WO2020207391A1 - 清洁控制方法、装置、清洁机器人和存储介质 - Google Patents

清洁控制方法、装置、清洁机器人和存储介质 Download PDF

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Publication number
WO2020207391A1
WO2020207391A1 PCT/CN2020/083618 CN2020083618W WO2020207391A1 WO 2020207391 A1 WO2020207391 A1 WO 2020207391A1 CN 2020083618 W CN2020083618 W CN 2020083618W WO 2020207391 A1 WO2020207391 A1 WO 2020207391A1
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WIPO (PCT)
Prior art keywords
cleaning
area
space
node
cleaned
Prior art date
Application number
PCT/CN2020/083618
Other languages
English (en)
French (fr)
Inventor
吴一昊
周敬威
赵涂昊
Original Assignee
云鲸智能科技（东莞）有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 云鲸智能科技（东莞）有限公司 filed Critical 云鲸智能科技（东莞）有限公司
Priority to JP2021560084A priority Critical patent/JP7269368B2/ja
Priority to GB2115679.9A priority patent/GB2597399B/en
Priority to CA3136649A priority patent/CA3136649A1/en
Priority to EP20786759.9A priority patent/EP3949820A4/en
Priority to AU2020256598A priority patent/AU2020256598B2/en
Priority to KR1020217034901A priority patent/KR102679414B1/ko
Publication of WO2020207391A1 publication Critical patent/WO2020207391A1/zh
Priority to US17/498,079 priority patent/US20220022718A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
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    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
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    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
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    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
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    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
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    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/0009—Storing devices ; Supports, stands or holders
    • A47L9/0063—External storing devices; Stands, casings or the like for the storage of suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2873—Docking units or charging stations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • This application relates to the technical field of smart devices.
  • it relates to a cleaning control method, device, cleaning robot and storage medium.
  • the cleaning robot can automatically perform a cleaning operation in a home space or a large place waiting to be cleaned to clean the space to be cleaned, thereby saving a lot of cleaning time for the user.
  • the cleaning robot uses a fixed area as a unit Search for the first clean area in the surrounding uncleaned area. See Figure 1. The size of the first clean area is 5m ⁇ 5m. Then the first clean area is cleaned in an arcuate trajectory. After cleaning the first clean area, Continue to search for the second clean area in the nearest uncleaned area according to the area size of 5m ⁇ 5m, and then continue to clean the second clean area, and so on, the cleaning robot divides the home space into multiple clean areas of the same size, The cleaning operations are sequentially performed on multiple cleaning areas in units of cleaning areas.
  • the cleaning robot When the power of the cleaning robot is insufficient or the cleaning parts included in the cleaning robot need to be cleaned, the cleaning robot will move through the entrance and exit to the area where the base station of the cleaning robot is located for charging or cleaning, and then return to the cleaning area being cleaned to continue the cleaning operation.
  • the embodiments of the present application provide a cleaning control method, device, cleaning robot, and storage medium, which can solve the problem that the cleaning robot passes through the cleaned area including the entrance and exit during the cleaning operation, and pollutes the cleaned area including the entrance and exit.
  • the technical solution is as follows:
  • a cleaning control method which is applied when a cleaning robot cleans an unknown space to be cleaned.
  • the cleaning robot is used in conjunction with a base station, and the base station is a cleaning device used by the cleaning robot.
  • the space is provided with an entrance, the base station or the entrance is a reference object, and the cleaning control method includes:
  • Step S1 Obtain a map of the space to be cleaned as a first space map, where the first space map is used to indicate the space to be cleaned or the subspace to be cleaned in the space to be cleaned, and the subspace to be cleaned is State the uncleaned area in the space to be cleaned;
  • Step S2 Based on the first space map, divide the space to be cleaned into at least one clean area, and an entrance and exit is provided between two adjacent and connected clean areas;
  • Step S3 Set a cleaning sequence for the cleaning area, and the cleaning sequence satisfies that no other clean area that has been cleaned is allowed to pass through the path from the entrance of any cleaning area in the cleaning sequence to the reference object;
  • Step S4 sequentially performing cleaning operations on the cleaning areas of the space to be cleaned in the cleaning order in units of the cleaning areas.
  • a cleaning control device which is applied when cleaning an unknown space to be cleaned, and is used in conjunction with a base station.
  • the base station is a cleaning device used by the cleaning robot, and the space to be cleaned is provided with a Entrance and exit, the base station or the entrance and exit are reference objects, wherein the device includes:
  • the first obtaining module is configured to obtain a map of the space to be cleaned as a first space map, and the first space map is used to indicate the space to be cleaned or the subspace to be cleaned in the space to be cleaned, and the subspace to be cleaned Is an uncleaned area in the space to be cleaned;
  • a dividing module configured to divide the space to be cleaned into at least one clean area based on the first space map, and an entrance and exit is provided between two adjacent and connected clean areas;
  • the first setting module is configured to set a cleaning sequence for the cleaning area, and the cleaning sequence satisfies that no other cleaned area is allowed to pass through the path from the entrance to the reference object in any cleaning area in the cleaning sequence Clean area;
  • the execution module is configured to sequentially perform cleaning operations on the cleaning areas of the space to be cleaned in accordance with the cleaning sequence in units of the cleaning area.
  • a cleaning robot in another aspect, and the cleaning robot includes:
  • One or more processors and one or more memories where at least one instruction, at least one program, code set or instruction set is stored, the instruction, the program, the code set or The instruction set is loaded and executed by the one or more processors to implement operations performed by any one of the above-mentioned cleaning control methods.
  • a computer-readable storage medium stores at least one instruction, at least one program, code set or instruction set, and the instruction, the program, The code set or the instruction set is loaded and executed by a processor to realize the operation performed by any one of the above cleaning control methods.
  • the cleaning robot obtains the map of the space to be cleaned as the first space map, and based on the first space map, the space to be cleaned is divided into at least one cleaning area, and the cleaning sequence is set for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations of the clean areas of the space to be cleaned are performed in order in the cleaning sequence in the unit of cleaning area.
  • the cleaning robot performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • FIG. 1 is a schematic diagram of dividing a clean area provided by the background art
  • FIG. 2 is a schematic diagram of an application scenario of a cleaning control method provided by an embodiment of the present application
  • Figure 3 is a perspective schematic view of a cleaning robot provided by an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present application after part of the housing is removed;
  • FIG. 5 is a schematic diagram of a bottom view structure of a mopping robot provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a bottom view structure of another sweeping robot provided by an embodiment of the present application.
  • FIG. 7 is a structural block diagram of a cleaning robot provided by an embodiment of the present application.
  • Fig. 8 is a front view of a base station provided by an embodiment of the present application.
  • FIG. 9 is a perspective schematic diagram of a base station provided by an embodiment of the present application after the top cover is opened;
  • FIG. 10 is a structural block diagram of a base station provided by an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a cleaning robot driving toward a base station according to an embodiment of the present application.
  • FIG. 12 is a schematic diagram of a state in which a cleaning robot is docked on a base station according to an embodiment of the present application
  • FIG. 13 is a flowchart of a cleaning control method provided by an embodiment of the present application.
  • Figure 14 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 15 is a schematic diagram of a first spatial map provided by an embodiment of the present application.
  • FIG. 16 is a schematic diagram of another first spatial map provided by an embodiment of the present application.
  • FIG. 17 is a schematic diagram of a reference direction provided by an embodiment of the present application.
  • FIG. 18 is a schematic diagram of another reference direction provided by an embodiment of the present application.
  • FIG. 19 is a schematic diagram of determining a first unclean point provided by an embodiment of the present application.
  • FIG. 20 is another schematic diagram of determining the first uncleaned point provided by an embodiment of the present application.
  • 21 is a schematic diagram of moving along a bow-shaped trajectory provided by an embodiment of the present application.
  • 22 is another schematic diagram of moving along a bow-shaped track provided by an embodiment of the present application.
  • Figure 23 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 24 is a schematic diagram of another first spatial map provided by an embodiment of the present application.
  • FIG. 25 is a schematic diagram of scanning a first spatial map through horizontal scanning lines according to an embodiment of the present application.
  • FIG. 26 is a schematic diagram of scanning a first space map by scanning lines inclined at 45° according to an embodiment of the present application.
  • FIG. 27 is a schematic diagram of multiple clean areas obtained by merging after scanning a first spatial map through horizontal scanning lines according to an embodiment of the present application
  • FIG. 28 is a schematic diagram of multiple clean areas after scanning a first spatial map by scanning lines inclined at 45° according to an embodiment of the present application;
  • FIG. 29 is a schematic diagram of a connected graph provided by an embodiment of the present application.
  • FIG. 30 is a schematic diagram of configuring a cleaning direction for a cleaning area provided by an embodiment of the present application.
  • FIG. 31 is another schematic diagram of configuring a cleaning direction for a cleaning area provided by an embodiment of the present application.
  • FIG. 32 is a schematic diagram of determining a first unclean point provided by an embodiment of the present application.
  • FIG. 33 is another schematic diagram of moving along a bow-shaped track provided by an embodiment of the present application.
  • FIG. 34 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 35 is a schematic diagram of configuring weights between nodes according to an embodiment of the present application.
  • FIG. 36 is a schematic diagram of an area sequence tree provided by an embodiment of the present application.
  • FIG. 37 is a schematic diagram of another connected graph provided by an embodiment of the present application.
  • FIG. 38 is a schematic diagram of another area sequence tree provided by an embodiment of the present application.
  • FIG. 39 is a schematic diagram of another area sequence tree provided by an embodiment of the present application.
  • FIG. 40 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 41 is a schematic diagram of another first spatial map provided by an embodiment of the present application.
  • FIG. 42 is a schematic diagram of scanning a first spatial map through longitudinal scanning lines according to an embodiment of the present application.
  • FIG. 43 is a schematic diagram of multiple clean areas obtained by merging after scanning a first spatial map through longitudinal scanning lines according to an embodiment of the present application.
  • FIG. 44 is another schematic diagram of multiple clean areas obtained by merging after scanning a first spatial map through longitudinal scanning lines according to an embodiment of the present application.
  • FIG. 45 is a schematic diagram of another connected graph provided by an embodiment of the present application.
  • FIG. 46 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 47 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 48 is a schematic diagram of another first spatial map provided by an embodiment of the present application.
  • FIG. 49 is another schematic diagram of scanning a first space map through horizontal scanning lines according to an embodiment of the present application.
  • FIG. 50 is another schematic diagram of scanning a first space map through longitudinal scanning lines according to an embodiment of the present application.
  • FIG. 51 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 52 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 53 is another schematic diagram of scanning a first space map through longitudinal scanning lines according to an embodiment of the present application.
  • FIG. 54 is another schematic diagram of scanning a first spatial map through horizontal scan lines according to an embodiment of the present application.
  • FIG. 55 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • Figure 56 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 57 is a schematic diagram of an obstacle encountered by a cleaning robot during a cleaning operation provided by an embodiment of the present application.
  • FIG. 58 is a schematic diagram of another first spatial map provided by an embodiment of the present application.
  • FIG. 59 is another schematic diagram of scanning a first space map by longitudinal scanning lines according to an embodiment of the present application.
  • FIG. 60 is another schematic diagram of multiple clean areas obtained by merging after scanning a first spatial map through longitudinal scanning lines according to an embodiment of the present application.
  • FIG. 61 is another schematic diagram of multiple clean areas obtained by merging after scanning a first spatial map through longitudinal scanning lines according to an embodiment of the present application;
  • FIG. 62 is another schematic diagram of configuring a cleaning direction for a cleaning area according to an embodiment of the present application.
  • FIG. 63 is a schematic diagram of another first spatial map provided by an embodiment of the present application.
  • Fig. 64 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 65 is a flowchart of a cleaning control device provided by an embodiment of the present application.
  • FIG. 66 is a schematic diagram of another first spatial map provided by an embodiment of the present application.
  • FIG. 67 is another schematic diagram of scanning a first space map by longitudinal scanning lines according to an embodiment of the present application.
  • FIG. 68 is a schematic diagram of another connected graph provided by an embodiment of the present application.
  • FIG. 69 is another schematic diagram of an obstacle encountered by a cleaning robot during a cleaning operation provided by an embodiment of the present application.
  • FIG. 70 is a schematic diagram of another first spatial map provided by an embodiment of the present application.
  • FIG. 71 is another schematic diagram of obtaining multiple clean areas after scanning a first spatial map through horizontal scanning lines according to an embodiment of the present application
  • FIG. 72 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 73 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 74 is a schematic diagram of another first spatial map provided by an embodiment of the present application.
  • FIG. 75 is a schematic diagram of another connected graph provided by an embodiment of the present application.
  • FIG. 76 is another schematic diagram of configuring a cleaning direction for a cleaning area provided by an embodiment of the present application.
  • FIG. 77 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 78 is a schematic diagram of another first spatial map provided by an embodiment of the present application.
  • FIG. 79 is a schematic diagram of another connected graph provided by an embodiment of the present application.
  • FIG. 80 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 81 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 82 is a flowchart of another cleaning control method provided by an embodiment of the present application.
  • FIG. 83 is a schematic diagram of another first spatial map provided by an embodiment of the present application.
  • FIG. 84 is a schematic diagram of a room area provided by an embodiment of the present application.
  • FIG. 85 is another schematic diagram of obtaining multiple clean areas after scanning a first spatial map through horizontal scanning lines according to an embodiment of the present application.
  • FIG. 86 is another schematic diagram of configuring a cleaning direction for a cleaning area provided by an embodiment of the present application.
  • Fig. 87 is a schematic structural diagram of a cleaning control device provided by an embodiment of the present application.
