CN115633921A

CN115633921A - Cleaning area dividing method, control method, device and system of cleaning robot

Info

Publication number: CN115633921A
Application number: CN202210910934.3A
Authority: CN
Inventors: 王宇谦; 杨永森; 龚鼎
Original assignee: Yunjing Intelligence Technology Dongguan Co Ltd; Yunjing Intelligent Shenzhen Co Ltd
Current assignee: Yunjing Intelligence Technology Dongguan Co Ltd; Yunjing Intelligent Shenzhen Co Ltd
Priority date: 2022-07-29
Filing date: 2022-07-29
Publication date: 2023-01-24

Abstract

The embodiment of the application provides a cleaning area dividing method, a cleaning area control method, a cleaning area dividing device and a cleaning area dividing system of a cleaning robot, wherein the method comprises the steps of obtaining graphical characteristics of a room, wherein the graphical characteristics comprise the boundary of the room; acquiring a workload value domain range; determining a partition line of the room according to the working amount value domain range and the graphic characteristics so that at least two preset cleaning areas are formed by the partition line and the boundary of the room, and the working amount value of each preset cleaning area is smaller than or equal to the upper limit value of the working amount value domain range, so that the cleaning robot can interrupt the current cleaning task after finishing the working amount of each preset cleaning area; the cleaning robot can achieve a good cleaning effect and high cleaning efficiency when cleaning a room according to the preset cleaning area.

Description

Cleaning area dividing method, control method, device and system of cleaning robot

Technical Field

The present disclosure relates to the field of cleaning technologies, and in particular, to a cleaning area dividing method, a cleaning area control method, a cleaning area dividing device, and a cleaning area control system for a cleaning robot.

Background

The cleaning robot can be used for automatically cleaning the ground, and the application scene can be household indoor cleaning, large-scale place cleaning and the like. The cleaning robot can clean the ground through the cleaning piece, and the cleaning robot usually has the conditions of insufficient electric quantity or dirty cleaning piece after cleaning the ground for a period of time, and needs to return to a base station for maintenance, such as charging the cleaning robot or cleaning the cleaning piece; generally, a cleaning robot is limited to return to a base station after cleaning of a room is completed, but the cleaning robot cannot enable each room to be cleaned well, and the cleaning efficiency of the cleaning robot is affected under some conditions, for example, when the area of a certain room in some scenes is large, the cleaning capability of a cleaning piece cannot meet the cleaning of the area, for example, the cleaning piece is dirty and continues to clean the ground, the cleaning effect is poor, or the electric quantity of the cleaning robot cannot meet the cleaning of the area, so that the cleaning robot can return to the base station to be charged when the cleaning of the area is not completed, the cleaning robot can return to the area to continue cleaning after long-time charging, and the cleaning efficiency is also affected; and some area division modes cause the area of each area to be too small, and the cleaning robot needs to return to the base station for maintenance every time one area is completed, so that the frequency of the cleaning robot returning to the base station for maintenance is high, and the cleaning efficiency is low.

Disclosure of Invention

The application provides a cleaning area dividing method, a cleaning area dividing control method, a cleaning area dividing device and a cleaning area dividing system of a cleaning robot, and aims to solve the technical problems that all areas cannot be well cleaned in the existing area dividing mode and the like.

In a first aspect, an embodiment of the present application provides a cleaning area dividing method for a cleaning robot, including:

acquiring graphical features of a room, the graphical features including boundaries of the room;

acquiring a workload value domain range;

according to the working value domain range and the graphic characteristics, determining a parting line of the room so as to enable the parting line and the boundary of the room to form at least two preset cleaning areas, wherein the working value of each preset cleaning area is smaller than or equal to the upper limit value of the working value domain range and is larger than or equal to the lower limit value of the working value domain range; or

The magnitude of the workload of only one preset cleaning area is smaller than the lower limit value, and the cleaning sequence of the preset cleaning area with the workload smaller than the lower limit value is after the other preset cleaning areas.

In a second aspect, an embodiment of the present application provides a control method of a cleaning robot, including:

determining a preset cleaning area formed in a room according to the cleaning area dividing method;

and controlling the cleaning robot to clean the room according to the preset cleaning area.

In a third aspect, an embodiment of the present application provides a control device of a cleaning robot, including a memory and a processor;

wherein the memory is for storing a computer program;

the processor is configured to execute the computer program and, when executing the computer program, to implement the steps of the aforementioned method.

In a fourth aspect, embodiments of the present application provide a cleaning system, including:

the cleaning robot comprises a moving mechanism and a cleaning piece, wherein the moving mechanism is used for driving the cleaning robot to move so that the cleaning piece cleans the ground;

a base station for at least maintaining the cleaning robot; and

the aforementioned control device.

In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the steps of the method described above.

The embodiment of the application provides a cleaning area dividing method, a cleaning area control method, a cleaning area dividing device and a cleaning area dividing system of a cleaning robot, wherein the method comprises the following steps: acquiring graphical features of a room, the graphical features including boundaries of the room; acquiring a workload value domain range; determining a parting line of the room according to the working value domain range and the graphic characteristics so that at least two preset cleaning areas are formed by the parting line and the boundary of the room, and the working value of each preset cleaning area is smaller than or equal to the upper limit value of the working value domain range and larger than or equal to the lower limit value of the working value domain range; or the working amount of only one preset cleaning area is smaller than the lower limit value, and the cleaning sequence of the preset cleaning area with the working amount smaller than the lower limit value is behind other preset cleaning areas; so that the cleaning robot interrupts the current cleaning task after each completion of the workload of one preset cleaning area; the cleaning robot can achieve a good cleaning effect and high cleaning efficiency when cleaning a room according to the preset cleaning area.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of the embodiments of the present application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, 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 some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic flowchart of a cleaning area dividing method of a cleaning robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of a cleaning system in one embodiment;

FIG. 3 is a schematic diagram of rooms in a cleaning task map in one embodiment;

FIG. 4 is a diagram illustrating workload per unit area in one embodiment;

FIG. 5 is a schematic diagram of different partitioning schemes in one embodiment;

FIG. 6 is a schematic view of dense areas of obstructions in an embodiment;

FIG. 7 is a schematic view of the movement trajectory of the cleaning robot when there is no aggregated dense area of obstacles;

FIG. 8 is a schematic view of the movement trajectory of the cleaning robot when the dense area of obstacles is aggregated;

FIG. 9 is a schematic flow chart illustrating a method of cleaning a mop according to an embodiment of the present disclosure;

fig. 10 is a schematic block diagram of a control device of a cleaning robot according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

The flowcharts shown in the figures are illustrative only and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a cleaning area dividing method of a cleaning robot according to an embodiment of the present disclosure. The cleaning area dividing method of the cleaning robot can be applied to a cleaning system and is used for dividing a room of an area to be cleaned to obtain a preset cleaning area and the like.

The area to be cleaned may be any area to be cleaned, such as a home space, a room unit of a home space, a partial area of a room unit, a large site, or a partial area of a large site.

