short total moving distance, so the user can manually divide the larger sub-area (for example, the B' sub-area in Fig. 9b is larger, and the user manually divides it into BD in Fig. 9d. Two sub-areas), so that the area of each sub-area is not much different, so that a more accurate cleaning sequence can be obtained quickly through the first criterion. The second criterion is to calculate the cleaning sequence with the shortest total distance traveled by the cleaning robot. Since the current posture of the cleaning robot and the connected area of each sub-area need to be combined to calculate the total distance under various cleaning sequences, the computing power is required to be high. , the time to get the cleaning sequence is longer, but when there are fewer moving objects in the regional environment map, a more accurate cleaning sequence with the shortest total moving distance can be obtained.

In an embodiment of the present invention, in the above step S400, if at least two cleaning sequences are determined according to the connected area between the sub-areas and the current sub-area where the cleaning robot is located, then when the cleaning robot finishes cleaning the current sub-area Then, determine the next candidate sub-region set according to the cleaning sequence, if the next candidate sub-region set (the next sorted sub-region set in all cleaning sequences) includes only one uncleaned sub-region, control the cleaning robot to clean the uncleaned sub-region Clean sub-regions, if the next candidate sub-region set includes at least two uncleaned sub-regions, control the cleaning robot to clean the un-cleaned sub-region closest to the current position of the cleaning robot in the candidate sub-region set. As shown in FIG. 11 , the initial position of the cleaning robot is in 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 cleaning, first clean sub-region A; after sub-region A is cleaned, the next candidate sub-region set {B} is obtained, and the next candidate sub-region set includes only one sub-region, therefore, sub-region B is cleaned next; After the area B is cleaned, the next candidate sub-area set {D, C, E} is obtained, and the next candidate sub-area set includes multiple sub-areas. At this time, it is necessary to determine which sub-area to clean next according to the current position of the cleaning robot. As shown in FIG. 11 , the cleaning robot is relatively close to the sub-region D in the candidate sub-region set {D, C, E}, therefore, the sub-region D is cleaned next. It should be noted that the "controlling the cleaning robot to clean the uncleaned sub-regions in the candidate sub-region set that is closest to the current position of the cleaning robot" refers to the actual movement of the cleaning robot to each sub-region in the candidate sub-region set. Move the closest sub-area instead of the shortest straight-line distance between the cleaning robot and each sub-area in the candidate sub-area set. Since the purpose of the present invention is to reduce the repeated cleaning path of the cleaning robot to improve the cleaning efficiency, the actual moving distance is considered. In combination with the above embodiment, the cleaning robot actually moves to each sub-area adjacent to its current sub-area according to the current position of the cleaning robot. Among the distances of the connected regions, select the shortest distance as the sub-region to be cleaned next. Similarly, the “controlling the cleaning robot to clean the uncleaned sub-areas closest to the current position of the cleaning robot according to the communication area between the sub-areas” means that the cleaning robot passes through its current sub-area and the current sub-area. The connected area between its adjacent sub-areas moves to the uncleaned sub-area with the shortest actual moving distance among other sub-areas and cleans it, instead of cleaning the uncleaned sub-area with the shortest straight-line distance between the robot and its current sub-area . The reasons are the same as above and will not be repeated here.

In this embodiment, repeated cleaning of the cleaned area by the cleaning robot can be avoided to the greatest extent, and the cleaning efficiency can be improved.

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

S510, performing edge cleaning along the boundary of the sub-region.

In detail, the process of edge-cleaning the sub-areas includes:

Control the cleaning robot to run along the current direction to the junction point with the sub-area boundary; control the cleaning robot to run from the junction point along the boundary around the sub-area until returning to the junction point; if the cleaning robot encounters obstacles while running around the sub-area along the boundary , then control the cleaning robot to run along the edge of the obstacle in the sub-region.

S520: Clean the interior of the sub-region surrounded by the boundary of the sub-region.

In some implementations of this embodiment, as shown in FIG. 5 , the process of cleaning the interior of the sub-region surrounded by the boundary of the sub-region includes:

S521: Control the cleaning robot to run along the first cleaning direction inside the sub-area until it meets the boundary of the cleaned area, and the first cleaning direction is an upward running direction in FIG. 10d.