  • the application scenario includes a cleaning robot 100 and a base station 200.
  • the cleaning robot 100 is used to automatically clean the floor of the space to be cleaned
  • the base station 200 is a cleaning device used in conjunction with the cleaning robot 100 to charge the cleaning robot 100 or to clean the cleaning parts of the cleaning robot 100.
  • the cleaning robot 100 is provided with a cleaning element and a driving device, the driving device is used to drive the cleaning robot 100, and the cleaning element is used to automatically clean the floor of the space to be cleaned.
  • the cleaning member may be a mopping module or a sweeping module, and the mopping module is used for mopping and cleaning the ground.
  • the mopping module may be a mopping member, and the mopping member may be a rag.
  • the sweeping module is used for sweeping and cleaning the ground, and the sweeping module can be a side brush.
  • the space to be cleaned is provided with an entrance, and the entrance is used for the cleaning robot 100 to enter and exit the space to be cleaned through the entrance.
  • the cleaning robot 100 needs to go to the area where the base station 200 is located for charging or cleaning cleaning parts, it can enter and exit the space to be cleaned through the entrance and exit.
  • the space to be cleaned may be a single room unit in a family space, the space to be cleaned is a partial area of a room unit, or the space to be cleaned is a room area composed of multiple room units, or the space to be cleaned is a family space.
  • the space to be cleaned can also be an office in an office building, a large shopping mall or an airport and other public places. In the embodiments of the present application, the space to be cleaned is not specifically limited.
  • the entrance and exit can be the door of the room unit; when the space to be cleaned is a partial area of a room unit, the entrance can be the position where the cleaning robot 100 enters and exits the partial area. ; When the space to be cleaned is a family space, the entrance can be the door of the family space.
  • the cleaning robot 100 when cleaning the space to be cleaned, obtains a map of the space to be cleaned as a first space map. Based on the first space map, the space to be cleaned is divided into at least one cleaning area. The cleaning sequence is set for the cleaning area, and the cleaning operations are performed in sequence in the cleaning area of the space to be cleaned in accordance with the cleaning sequence in units of the cleaning area. This method prevents the cleaning robot 100 from contaminating the cleaned area that has been cleaned when it moves to the area where the base station 200 is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning robot, and the cleaning robot 100 can be used to automatically clean the ground.
  • FIG. 3 is a three-dimensional schematic diagram of the cleaning robot 100 provided by an embodiment of the application
  • FIG. 4 is a schematic structural diagram of the cleaning robot 100 shown in FIG. 3 after part of the housing is removed.
  • the types of the cleaning robot 100 include a sweeping robot 1001 and a mopping robot 1002.
  • FIG. 5 is a schematic bottom view of the structure of the mopping robot 1002 provided by an embodiment of the application
  • FIG. 6 is a schematic view of the bottom structure of the sweeping robot 1001 provided by an embodiment of the application
  • FIG. 7 is another schematic view of the structure of the cleaning robot 100 provided by an embodiment of the application .
  • the cleaning robot 100 includes a robot main body 101, a drive motor 102, a sensor unit 103, a controller 104, a battery 105, a walking unit 106, a memory 107, a communication unit 108, a robot interaction unit 109, and cleaning parts. , And charging components 111 and so on.
  • the robot body 101 may have a circular structure, a square structure, or the like. In the embodiment of the present application, description is made by taking the robot body 101 having a D-shaped structure as an example. As shown in FIG. 3, the front part of the robot body 101 is a rectangular structure with rounded corners, and the rear part is a semicircular structure. In the embodiment of the present application, the robot body 101 has a symmetrical structure.
  • the cleaning element is used to clean the ground, and the number of cleaning elements can be one or more.
  • the cleaning element is arranged at the bottom of the robot main body 101, specifically at a front position of the bottom of the robot main body 101.
  • a driving motor 102 is provided inside the robot main body 101, two rotating shafts extend from the bottom of the robot main body 101, and the cleaning member is sleeved on the rotating shafts.
  • the driving motor 102 can drive the rotating shaft to rotate, so that the rotating shaft drives the cleaning member to rotate.
  • the cleaning member is specifically a mopping member 1101, and the mopping member 1101 is, for example, a mop.
  • the mopping member 1101 is used for mopping and cleaning the ground.
  • the cleaning member is specifically a side brush 1102, and the side brush 1102 is used for sweeping and cleaning the ground.
  • the cleaning robot 1001 is also provided with a dust suction device, which includes a dust suction port 1121 provided at the bottom of the robot main body 101 and a dust box 1122 and a fan 1123 provided inside the robot main body 101.
  • the side brush 1102 is set on the rotating shaft at the bottom of the sweeping robot 1001. After the rotating shaft drives the side brush 1102, the rotating side brush 1102 sweeps dust and other garbage to the vicinity of the suction port 1121 at the bottom of the sweeping robot 1001. Due to the suction effect of the fan 1123, The garbage is sucked into the dust suction port 1121 and enters the dust box 1122 through the dust suction port 1121 for temporary storage.
  • the cleaning member of the cleaning robot 100 can be set in a detachable connection mode.
  • the mopping member 1101 is installed on the bottom of the robot body 101; when cleaning is required, The side brush 1102 is used to replace the wiper 1101, and the side brush 1102 is installed on the bottom of the robot body 101.
  • the walking unit 106 is a component related to the movement of the cleaning robot 100, and the walking unit 106 includes a driving wheel 1061 and a universal wheel 1062.
  • the universal wheel 1062 and the driving wheel 1061 cooperate to realize the steering and movement of the cleaning robot 100.
  • a driving wheel 1061 is provided at a position near the rear of the bottom surface of the robot body 101, a driving wheel 1061 is provided on the left and right sides.
  • the universal wheel 1062 is arranged on the center line of the bottom surface of the robot body 101 and is located between the two cleaning parts.
  • each driving wheel 1061 is provided with a driving wheel motor, and driven by the driving wheel motor, the driving wheel 1061 rotates. After the driving wheel 1061 rotates, it drives the cleaning robot 100 to move. By controlling the difference in rotation speed of the left and right driving wheels 1061, the steering angle of the cleaning robot 100 can be controlled.
  • FIG. 7 is another schematic diagram of the structure of the cleaning robot 100 shown in FIG. 3.
  • the controller 104 is provided inside the robot body 101, and the controller 104 is used to control the cleaning robot 100 to perform specific operations.
  • the controller 104 may be, for example, a central processing unit (CPU) or a microprocessor (Microprocessor). As shown in FIG. 7, the controller 104 is electrically connected with components such as the battery 105, the memory 107, the driving motor 102, the walking unit 106, the sensor unit 103, and the robot interaction unit 109 to control these components.
  • the battery 105 is provided inside the robot body 101, and the battery 105 is used to provide power to the cleaning robot 100.
  • the robot body 101 is also provided with a charging component 111, which is used to obtain electric power from an external device to charge the battery 105 of the cleaning robot 100.
  • the memory 107 is arranged on the robot body 101, and a program is stored in the memory 107, and the program is executed by the controller 104 to realize corresponding operations.
  • the memory 107 is also used to store parameters used by the cleaning robot 100.
  • the memory 107 includes, but is not limited to, a magnetic disk memory, a CD-ROM (Compact Disc Read-Only Memory), an optical memory, and the like.
  • the communication unit 108 is provided on the robot main body 101.
  • the communication unit 108 is used to allow the cleaning robot 100 to communicate with external devices.
  • the communication unit 108 includes, but is not limited to, a wireless fidelity (WI-Fidelity, WI-FI) communication module 1081 and a short distance Communication module 1082 and so on.
  • the cleaning robot 100 may be connected to a WI-FI router through the WI-FI communication module 1081 to communicate with the terminal.
  • the cleaning robot 100 communicates with the base station through the short-range communication module 1082.
  • the base station is a cleaning device that cooperates with the cleaning robot 100.
  • the sensor unit 103 provided on the robot body 101 includes various types of sensors, such as a lidar 1031, a collision sensor 1032, a distance sensor 1033, a drop sensor 1034, a counter 1035, and a gyroscope 1036.
  • the lidar 1031 is set on the top of the robot body 101.
  • the lidar 1031 rotates and emits a laser signal through the transmitter on the lidar 1031.
  • the laser signal is reflected by the obstacle, so that the receiver of the lidar 1031 receives the obstacle The reflected laser signal.
  • the circuit unit of the lidar 1031 can obtain surrounding environment information by analyzing the received laser signal, such as the distance and angle of obstacles relative to the lidar 1031.
  • a camera can also be used instead of lidar, and the distance and angle of the obstacle relative to the camera can also be obtained by analyzing the obstacle in the image taken by the camera.
  • the collision sensor 1032 includes a collision housing 10321 and a trigger sensor 10322.
  • the collision housing 10321 surrounds the head of the robot main body 101. Specifically, the collision housing 10321 is provided at the front position of the head of the robot main body 101 and the left and right sides of the robot main body 101.
  • the trigger sensor 10322 is arranged inside the robot body 101 and behind the collision housing 10321.
  • An elastic buffer is provided between the collision housing 10321 and the robot body 101. When the cleaning robot 100 collides with an obstacle through the collision housing 10321, the collision housing 10321 moves to the inside of the cleaning robot 100 and compresses the elastic buffer.
  • the collision housing 10321 After the collision housing 10321 moves a certain distance inside the cleaning robot 100, the collision housing 10321 contacts the trigger sensor 10322, and the trigger sensor 10322 is triggered to generate a signal, which can be sent to the controller 104 in the robot body 101 for processing . After hitting the obstacle, the cleaning robot 100 moves away from the obstacle, and under the action of the elastic buffer member, the collision housing 10321 moves back to the original position. It can be seen that the collision sensor 1032 can detect obstacles and play a buffering role when it collides with obstacles.
  • the distance sensor 1033 may specifically be an infrared detection sensor, which may be used to detect the distance from the obstacle to the distance sensor 1033.
  • the distance sensor 1033 is arranged on the side of the robot main body 101, so that the distance from the obstacle located near the side of the cleaning robot 100 to the distance sensor 1033 can be measured by the distance sensor 1033.
  • the distance sensor 1033 may also be an ultrasonic distance measuring sensor, a laser distance measuring sensor, or a depth sensor.
  • the drop sensor 1034 is provided on the bottom edge of the robot body 101, and the number can be one or more. When the cleaning robot 100 moves to the edge of the ground, the drop sensor 1034 can detect that the cleaning robot 100 is at risk of falling from a height, so as to perform a corresponding anti-drop response, for example, the cleaning robot 100 stops moving or moves away from the falling position The direction of the movement and so on.
  • a counter 1035 and a gyroscope 1036 are also provided inside the robot body 101.
  • the counter 1035 is used to accumulate the total number of rotation angles of the driving wheel 1061 to calculate the distance the driving wheel 1061 drives the cleaning robot 100 to move.
  • the gyroscope 1036 is used to detect the rotation angle of the cleaning robot 100, so that the orientation of the cleaning robot 100 can be determined.
  • the robot interaction unit 109 is provided on the robot main body 101, and the user can interact with the cleaning robot 100 through the robot interaction unit 109.
  • the robot interaction unit 109 includes components such as a switch button 1091 and a speaker 1092, for example.
  • the user can control the cleaning robot 100 to start or stop working by pressing the switch button 1091.
  • the cleaning robot 100 may play a prompt sound to the user through the speaker 1092.
  • the cleaning robot 100 described in the embodiment of the present application is only a specific example, and does not specifically limit the cleaning robot 100 in the embodiment of the present application.
  • the cleaning robot 100 in the embodiment of the present application may also be implemented in other specific implementations.
  • the cleaning robot 100 may have more or fewer components than the cleaning robot 100 shown in FIG. 3.
  • the cleaning robot 100 may be an integrated sweeping and mopping robot, that is, the bottom of the cleaning robot 100 is provided with a wiper, a side brush, and an air suction port, so that the cleaning robot 100 can simultaneously mopping and sweeping the ground.
  • the embodiment of the present application also provides a base station 200, which is used in conjunction with the cleaning robot 100.
  • the base station 200 can charge the cleaning robot 100, and the base station 200 can provide a parking position for the cleaning robot 100.
  • the cleaning robot 100 is the mopping robot 1002
  • the base station 200 can also clean the mopping part 1101 of the mopping robot 1002.
  • the mopping member 1101 is used for mopping and cleaning the ground.
  • FIG. 8 is a front view of a base station 200 according to an embodiment of the application.
  • FIG. 9 is a perspective schematic diagram of the base station 200 shown in FIG. 8 after the top cover 201 is opened.
  • the base station 200 in the embodiment of the present application includes a base station main body 202, a cleaning tank 203 and a water tank 204.
  • the cleaning tank 203 is provided on the main body 202 of the base station, and the cleaning tank 203 is used for cleaning the mop 1101 of the mopping robot 1002.
  • the cleaning rib 2031 provided on the cleaning tank 203 can scrape and clean the wiper 1101.
  • An inlet slot 205 is provided on the base station main body 202, and the inlet slot 205 leads to the cleaning tank 203.
  • the cleaning robot 100 may drive into the base station 200 through the entry slot 205 so that the cleaning robot 100 is parked at a preset parking position on the base station 200.
  • the water tank 204 is arranged in the base station main body 202, and the water tank 204 specifically includes a clean water tank and a sewage tank.
  • the clean water tank is used to store clean water.
  • the cleaning robot 100 is a mopping robot 1002 and the mopping robot 1002 is provided with a wiper 1101 at the bottom
  • the cleaning robot 100 is parked on the base station 200, and the wiper 1101 of the cleaning robot 100 is accommodated in the cleaning tank 203.