The embodiment of the application also provides a cleaning system. As shown in fig. 2, the cleaning system includes one or more cleaning robots 100, and one or more base stations 200. The base station 200 is used in cooperation with the cleaning robot 100, at least for performing maintenance on the cleaning robot; for example, the base station 200 may charge the cleaning robot 100, the base station 200 may provide a parking position to the cleaning robot 100, and the like. The base station 200 can also clean the cleaning members of the cleaning robot 100, wherein the cleaning members can include brushing members, such as an edge brush and a middle brush, for brushing the floor to remove garbage or dust on the floor, and the cleaning members can also include a mopping member for mopping the floor to clean stains on the floor.

The cleaning system further includes a control device 300, and the control device 300 may be used to implement the steps of the cleaning area dividing method of the cleaning robot of the embodiment of the present application, and/or the steps of the control method of the cleaning robot. Alternatively, the robot controller of the cleaning robot 100 and/or the base station controller of the base station 200 may be used alone or in combination as the control device 300 for implementing the steps of the method of the embodiments of the present application. In other embodiments, the cleaning system includes a separate control device 300 for implementing the steps of the method of the embodiment of the present application, and the control device 300 may be provided on the cleaning robot 100 or may be provided on the base station 200; of course, the control device 300 may be a device other than the cleaning robot 100 and the base station 200, such as a home intelligent terminal, a general control apparatus, or the like.

The cleaning robot 100 may be used to automatically clean the floor, and the application scenario of the cleaning robot 100 may be household indoor cleaning, large-scale place cleaning, and the like.

As shown in fig. 1, the cleaning area division method of the cleaning robot of the embodiment of the present application includes steps S110 to S130.

S110, obtaining graphical characteristics of a room, wherein the graphical characteristics comprise boundaries of the room.

For example, as shown in fig. 5, the cleaning task map includes room 1, room 2, and room 3; the graphical features of one or more rooms may be acquired at the time of the graphical features of the rooms acquired at step S110.

The rooms include rooms separated by scanning by the cleaning robot, and also include rooms edited by the user (for example, splitting and merging). A room may be understood as an area defined by physical boundaries such as walls, steps, obstacles (e.g., box-type beds), etc. on the cleaning task map, and may also include a user-defined room, for example, a partial area in an area enclosed by walls, such as an open kitchen, a restaurant, etc. in a living room, or a user-defined room may be a room combined by a plurality of physical boundary-defined areas, such as a living room and a balcony, which may be one room.

For example, when the cleaning robot builds a map, the cleaning robot may acquire the boundary of the room through a radar, a vision sensor, a distance sensor, and the like to determine the graphical features of the room, or when the cleaning robot performs the edge cleaning on the area to be cleaned, the boundary of the room is determined according to the cleaning track of the edge cleaning, and the graphical features of the room are determined according to the boundary of the room.

For example, an initial cleaning task map is obtained after the cleaning robot detects the area to be cleaned, and the edited cleaning task map can be obtained according to the editing operation of the user on the initial cleaning task map, such as merging rooms or splitting rooms.

And S120, acquiring a workload value domain range.

Wherein the workload value domain range comprises an upper limit value and a lower limit value, and the upper limit value is greater than the lower limit value.

The cleaning robot has the advantages that the dirt amount which can be adsorbed by the mopping piece of the cleaning robot is limited, the cleaning effect on the ground is poor when the mopping piece adsorbs more dirt, and if the mopping piece is not returned to a base station to be maintained, if the mopping piece is cleaned or replaced, the ground cannot be mopped completely; the electric quantity of the cleaning robot is limited, and if the electric quantity is insufficient when the ground is cleaned, the cleaning robot cannot return to a base station for charging; the amount of water on the mopping piece of the cleaning robot and the amount of water in a water tank on the cleaning robot for supplying water to the mopping piece are limited, and when the amount of water is insufficient, the cleaning effect on the ground is poor; the amount of dirt that can be accommodated by the dust box for collecting dirt on the cleaning robot is also limited, and the cleaning effect on the floor is also poor when the amount of dirt accommodated is large.

For example, to ensure that the mop has cleaning capability, a mop maintenance task needs to be inserted in the middle of the task, so that the cleaning robot can navigate back to the base station, clean or replace the mop, and then continue to perform the cleaning task on the area to be cleaned. By setting the upper limit value of the working value range, the cleaning robot can be controlled to return to the base station in time for maintenance before the working amount reaches the upper limit value of the working value range, and therefore the cleaning effect on the ground is improved. Alternatively, the maintenance of the mop may be performed by the cleaning robot without returning to the base station, for example, the cleaning robot may carry a water tank to directly clean the mop, or the cleaning robot may carry a mop exchange device to directly exchange the mop.

The maintenance of the mop takes a certain amount of time, and the turning back of the cleaning robot during the process of returning to the base station for maintenance and continuing to perform the cleaning task also takes a long time, which affects the cleaning efficiency of the cleaning robot. When the frequency of the cleaning robot returning to the base station for maintenance is high, for example, when the cleaning robot returns to the base station for maintenance after mopping only a small area (for example, 2 square meters) of the floor each time, the cleaning efficiency of the cleaning robot is reduced, and the cleaning capability of the cleaning robot cannot be fully utilized. By setting the lower limit value of the workload threshold range, the maintenance frequency of the cleaning robot can be reduced, the performance of the cleaning robot is fully utilized, and the cleaning efficiency of the cleaning robot is ensured.

Optionally, the number of the workload value field ranges is at least two, and the obtaining of the workload value field ranges includes determining the workload value field range for dividing the preset cleaning area in the at least two workload value field ranges according to a selection operation of a user. For example, when the workload includes an area for cleaning a floor, the predetermined at least two workload value ranges include 5-7, 10-12, and 14-16, and the unit is square meter; the user may determine a workload value field range for dividing the preset cleaning zone among at least two workload value field ranges according to a graphic feature of a room and/or a user's cleaning habit. For example, when the area of the room is relatively large, a workload value range with a relatively large upper limit value and/or lower limit value, such as 14-16; for example, when the user desires a high maintenance frequency of the cleaning robot or a cleaner cleaning, a range of workload values having a smaller upper limit and/or lower limit, such as 5 to 7, may be selected.

Optionally, the control device may determine, according to graphical features of the room and/or a user's cleaning habit, a workload value field range for dividing the preset cleaning area from among the preset at least two workload value field ranges.

S130, determining a dividing line of the room according to the working amount value domain range and the graphical characteristics so that the dividing line and the boundary of the room form at least two preset cleaning areas, wherein the working amount value of each preset cleaning area is smaller than or equal to the upper limit value of the working amount value domain range and larger than or equal to the lower limit value of the working amount value domain range; or the working amount of only one preset cleaning area is smaller than the lower limit value, and the cleaning sequence of the preset cleaning area with the working amount smaller than the lower limit value is behind other preset cleaning areas.

For example, the magnitude of the workload of each of the preset cleaning areas is smaller than or equal to the upper limit value of the workload range, so that the cleaning robot interrupts the current cleaning task and moves to the base station for maintenance after completing the workload of each of the preset cleaning areas.