S522: Control the cleaning robot to turn to the first turning direction to the first offset direction that is the same as the boundary direction of the encounter and continue to run for the first offset length, and turn to the first turning direction to the second cleaning direction that is parallel and opposite to the first cleaning direction . The first turn is clockwise in Figure 10d.

S523: Control the cleaning robot to run along the second cleaning direction inside the sub-area until it meets the boundary of the cleaned area, and the second cleaning direction is the downward running direction in FIG. 10d.

S524: Control the cleaning robot to turn to the second turning direction to the second offset direction that is the same as the boundary direction that meets the boundary direction to continue to run for a second offset length, and turn to the first cleaning direction to the second turning direction. The second turn is in the opposite direction to the first turn, counterclockwise in Figure 10d. The second offset length is the same as or different from the first offset length.

S525: Repeat SS521 to S525 until the trajectory of the cleaning robot traverses the runnable area in the sub-area. Steps S522 to S525 are shown in FIG. 10d and FIG. 10f.

Further, if the cleaning robot encounters an obstacle while running along the current cleaning direction in the sub-area, the cleaning robot is controlled to run along the edge of the obstacle, and the trajectory running along the edge of the obstacle in the current cleaning direction is calculated in real time. The projection length on the vertical line, when the projection length is equal to the third offset length, control the cleaning robot to turn to the opposite cleaning direction to the current cleaning direction to continue running, when the projection length is equal to 0, control the cleaning robot to turn to the current cleaning direction Keep running.

In other implementations of this embodiment, other methods can also be used to clean the interior of the sub-area, such as random mode, dot coverage mode, cross cleaning mode, etc. The present invention does not limit the specific cleaning process inside the sub-area.

In an embodiment of the present invention, in order to clearly distinguish the cleaned area and the to-be-cleaned area in the map, the area environment map is also updated during the execution of the above step S500, and the cleaning route is drawn on the map.

Based on the same inventive concept, the embodiments of the present invention also provide two data processing apparatuses for cleaning robots, as described in the following embodiments. Since the principle of the device for solving the problem is similar to the multi-area cleaning method for a cleaning robot, the implementation of the device can refer to the implementation of the multi-area cleaning method for a cleaning robot, and the repetition will not be repeated. During specific implementation, the device can be implemented by a logic circuit or chip, or installed in an existing high-performance cleaning robot, or the functions of each component can be implemented by software in the form of functional modules.

Specifically, as shown in Figure 6, a data processing device for a cleaning robot includes:

The obtaining module 610 is used for obtaining a regional environment map.

The analysis module 620 is configured to determine the sub-regions and the connected regions between the sub-regions according to the regional environment map.

The relocation module 630 is configured to determine the pose of the cleaning robot in the regional environment map.

The sorting module 640 is configured to determine the cleaning sequence of the sub-regions according to the posture of the cleaning robot in the regional environment map and the connected regions between the sub-regions, and the cleaning sequence causes the cleaning robot to repeatedly pass through the sub-regions. The least number of subareas or the shortest total distance traveled when cleaning is complete.

The control module 650 is configured to control the cleaning robot to clean the sub-areas according to the cleaning sequence.

As shown in Figure 7, a data processing device for a cleaning robot includes:

The obtaining module 710 is used for obtaining the regional environment map.

The first analysis module 720 is configured to determine sub-regions and connected regions between sub-regions according to the regional environment map.

The relocation module 730 is configured to determine the pose of the cleaning robot in the regional environment map.

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

The control module 750 is configured to control the cleaning robot to start cleaning from the current sub-area where the cleaning robot is located, and after the cleaning robot finishes cleaning a sub-area, control the cleaning according to the communication area between the sub-areas The robot cleans the uncleaned sub-region closest to the current position of the cleaning robot.

The data processing device provided by the present invention is installed on the cleaning robot, so that the cleaning robot can avoid repeated cleaning, can clean a larger work area under the same battery power, and has the characteristics of high cleaning efficiency, strong endurance and good user experience.