  • the clean water tank provides cleaning water to the cleaning tank 203, and the cleaning water is used to clean the mop 1101.
  • the dirty sewage after cleaning the wiper 1101 is collected in the sewage tank.
  • a top cover 201 is provided on the base station main body 202, and the user can take out the water tank 204 from the base station main body 202 by opening the top cover 201.
  • FIG. 10 is another schematic diagram of the structure of the base station 200 shown in FIG. 8.
  • the base station 200 of the embodiment of the present application further includes a controller 206, a communication unit 207, a memory 208, a water pump 209, a base station interaction unit 210, and the like.
  • the controller 206 is disposed inside the base station main body 202, and the controller 206 is used to control the base station 200 to perform specific operations.
  • the controller 206 may be, for example, a central processing unit (CPU) or a microprocessor (Microprocessor).
  • the controller 206 is electrically connected to the communication unit 207, the memory 208, the water pump 209, and the base station interaction unit 210.
  • the memory 208 is arranged on the main body 202 of the base station, and a program is stored in the memory 208, and the program is executed by the controller 206 to implement corresponding operations.
  • the memory 208 is also used to store parameters used by the base station 200.
  • the memory 208 includes, but is not limited to, magnetic disk storage, CD-ROM, optical storage, and the like.
  • the water pump 209 is arranged inside the main body 202 of the base station. Specifically, there are two water pumps 209. One water pump 209 is used to control the clean water tank to provide cleaning water to the cleaning tank 203, and the other water pump 209 is used to clean the dirty wiper 1101. The sewage is collected in the recovery tank.
  • the communication unit 207 is set on the base station main body 202.
  • the communication unit 207 is used to communicate with external devices.
  • the communication unit 207 includes but is not limited to a wireless fidelity (WI-Fidelity, WI-FI) communication module 2071 and a short-range communication module 2072, etc. .
  • the base station 200 can connect to a WI-FI router through the WI-FI communication module 2071, so as to communicate with the terminal.
  • the base station 200 may communicate with the cleaning robot 100 through the short-range communication module 2072.
  • the base station interaction unit 210 is used to interact with users.
  • the base station interaction unit 210 includes, for example, a display screen 2101 and a control button 2102.
  • the display screen 2101 and the control button 2102 are arranged on the base station body 202.
  • the display screen 2101 is used to display information to the user, and the control button 2102 is used for the user to perform pressing operations. Control the startup or shutdown of the base station 200, etc.
  • the base station body 202 is also provided with a power supply component, and the cleaning robot 100 is provided with a charging component 111.
  • the charging component 111 of the cleaning robot 100 and the power supply component of the base station 200 Contact, so that the base station 200 charges the cleaning robot 100.
  • the electric energy of the base station 200 can be derived from the city power.
  • the cleaning robot 100 cleans the floor of the room.
  • the cleaning robot 100 automatically drives to the base station 200.
  • the cleaning robot 100 enters the base station 200 through the entrance slot 205 on the base station 200 and stops at a preset parking position on the base station 200.
  • the state of the cleaning robot 100 parked on the base station 200 can be seen in FIG. 12.
  • the charging component 111 on the cleaning robot 100 is in contact with the power supply component on the base station 200, and the base station 200 obtains power from the mains, and charges the battery 105 of the cleaning robot 100 through the power supply and charging component 111. After the cleaning robot 100 is fully charged, it drives away from the base station 200 and continues to clean the floor of the room.
  • the cleaning robot 100 When the cleaning robot 100 is a mopping robot 1002 and a mopping member 1101 is provided on the bottom of the mopping robot 1002, the cleaning robot 100 is used for mopping and cleaning the ground.
  • the cleaning robot 100 mops the floor of the room for a period of time.
  • the cleaning robot 100 drives to the base station 200.
  • the cleaning robot 100 enters the base station 200 through the entrance slot 205 on the base station 200 and stops at a preset parking position on the base station 200.
  • the state of the cleaning robot 100 parked on the base station 200 can be seen in FIG. 12.
  • the wiper 1101 of the cleaning robot 100 is accommodated in the cleaning tank 203.
  • the cleaning water from the clean water tank in the base station 200 flows to the cleaning tank 203, and is sprayed through the liquid inlet structure on the cleaning tank 203.
  • the wiper 1101 rubs with the raised cleaning rib 2031 in the cleaning tank at the same time, so as to realize the cleaning of the wiper 1101.
  • the dirty sewage after cleaning the wiper 1101 flows out of the cleaning tank 203 from the drainage structure on the cleaning tank, and is collected into the sewage tank under the action of the water pump 209.
  • the base station 200 described in the embodiment of the present application is only a specific example, and does not constitute a specific limitation to the base station 200 in the embodiment of the present application.
  • the base station 200 in the embodiment of the present application may also be implemented in other specific implementation manners.
  • the base station 200 may not include the water tank 204, and the base station main body 202 may be connected to a tap water pipe and a drain pipe, so that the wiper 1101 of the cleaning robot 100 is cleaned with tap water from the tap water pipe.
  • the base station 200 flows out through the drain pipe.
  • the base station 200 may have more or fewer components than the base station 200 shown in FIG. 8.
  • the embodiment of the present application provides a cleaning control method. See FIG. 13, which is applied when the cleaning robot 100 cleans an unknown space to be cleaned.
  • the cleaning robot 100 is used in conjunction with a base station 200, which is used by the cleaning robot 100.
  • the space to be cleaned is provided with an entrance and exit, and the base station 200 or the entrance and exit are reference objects.
  • the cleaning control method includes:
  • Step S1 Obtain a map of the space to be cleaned as a first space map, where the first space map is used to indicate the space to be cleaned or a subspace to be cleaned in the space to be cleaned, and the subspace to be cleaned is an uncleaned area in the space to be cleaned;
  • Step S2 Based on the first space map, the space to be cleaned is divided into at least one clean area, and there is an entrance and exit between two adjacent and connected clean areas;
  • Step S3 Set a cleaning sequence for the cleaning area, and the cleaning sequence satisfies that no other clean area that has been cleaned is allowed to pass through the path from the entrance of any cleaning area to the reference object in the cleaning sequence;
  • Step S4 Perform a cleaning operation on the cleaning area of the space to be cleaned in order in a cleaning order in the unit of the cleaning area.
  • step S2 the method further includes:
  • Step S5 Determine the first space map.
  • the first space map is regular, use the space to be cleaned or the subspace to be cleaned as the cleaning area
  • step S6 Set the cleaning direction and the cleaning starting point for the cleaning area, and the cleaning area is to be cleaned.
  • the first space map rule is defined as: there is at least one path from any point in the first space map to the reference object and there is no movement in the opposite direction to the reference direction in the path
  • the reference direction is the direction in which any point in the space to be cleaned or the subspace to be cleaned points to the reference object, and the connecting area between the point and the reference object does not pass through obstacles.
  • step S4 a method of sequentially performing cleaning operations on the clean areas of the space to be cleaned in a cleaning order by taking the cleaning area as a unit, including:
  • Step S41 Set a cleaning direction for the cleaning area, and the cleaning direction is the reference direction;
  • Step S42 Based on the cleaning direction, a cleaning starting point is set for the cleaning area, and the cleaning starting point is a point on the edge of the cleaning area that is opposite to the cleaning direction;
  • Step S43 Starting from the cleaning starting point with the cleaning area as a unit, perform a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and the cleaning sequence.
  • step S41 the method further includes:
  • Step S7 Select the cleaning area according to the cleaning order, and judge the area map of the cleaning area.
  • the area map is regular, perform step S41 for cleaning. Otherwise, use the area map as the first space map and the clean area as the space to be cleaned.
  • Step S2 is executed, and the regional map rule is defined as: there is at least one path from any point in the regional map to the entrance and exit, and there is no moving path in the opposite direction that tends to the entrance and exit direction.
  • the method further includes:
  • step S2 a method of dividing the space to be cleaned into at least one cleaning area includes:
  • the space to be cleaned is divided according to the room information in the first space map to obtain at least one clean area.
  • step S2 the method further includes:
  • a right-angle reference coordinate system including X axis and Y axis, the reference direction is perpendicular to the X axis, and the reference direction is the positive direction of the Y axis;
  • Step S2 Based on the first space map, the method of dividing the space to be cleaned into at least one clean area includes:
  • Step S21 At the position of the reference object, scan the first space map through the horizontal scan line, and the horizontal scan line is perpendicular to the reference direction;
  • the scanned area in the first space map has an adjacent and unscanned area in the positive direction of the Y axis, advance the horizontal scan line along the positive direction of the Y axis to scan the adjacent and unscanned area;
  • the scanned area in the first space map has an adjacent and unscanned area in the negative direction of the Y axis, advance the horizontal scan line along the negative direction of the Y axis to scan the adjacent and unscanned area;
  • Step S22 Taking the position where the horizontal scanning line is cut by the first space map and the edge of the first space map as the dividing line, the continuous areas scanned in the same direction are merged, thereby dividing the space to be cleaned into At least one clean area.
  • step S2 the method further includes:
  • a right-angle reference coordinate system including X-axis and Y-axis, the reference direction is perpendicular to the X-axis, and the reference direction is the positive direction of the Y-axis;
  • Step S2 Based on the first space map, the method of dividing the space to be cleaned into at least one clean area includes:
  • Step S201 At the position of the reference object, scan the first space map through the longitudinal scan line, and the longitudinal scan line is parallel to the reference direction;
  • the scanned area in the first space map has an adjacent and unscanned area in the positive X-axis direction, advance the longitudinal scan line along the positive X-axis to scan the adjacent and unscanned area;
  • the scanned area in the first space map has an adjacent and unscanned area in the negative X-axis direction, advance the longitudinal scan line along the negative X-axis to scan the adjacent and unscanned area;
  • Step S202 Taking the position where the longitudinal scan line is cut by the first space map and the edge of the first space map as the dividing line, the continuous areas scanned in the same direction are merged, thereby dividing the space to be cleaned into At least one clean area.
  • step S2 the method further includes:
  • a right-angle reference coordinate system including X axis and Y axis, the reference direction is perpendicular to the X axis, and the reference direction is the positive direction of the Y axis;
  • Step S2 Based on the first space map, dividing the space to be cleaned into at least one cleaning area includes:
  • Step S211 at the position of the reference object, scan the first space map through the horizontal scan line and the vertical scan line, the horizontal scan line is perpendicular to the reference direction, and the vertical scan line is parallel to the reference direction;
  • the scanned area in the first space map has an adjacent and unscanned area in the positive direction of the Y axis, advance the horizontal scan line along the positive direction of the Y axis to scan the adjacent and unscanned area;
  • the scanned area in the first space map has an adjacent and unscanned area in the negative direction of the Y axis, advance the horizontal scan line along the negative direction of the Y axis to scan the adjacent and unscanned area;
  • the scanned area in the first space map has an adjacent and unscanned area in the positive X-axis direction, advance the longitudinal scan line along the positive X-axis to scan the adjacent and unscanned area;
  • the scanned area in the first space map has an adjacent and unscanned area in the negative X-axis direction, advance the longitudinal scan line along the negative X-axis to scan the adjacent and unscanned area;
  • Step S212 Taking the position where the horizontal scan line and the vertical scan line are cut by the first spatial map and the edge of the first spatial map as the dividing line, merge the areas scanned in the same direction, so as to combine the areas to be cleaned.
  • the space is divided into at least one clean area.
  • step S3 before step S3, the method further includes:
  • the cleaning area When the area of the cleaning area is less than the preset value, the cleaning area is merged with other adjacent cleaning areas whose area is larger than the preset value.
  • the method of merging the clean area with other adjacent clean areas whose area is larger than a preset value includes:
  • the cleaning area is merged into the cleaning area scanned by the scanning lines advanced in the same direction.
  • step S3 a method of setting a cleaning sequence for the cleaning area, including:
  • Step S301 Based on the clean area, establish an area sequence tree.
  • the area sequence tree includes at least one node. Each node represents a clean area in the space to be cleaned.
  • a node is connected to at least one node.
  • the nodes include a top node, a parent node, and Child node, two connected nodes. The node near the top node is the parent node, and the node far away from the top node is the child node.
  • the clean area represented by the parent node is adjacent to the clean area represented by the child node, or one of the parent node and the child node.
  • the node represents the isolated clean area
  • the other node represents the clean area closest to the isolated clean area
  • the clean area represented by the top node is the clean area where the reference object is located, and any non-top node node in the area sequence tree to the top node Only one path;
  • Step S302 Based on the area sequence tree, set the cleaning sequence of multiple cleaning areas.
  • step S301: based on the clean area, the method of establishing an area sequence tree includes:
  • Step S3011 setting a node representing each clean area
  • Step S3012 According to the connection relationship between the clean areas, when the clean areas represented by any two nodes are adjacent, or one of the nodes represents an isolated clean area, and the other node represents the clean area closest to the isolated clean area, connect the two Nodes, construct a connected graph of clean areas;
  • Step S3013 Build an area sequence tree based on the connected graph.
  • step S3013 the method of establishing a sequence tree of regions according to the connected graph includes:
  • the connected graph is taken as the area sequential tree
  • the connected graph When there are multiple paths from a node with a non-top node to the top node in the connected graph, the connected graph is de-looped to obtain an area sequential tree.
  • the loop is a circular path formed by connecting at least three nodes in sequence. The loop makes the connected graph There are multiple paths from a node with a non-top node to the top node.