Wherein the current cleaning task includes a cleaning task performed on a preset cleaning area, or includes a cleaning task performed on the floor of a room, or may further include a cleaning task performed on the floor of all rooms in the whole house, or may further include a cleaning task performed on a room indicated by a cleaning task map.

Illustratively, the cleaning tasks include mopping the floor surface with the mopping member, brushing the floor surface or a carpet on the floor surface with the brushing member, and may also include both mopping and brushing the floor surface.

In some embodiments, the workload includes at least one of: the dirt amount absorbed when the mopping piece of the cleaning robot mops the ground power consumption when the cleaning robot cleans the floor, water consumption when the cleaning robot cleans the floor, and a temperature of the cleaning robot the amount of dirt collected when the cleaning robot cleans the floor, the area of the floor cleaned by the cleaning robot, and the path length of the floor cleaned by the cleaning robot.

For example, when the workload comprises the area of the cleaning robot for cleaning the floor, the upper limit value of the workload value field range can be determined according to the variation relationship between the cleaning effect of the mopping piece and the area of the cleaning robot for cleaning the floor; for example, after the cleaning robot is maintained, the cleaning robot is controlled to clean the ground, and when the cleaning effect is poor, the upper limit value of the workload value range is determined according to the area of the ground cleaned by the cleaning robot; the maintenance of the robot includes cleaning or replacing the mop, charging the cleaning robot, replenishing water or draining water from a water tank of the cleaning robot, emptying a dust box of the cleaning robot, and the like.

For example, when the workload includes the amount of dirt adsorbed when the mopping piece mops the floor, the upper limit value of the workload value range may be determined according to the variation relationship between the cleaning effect of the mopping piece and the amount of dirt adsorbed when the mopping piece mops the floor; for example, mopping the floor after the mopping piece is maintained, and when the mopping cleaning effect of the mopping piece on the floor is poor, determining the upper limit value of the range of the working value according to the dirt amount adsorbed by the mopping piece, namely according to the dirt value d of the mopping piece; of course, the upper limit of the range of the workload value field can be determined, for example, from a maximum soiling value d _ max of the mop, which is an empirical value, for example, as can be measured in a laboratory. For example, the lower limit value of the workload value range may be determined according to the upper limit value of the workload value range, for example, 0.6 to 0.8 times the upper limit value.

In some embodiments, said determining a parting line for the room based on the workload value domain range and the graphical feature comprises: determining the workload of each unit area in the room according to the graphic features and/or the room identifier of the room; according to the workload range and the workload of each unit area, determining a partition line of a room so that the sum of the workloads of the unit areas in each preset cleaning area is smaller than or equal to the upper limit value; or determining a partition line of the room according to the workload value domain range and the workload of each unit area, so that the workload value of only one preset cleaning area is smaller than the lower limit value, and the cleaning sequence of the preset cleaning area with the workload value smaller than the lower limit value is behind other preset cleaning areas.

For example, the unit area may be a grid in the cleaning task map, but is not limited thereto, and the unit area may be an area of any area, such as an area of 0.5 square meter, an area of 1 square meter; the unit area may be rectangular or square, but is not limited thereto, and may be, for example, a parallelogram.

Illustratively, there are differences in the workload of different unit areas in the same room, such as often being dirtier areas near corners or where there are more obstacles; for example, the workload of the unit area may be determined according to a distance between the unit area and a boundary of the room and/or an obstacle in the room. For example, the workload of the unit area is inversely related to the distance between the unit area and the boundary of the room and/or the obstacle in the room.

For example, as shown in fig. 4, the environment map includes a plurality of grids, one grid is a unit area, or a plurality of grids are combined into a unit area, the distance between each grid and the obstacle in the environment map is calculated, so as to determine the workload of each unit area, and when a plurality of grids are combined into a unit area, the workload of the unit area is determined according to the maximum distance, the minimum distance, or the average value of the distances between the plurality of grids and the obstacle; the closer to the unit area of the obstacle, the more the workload is, or it can be said that the cleaning cost of the cleaning robot for cleaning the unit area is higher. In fig. 4, S1 represents an obstacle, a black bold line represents a wall, and a number on each grid represents a workload of the grid; for example, a grid adjacent to an obstacle or wall (which may be referred to as a grid with a distance of 1 unit), has a workload of 5, a grid with a distance of 2 units has a workload of 3, and a grid with a distance greater than 2 units has a workload of 1; the working amount of the cleaning area S2 is 5+3=18, and the working amount of the cleaning area S3 is 1+3+1+3=8.

For example, the workload of unit areas in different rooms is different, for example, often a place such as a restaurant/living room where people are more active is a more dirtier area, and a place such as a bedroom/study where people are less active is a cleaner area; for example, the workload of a unit area in a room identified as a restaurant/living room is greater than the workload of a unit area in a bedroom/study.

In some embodiments, the graphical characteristics of the room include the distribution of the contamination in the room (e.g., a thermodynamic map of the contamination), such as the degree of contamination per unit area; the workload of each unit area can be determined according to the dirt degree of the unit area in the room; for example, the amount of work per unit area is positively correlated with the degree of soiling per unit area.

For example, the distribution of dirt in a room may be determined according to the detection result of a sensor of the cleaning robot, such as a visual sensor; or the ground in the room can be shot according to a single image sensor, the shot image is identified, and the distribution condition of the dirt in the room is determined; or after the cleaning robot finishes cleaning different areas in the room, determining the dirt condition of the different areas according to the detection information of the dirt in the cleaning mopping piece, or determining the dirt condition of the different areas according to the dirt amount in the dust collection box.

It should be noted that the distribution of the dirt in the room may be the current distribution of the dirt in the room, and may also be the distribution of the dirt in the room in the historical data.

Compared with the existing method for maintaining the cleaning robot according to the fixed working time, such as backwashing every 10 minutes, or according to the fixed working area of the task, such as backwashing 10 square meters, the fixed working time or the fixed working area of the task cannot really reflect the workload of the cleaning robot, such as the real consumption of the mopping piece. According to the embodiment of the application, the workload of each unit area in the room can be determined according to the graphical characteristics and/or the room identification of the room, the preset cleaning area can be obtained by dividing the room according to the workload of each unit area, the workload of the cleaning robot in the preset cleaning area, such as the dirt adsorption amount of the mopping piece, can be reflected more truly, and the cleaning robot can be ensured to have better cleaning effect and higher cleaning efficiency.

In some embodiments, the determining a partition line of the room such that the partition line and a boundary of the room form at least two preset cleaning zones according to the workload value domain range and the graphical feature comprises: determining preset workload of each region formed after the room is divided according to the workload value domain range and the graphical characteristics; moving the dividing line along the long side of the boundary, and determining the workload of the areas divided by the dividing line; and stopping moving the dividing line when the workload of at least one region divided by the dividing line is equal to the corresponding preset workload.

For example, when the workload of the room is greater than the upper limit value, determining a dividing line of the room so that the dividing line and the boundary of the room form at least two preset cleaning areas; for example, as shown in fig. 3, a living room is divided, the total area of the living room is 48 square meters, and the area formed by dividing the room according to the workload field range includes a preset workload, such as an area with an area of 6 square meters.