In an embodiment of the present invention, as shown in FIG. 8 , FIG. 8 shows a schematic diagram 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, and is used to drive the cleaning robot to move under the control of the processing module.

The processing module 830 is configured to execute any of the above embodiments of the cleaning robot multi-area cleaning method.

The cleaning module 810 is used to clean the surface of the ground where the motion module 820 moves.

In an embodiment of the present invention, referring to FIG. 8 again, 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 ranging positioning module (LDS), an odometer, and an inertial measurement unit (IMU). Of course, during the specific implementation, in order to accurately realize the positioning of the cleaning robot, an ultrasonic sensor may also be provided on the cleaning robot.

The communication module 840 is configured to connect with the user terminal through a wireless network, send the regional environment map to the user terminal for display, and send 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 to obtain the pose of the cleaning robot in the regional environment map.

In an embodiment of the present invention, please refer to FIG. 8 again, the cleaning robot further includes: a display module 870 and an input module 880 .

The display module 870 is used for displaying the regional environment map;

The input module 880 is configured to receive the pose of the cleaning robot set by the user according to the regional environment map;

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

In some embodiments of the present invention, the cleaning robot may further include all components included in the existing cleaning robot, which will not be described in detail here.

The cleaning robot provided in this embodiment determines the pose of the cleaning robot in the regional environment map when the map is known and the sub-regions in the map have been divided/segmented, and the pose of the cleaning robot in the regional environment map and The connected area between the sub-areas determines the cleaning sequence of the sub-areas. Cleaning the sub-areas according to the cleaning sequence can avoid repeated cleaning, and can clean a larger work area under the same battery power, with high cleaning efficiency, strong endurance, Features of good user experience.

In order to illustrate the technical solutions of the present invention more clearly, the following specific embodiments are used for detailed description.

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

Step S910: After the cleaning robot is started, first inquire whether there is a regional environment map, and then send a prompt interface to the user terminal APP (cleaning robot management APP) after finding the existence of the regional environment map. The prompt interface is used to prompt the user whether to use the regional environment map. The terminal receives the instruction of using the area environment map input by the user, and sends the instruction to the cleaning robot.

Step S920: The cleaning robot has a built-in geometric map segmentation algorithm, and the regional environment map is divided into multiple sub-regions by the geometric map segmentation algorithm, as shown in Figure 9b, the dotted line is the dividing line, and the solid line is the cleaning robot. reachable boundary. Further, the larger sub-region B' is further divided into sub-regions B and D by manual means, as shown in Figure 9d, and a connected region can be obtained according to the regional environment map and the sub-regions, as shown in Figure 9e, the box The characters in represent each sub-region, and the connecting line between two boxes indicates that the two boxes are connected regions.

During the specific implementation of this step, the regional environment map can also be sent to the user terminal APP for display, so that the user can divide the regional environment map into multiple sub-regions, also as shown in FIG. 9b or 9d.

Step S930: The cleaning robot sends the divided map to the user terminal APP for display, so that the user can demarcate the posture of the cleaning robot according to the actual posture of the cleaning robot, as shown in FIG. 10a.

Alternatively, the user directly defines the pose of the cleaning robot on the user terminal APP, and moves the cleaning robot to a corresponding position.

Alternatively, first place the cleaning robot at a certain position in the sub-area G, and then define the pose of the cleaning robot on the user terminal APP.

During the specific implementation of this step, a relocation algorithm is also set in the cleaning robot (for the specific algorithm, see the foregoing embodiment, which will not be repeated here), and the pose of the cleaning robot defined by the user is corrected according to the relocation algorithm, and the cleaning robot is obtained in Pose in the area environment map.

Step S940: Determine the current sub-region where the cleaning robot is located according to the pose of the cleaning robot in the regional environment map. In this embodiment, it is determined that the cleaning robot is currently in the sub-region G.

Step S950: Determine the cleaning sequence of the sub-areas according to the connected area between the sub-areas and the current sub-area where the cleaning robot is located.