  • step S302 based on the area sequence tree, the method of setting the cleaning sequence of multiple cleaning areas includes:
  • Step S3021 Determine the first target cleaning area based on the area sequence tree
  • Step S3022 Based on the area sequence tree, query the parent node of the first target node representing the first target clean area, query whether the parent node of the first target node has child nodes that represent non-first target clean areas, if not, change The cleaning area represented by the parent node of the first target node is taken as the second target cleaning area; if there is, the cleaning area represented by the lowest node in the child nodes is taken as the second target cleaning area;
  • Step S3023 Based on the area sequence tree, query the parent node of the second target node representing the second target cleaning area, and query whether the parent node of the second target node has children representing the non-first target cleaning area and the non-second target cleaning area If there is no node, the cleaning area represented by the parent node of the second target node is taken as the third target cleaning area, and if there is, the cleaning area represented by the lowest node in the child node is taken as the third target cleaning area;
  • Step S3024 Query the third target cleaning area in the area sequence tree, until the cleaning area indicated by the top node is set as the last target cleaning area.
  • step S3021 the method for determining the first target cleaning area based on the area sequence tree includes:
  • the first space map determine the first cleaning area closest to the current first position of the cleaning robot
  • the target subtree is the local area sequence tree with the starting node as the top node in the area sequence tree, and the leaf nodes are the areas. There are nodes with parent nodes but no children in the sequence tree;
  • the clean area represented by the start node is taken as the first target clean area.
  • the cleaning direction of the cleaning area indicated by the top node is the same as the reference direction.
  • the cleaning direction of the cleaning area indicated by the child node points to the child
  • the cleaning area represented by the parent node of the node, and the cleaning direction of the cleaning area represented by the child node is parallel or perpendicular to the reference direction.
  • step S42 a method of setting a cleaning starting point for the cleaning area includes:
  • the cleaning area search for the first uncleaned point closest to the current first position of the cleaning robot; in the cleaning area, within a preset length range perpendicular to the cleaning direction, the opposite of the cleaning direction Search for the second uncleaned point of the clean area in the direction, the second uncleaned point is the uncleaned point farthest from the first uncleaned point in the cleaning direction; based on the second uncleaned point, determine the cleaning starting point of the cleaned area; or,
  • the cleaning area Based on the area map, in the cleaning area, starting from the current first position of the cleaning robot, scan and search for the first uncleaned point in the cleaning area in the opposite direction of the cleaning direction in the form of a scan line.
  • the scan line is perpendicular to the cleaning direction.
  • the first uncleaned point is the uncleaned point farthest from the first position in the cleaning direction; based on the first uncleaned point, the cleaning starting point of the cleaned area is determined; or,
  • the cleaning area Based on the area map, in the cleaning area, take the entrance edge of the cleaning area as the starting position of the cleaning robot, and search for the first uncleaned point in the cleaning area in the opposite direction of the cleaning direction.
  • the first uncleaned point is the distance in the cleaning direction
  • the uncleaned point that is the furthest away from the starting position of the cleaned area; based on the first uncleaned point, the cleaning start point of the cleaned area is determined; or,
  • the first uncleaned point closest to the current first position of the cleaning robot is searched out; based on the first uncleaned point, the cleaning starting point of the cleaned area is determined.
  • the method of determining the cleaning starting point of the cleaned area based on the first uncleaned point includes:
  • the method further includes:
  • Step S8 When an obstacle is encountered during the cleaning operation, when the obstacle crosses at least two cleaning areas, and the distance of the obstacle is greater than the first threshold, obtain a second space map of the uncleaned area in the space to be cleaned , The second space map is used as the first space map, and step S2 is executed: a step of dividing the space to be cleaned into at least one cleaning area based on the first space map.
  • the cleaning robot is provided with a cleaning element, and the cleaning element is used for the cleaning robot to perform cleaning operations on the ground; the cleaning element is a mopping module, and the mopping module is used for mopping and cleaning the ground;
  • the clean space is a room unit.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from contaminating the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as a room unit, and the room unit is a regular room unit, and the cleaning robot 100 directly uses the room unit as a cleaning area ,
  • the cleaning operation of the room unit is described as an example, and the method includes:
  • Step S1401 the cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • edge cleaning means that the cleaning robot 100 cleans the ground along the edge of the wall, and the edge cleaning can be completed when the cleaning robot 100 finishes cleaning the space to be cleaned along the edge of the wall.
  • the cleaning robot 100 can obtain edge information of the space to be cleaned through edge cleaning.
  • the bow-shaped cleaning means that the cleaning robot 100 gradually advances in the cleaning direction and turns back and forth in a direction perpendicular to the cleaning direction.
  • the first space map is used to indicate the space to be cleaned or the subspace to be cleaned in the space to be cleaned, where the subspace to be cleaned is an uncleaned area in the space to be cleaned.
  • the cleaning robot 100 obtains a first space map of the space to be cleaned, and stores the first space map; in this step, the cleaning robot 100 performs the cleaning control method To directly obtain the stored first spatial map.
  • the cleaning robot 100 can store the first space map on the memory, and accordingly, the cleaning robot 100 can read the first space map from the memory.
  • the cleaning robot 100 may obtain the first space map of the space to be cleaned in this step.
  • the cleaning robot 100 obtains the first space map of the space to be cleaned in the following six implementation modes.
  • a lidar is installed on the cleaning robot 100.
  • the step for the cleaning robot 100 to obtain the first space map of the space to be cleaned may be: the cleaning robot 100 can be treated by the lidar installed on the cleaning robot 100
  • the cleaning space is detected to obtain a first space map of the space to be cleaned.
  • the cleaning robot 100 can obtain the first space map of the space to be cleaned by cleaning along the edge; correspondingly, the step of the cleaning robot 100 obtaining the first space map of the space to be cleaned can be: cleaning robot 100 The edge of the space to be cleaned is cleaned, and the first space map is obtained according to the cleaning track of the edge part.
  • the cleaning robot 100 may clean the edges of the space to be cleaned as follows: The edges of each room unit are cleaned.
  • an inertial measurement unit and a collision sensor are installed on the cleaning robot 100.
  • the step of the cleaning robot 100 to obtain the first space map of the space to be cleaned may be: the cleaning robot 100 uses the inertial measurement unit and the collision sensor The space to be cleaned is detected to obtain a first space map of the space to be cleaned.
  • a vision sensor is installed on the cleaning robot 100.
  • the step of the cleaning robot 100 obtaining the first space map of the space to be cleaned may be: the cleaning robot 100 detects the space to be cleaned by the vision sensor to obtain the The first space map of the space to be cleaned.
  • the server stores the first space map of the space to be cleaned, and the cleaning robot 100 obtains the first space map of the space to be cleaned from the server; accordingly, the cleaning robot 100 obtains the first space map of the space to be cleaned.
  • the steps of the space map may be: the cleaning robot 100 sends an acquisition request to the server, the acquisition request carries the area identification of the space to be cleaned; the server receives the acquisition request, and obtains the first space map of the space to be cleaned according to the area identification, The first space map of the space to be cleaned is sent to the cleaning robot 100; the cleaning robot 100 receives the first space map of the space to be cleaned.
  • the user directly inputs the first space map of the space to be cleaned to the cleaning robot 100 through the terminal.
  • the step of the cleaning robot 100 acquiring the first space map may be: the cleaning robot 100 receives the first space map of the space to be cleaned input by the terminal.
  • the manner in which the cleaning robot 100 obtains the first spatial map is not specifically limited.
  • the first space map obtained by the cleaning robot 100 may include the area size of the space to be cleaned, the location of the entrance and exit, the location of the base station, or the location of the door.
  • the first space map may also include the area size of each room unit and the position of the door between two adjacent room units.
  • the space to be cleaned is a room unit
  • the first space map obtained by the cleaning robot 100 may be the first space map shown in FIG. 15, and there is only one room unit in the first space map.
  • the first space map obtained by the cleaning robot 100 may also be the first space map shown in FIG. 16, in which there is only one room unit, and the room unit has a base station.
  • Step S1402 The cleaning robot 100 judges the first space map.
  • the first space map is regular, the space to be cleaned or the subspace to be cleaned is regarded as the cleaning area, and step S1403 is executed for cleaning.
  • the first space map rule is defined as: there is at least one path from any point in the first space map to the reference object and there is no movement path in the opposite direction that tends to the reference direction in the path.
  • the reference object is the base station or the entrance and exit
  • the reference direction is the direction in which any point in the space to be cleaned or the subspace to be cleaned points to the reference object, and the connecting area between the point and the reference object does not pass through obstacles.
  • the step of the cleaning robot 100 determining whether the first space map is regular may be: for any point in the first space map, the cleaning robot 100 determines at least one path from the point to the reference object; for each path in the at least one path, The cleaning robot 100 determines whether there is a moving path opposite to the reference direction in the path; when there is no moving path opposite to the reference direction, the cleaning robot 100 determines the first space map rule; when there is a moving path opposite to the reference direction During the path, the cleaning robot 100 determines that the first space map is irregular.
  • the cleaning robot 100 executes step S1403.
  • the cleaning robot 100 determines the map rule.
  • the first spatial map is the map shown in FIG. 16
  • there are base stations and doors in the map For example, taking the base station as a reference, there is at least one path from any point on the map to the door, and there is no trend in the path.
  • the movement path in the opposite direction of the reference direction, the reference direction is the direction in which any point on the map points to the base station, and the connection area between the point and the base station does not pass through obstacles. Therefore, the cleaning robot 100 determines the map rule.
  • Step S1403 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • the cleaning robot 100 directly uses the space to be cleaned or the subspace to be cleaned as the cleaning area.
  • the cleaning direction of the one clean area is the reference direction.
  • the reference direction is the direction in which any point of the space to be cleaned or the subspace to be cleaned points to the reference object, and the connecting area between the point and the reference object does not pass through obstacles.
  • the cleaning robot 100 directly corresponds to the space to be cleaned.
  • the subspace to be cleaned is used as a cleaning area
  • a cleaning direction is set for the cleaning area
  • the cleaning direction is the reference direction.
  • the door in the map is a reference object
  • the reference direction may be a direction horizontally pointing to the door, that is, the cleaning direction, see FIG. 17.
  • the reference direction may be a direction perpendicular to the base station, that is, the cleaning direction, see FIG. 18.
  • Step S1404 The cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • This step can be implemented in any of the following implementation modes.
  • the cleaning robot 100 can be implemented through the following steps (A1) to (A2), including:
  • the cleaning robot 100 searches for the first uncleaned spot closest to the current first position of the cleaning robot 100 in the cleaning area.
  • the cleaning robot 100 determines the current first position of the cleaning robot 100 in the area map, and searches the area map for the closest point to the current first position of the cleaning robot 100 according to the first position.
  • the position indicated by the nearest point of the first position in the cleaning area is regarded as the first uncleaned point.
  • the cleaning robot 100 can start the search from the current first position of the cleaning robot 100, so that the first unclean spot closest to the current position of the cleaning robot 100 can be searched as soon as possible, thereby improving the search efficiency. Also, when the cleaning robot 100 searches for multiple uncleaned spots that are closest to the current first position of the cleaning robot 100, the cleaning robot 100 may select the first uncleaned spot from the multiple uncleaned spots. The cleaning robot 100 may randomly select an uncleaned spot from a plurality of uncleaned spots, and use the selected uncleaned spot as the first uncleaned spot. The cleaning robot 100 may also select an uncleaned point in a direction opposite to the cleaning direction from a plurality of uncleaned points based on the cleaning direction, and use the selected uncleaned point as the first uncleaned point.
  • the cleaning robot 100 selects an uncleaned point in a direction opposite to the cleaning direction from a plurality of uncleaned points as the first cleaning point, so as to ensure that the selected uncleaned point is a point far from the entrance edge. Further improve the subsequent cleaning efficiency.
  • the cleaning robot 100 searches for a second uncleaned spot in the cleaning area in the opposite direction of the cleaning direction within a preset length range perpendicular to the cleaning direction.
  • the second uncleaned spot is The uncleaned spot farthest from the first uncleaned spot in the direction.
  • the preset length may be less than the length of the edge of the cleaned area, thereby reducing the range of searching for the second uncleaned spot, so as to reduce the searching time.
  • the preset length can be set and changed as needed.
  • the preset length is not specifically limited; for example, the preset length can be 1 body width, 2 body widths or 3 of the cleaning robot 100. Body width, etc.
  • the cleaning robot 100 can also directly search for the second uncleaned point in the space to be cleaned in the direction opposite to the cleaning direction in the cleaning area, so as to ensure that the searched second uncleaned point is the first uncleaned point in the cleaning area.
  • An uncleaned spot furthest away from an uncleaned spot, further improving subsequent cleaning efficiency.
  • the cleaning robot 100 determines the cleaning starting point of the cleaning area based on the second uncleaned point.
  • the cleaning robot 100 directly uses the second uncleaned point as the cleaning starting point of the cleaning area. In another possible implementation manner, the cleaning robot 100 determines whether there is an uncleaned spot on the edge where the second uncleaned spot is located, and when there is an uncleaned spot on the edge where the second uncleaned spot is located, the cleaning robot 100 moves To the end of the edge, use the end of the edge as the starting point of cleaning for the cleaning area.
  • the cleaning robot 100 can be implemented through the following steps (B1) to (B2), including:
  • the cleaning robot 100 starts from the current first position of the cleaning robot 100 in the cleaning area and scans and searches for the first uncleaned point in the cleaning area in the form of scan lines in the opposite direction of the cleaning direction.
  • the first uncleaned spot is the uncleaned spot farthest from the first position in the cleaning direction.
  • the cleaning robot 100 starts from the current first position of the cleaning robot 100, and scans in the direction opposite to the cleaning direction in the form of horizontal scan lines in the area map.