Illustratively, the rooms are divided according to their longest edges. Referring to fig. 3, the horizontal length of the living room is 8m, the vertical length is 6m, the longest side of the room is the horizontal side, and a preset cleaning area with a workload equal to 6 square meters needs to be divided; as shown in fig. 3 by the left side of the arrow, the embodiment of the present application moves the dividing line in the lateral direction (indicated by the dotted line), determines whether there is an area having a workload infinitely close to 6 square meters (which may be regarded as equal to 6 square meters) in the divided areas while moving the dividing line in the lateral direction, and stops the movement of the dividing line when the workload of the divided area reaches 6 square meters. On one hand, when the dividing line moves, the variation of the workload of the divided region is smaller, so that the workload of the divided region can be controlled more easily, and the work of the divided region conforms to the preset workload to a greater extent; on the other hand, the occurrence of a narrow and long area (as shown in the right side of the arrow in fig. 3, when the dividing line is moved in the longitudinal direction (short side), an area of 6 square meters is 8 meters long and is a narrow and long area) can be avoided to a greater extent, thereby reducing the difficulty of cleaning by the cleaning robot.

It should be noted that the dividing line may be a straight line, a curved line, or a closed line forming a figure (such as the dividing line forming the region S in fig. 6), or a combination of different line types.

Alternatively, as shown in fig. 3, the dividing line is perpendicular to the long side. So that the divided preset cleaning area is square and convenient for planning a cleaning path.

In some embodiments, the preset cleaning region is divided according to the workload value domain range, and a plurality of division schemes may be generated, for example, at least one dividing line of any two different division schemes is different, so that at least one preset cleaning region of any two different division schemes is different, as compared with the division of the region according to a fixed threshold; and determining a partitioning scheme meeting a preset condition from the plurality of partitioning schemes.

For example, at least two division schemes may be determined according to the workload value field range, the cleaning sequence of at least two rooms, and the area of each room, where at least one dividing line in any two division schemes is different, so that at least one preset cleaning area in any two division schemes is different. For example, referring to fig. 5, the areas of three rooms to be cleaned are 3, 8, and 7 square meters, respectively, the room cleaning sequence is 3 square meters to 8 square meters to 7 square meters, that is, the room cleaning sequence in fig. 5 is room 1 to room 2 to room 3, and each preset cleaning area is obtained by dividing the rooms according to the cleaning sequence of the rooms, that is, the room dividing sequence is based on the room cleaning sequence, as shown in fig. 5, the dividing condition of the room 1 is considered first, the dividing condition of the room 2 is considered second, and the dividing condition of the room 3 is considered last, so that it is ensured that a better cleaning effect and cleaning efficiency can be obtained when each preset cleaning area is cleaned according to the cleaning sequence of the rooms.

Alternatively, the cleaning sequence for at least two of said rooms may be determined by the distance of the rooms from the base station, for example, by cleaning the room further from the base station first, which may prevent the soiled scrubbing element from secondarily contaminating the already cleaned floor.

Optionally, the cleaning sequence of at least two of the rooms may be determined according to the distance between the dirty degrees of the rooms, for example, a room with a higher dirty degree is cleaned first, and then a room with a lower dirty degree is cleaned, so that secondary pollution can be effectively prevented.

For example, referring to fig. 5, when dividing according to the workload value domain range of 5-7 square meters, in all the dividing schemes, the area of each preset cleaning region except the last cleaned preset cleaning region in the partial dividing scheme is within 5-7 square meters, and different dividing schemes include the illustrated dividing scheme 1 to the dividing scheme 3; wherein, the division scheme 1 combines an area of 2 square meters of the room 2 and an area of 3 square meters of the room 1 as a preset cleaning area 1 of 5 square meters, the remaining area of 6 square meters of the room 2 as the preset cleaning area 2, and an area of 7 square meters of the room 3 as the preset cleaning area 3 (the division scheme 1 can be expressed as 3+2 gray 6 gray 7); division scheme 2 combines a 3-square-meter area of room 2 with a 3-square-meter area of room 1 as a 6-square-meter preset cleaning area 1, the remaining 5-square-meter area of room 2 as a preset cleaning area 2, and a 7-square-meter area of room 3 as a preset cleaning area 3 (division scheme 2 can be expressed as 3+3 zero 5 zero 7); the division scheme 3 merges an area of 2 square meters of the room 2 with an area of 3 square meters of the room 1 as a preset cleaning area 1 of 5 square meters, divides the remaining area of 6 square meters of the room 2 into a preset cleaning area 2 of 5 square meters, merges the remaining area of 1 square meters of the room 2 with an area of 5 square meters of the room 3 as a preset cleaning area 3 of 6 square meters, and merges the remaining area of 2 square meters of the room 3 as a preset cleaning area 4 (the division scheme 3 may be expressed as 3+ 2+ 5+ 2). Of course, the partitioning scheme also includes at least one of the following, for example: 3+2 light yellow light 7, 3+2 light 6 red light 6, 3+2 light 6 red light 6

light

1, 3+2 light 6 red light 6, 3+2

light

5, 1, 3, 2

light

5, 1+4 light, 3, 2 light

yellow light

2, 5 light 1, 4 light colored, 3, 2 light yellow light \8230; 90 +

3Y circuitry

5, 3+ 3Y circuitry 6, 3+ 3Y circuitry 5, 2Y circuitry 5, 8230; where the symbol | is used to distinguish different preset cleaning zones and the symbol + is used to indicate that the areas of the preset cleaning zones are summed up from the areas of the zones in different rooms.

For example, a cost value when each preset clean area is completed may be determined according to each preset clean area determined by the division scheme, a cost accumulated value of each division scheme may be determined according to a cost value corresponding to each preset clean area in each division scheme, a partition line corresponding to one division scheme is selected from at least two division schemes whose cost accumulated values satisfy a preset cost condition as a partition line of at least two rooms, or a partition line corresponding to a division scheme with a minimum cost accumulated value is determined as a partition line of at least two rooms.

For example, the cost value may be represented by the number of times that the cleaning robot interrupts the cleaning task, that is, the number of times that the cleaning robot returns to the base station to perform maintenance, and a final partitioning scheme is determined according to the number of times that the cleaning robot interrupts the cleaning task in each partitioning scheme; for example, the division scheme with the minimum number of times of interrupting the cleaning task is selected as the final division scheme, the division scheme meeting the preset condition is the division scheme with the minimum number of times of interrupting the cleaning task, namely the representation cost value is the lowest when the number of times of interrupting the cleaning task is the minimum, and when the preset cleaning area is divided, the division scheme which enables the number of times of interrupting the cleaning task to be the minimum in the cleaning robot is preferentially selected, so that the consumption of the cleaning robot for going to and from the base station is reduced, and the efficiency of the whole cleaning task is improved. Referring to fig. 5, in the division scheme 1 and the division scheme 2, when the

preset cleaning areas

1, 2, and 3 are cleaned for one time, the interruption is performed for 1 time, the cost value of each preset cleaning area can be 1, and the accumulated cost values of the division scheme 1 and the division scheme 2 are 3; in the division scheme 3, the