As shown in Figure 10a, it is assumed that the number of sub-regions that the cleaning robot passes through + 1 represents the cost between sub-regions. According to the connected regions shown in Figure 9e, if cleaning starts from sub-region G, press G-D-F-(D)-E-H-C-B-A (“-” means one sub-region to another sub-region), the minimum cost of traversing all 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 for traversing all sub-regions. The most common way is depth-first search, that is, exhaust all possible situations to obtain the route with the least cost.

Step S960: Clean the environment shown in FIG. 10a according to the cleaning sequence of G-D-F-(D)-E-H-C-B-A. The specific cleaning process includes:

In step S961, edgewise cleaning is performed along the boundary of the sub-region G, and after the edge-wise cleaning is completed, the interior of the sub-region G surrounded by the boundary of the sub-region G is additionally cleaned, as shown in FIGS.

Step S962, after the cleaning of the sub-area G is completed, according to the cleaning sequence of G-D-F-(D)-E-H-C-B-A, the sub-area D will be regarded as the next area to be cleaned, and the cleaning robot will navigate to the boundary of the sub-area D, and repeat the edgewise cleaning, As shown in Figure 10e. After the edge cleaning of the sub-region D is completed, the interior of the sub-region D will continue to be supplemented with cleaning, as shown in Figure 10f.

After the sub-area D is cleaned, if the regional environment map is unknown, since the cleaning robot is in the lower left corner of the area D, and the closest is the area B, the cleaning robot will select the sub-area B as the next cleaning area. As a result, the repeated area passed through is increased at least once, which affects the cleaning efficiency. However, using the cleaning method of the present invention, according to the above-mentioned predetermined cleaning sequence (ie, G-D-F-(D)-E-H-C-B-A in FIG. 9e ), the cleaning robot will select sub-region F as the next cleaning region after sub-region D is cleaned. . Compared with the existing cleaning method, the cleaning method provided by the present invention can avoid repeated cleaning, can clean a larger work area under the same battery power, and has the characteristics of high cleaning efficiency, strong endurance and good user experience.

Step S963, continue to clean sub-area F, sub-area E, sub-area H, sub-area C, sub-area B and sub-area A in sequence according to the cleaning sequence of G-D-F-(D)-E-H-C-B-A, see 1), 2) The process will not be described in detail here.

Another specific embodiment of the present invention: after the cleaning robot has cleaned a certain sub-area, there are two (or more) routes with the least cost at the same time, and the cleaning robot will preferentially select the sub-area that is closer. In this embodiment, repeated cleaning of the cleaned area by the cleaning robot can be avoided as much as possible, thereby improving the cleaning efficiency.

As shown in Figure 11, in the case that sub-region A and sub-region B have been cleaned, the cost of any one of the next candidate sub-regions C, D, and E is 1, and the minimum total cost is also the same. The cleaning robot is closer to the sub-area D, so the cleaning robot will select sub-area D as the next cleaning area.

Another specific embodiment of the present invention: the cleaning sequence of each sub-area of the entire environment (such as a house) may not be determined at the beginning of cleaning, but may be determined during the cleaning process according to the cleaning robot after cleaning each sub-area. The positions are determined in turn. All areas in the environment are finally cleaned.

As shown in FIG. 12 , compared with the embodiment of FIG. 10 a , the sub-region H is omitted, so that around the sub-region D, there are sub-regions E and sub-regions F with the same cost and both being 1. Since the costs of D-B, D-E, and D-F are all 1, the costs of B-A and B-C are also 1. At this time, according to the distance between the position of the cleaning robot when it completes the cleaning task in sub-region D and the distance between sub-regions E, F, and B, The sub-area closest to the cleaning task is selected to be cleaned first, and then the next area is selected for cleaning according to the distance between the position of the last area and the sub-area with the same cost as the uncleaned sub-area. After the cleaning robot cleans area B, it also faces the problem of selecting sub-areas A and C. The solution is to judge the distance between the position when area B is cleaned and the entrances of areas A and 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, etc.) 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 in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

The above descriptions are only used to illustrate the technical solutions of the present invention, and any person of ordinary skill in the art can modify and change the above embodiments without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be based on the scope of the claims.

Claims (10)

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

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.

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

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 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.

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;

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.

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;

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

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.

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

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

9. The cleaning robot of claim 8, further comprising: 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.

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;

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.

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