  • the third uncleaned spot is scanned, the third uncleaned spot is recorded. Point position, and then continue to scan.
  • the fourth uncleaned point is scanned, and the first distance between the third uncleaned point and the current first position of the cleaning robot 100 is less than the fourth uncleaned point and the cleaning
  • delete the position of the third uncleaned spot record the position of the fourth uncleaned spot, when the first distance is greater than the second distance, discard the fourth uncleaned spot Location, and then continue scanning until the area map is scanned.
  • the cleaning robot 100 maps the finally recorded position to the cleaning area to obtain the first uncleaned point.
  • the first spatial map is the map shown in FIG. 15 and the cleaning direction is the cleaning direction shown in FIG. 17, the first uncleaned point finally determined by the cleaning robot 100 is P, see FIG. 19;
  • a spatial map is the map shown in FIG. 16, and when the cleaning direction is the cleaning direction shown in FIG. 18, the first uncleaned point finally determined by the cleaning robot 100 is Q, see FIG. 20.
  • the cleaning robot 100 determines the cleaning starting point of the cleaning area based on the first uncleaned point.
  • the cleaning robot 100 directly uses the first uncleaned point as the cleaning starting point of the cleaning area.
  • the cleaning robot 100 determines whether there is an uncleaned spot on the edge where the first uncleaned spot is located, and when there is an uncleaned spot on the edge where the first uncleaned spot is located, it moves to the edge of the edge. End point, the end point of the edge is used as the cleaning starting point of the clean area; when there is no unclean point on the edge where the first unclean point is located, the first unclean point is directly used as the cleaning starting point of the clean area.
  • the cleaning robot 100 can move to any end point of the edge, for example, move to the left end point of the edge or move to the right end point of the edge.
  • the cleaning robot 100 can be implemented through the following steps (C1) to (C2), including:
  • the cleaning robot 100 uses the entrance edge of the cleaning area as the starting position of the cleaning robot 100 in the cleaning area, and searches for the first uncleaned point in the cleaning area in the opposite direction of the cleaning direction ,
  • the first uncleaned point is the uncleaned point farthest from the starting position of the cleaning area in the cleaning direction.
  • the cleaning robot 100 can use any point on the edge of the entrance of the cleaning area as the starting position of the cleaning robot 100.
  • the center point on the entrance side of the cleaning area is used as the starting position of the cleaning robot 100, or the end point of the entrance side of the cleaning area is used as the starting position of the cleaning robot 100.
  • the left end point of the entrance edge of the cleaning area is taken as the starting position of the cleaning robot 100, or the right end point of the entrance edge of the cleaning area is taken as the starting position of the cleaning robot 100.
  • the cleaning robot 100 determines the cleaning starting point of the cleaning area based on the first uncleaned point.
  • This step S is the same as step (B2) and will not be repeated here.
  • the cleaning robot 100 can be implemented through the following steps (D1) to (D2), including:
  • the cleaning robot 100 searches for the first uncleaned spot closest to the current first position of the cleaning robot 100 in the cleaning area.
  • This step S is the same as step (A1) and will not be repeated here.
  • the cleaning robot 100 determines the cleaning starting point of the cleaning area based on the first uncleaned point.
  • This step S is the same as step (B2) and will not be repeated here.
  • the cleaning robot 100 can determine the cleaning starting point of the cleaning area through any of the above four implementation manners.
  • the cleaning robot 100 may also select any one of the above four implementation methods to determine the cleaning starting point of the cleaning area according to the current first position of the cleaning robot 100. For example, when the current first position of the cleaning robot 100 is in the cleaning area, the cleaning robot 100 may determine the cleaning starting point of the cleaning area through the above first, second, and fourth implementations. When the current first position of the cleaning robot 100 is not in the cleaning area, the cleaning robot 100 may determine the cleaning starting point of the cleaning area through the above third implementation manner.
  • Step S1405 the cleaning robot 100 starts from the cleaning starting point and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction.
  • the cleaning robot 100 uses the cleaning area as a unit and moves along a bow-shaped trajectory from the cleaning starting point.
  • the bow-shaped trajectory gradually advances in the cleaning direction and turns back and forth in a direction perpendicular to the cleaning direction.
  • the cleaning robot 100 uses a cleaning area as a unit and the determined cleaning starting point is shown in FIG. 19
  • the cleaning robot 100 starts from point P and gradually advances in a horizontal direction along a bow-shaped trajectory, see FIG. 21.
  • the cleaning robot 100 takes the cleaning area as a unit and the determined cleaning starting point is shown in FIG. 20
  • the cleaning robot 100 starts from point Q and gradually advances in the vertical direction along a bow-shaped trajectory, see FIG. 22.
  • the cleaning robot 100 when the cleaning robot 100 encounters an obstacle during the cleaning operation, the cleaning robot 100 first moves around the obstacle, and at the same time the cleaning member cleans the ground, so as to clean the ground around the edge of the obstacle. Since the cleaning robot 100 often does not include obstacle information in the first spatial map acquired in step S1401, the cleaning robot 100 can detect obstacles through the sensors provided on the cleaning robot 100 during the cleaning process, especially for obstacles. After the orbiting, the obstacle information can be fully detected. Among them, the obstacle information mainly includes the crossing distance and coverage area of the obstacle. Since there is only one cleaning area in the embodiment of the present application, the cleaning robot 100 can still perform the cleaning operation in the original cleaning direction after encountering an obstacle.
  • the cleaning robot 100 when the battery power in the cleaning robot 100 is insufficient and reaches the power threshold, the cleaning robot 100 records the current cleaning position, moves to the base station for charging operation, and returns to the cleaning position after the charging is completed. Continue the cleaning operation.
  • the cleaning robot 100 records the current cleaning position, and the cleaning robot 100 moves to the base station to perform the cleaning operation of the cleaning part. After the cleaning operation is completed, the cleaning robot 100 returns to the cleaning position and continues to perform the cleaning operation.
  • the cleaning robot 100 can simultaneously perform charging and cleaning operations at the base station.
  • a cleaning element is provided on the cleaning robot 100, and the cleaning element is used for the cleaning robot 100 to perform a cleaning operation on the ground.
  • the cleaning element is a mopping module or a sweeping module.
  • the cleaning element is a mopping module
  • the mopping module is used for mopping and cleaning the ground
  • the mopping module may be a mop.
  • the cleaning element is a sweeping module
  • the sweeping module is used for sweeping and cleaning the ground
  • the sweeping module may be a sweeping brush.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from contaminating the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as a room unit, the room unit is an irregular room unit, and the cleaning robot 100 scans the first space through a horizontal scan line Map, divide the space to be cleaned into at least one cleaning area, and directly use the acyclic connected graph as the area sequence tree, set the cleaning sequence according to the area sequence tree, and do not encounter any problems during the cleaning operation of the room unit Taking obstacles as an example, the method includes:
  • Step S2301 the cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • Step S2301 is the same as step S1401, and will not be repeated here.
  • the first spatial map acquired by the cleaning robot 100 is the map shown in FIG. 24.
  • Step S2302 The cleaning robot 100 judges the first space map, and when the first space map is irregular, execute step S2303.
  • step S1402 the process of the cleaning robot 100 judging the first space map is the same as step S1402, and will not be repeated here.
  • step S2303 the cleaning robot 100 executes step S2303.
  • the cleaning robot 100 uses the house door as a reference object, and some points in the map reach the house. There is at least one path for the door, but there is a moving path in the opposite direction to the reference direction.
  • the reference direction is the direction that any point on the map points to the door, and the connecting area between the point and the door does not pass through obstacles , Therefore, the map is irregular. Then the cleaning robot 100 executes step S2303.
  • Step S2303 Based on the first space map, the cleaning robot 100 scans the first space map through horizontal scan lines to divide the space to be cleaned into at least one cleaning area.
  • the cleaning robot 100 uses the reference object as the origin to set a right-angle reference coordinate system, including the X axis and the Y axis.
  • the reference direction may be perpendicular to the X axis and the reference direction is the positive direction of the Y axis; or the reference direction may be perpendicular to the Y axis and the reference direction is the positive direction of the X axis. In the embodiments of the present application, this is not specifically limited.
  • the cleaning robot 100 sets the reference direction as the positive direction of the Y axis.
  • This step can be achieved through the following steps (1) to (4), including:
  • the cleaning robot 100 scans the first space map through the horizontal scan line.
  • the horizontal scan line is perpendicular to the reference direction, and the reference direction is the positive direction of the Y axis.
  • the cleaning robot 100 scans the first space map through the horizontal scanning line, the first space map is scanned along the positive direction of the Y axis or the negative direction of the Y axis with the position of the reference object as a starting point.
  • the cleaning robot 100 scans the first space map through the horizontal scan line, it can scan the first space map every time through the horizontal scan line to determine whether there are unscanned items in the first space map along the positive direction of the Y axis or the negative direction of the Y axis. area.
  • the cleaning robot 100 determines that there is an unscanned area along the positive direction of the Y axis in the first spatial map
  • the cleaning robot 100 performs step (2); when the cleaning robot 100 determines that there is an unscanned area along the negative direction of the Y axis in the first spatial map
  • the cleaning robot 100 executes step (3) when it is in the area.
  • the cleaning robot 100 scans the first spatial map through the horizontal scanning line, it may scan the first spatial map along the positive direction of the Y axis first, or scan the first spatial map along the negative direction of the Y axis first, or simultaneously along the positive direction of the Y axis. Scan the first spatial map in the negative direction of the Y-axis and the Y-axis, which is not specifically limited in the embodiment of the present application.
  • the horizontal scan line is a horizontal scan line.
  • the horizontal scan line may start from one side edge of the first space map and stop at the other side edge.
  • the horizontal scan line starts from the left edge of the first spatial map and stops at the right edge; or starts from the right edge of the first spatial map and stops at the left edge.
  • the thickness of the horizontal scan line can be set and changed as required, and in the embodiment of the present application, this is not specifically limited.
  • the cleaning robot 100 scans the first space map through the horizontal scanning line, the cleaning robot 100 does not need to move, and the cleaning robot 100 can scan the first space map through a scanner inside the cleaning robot 100.
  • the cleaning robot 100 can use the direction in which any point on the map points to the door as a reference direction, for example, a direction perpendicular to the door or 45° from the direction perpendicular to the door.
  • the direction of the angle is used as the reference direction, which is not specifically limited in the embodiment of the present application.
  • the cleaning robot 100 advances the horizontal scan line along the positive direction of the Y axis to scan the adjacent and unscanned area.
  • the cleaning robot 100 determines whether there is an unscanned area along the positive direction of the Y axis.
  • the cleaning robot 100 advances in the positive direction of the Y-axis for a first interval, scans the first space map at the first interval from the last horizontal scan line, and the cleaning robot 100 determines whether it is in the positive direction along the Y-axis There are also unscanned areas.
  • the cleaning robot 100 continues to advance along the positive direction of the Y-axis for the first interval until there is no unscanned area along the positive direction of the Y-axis, and the cleaning robot 100 performs step (4).
  • the cleaning robot 100 advances the horizontal scan line along the negative direction of the Y axis to scan the adjacent and unscanned area.
  • step (2) is similar to step (2). Every time the cleaning robot 100 scans the first spatial map along the negative direction of the Y axis through the horizontal scan line, the cleaning robot 100 determines whether there is an unscanned area along the negative direction of the Y axis. When there is an unscanned area, the cleaning robot 100 advances in the negative direction of the Y-axis for a first interval, and scans the first space map at the first interval from the last horizontal scan line scan, and the cleaning robot 100 determines the negative direction along the Y-axis Whether there are still unscanned areas on the screen. When there is still an unscanned area, the cleaning robot 100 continues to advance in the negative direction of the Y-axis for the first interval until there is no unscanned area in the negative direction of the Y-axis, and the cleaning robot 100 performs step (4).
  • Figure 25 is a schematic diagram of scanning the first space map shown in Figure 24 through the horizontal scan line according to the direction perpendicular to the door as the reference direction;
  • Figure 26 is the first map shown in Figure 24
  • the space map is a schematic diagram of scanning through scanning lines in the direction perpendicular to the direction of the door at an angle of 45° as the reference direction.
  • the cleaning robot 100 uses the position where the horizontal scan line is cut by the first spatial map and the edge of the first spatial map as the dividing line, and merges the continuous areas scanned in the same direction, thereby combining the first
  • the space map is divided into at least one clean area.
  • the cleaning robot 100 uses the position where the horizontal scan line is intercepted by the first space map and the edge of the first space map as the dividing line, and merges the area scanned along the positive direction of the Y axis into one cleaning area , And merge the areas scanned along the negative direction of the Y-axis into one clean area. Moreover, when the horizontal scan line is segmented, the cleaning robot 100 starts from the segmented scan line and merges the areas scanned in the same direction into one cleaning area until the horizontal scan line is segmented again or reaches the first spatial map the edge of. The cleaning robot 100 repeats the above process until it has traversed all the room units in the space to be cleaned. Referring to FIG. 27, FIG.
  • FIG. 27 shows a plurality of clean areas obtained by combining the areas scanned in the same direction as shown in FIG. 25 according to the above steps.
  • FIG. 28 is a plurality of clean areas obtained by combining the areas scanned in the same direction as shown in FIG. 26.
  • step S1404 may be directly executed.
  • step S1403 after the cleaning robot 100 performs step S1403, it can confirm the area of each divided cleaning area. For each cleaning area, when the area of the cleaning area is less than the preset value, the cleaning The robot 100 executes step S2304 after merging the cleaning area and other adjacent cleaning areas whose area is larger than the preset value.