preset cleaning areas

1, 2, 3, and 4 need to be interrupted for 1 time when cleaning is completed for one time, the cost value of each preset cleaning area can be calculated as 1, and the accumulated cost value of the division scheme 3 is calculated as 4. If the preset cost condition is that the accumulated value of the cost is less than or equal to 3, the division scheme 1 and the division scheme 2 meet the preset cost condition, that is, the division scheme 1 and the division scheme 2 can be used as alternatives. For example, the position of the cleaning robot in each division scheme when the cleaning task is interrupted may be determined, the number of times that the position of the cleaning robot is not at the doorway of the room where the cleaning robot is located when the cleaning task is interrupted is determined, and the final division scheme is determined according to the number of times that the position of the cleaning robot in each division scheme when the cleaning task is interrupted is not at the doorway of the room where the cleaning robot is located, that is, the cost value may be represented by the number of times that the position of the cleaning robot in each division scheme when the cleaning task is interrupted is not at the doorway of the room where the cleaning robot is located; for example, the division scheme with the least number of times that the position of the cleaning robot is not at the door of the room where the cleaning robot is located when the cleaning robot interrupts the cleaning task is selected as the final division scheme, the division scheme meeting the preset condition at this time is the division scheme with the least number of times that the position of the cleaning robot is not at the door of the room where the cleaning robot is located when the cleaning robot interrupts the cleaning task, namely the representation cost value is the lowest when the number of times that the position of the cleaning robot is not at the door of the room where the cleaning robot is located when the cleaning robot interrupts the cleaning task is the smallest, and the division scheme with the least number of times that the position of the cleaning robot interrupts the cleaning task is not at the door of the room where the cleaning robot is located when the preset cleaning area is divided is preferentially selected, so that the possibility of cross contamination caused by the cleaning robot crossing different rooms is reduced, the efficiency of the whole cleaning task is improved, and the cleaning effect is considered at the same time. Referring to fig. 5, a rectangular pattern of hatched padding indicates a doorway of a room, and a circular pattern of hatched padding indicates a location of a base station; when the cleaning task is interrupted in the preset cleaning area 1, the position of the division scheme 1 and the division scheme 2 is not at the door of the room 2, the cost value of the preset cleaning area 1 is 1, when the cleaning task is interrupted in the preset cleaning area 2, the position of the preset cleaning area 2 is at the door of the room 2, the cost value of the preset cleaning area 2 can be 0, when the cleaning interruption of the preset cleaning area 3 is completed or the cleaning task is finished, the cleaning robot can directly enter the base station, at the moment, the position of the cleaning robot can be regarded as being at the door of the room 3, the cost value of the preset cleaning area 3 can be 0, namely, the times that the cleaning tasks are interrupted in the corresponding division scheme 1 and the division scheme 2 are not at the door of the room are 1, and the cost accumulated values can be 1; the dividing scheme 3 is that the positions of the cleaning robot when the cleaning tasks are interrupted in the preset cleaning area 1, the preset cleaning area 2 and the preset cleaning area 3 are not at the door of the room where the cleaning robot is located, so that the cost values of the preset cleaning areas 1, 2 and 3 can be all 1, the cleaning robot can directly enter the base station when the cleaning interruption of the preset cleaning area 4 is completed or the cleaning task is finished, at the moment, the position of the cleaning robot can be regarded as being at the door of the room 3, the cost value of the preset cleaning area 4 can be 0, namely, the number of times that the position of the dividing scheme 3 corresponding to the interruption of the cleaning tasks is not at the door of the room is 3, and the accumulated cost value is 3; if the preset cost condition is that the accumulated value of the cost is less than or equal to 2, the division scheme 1 and the division scheme 2 meet the preset cost condition, that is, the division scheme 1 and the division scheme 2 can be used as alternatives.

For example, when the accumulated value of the costs of a plurality of partition schemes is less than or equal to a preset cost threshold, one partition scheme can be selected from the plurality of partition schemes; or when the cost accumulated values of a plurality of division schemes are smaller than the cost accumulated values of other division schemes, one division scheme can be selected from the plurality of division schemes. By determining the accumulated cost values of all the division schemes and selecting the division scheme with the smaller accumulated cost value as the final division scheme, the cleaning efficiency of the whole cleaning task can be improved, and meanwhile, the cleaning effect of the cleaning robot is also considered.

For example, the determining the cost value for completing each of the preset cleaning areas includes: determining a room where the cleaning robot is located and a backwashing point after the workload of each preset cleaning area is completed, wherein the backwashing point is a position where the robot completes one-time cleaning in one preset cleaning area and needs to return to the base station; and determining the cost value according to the room where the cleaning robot is and the backwashing point. For example, as shown in the division scheme 1 and the division scheme 2 in fig. 5, after the workload of the cleaning area 1 is preset, the room where the cleaning robot is located is the room 2, and the backwashing point is not located at the door of the room 2; after the workload of the preset cleaning area 2 is finished, the room where the cleaning robot is located is the room 2, and the backwashing point is at the door of the room 2; after the workload of the preset cleaning area 3 is completed, the room where the cleaning robot is located is the room 3, the cleaning robot can directly enter the base station, and at this time, it can be regarded that the backwashing point is located at the room door of the room 3. As a division scheme 3 in fig. 5, after the workload of the preset cleaning area 1 is completed, the room where the cleaning robot is located is the room 2, and the backwashing point is not located at the door of the room 2; after the workload of the preset cleaning area 2 is finished, the room where the cleaning robot is located is the room 2, and the backwashing point is not located at the door of the room 2; after the workload of the cleaning area 3 is preset, the room where the cleaning robot is located is a room 3, and a backwashing point is not located at the door of the room 3; after the workload of the preset cleaning area 4 is completed, the room where the cleaning robot is located is the room 3, the cleaning robot can directly enter the base station, and at this time, it can be regarded that the backwashing point is located at the door of the room 3.

For example, the determining the cost value according to the room where the cleaning robot is located and the backwash point includes: determining a cost factor value according to the room where the cleaning robot is located and the backwashing point; and determining the cost value according to the cost factor magnitude.

Optionally, the cost factor magnitude includes at least one of the following: a distance from the backwash point to a doorway of a room where the cleaning robot is located, a number of rooms or preset areas through which the cleaning robot moves from the backwash point to the base station, a path length of the cleaning robot from the backwash point to the base station, a number of rooms or preset areas through which the cleaning robot returns from the base station to the backwash point or a next preset cleaning area, and a path length of the cleaning robot from the base station to the backwash point or a preset cleaning area to be cleaned; wherein the cost value is in positive correlation with the magnitude of each cost factor.

The final division scheme is determined by determining the cost value of each preset cleaning area according to the cost factor value and determining the cost accumulated value of each division scheme according to the cost value corresponding to each preset cleaning area in each division scheme, so that the cleaning efficiency of the whole cleaning task can be improved.

For example, referring to fig. 5, when the backwashing point falls at the door of the room, the distance from the backwashing point to the door of the room where the cleaning robot is located is 0, that is, the value of the cost factor is 0, the cost value corresponding to cleaning of the preset cleaning region is 1, when the backwashing point falls in the room, the distance from the backwashing point to the door of the room where the cleaning robot is located is not 0, that is, the value of the cost factor is not 0, the value of the cost corresponding to cleaning of the preset cleaning region is 2, for the division scheme 1 and the division scheme 2, the value of the cost corresponding to cleaning of the preset cleaning region 1 is 2, and the values of the cost for cleaning of the preset cleaning region 2 and the preset cleaning region 3 are both 1, so that the total cost value accumulated by the division scheme 1 and the division scheme 2, that is 2+1= 4; for the division scheme 3, the corresponding cost values from cleaning the preset cleaning area 1 to cleaning the preset cleaning area 3 are all 2, and the corresponding cost value from cleaning the preset cleaning area 4 is 1, so that the total cost value accumulated by the division scheme 3 is 2+ +2+1=7; if the preset cost condition is that the accumulated cost value is less than or equal to 4, the partitioning scheme 1 and the partitioning scheme 2 are used as alternative partitioning schemes. Certainly, the determination of the cost value corresponding to the preset cleaning area is not limited to this, and further consideration may be given to the cost value, for example, the farther the distance between the backwash point and the doorway of the room where the robot is located is, the larger the cost value is, the higher the cost value is, for example, 3, 4, or 5; for example, as shown in fig. 5, a distance between a backwash point a of the cleaning robot cleaning the preset cleaning area 1 in the partition scheme 1 and the doorway B of the room 2 is greater than a distance between the backwash point a of the cleaning robot cleaning the preset cleaning area 1 in the partition scheme 2 and the doorway B of the room 2, and therefore, a cost value corresponding to the preset cleaning area 1 in the partition scheme 1 is greater than a cost value corresponding to the preset cleaning area 1 in the partition scheme 2.

In some embodiments, the room comprises at least two, and the determining a dividing line of the room based on the workload value field range and the graphical feature such that the dividing line and a boundary of the room form at least two preset cleaning zones comprises: when the magnitude of the workload of the first room is smaller than the minimum value of the workload value domain range and the sum of the magnitude of the workload of the first room and the magnitude of the workload of the second room is larger than the upper limit value, determining a dividing line of the second room according to the workload value domain range and the graphical characteristics of the second room, so that the dividing line and the boundary of the second room form at least two regions, and the sum of the magnitude of the workload of at least one region and the magnitude of the workload of the first room is smaller than or equal to the upper limit value; determining the at least one zone and the zone of the first room as one preset cleaning zone.

For example, referring to fig. 5, wherein the area of the room 1 is less than 5 square meters, and the area of the room 2 is greater than 7 square meters, in the division scheme 2, the room 2 can be divided into an area of 3 square meters and an area of 5 square meters; by combining the 3-square-meter areas of the room 1 and the room 2 as one preset cleaning area, the number of times the cleaning robot returns to the base station for maintenance can be reduced. For example, the base station is not returned after 3 square meters of the room 1 are cleaned, but is returned after 3 square meters of the room 2 are cleaned, then returned after 5 square meters of the room 2 are cleaned again, and returned after 7 square meters of the room 3 are cleaned, and only three times of return is needed; when the robot returns to the base station for the second time and the third time, the position of the cleaning robot, namely a backwashing point, can be located at a place where a room is just cleaned, such as a room door; therefore, the influence of the action of returning to the base station on the planning of the cleaning path is reduced, the cost value of cleaning is reduced compared with the division scheme 3, and the cleaning efficiency can be improved.

In some embodiments, after dividing a preset cleaning region having a workload in the workload value field range, when the workload of a remaining region in the room other than the preset cleaning region is greater than the upper limit value, the division of the remaining region through a division line may be continued. Referring to fig. 3, after a preset cleaning area of 6 square meters is divided in a room of 48 square meters, the workload of the remaining area of 42 square meters is greater than the upper limit value, and the remaining area can be continuously divided by the dividing line.

In some embodiments, the magnitude of the workload of each of the preset cleaning regions is less than or equal to the upper limit value and greater than or equal to the lower limit value in the workload range. On one hand, the problem that the cleaning robot needs to frequently return to a base station for maintenance due to the fact that the area of the preset cleaning area is too small can be solved; on the other hand, the problem that the cleaning effect of the cleaning robot is affected due to the fact that the cleaning force of the cleaning robot is insufficient due to the fact that the area of the preset cleaning area is too large can be solved, namely the maintenance frequency of the cleaning robot can be reduced, the performance of the cleaning robot is fully utilized, and the cleaning efficiency of the cleaning robot is guaranteed.

In some embodiments, only one of the preset cleaning areas has a workload with a magnitude smaller than the lower limit value, and the cleaning sequence of the preset cleaning areas with the workload with the magnitude smaller than the lower limit value is after other preset cleaning areas.

For example, when the room is divided into one or more preset cleaning areas with workload values within the workload value range, and the workload of the remaining area, such as the area, is smaller than the lower limit value, the remaining area may be regarded as a single preset cleaning area, such as the preset cleaning area 4 in the division scheme 3 shown in fig. 5.

For example, when the workload of the remaining area after the room division workload is within the preset cleaning area within the workload field is less than the lower limit value, the remaining area may be merged with the adjacent preset cleaning area; when the workload of the combined area is greater than the upper limit value, the combined area can be divided according to the workload value range to obtain a preset cleaning area with the workload value within the workload value range.

In some embodiments, after the determining a partition line of the room based on the workload value field range and the graphical feature such that the partition line and a boundary of the room demarcate at least two preset cleaning zones, the method further comprises: when there are at least two obstacles in the preset cleaning area, marking the preset cleaning area as an obstacle dense area, or determining the obstacle dense area in the preset cleaning area.

For example, the dense obstacle area is an area such as a restaurant where there are many fragmentary stool legs that need to avoid obstacles, but is not limited thereto. It can be understood that it takes a long time to clean a dense area of obstacles, and if the areas in which obstacles are concentrated are not gathered into one area, the cleaning robot may clean around the obstacles when detecting the obstacles, the cleaning robot may move back and forth, the obstacles cannot be centrally processed, the path is messy, and the controllability is not high. Referring to fig. 7 and 8, the cleaning robot cleans a predetermined cleaning area along an arcuate path, which is shown with four obstacles S1 to S4 on the left side. As shown in fig. 7, the track of the cleaning robot when cleaning the preset cleaning area is sequentially tracks 1-8, wherein when the track 1 touches the obstacle S1, the cleaning robot needs to go around the obstacle S1 clockwise for one turn, that is, the track 2 is obtained; then when the track 3 touches the obstacle S2, the obstacle S2 needs to be detoured clockwise for one circle, and the track 4 is obtained; then, when the track 5 touches the obstacle S2, the obstacle S2 needs to be detoured clockwise for one turn; when the track 5 reaches the left side of the preset cleaning area, the partial area on the left side of the preset cleaning area is not cleaned, and when the partial area is cleaned, the partial area touches the obstacle S3 and turns around the obstacle S3 clockwise to obtain a track 6; the area below the obstacle S2 can then be cleaned by the track 7; then, a part of the area at the upper left corner of the preset cleaning area is not cleaned, and when the part of the area is cleaned, the part of the area touches the obstacle S4 and turns around the obstacle S4 clockwise to obtain a track 8; referring to fig. 7 in conjunction with fig. 8, it can be determined that if the regions in which the obstacles are concentrated are not aggregated into one region, the path of the cleaning robot is comparatively messy and the controllability is not high. The embodiment of the application can be used for independently processing the concentrated region of the obstacles by aggregating the concentrated region of the obstacles into the dense region of the obstacles, so that the cleaning robot can clean the preset cleaning region without the obstacles or clean the obstacles only containing a small amount of obstacles or dispersing the obstacles, reduce the movement of the region around the obstacles, ensure that the cleaning robot has higher controllability, quickly complete the cleaning of most regions, and then clean the concentrated region of the obstacles.