  • the step of the cleaning robot 100 merging the cleaning area with other adjacent cleaning areas whose area is larger than the preset value may be: the cleaning robot 100 merges the cleaning area into a cleaning area scanned by a scan line propelled in the same direction.
  • step S2303 after the cleaning robot 100 performs step S2303, it can determine the ratio of the length to the width of each cleaning area.
  • the cleaning robot 100 merges the cleaning area with other adjacent cleaning areas whose ratio is less than the preset ratio, and then executes step S2304.
  • the length of the cleaning area is the length of the side parallel to the reference direction
  • the width of the cleaning area is the length of the side perpendicular to the reference direction.
  • Both the preset value and the preset ratio can be set and changed as needed, which is not specifically limited in the embodiment of the present application.
  • Step S2304 The cleaning robot 100 sets a node representing each cleaning area.
  • the cleaning robot 100 uses a node to represent each cleaning area in the plurality of cleaning areas, one node represents one cleaning area, and one node is connected to at least one node.
  • Nodes include a top node, a parent node and a child node, two connected nodes, the node close to the top node is the parent node, the node far from the top node is the child node, the clean area represented by the parent node is adjacent to the clean area represented by the child node, or
  • One of the parent node and the child node represents an isolated clean area, and the other node represents a clean area closest to the isolated clean area.
  • the clean area indicated by the top node is the clean area where the reference object is located.
  • Step S2305 The cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • the cleaning robot 100 according to the connection relationship between the cleaning areas, when the cleaning areas represented by any two nodes are adjacent, or one of the nodes represents an isolated cleaning area, and the other node represents the cleaning area closest to the isolated cleaning area, Connect two nodes to construct a connected graph of the clean area.
  • An isolated cleaning area indicates a cleaning area that is not adjacent to other cleaning areas.
  • the clean areas represented by two nodes connected in the connected graph are adjacent, or one of the nodes represents an isolated clean area, and the other node represents a clean area closest to the isolated clean area.
  • this step may be: the cleaning robot 100 selects multiple sets of nodes from multiple nodes, each set of nodes includes a first node and a second node, and the cleaning area represented by the first node and the cleaning area represented by the second node are adjacent , Or the clean area represented by the first node is an isolated clean area, and the clean area represented by the second node is the closest to the isolated clean area.
  • the cleaning robot 100 connects the first node and the second node, obtains the connection relationship of the group of nodes, and generates a connected graph according to the connection relationship of each group of nodes.
  • the step of the cleaning robot 100 connecting the first node and the second node may be: when there is a node indicating the cleaning area where the reference object is located in the first node and the second node, the cleaning robot 100 will indicate the node of the cleaning area where the reference object is located As the top node, make another node a child of the top node.
  • the cleaning robot 100 uses the first node as the top node and the second node as the child node of the first node.
  • the cleaning robot 100 When there is no node indicating the cleaning area where the reference object is located in the first node and the second node, but there is a node connecting the indicated cleaning area and the cleaning area where the reference object is located, the cleaning robot 100 will indicate the cleaning area and the cleaning area where the reference object is located Adjacent nodes are taken as the child nodes of the top node, and the node that represents the clean area not adjacent to the clean area where the reference object is located is taken as the child node of the node. For example, if the cleaning area represented by the first node is adjacent to the cleaning area where the reference object is located, the cleaning robot 100 uses the first node as a child node of the top node and the second node as a child node of the first node.
  • the cleaning robot 100 determines the cleaning area represented by the first node and the reference object.
  • the first node is regarded as the parent node of the second node.
  • Step S2306 When there is only one path from any node other than the top node in the connected graph to the top node, the cleaning robot 100 uses the connected graph as an area sequence tree.
  • the connected graph is an acyclic connected graph, and the cleaning robot 100 directly uses the acyclic connected graph as an area sequential tree.
  • the connected graph obtained by the cleaning robot 100 is shown in FIG. 29.
  • the node in the cleaning area 1 is the top node
  • the node in the cleaning area 2 is the top node. Child node.
  • FIG. 29 there is only one path from the child node to the top node. Therefore, the cleaning robot 100 directly uses the connected graph as the area sequence tree.
  • the cleaning robot 100 may use the label of the cleaning area as the label of the node.
  • node 1 represents clean area 1
  • node 2 represents clean area 2. In the embodiments of the present application, this is not specifically limited.
  • Step S2307 The cleaning robot 100 sets the cleaning sequence of multiple cleaning areas based on the area sequence tree.
  • This step can be achieved through the following steps (1) to (4), including:
  • the cleaning robot 100 determines the first target cleaning area based on the area sequence tree.
  • the first target cleaning area is the cleaning area to be cleaned first in the space to be cleaned.
  • this step can be implemented through the following steps (1-1) to (1-4), including:
  • the cleaning robot 100 determines the first cleaning area closest to the current first position of the cleaning robot 100 in the first space map.
  • the cleaning robot 100 first determines the current first position of the cleaning robot 100.
  • the cleaning robot 100 may periodically position itself, so as to obtain the current first position of the cleaning robot 100.
  • the first position may be in the space to be cleaned or outside the space to be cleaned.
  • the cleaning robot 100 determines the first cleaning area closest to the first location based on the first location on the first spatial map. Correspondingly, this step may be: the cleaning robot 100 determines the first cleaning area through the distance between the first position and each cleaning area. The distance from the current first position of the cleaning robot 100 to each cleaning area may be the distance from the first position to the geometric center of each cleaning area. The cleaning robot 100 determines the distance from the first position to the geometric center of each cleaning area, and selects the cleaning area closest to the first position from a plurality of distances, and uses the cleaning area as the first cleaning area.
  • the cleaning robot 100 uses the first cleaning area as the starting node to determine whether there are leaf nodes in the target subtree.
  • the target subtree is a local area sequence tree with the start node as the top node in the area sequence tree.
  • Leaf nodes are nodes that have parent nodes and no children in the area sequence tree.
  • the cleaning robot 100 determines whether there is a leaf node in the target subtree. When there is a leaf node, the cleaning robot 100 performs step (1-3); when there is no leaf node, the cleaning robot 100 performs step (1-4).
  • the cleaning robot 100 selects a leaf node from the leaf nodes of the target subtree, and uses the cleaning area represented by the selected leaf node as the first target cleaning area.
  • the step of the cleaning robot 100 selecting a leaf node from the target subtree may be: when the target subtree includes multiple leaf nodes, the cleaning robot 100 selects the leaf whose cleaning area is the closest to the first position from the multiple leaf nodes. node.
  • the leaf nodes selected by the cleaning robot 100 through this method can minimize the moving distance of the cleaning robot 100 and improve the cleaning efficiency.
  • the step of the cleaning robot 100 selecting the leaf node whose cleaning area is closest to the first position from the multiple leaf nodes may be: the cleaning robot 100 determines the distance between the geometric center of the cleaning area represented by each leaf node and the first position , Select the leaf node corresponding to the clean area with the smallest distance from multiple distances.
  • the cleaning robot 100 uses the cleaning area indicated by the start node as the first target cleaning area.
  • the cleaning robot 100 When there is no leaf node in the target subtree, the cleaning robot 100 directly uses the first cleaning area represented by the starting node as the first target cleaning area.
  • the cleaning robot 100 When the current first position of the cleaning robot 100 is not in the space to be cleaned, the cleaning robot 100 directly selects a leaf node from the leaf nodes of the area sequence tree based on the area sequence tree, and uses the cleaning area represented by the leaf node as the first Target cleaning area; the cleaning robot 100 can also select the leaf node with the farthest distance between the cleaning area represented by the leaf node and the cleaning area where the reference object is located, and use the cleaning area represented by the leaf node as the first target cleaning area.
  • the cleaning robot 100 gradually performs cleaning operations from far to near, avoiding passing through the cleaned area and polluting the cleaned area, thereby improving the cleaning efficiency.
  • the cleaning robot 100 queries the parent node of the first target node representing the first target cleaning area, and queries whether the parent node of the first target node has child nodes representing non-first target cleaning areas, if None, the cleaning area represented by the parent node of the first target node is taken as the second target cleaning area, and if yes, the cleaning area represented by the lowest node in the child node is taken as the second target cleaning area.
  • the second target cleaning area is the next cleaning area to be cleaned after the first target cleaning area.
  • the cleaning robot 100 queries the area sequence tree for the parent node of the first target node representing the first target cleaning area.
  • the parent node of the first target node has child nodes other than the first target node
  • the child node is taken as the parent node to determine whether the child node has a child node, and the operation is repeated until the child node is determined
  • the bottom node the cleaning area represented by the bottom node is used as the second target cleaning area.
  • the cleaning robot 100 uses the cleaning area represented by the parent node as the second target cleaning area.
  • the cleaning robot 100 queries the parent node of the second target node representing the second target cleaning area, and queries whether the parent node of the second target node has a non-first target cleaning area and a non-second target.
  • the child node of the cleaning area if not, the cleaning area represented by the parent node of the second target node is taken as the third target cleaning area, if there is, the cleaning area represented by the lowest node in the child node is taken as the third target cleaning area.
  • the third target cleaning area is the next cleaning area to be cleaned after the second target cleaning area.
  • the step of the cleaning robot 100 determining the third target cleaning area is similar to the above step (2), and will not be repeated here.
  • the cleaning robot 100 queries the third target cleaning area in the area sequence tree until the cleaning area indicated by the top node is set as the last target cleaning area.
  • the cleaning robot 100 determines the third target cleaning area and the fourth target cleaning area according to the above method until the cleaning area indicated by the top node is set as the final target cleaning area. Among them, the cleaning area indicated by the top node is the cleaning area that is cleaned last in the cleaning sequence.
  • the cleaning robot 100 determines that the node representing cleaning area 1 is the top node, and the node representing cleaning area 2 is the child node of the top node. Therefore, the cleaning robot 100 determines the first target cleaning area The cleaning area 2 is the cleaning area 1 that is cleaned after the cleaning area 2.
  • Step S2308 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S2309 for cleaning. Otherwise, the area map is used as the first space map and the clean area As the space to be cleaned or the subspace to be cleaned, step S2303 is executed.
  • the regional map rule is defined as: there is at least one path from any point on the regional map to the entrance and exit, and there is no movement path in the opposite direction that tends to the entrance and exit direction.
  • the direction that the point points to the entrance and exit is defined as the entrance and exit of the cleaning area
  • the direction of the entrance and exit of two adjacent cleaning areas is opposite.
  • the step of the cleaning robot 100 determining whether the area map is regular is similar to the step of the cleaning robot 100 determining the rule of the first space map in step S1402, and will not be repeated here.
  • the cleaning robot 100 uses the area map as the first space map, and the cleaning area as the space to be cleaned or the subspace to be cleaned, and executes step S2303; when the area map is regular, the cleaning robot 100 executes Step S2309.
  • the cleaning area divided by the cleaning robot 100 is the cleaning area 1 and the cleaning area 2 shown in FIG. 27, there is an entrance and exit between the cleaning area 1 and the cleaning area 2.
  • the cleaning area 1 any area in the cleaning area There is at least one path from one point to the entrance and it is satisfied that there is no moving path in the opposite direction to the direction of the entrance and exit of the cleaning area. Therefore, the cleaning area 1 is regular; for the cleaning area 2, there is any point in the cleaning area to the entrance and exit There is one path and there is no movement path in the opposite direction that tends to the direction of the entrance and exit of the cleaning area, so the cleaning area 2 is regular.
  • the cleaning robot 100 executes step S2309.
  • Step S2309 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • the cleaning robot 100 configures the cleaning direction of the cleaning area represented by the top node to be the same as the reference direction, and the reference direction is the direction pointing to the reference object.
  • the cleaning robot 100 configures the cleaning direction of the cleaning area represented by the child node to point to the cleaning area represented by the parent node of the child node, and the cleaning area of the cleaning area represented by the child node
  • the cleaning direction is parallel or perpendicular to the reference direction.
  • the cleaning area is the cleaning area obtained by the combination of the cleaning robot 100 in step S2303
  • the step of the cleaning robot 100 setting the cleaning direction for the combined cleaning area can be implemented in any of the following ways.
  • the cleaning robot 100 merges a cleaning area with an area smaller than a preset value and other adjacent cleaning areas with an area larger than a preset value.
  • the cleaning direction of the combined cleaning area is the cleaning direction of the cleaning area adjacent to the cleaning area whose area is smaller than the preset value and the area larger than the preset value.
  • the cleaning robot 100 merges the cleaning area whose length and width ratio is greater than the preset ratio and other adjacent cleaning areas whose ratio is greater than the preset ratio.
  • the cleaning direction of the combined cleaning area is the cleaning direction of the cleaning area adjacent to the cleaning area whose ratio is greater than the preset ratio and whose ratio is less than the preset ratio.
  • FIG. 30 is a schematic diagram of the cleaning direction configured for the cleaning area obtained in FIG. 27.
  • FIG. 31 is a schematic diagram of the cleaning direction configured for the cleaning area obtained in FIG. 28.
  • Step S2310 the cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • the first uncleaned point finally determined by the cleaning robot 100 is R, see FIG. 32.
  • step S1404 This step is the same as step S1404, and will not be repeated here.
  • Step S2311 the cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and the cleaning sequence.
  • the cleaning robot 100 takes the cleaning area as a unit, starts from the cleaning starting point of the first target cleaning area, moves along the bow-shaped trajectory according to the cleaning direction of the first target cleaning area, and performs cleaning operations on the first target cleaning area ; After performing the cleaning operation on the first target cleaning area, the cleaning robot 100 starts from the second cleaning starting point of the second target cleaning area, and moves along the bow-shaped trajectory according to the cleaning direction of the second target cleaning area.