Illustratively, the obstacle dense area is a last-cleaned preset cleaning area of the at least two preset cleaning areas. After the preset cleaning area of the non-obstacle dense area is cleaned, the obstacle dense area is cleaned in a concentrated mode, the user can learn about cleaning better, cleaning of the non-obstacle area is not interrupted, a large part of area can be cleaned as soon as possible, and user experience is better.

In other embodiments, referring to fig. 6, said determining a partition line of said room according to said workload value field range and said graphical feature to divide said partition line and a boundary of said room into at least two preset cleaning areas comprises: according to the distribution situation of the obstacles in the room, determining a dense region of the obstacles in the room, such as a region S of a room 3 in the figure 6; when the quantity value of the workload of the other areas except the obstacle dense area in the room is larger than the upper limit value, according to the workload value field range, determining the dividing line of the room, so that the dividing line and the boundary of the room and the boundary of the obstacle dense area divide at least two preset cleaning areas. Namely, the obstacle dense area in the room can be divided, and then the rest areas are divided to obtain other preset cleaning areas.

For example, it is determined whether each unit area is a unit area in the obstacle dense area according to a distance between each unit area and an obstacle in the room, for example, a unit area having a distance from the obstacle smaller than a preset distance threshold constitutes the obstacle dense area.

The cleaning area division method of the cleaning robot provided by the embodiment of the application comprises the following steps: acquiring graphical features of a room, the graphical features including boundaries of the room; acquiring a workload value domain range; determining a parting line of the room according to the working value domain range and the graphic characteristics so as to enable the parting line and the boundary of the room to form at least two preset cleaning areas, wherein the working value of each preset cleaning area is smaller than or equal to the upper limit value of the working value domain range and larger than or equal to the lower limit value of the working value domain range; or the working amount of only one preset cleaning area is smaller than the lower limit value, and the cleaning sequence of the preset cleaning area with the working amount smaller than the lower limit value is behind other preset cleaning areas; the cleaning robot can achieve a good cleaning effect and high cleaning efficiency when cleaning a room according to the preset cleaning area.

Referring to fig. 9 in conjunction with the above embodiments, fig. 9 is a flowchart illustrating a control method of a cleaning robot according to an embodiment of the present disclosure. The control method of the cleaning robot can be applied to a cleaning system and is used for controlling the cleaning robot in the system so as to enable the cleaning robot to perform a cleaning task, for example, a process of cleaning an area corresponding to a cleaning task map.

As shown in fig. 9, the control method of the cleaning robot includes steps S210 to S220.

S210, determining a preset cleaning area formed in a room according to the cleaning area dividing method;

and S220, controlling the cleaning robot to clean the room according to the preset cleaning area.

Optionally, the cleaning robot is controlled to clean the room according to the preset cleaning area according to the sequence of dividing the preset cleaning area. The order in which the preset cleaning regions are divided may be determined according to the cleaning order of a plurality of rooms.

For example, after the cleaning robot has cleaned any one of the preset cleaning areas, the cleaning robot moves to the base station for maintenance, for example, at least one of cleaning a cleaning member, such as a mop, cleaning dirt in a dust box, charging, replenishing water or draining water from a water tank of the cleaning robot, and the like.

The specific principle and implementation manner of the control method provided by the embodiment of the present application are similar to those of the method in the foregoing embodiment, and are not described herein again.

Please refer to fig. 10 in conjunction with the above embodiments, fig. 10 is a schematic block diagram of a control device 300 according to an embodiment of the present application. The control device 300 comprises a processor 301 and a memory 302.

Illustratively, the processor 301 and the memory 302 are connected by a bus 303, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the Processor 301 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 302 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

Wherein the processor 301 is adapted to run a computer program stored in the memory 302 and to carry out the steps of the aforementioned method when executing said computer program.

Illustratively, the processor 301 is configured to run a computer program stored in the memory 302 and to implement the following steps when executing the computer program:

acquiring a workload value domain range;

determining a dividing line of the room according to the working amount value domain range and the graphical characteristics so that the dividing line and the boundary of the room form at least two preset cleaning areas, wherein the working amount value of each preset cleaning area is smaller than or equal to the upper limit value of the working amount value domain range and larger than or equal to the lower limit value of the working amount value domain range; or the magnitude of the workload of only one preset cleaning area is smaller than the lower limit value, and the cleaning sequence of the preset cleaning area with the workload smaller than the lower limit value is after the other preset cleaning areas.

The specific principle and implementation manner of the control device provided in the embodiment of the present application are similar to those of the method in the foregoing embodiment, and are not described herein again.

In some embodiments, a control device on the base station, such as a base station controller, is used to implement the steps of the method of the embodiments of the present application; a control device on the cleaning robot, such as a robot controller, is used to implement the steps of the method of the embodiments of the present application; of course, the present invention is not limited thereto, and for example, a control device on the base station may be used to implement the steps of the method of the embodiment of the present application.

It will be appreciated that embodiments of the present application also provide a base station for at least performing maintenance on a cleaning robot, for example for cleaning a mop of the cleaning robot, the base station further comprising control means, such as a base station controller, for performing the steps of the method of embodiments of the present application.

An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor is enabled to implement the steps of the above method.

The computer-readable storage medium may be an internal storage unit of the control device according to any of the foregoing embodiments, for example, a hard disk or a memory of the control device. The computer readable storage medium may also be an external storage device of the control apparatus, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the control apparatus.

Referring to fig. 2 in conjunction with the above embodiments, fig. 2 is a schematic diagram of a cleaning system according to an embodiment of the present application.

As shown in fig. 2 to 9, the cleaning system includes:

the cleaning robot 100, the cleaning robot 100 comprises a walking unit 106 and the cleaning member 10, the walking unit 106 is used for driving the cleaning robot 100 to move, so that the cleaning member 10 wipes the floor;

a base station 200, the base station 200 being at least used for performing maintenance on the cleaning robot 100, such as cleaning or replacing a mop of the cleaning robot 100; and

and a control device 300.