  • the target cleaning area performs the cleaning operation; after the cleaning operation is performed on the second target cleaning area, the cleaning robot 100 starts from the third cleaning starting point of the third target cleaning area and follows the cleaning direction of the third target cleaning area along the bow shape The track moves, and the cleaning operation is performed on the third target cleaning area until the cleaning operation is performed on the cleaning area where the reference object is located.
  • the cleaning robot 100 can move from the cleaning area to the next cleaning area based on a preset navigation path from the cleaning area to the next cleaning area. Perform a cleaning operation on the next cleaning area.
  • FIG. 33 is a schematic diagram of moving the cleaning area in FIG. 32 along an arch-shaped trajectory.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as a room unit, the room unit is an irregular room unit, and the cleaning robot 100 scans the first space through a horizontal scan line Map, divide the space to be cleaned into at least one clean area, and after the looped connected graph is processed to obtain the area sequence tree, set the cleaning sequence according to the area sequence tree, and perform the cleaning operation on the room unit There is no obstacle encountered in the process as an example.
  • the method includes:
  • Step S3401 The cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • Step S3402 The cleaning robot 100 judges the first space map, and when the first space map is irregular, execute step S3403.
  • Step S3403 Based on the first space map, the cleaning robot 100 scans the first space map through a horizontal scan line to divide the space to be cleaned into at least one cleaning area.
  • Step S3404 The cleaning robot 100 sets a node representing each cleaning area.
  • Step S3405 The cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • Steps S3401-S3405 are the same as steps S2301-S2305, respectively, and will not be repeated here.
  • Step S3406 When there are multiple paths from a node with a non-top node to the top node in the connected graph, the cleaning robot 100 performs de-ring processing on the connected graph to obtain an area sequential tree.
  • the above-mentioned ring is a circular path formed by connecting at least three nodes in sequence, and the ring makes multiple paths from a node with a non-top node to the top node in the connection graph.
  • the cleaning robot 100 performs de-ring processing on the circular path, there is only one path from any non-top node in the area sequence tree to the top node.
  • the cleaning robot 100 can use any algorithm to de-circulate the circular path.
  • the cleaning robot 100 may use the minimum spanning tree algorithm, the maximum flow minimum cut algorithm, or the Tarjan algorithm. In the embodiment of the present application, the algorithm is not specifically limited.
  • the cleaning robot 100 may perform loop removal processing through a minimum spanning tree algorithm to obtain an area sequential tree.
  • this step may be: the cleaning robot 100 configures the weight between the two connected nodes, and determines the path weight from each node to the top node in the circular path according to the weight between the two connected nodes, and according to each The path weight from each node to the top node is selected, the path with the smallest path weight is selected, and the connection between the two nodes corresponding to the unselected path in the circular path is deleted to obtain the regional sequence tree.
  • the cleaning robot 100 determines the weight of the path from the node to the top node according to the weight between the two connected nodes: The sum of the weights between nodes in the path of is determined as the weight of the path from the node to the top node.
  • the cleaning robot 100 may use the value of the connection between two nodes to represent the weight, or the distance between the centroids of two adjacent cleaning regions to represent the weight, which is not specifically limited in the embodiment of the present application.
  • the cleaning robot 100 uses the value of the connection between the two nodes to represent the weight.
  • Node 5 in the figure represents the top node.
  • the area shown in Figure 36 is obtained. Sequence tree.
  • the ring in the connected graph constitutes a strong connected component.
  • the cleaning robot 100 may perform dering processing on the connected graph by using the Tarjan algorithm to obtain an area sequential tree.
  • this step may be as follows: the cleaning robot 100 uses the Tarjan algorithm to remove the edges of the ring within the ring, and converts the strongly connected components into non-edge connected components to obtain the area sequence tree.
  • nodes 1, 2, 3, and 4 in the graph constitute strong connected components.
  • the cleaning robot 100 uses node 3 as the initial node and node 2 as the termination node, and uses the Tarjan algorithm to remove edges within the ring to obtain Figure 38 or Figure 39 The area sequence tree shown.
  • Step S3407 The cleaning robot 100 sets a cleaning sequence of a plurality of cleaning areas based on the area sequence tree.
  • the cleaning robot 100 first cleans the cleaning area represented by node 6, and then sequentially cleans the cleaning area represented by node 3, the cleaning area represented by node 1, the cleaning area represented by node 4, and node 2.
  • the cleaning area indicated by node 5 is finally cleaned, that is, the cleaning order is node 6, node 3, node 1, node 4, node 2, node 5.
  • the cleaning robot 100 first cleans the cleaning area represented by node 6, and then sequentially cleans the cleaning area represented by node 3, the cleaning area represented by node 4, the cleaning area represented by node 1, and the cleaning area represented by node 2. Clean area, the clean area represented by node 5 is finally cleaned, that is, the cleaning order is node 6, node 3, node 4, node 1, node 2, and node 5.
  • step S2307 The rest of the steps are the same as step S2307 and will not be repeated here.
  • Step S3408 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S3409 for cleaning. Otherwise, the area map is used as the first space map and the clean area As the space to be cleaned, step S3403 is executed.
  • Step S3409 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • Step S3410 the cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • Step S3411 The cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and the cleaning sequence.
  • Steps S3408-S3411 are the same as steps S2308-S2311 respectively, and will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as a room unit, the room unit is an irregular room unit, and the cleaning robot 100 scans the first space through a longitudinal scan line Map, divide the space to be cleaned into at least one cleaning area, and directly use the acyclic connected graph as the area sequence tree, set the cleaning sequence according to the area sequence tree, and do not encounter any problems during the cleaning operation of the room unit Taking obstacles as an example, the method includes:
  • Step S4001 the cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • This step is the same as step S2301 and will not be repeated here.
  • the first space map acquired by the cleaning robot 100 is the space map shown in FIG. 41.
  • Step S4002 The cleaning robot 100 judges the first space map, and when the first space map is irregular, execute step S4003.
  • This step is the same as step S2302, and will not be repeated here.
  • Step S4003 Based on the first space map, the cleaning robot 100 scans the first space map through a longitudinal scan line to divide the space to be cleaned into at least one cleaning area.
  • the cleaning robot 100 uses the reference object as the origin to set a right-angle reference coordinate system, including the X axis and the Y axis.
  • the reference direction may be perpendicular to the X axis and the reference direction is the positive direction of the Y axis; or the reference direction may be perpendicular to the Y axis and the reference direction is the positive direction of the X axis. In the embodiments of the present application, this is not specifically limited.
  • the cleaning robot 100 sets the reference direction as the positive direction of the Y axis.
  • This step can be achieved through the following steps (1) to (4), including:
  • the cleaning robot 100 scans the first space map through the longitudinal scan line.
  • the longitudinal scan line is parallel to the reference direction, and the reference direction is the positive direction of the Y axis.
  • the cleaning robot 100 scans the first space map through the longitudinal scan line, the first space map is scanned along the positive X axis or the negative X axis with the position of the reference object as a starting point.
  • the cleaning robot 100 scans the first space map through the longitudinal scan line, it can scan the first space map every time through the longitudinal scan line to determine whether there are unscanned items in the first space map along the positive X axis or the negative X axis. area.
  • the cleaning robot 100 determines that there is an unscanned area along the positive direction of the X axis in the first space map
  • the cleaning robot 100 performs step (2); when the cleaning robot 100 determines that there is an unscanned area along the negative direction of the X axis in the first space map
  • the cleaning robot 100 executes step (3) when it is in the area.
  • the cleaning robot 100 scans the first spatial map through the longitudinal scan line, it may scan the first spatial map in the positive direction of the X-axis first, or scan the first spatial map in the negative direction of the X-axis first. In the embodiment of the present application, There is no specific restriction on this.
  • the longitudinal scan line is a scan line in the vertical direction.
  • the longitudinal scan line may start from one side edge of the first spatial map and stop at the other side edge.
  • the vertical scan line starts from the top edge of the first spatial map and stops at the bottom edge; or starts from the bottom edge of the first spatial map and stops at the top edge.
  • this is not specifically limited.
  • the thickness of the longitudinal scanning line can be set and changed as required, and in the embodiment of the present application, this is not specifically limited.
  • the cleaning robot 100 advances the longitudinal scan line along the positive X-axis to scan the adjacent and unscanned area.
  • the cleaning robot 100 determines whether there is an unscanned area along the positive direction of the X axis.
  • the cleaning robot 100 advances in the positive X-axis direction for a second interval, and scans the first space map at the second interval from the last longitudinal scan line, and the cleaning robot 100 determines whether it is in the positive X-axis direction.
  • the cleaning robot 100 continues to advance in the positive X-axis direction for a second interval until there is no unscanned area in the positive X-axis direction, and the cleaning robot 100 performs step (4).
  • the cleaning robot 100 advances the longitudinal scan line along the negative X-axis to scan the adjacent and unscanned area.
  • step (2) is similar to step (2). Every time the cleaning robot 100 scans the first spatial map along the negative direction of the X axis through the longitudinal scan line, the cleaning robot 100 determines whether there is an unscanned area along the negative direction of the X axis. When there is an unscanned area, the cleaning robot 100 advances in the negative direction of the X-axis for a second interval, and scans the first space map at the second interval from the last longitudinal scan line scan, and the cleaning robot 100 determines the negative direction along the X-axis Whether there are still unscanned areas on the screen.
  • FIG. 42 is a schematic diagram of scanning the first space map shown in FIG. 41 through a longitudinal scan line according to the above steps.
  • the cleaning robot 100 merges the areas scanned in the same direction, thereby combining the first space
  • the map is divided into at least one clean area.
  • the cleaning robot 100 uses the position where the longitudinal scan line is cut by the first space map and the edge of the first space map as the dividing line, and merges the area scanned in the positive direction of the X-axis into one cleaning area , And merge the areas scanned along the negative direction of the X-axis into a clean area.
  • the cleaning robot 100 sets an area adjacent to the reference object as a cleaning area before merging the areas scanned in the same direction.
  • the area size of the clean area adjacent to the reference object is not specifically limited.
  • the cleaning robot 100 merges the areas scanned in the positive direction of the X-axis into one cleaning area until the longitudinal scan line is segmented or reaches the edge of the first spatial map; the cleaning robot 100 merges the areas scanned in the negative direction of the X-axis into one cleaning area. Area until the longitudinal scan line appears segmented or reaches the edge of the first spatial map. When the longitudinal scan line is segmented, starting from the segmented scan line, the areas scanned in the same direction are merged into a clean area until the longitudinal scan line is segmented again and reaches the edge of the first area map.
  • FIG. 43 is a schematic diagram of the cleaning robot 100 directly combining the cleaning areas scanned in the same direction shown in FIG. 42 to obtain multiple cleaning areas.
  • FIG. 44 is a schematic diagram of multiple cleaning areas obtained by the cleaning robot 100 firstly setting a cleaning area in the adjacent range of the reference object, and then combining the areas scanned in the same direction as shown in FIG. 42 according to the above steps.
  • Step S4004 The cleaning robot 100 sets a node representing each cleaning area.
  • This step is the same as step S2304, and will not be repeated here.
  • Step S4005 The cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • This step is the same as step S2305, and will not be repeated here.
  • connection graph constructed by the cleaning robot 100 according to the communication relationship between the cleaning areas can be seen in FIG. 45.
  • Step S4006 When there is only one path from any node other than the top node in the connected graph to the top node, the cleaning robot 100 uses the connected graph as an area sequence tree.
  • This step is the same as step S2306, and will not be repeated here.
  • Step S4007 The cleaning robot 100 sets the cleaning sequence of a plurality of cleaning areas based on the area sequence tree.
  • the cleaning robot 100 determines that the node representing the cleaning area 3 is the top node, and the nodes representing the cleaning area 1 and the cleaning area 2 are both child nodes of the top node. Therefore, the cleaning robot 100 determines The order of cleaning is cleaning area 1, cleaning area 2, cleaning area 3, or cleaning area 2, cleaning area 1, and cleaning area 3.
  • step S2307 The rest of the steps are the same as step S2307 and will not be repeated here.
  • Step S4008 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S4009 for cleaning; otherwise, the area map is used as the first space map, and the clean area As the space to be cleaned, step 4003 is executed.
  • Step S4009 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • Step S4010 The cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • Step S4011 The cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and the cleaning sequence.
  • Steps S4004-S4011 are the same as steps S2304-S2311 respectively, and will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as a room unit, the room unit is an irregular room unit, and the cleaning robot 100 scans the first space through a longitudinal scan line Map, divide the space to be cleaned into at least one clean area, and after the looped connected graph is processed to obtain the area sequence tree, set the cleaning sequence according to the area sequence tree, and perform the cleaning operation on the room unit There is no obstacle encountered in the process as an example.
  • the method includes:
  • Step S4601 The cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • Step S4602 The cleaning robot 100 judges the first space map, and when the first space map is irregular, execute step S4603.
  • Step S4603 Based on the first space map, the cleaning robot 100 scans the first space map through longitudinal scan lines, and divides the space to be cleaned into at least one cleaning area.
  • Step S4604 The cleaning robot 100 sets a node representing each cleaning area.
  • Step S4605 The cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • Steps S4601-S4605 are the same as steps S4001-S4005, respectively, and will not be repeated here.
  • Step S4606 When there are multiple paths from a node with a non-top node to the top node in the connected graph, the cleaning robot 100 performs de-ring processing on the connected graph to obtain an area sequential tree.
  • Step S4606 is the same as step S3406, and will not be repeated here.
  • Step S4607 The cleaning robot 100 sets the cleaning sequence of multiple cleaning areas based on the area sequence tree.