The specific principle and implementation manner of the cleaning system provided in the embodiment of the present application are similar to those of the method in the foregoing embodiment, and are not described here again.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It should also be understood that the term "and/or" as used in this application and the appended claims refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A cleaning area dividing method of a cleaning robot, comprising:

acquiring a workload value domain range;

according to the working value domain range and the graphic characteristics, determining a parting line of the room so as to enable the parting line and the boundary of the room to form at least two preset cleaning areas, wherein the working value of each preset cleaning area is smaller than or equal to the upper limit value of the working value domain range and is larger than or equal to the lower limit value of the working value domain range; or alternatively

2. The cleaning area dividing method according to claim 1, wherein the workload includes at least one of: the dirt amount absorbed when the mopping piece of the cleaning robot mops the ground power consumption when the cleaning robot cleans the floor, water consumption when the cleaning robot cleans the floor, and a cleaning time the amount of collected dirt when the cleaning robot cleans the floor, the area of the cleaning robot that cleans the floor, and the path length of the cleaning robot that cleans the floor.

3. The method for dividing a cleaning area according to claim 1, wherein the number of the rooms is at least two, and the determining the dividing line of the room according to the workload value field range and the graphical feature so that the dividing line and the boundary of the room form at least two preset cleaning areas comprises:

determining at least two division schemes according to the workload value field range, the cleaning sequence of at least two rooms and the area of each room, wherein at least one dividing line in any two division schemes is different, so that at least one preset cleaning area in any two division schemes is different;

determining a cost value when each preset cleaning area is finished according to each preset cleaning area determined by the division scheme, determining a cost accumulated value of each division scheme according to the cost value corresponding to each preset cleaning area in each division scheme, and selecting a partition line corresponding to one division scheme from at least two division schemes with the cost accumulated values meeting preset cost conditions as a partition line of at least two rooms, or determining a partition line corresponding to the division scheme with the minimum cost accumulated value as a partition line of at least two rooms.

4. The cleaning region division method according to claim 3, wherein the determining the cost value at the time of completion of each of the preset cleaning regions comprises: determining a room where the cleaning robot is located and a backwashing point after the workload of each preset cleaning area is completed, wherein the backwashing point is a position where the robot needs to return to a base station when one preset cleaning area is completed; and determining the cost value according to the room where the cleaning robot is and the backwashing point.

5. The cleaning area division method according to claim 4, wherein the determining the cost value according to the room in which the cleaning robot is located and the backwash point includes:

determining a cost factor value according to the room where the cleaning robot is located and the backwashing point; determining the cost value according to the cost factor quantity value;

the cost factor magnitude comprises at least one of: a distance from the backwash point to a doorway of a room where the cleaning robot is located, a number of rooms or preset areas through which the cleaning robot moves from the backwash point to the base station, a path length of the cleaning robot from the backwash point to the base station, a number of rooms or preset areas through which the cleaning robot returns from the base station to the backwash point or a next preset cleaning area, and a path length of the cleaning robot from the base station to the backwash point or a preset cleaning area to be cleaned;

wherein the cost value is in positive correlation with the magnitude of each cost factor.

6. The method according to claim 1, wherein the rooms are at least two, and the determining the dividing line of the room according to the workload value field range and the graphical feature such that the dividing line and the boundary of the room form at least two preset cleaning areas comprises:

when the magnitude of the workload of the first room is smaller than the minimum value of the workload value domain range and the sum of the magnitude of the workload of the first room and the magnitude of the workload of the second room is larger than the upper limit value, determining a dividing line of the second room according to the workload value domain range and the graphical characteristics of the second room, so that the dividing line and the boundary of the second room form at least two regions, and the sum of the magnitude of the workload of at least one region and the magnitude of the workload of the first room is smaller than or equal to the upper limit value;

determining the at least one zone and the zone of the first room as one preset cleaning zone.

7. The clean area division method according to claim 1, wherein the determining a dividing line of the room based on the workload value field range and the graphical feature comprises:

determining the workload of each unit area in the room according to the graphical characteristics and/or the room identifier of the room;

according to the workload range and the workload of each unit area, determining a partition line of a room so that the sum of the workloads of the unit areas in each preset cleaning area is smaller than or equal to the upper limit value; or determining a partition line of the room according to the workload value domain range and the workload of each unit area, so that the workload value of only one preset cleaning area is smaller than the lower limit value of the workload value domain range, and the cleaning sequence of the preset cleaning area with the workload value smaller than the lower limit value is after other preset cleaning areas.

8. The clean area division method of claim 7, wherein the workload of the unit area is inversely related to the distance between the unit area and the boundary of the room and/or the obstacle in the room; and/or positively correlated with the degree of soiling of the unit area.

9. The cleaning area dividing method according to any one of claims 1 to 8, wherein the workload value range is at least two, and the acquiring the workload value range includes:

determining a workload value range for dividing the preset cleaning area in at least two workload value range ranges according to the selection operation of a user; or

And determining a workload value range for dividing the preset cleaning area in at least two workload value range ranges according to the graphic characteristics of the room and/or the cleaning habits of the user.

10. The clean area dividing method according to any one of claims 1 to 8, wherein the determining a dividing line of the room such that the dividing line and a boundary of the room form at least two preset clean areas, based on the workload value field range and the graphic feature, comprises:

determining preset workload of each region formed after the room is divided according to the workload value domain range and the graphical features;

moving the dividing line along the long side of the boundary, and determining the workload of the area divided by the dividing line;

and stopping moving the dividing line when the workload of at least one region divided by the dividing line is equal to the corresponding preset workload.

11. The cleaning region dividing method according to claim 10, wherein the dividing line is perpendicular to the long side.

12. The cleaning region dividing method according to any one of claims 1 to 8, wherein the determining a dividing line of the room such that the dividing line and a boundary of the room divide at least two preset cleaning regions, based on the workload value field range and the graphical feature, comprises:

determining dense areas of the obstacles in the room according to the distribution of the obstacles in the room;

when the quantity value of the workload of the other areas except the obstacle dense area in the room is larger than the upper limit value, according to the workload value field range, determining the dividing line of the room, so that the dividing line and the boundary of the room and the boundary of the obstacle dense area divide at least two preset cleaning areas.

13. The cleaning region dividing method according to any one of claims 1 to 8, wherein after the determining of the dividing line of the room based on the workload value field range and the graphical feature so that the dividing line and the boundary of the room divide at least two preset cleaning regions, the method further comprises:

when at least two obstacles exist in the preset cleaning area, marking the preset cleaning area as an obstacle dense area, or determining the obstacle dense area in the preset cleaning area;

wherein the obstacle dense area is a last-cleaned preset cleaning area of the at least two preset cleaning areas.

14. A control method of a cleaning robot, characterized by comprising:

the cleaning region dividing method according to any one of claims 1 to 13, determining a preset cleaning region formed in a room;

15. A control device of a cleaning robot, characterized in that the control device comprises a memory and a processor;

wherein the memory is for storing a computer program;

the processor, configured to execute the computer program and when executing the computer program, implement:

a step of the cleaning region dividing method according to any one of claims 1 to 13; and/or

The method of controlling a cleaning robot according to claim 14.

16. A cleaning system, comprising:

a base station for at least maintaining the cleaning robot; and

the control device of claim 15.

17. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement:

The steps of the control method of the cleaning robot according to claim 14.