  • Step S4608 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S4609 for cleaning. Otherwise, the area map is used as the first space map and the clean area As the space to be cleaned, step S4603 is executed.
  • Step S4609 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • Step S4610 the cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • Step S4611 The cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and cleaning sequence.
  • Steps S4607-S4611 are the same as steps S4007-S4011 respectively, and will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as a room unit, and the room unit is an irregular room unit.
  • the cleaning robot 100 first scans the first through the horizontal scanning line.
  • the space map and then scan the first space map by longitudinal scanning lines to divide the space to be cleaned into at least one cleaning area, and directly use the acyclic connected graph as the area sequence tree, and set the cleaning sequence according to the area sequence tree, and Taking the example of no obstacle encountered during the cleaning operation of the room unit, the method includes:
  • Step S4701 The cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • This step is the same as step S2301 and will not be repeated here.
  • the first space map acquired by the cleaning robot 100 is the first space map shown in FIG. 48.
  • Step S4702 The cleaning robot 100 judges the first space map, and when the first space map is irregular, execute step S4703.
  • This step is the same as step S2302, and will not be repeated here.
  • Step S4703 Based on the first space map, the cleaning robot 100 first scans the first space map through the horizontal scan line, and then scans the first space map through the vertical scan line to divide the space to be cleaned into at least one cleaning area.
  • the cleaning robot 100 first scans the first space map through the horizontal scan line.
  • the step of the cleaning robot 100 scanning the first space map through the horizontal scan line is the same as the step of the cleaning robot 100 scanning the first space map through the horizontal scan line in step S2303, which will not be repeated here.
  • the cleaning robot 100 After the cleaning robot 100 scans the first space map through the horizontal scan line, it can scan the first space map through the vertical scan line.
  • the step of the cleaning robot 100 scanning the first space map through the longitudinal scan line is the same as the step of the cleaning robot 100 scanning the first space map through the longitudinal scan line in step S4003, and will not be repeated here.
  • the cleaning robot 100 scans the first space map through the horizontal scan line, the segmented position and the edge of the first space map are taken as the dividing line by the length of the horizontal scan line intercepted by the first space map, and scan continuously in the same direction. The areas are merged to obtain at least one clean area.
  • the cleaning robot 100 scans the first space map through the vertical scan line, the segment position, the edge of the first space map, and the two clean lines scanned with the horizontal scan line appear at the length of the vertical scan line intercepted by the first space map. The intersection of the regions is used as a dividing line, and consecutive regions scanned in the same direction are combined to obtain at least one clean region.
  • the cleaning robot 100 scans through the horizontal scan line first, and then scans through the vertical scan line.
  • the cleaning robot 100 first scans the first space map through the horizontal scan line, and the divided cleaning areas are shown in FIG. 49.
  • the cleaning areas in FIG. 49 are clean Area 1, cleaning area 2, and cleaning area 3.
  • the cleaning robot 100 scans the first space map shown in FIG. 49 through the longitudinal scanning line, the multiple cleaning areas that are finally divided are shown in FIG. 50.
  • the cleaning areas in FIG. 50 are respectively These are clean area 1, clean area 2, clean area 3, clean area 4, and clean area 5.
  • Step S4704 The cleaning robot 100 sets a node representing each cleaning area.
  • Step S4705 The cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • Step S4706 When there is only one path from any non-top node in the connected graph to the top node, the cleaning robot 100 uses the connected graph as the area sequence tree.
  • Step S4707 The cleaning robot 100 sets the cleaning sequence of a plurality of cleaning areas based on the area sequence tree.
  • Step S4708 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S4709 for cleaning; otherwise, the area map is used as the first space map and the clean area As the space to be cleaned, step S4703 is executed.
  • Step S4709 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • Step S4710 the cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • Step S4711 The cleaning robot 100 starts from the cleaning starting point in the unit of cleaning area, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and cleaning sequence.
  • Steps S4704-S4711 are the same as steps S2304-S2311, respectively, and will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as a room unit, and the room unit is an irregular room unit.
  • the cleaning robot 100 first scans the first through the horizontal scanning line.
  • the space map and then scan the first space map through the vertical scanning line to divide the space to be cleaned into at least one clean area, and then remove the looped connected graphs to obtain the area sequence tree.
  • the area sequence tree set the cleaning In the process of performing the cleaning operation on the room unit, no obstacle is encountered as an example.
  • the method includes:
  • Step S5101 The cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • Step S5102 The cleaning robot 100 judges the first space map, and when the first space map is irregular, execute step S5103.
  • Step S5103 Based on the first space map, the cleaning robot 100 first scans the first space map through the horizontal scan line, and then scans the first space map through the vertical scan line to divide the space to be cleaned into at least one cleaning area.
  • Step S5104 The cleaning robot 100 sets a node representing each cleaning area.
  • Step S5105 The cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • Steps S5101-S5105 are the same as steps S4701-S4705, respectively, and will not be repeated here.
  • Step S5106 When there are multiple paths from a node with a non-top node to the top node in the connected graph, the cleaning robot 100 performs de-ring processing on the connected graph to obtain an area sequential tree.
  • Step S5107 The cleaning robot 100 sets the cleaning sequence of a plurality of cleaning areas based on the area sequence tree.
  • Step S5108 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S5109 for cleaning. Otherwise, the area map is used as the first space map and the clean area As the space to be cleaned, step S5103 is executed.
  • Step S5109 The cleaning robot 100 sets a cleaning direction for the cleaning area.
  • Step S5110 The cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • Step S5111 The cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and cleaning sequence.
  • Steps S5106-S5111 are the same as steps S3406-S3411, respectively, and will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as a room unit, and the room unit is an irregular room unit.
  • the cleaning robot 100 first scans the first through a longitudinal scan line. Spatial map, then scan the first space map by horizontal scanning lines to divide the space to be cleaned into at least one clean area, and directly use the acyclic connected graph as the area sequence tree, set the cleaning sequence according to the area sequence tree, and Taking the example of no obstacle encountered during the cleaning operation of the room unit, the method includes:
  • Step S5201 The cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • Step S5202 The cleaning robot 100 judges the first space map, and when the first space map is irregular, step S5203 is executed.
  • Step S5203 Based on the first space map, the cleaning robot 100 first scans the first space map through the vertical scan line, and then scans the first space map through the horizontal scan line to divide the space to be cleaned into at least one cleaning area.
  • step of the cleaning robot 100 scanning the first space map through the longitudinal scan line is the same as the step of the cleaning robot 100 scanning the first space map through the longitudinal scan line in step S4003, and will not be repeated here.
  • step of the cleaning robot 100 passing the first space map through the horizontal scan line is the same as the step of the cleaning robot 100 scanning the first space map through the horizontal scan line in step S2303, and will not be repeated here.
  • the cleaning robot 100 scans the first spatial map through the longitudinal scan line, the continuous areas scanned in the same direction are merged until the longitudinal scan line is segmented or reaches the edge of the room to obtain at least one clean area.
  • the cleaning robot 100 uses the position where the longitudinal scan line is cut by the first space map and the edge of the first space map as the dividing line, and merges the continuous areas scanned in the same direction to obtain at least one cleaning area.
  • the cleaning robot 100 first scans the first space map through the vertical scan line, and then scans through the horizontal scan line.
  • the first space map is the space map shown in FIG. 48
  • the cleaning robot 100 first scans the first space map through the longitudinal scan line, and the divided cleaning areas are shown in FIG. 53.
  • the cleaning areas in FIG. 53 are cleaning area 1 and cleaning area 2 respectively; when the cleaning robot 100 scans the first spatial map shown in FIG. 53 through a horizontal scan line, the final divided cleaning areas are shown in FIG. 54 and FIG. 54
  • the medium cleaning areas are cleaning area 1, cleaning area 2, cleaning area 3, and cleaning area 4.
  • Step S5204 The cleaning robot 100 sets a node representing each cleaning area.
  • Step S5205 The cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • Step S5206 When there is only one path from any non-top node in the connected graph to the top node, the cleaning robot 100 uses the connected graph as the area sequential tree.
  • Step S5207 The cleaning robot 100 sets the cleaning sequence of a plurality of cleaning areas based on the area sequence tree.
  • Step S5208 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S5209 for cleaning. Otherwise, the area map is used as the first space map and the clean area As the space to be cleaned, step S5203 is executed.
  • Step S5209 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • Step S5210 The cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • Step S5211 The cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and the cleaning sequence.
  • Steps S5204-S5211 are the same as steps S1404-S1411, respectively, and will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as a room unit, and the room unit is an irregular room unit.
  • the cleaning robot 100 first scans the first through a longitudinal scan line. Spatial map, and then scan the first space map by horizontal scanning lines to divide the space to be cleaned into at least one clean area, and the looped connected graphs are de-looped to obtain the area sequence tree, and set according to the area sequence tree
  • the cleaning sequence is described as an example in which no obstacle is encountered during the cleaning operation of the room unit.
  • the method includes:
  • Step S5501 The cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • Step S5502 The cleaning robot 100 judges the first space map, and when the first space map is irregular, execute step S5503.
  • Step S5503 Based on the first space map, the cleaning robot 100 first scans the first space map through vertical scan lines, and then scans the first space map through horizontal scan lines to divide the space to be cleaned into at least one cleaning area.
  • Step S5504 The cleaning robot 100 sets a node representing each cleaning area.
  • Step S5505 The cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • Steps S5501-S5505 are the same as steps S5201-S5205, respectively, and will not be repeated here.
  • Step S5506 When there are multiple paths from a node with a non-top node to the top node in the connected graph, the cleaning robot 100 performs de-ring processing on the connected graph to obtain an area sequential tree.
  • Step S5507 The cleaning robot 100 sets a cleaning sequence of a plurality of cleaning areas based on the area sequence tree.
  • Step S5508 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S5509 for cleaning. Otherwise, the area map is used as the first space map and the clean area As the space to be cleaned, step S5503 is executed.
  • Step S5509 The cleaning robot 100 sets a cleaning direction for the cleaning area.
  • Step S5510 The cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • Step S5511 The cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and cleaning sequence.
  • Steps S5506-S5511 are the same as steps S3406-S3411 respectively, and will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as a room unit, and the room unit is an irregular room unit.
  • the cleaning robot 100 first scans the first through the horizontal scanning line.
  • the space map divides the space to be cleaned into at least one cleaning area; after an obstacle is encountered during the cleaning operation in the cleaning area of the space to be cleaned, the first space map is re-determined by scanning the longitudinal scan line to determine the space to be cleaned Re-divide into at least one clean area, and directly use the acyclic connected graph as the area sequence tree.
  • the area sequence tree set the cleaning sequence as an example for description.
  • the method includes:
  • Step S5601 the cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • the first space map acquired by the cleaning robot 100 is the space map shown in FIG. 24.
  • Step S5602 The cleaning robot 100 judges the first space map, and when the first space map is irregular, execute step S5603.
  • Step S5603 Based on the first space map, the cleaning robot 100 scans the first space map through horizontal scan lines, and divides the space to be cleaned into at least one cleaning area.
  • Step S5604 The cleaning robot 100 sets a node representing each cleaning area.
  • Step S5605 The cleaning robot 100 constructs a connection graph of the cleaning area according to the connection relationship between the cleaning areas.
  • Step S5606 When there is only one path from any node other than the top node in the connected graph to the top node, the cleaning robot 100 uses the connected graph as an area sequence tree.
  • Step S5607 The cleaning robot 100 sets the cleaning sequence of multiple cleaning areas based on the area sequence tree.
  • Step S5608 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S5609 for cleaning. Otherwise, the area map is used as the first space map and the clean area As the space to be cleaned, step S5603 is executed.
  • Step S5609 The cleaning robot 100 sets a cleaning direction for the cleaning area.
  • the cleaning direction of the cleaning area indicated by the top node is the same as the reference direction, where the reference direction is a direction pointing to the reference object.
  • the cleaning robot 100 configures the cleaning direction of the cleaning area represented by the child node to point to the cleaning area represented by the parent node of the child node, and the cleaning direction of the cleaning area represented by the child node is parallel to the cleaning area. Base direction.
  • the cleaning robot 100 When the cleaning robot 100 encounters an obstacle, the cleaning robot 100 needs to re-divide the cleaning area, and the cleaning direction of the cleaning area indicated by the top node remains unchanged and remains the same as the reference direction.
  • the cleaning direction of the cleaning area represented by the child node still points to the cleaning area represented by the parent node of the child node, but the cleaning direction of the cleaning area represented by the child node is perpendicular to the reference direction .
  • the cleaning direction is reset according to the above method.
  • Step S5610 The cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • Step S5611 The cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and the cleaning sequence.
  • Steps S5601-S5611 are the same as steps S2301-S2311 respectively, and will not be repeated here.
  • Step S5612 When the cleaning robot 100 encounters an obstacle during the cleaning operation, and when the obstacle crosses at least two cleaning areas, and the distance of the obstacle is greater than the first threshold, the cleaning robot 100 acquires the uncleaned space in the space to be cleaned.
  • the second space map of the area, the second space map is used as the first space map.
  • the cleaning robot 100 When the cleaning robot 100 encounters an obstacle during the cleaning operation, it first moves around the obstacle, and at the same time the cleaning member cleans the ground, so as to clean the ground around the edge of the obstacle. Since the cleaning robot 100 often does not include obstacle information in the first spatial map obtained in step S5601, the cleaning robot 100 can detect obstacles through the sensors provided on the cleaning robot 100 during the cleaning process, especially for obstacles. After the orbiting, the obstacle information can be fully detected. Among them, the obstacle information mainly includes the crossing distance and coverage area of the obstacle.
  • the cleaning robot 100 When the obstacle encountered by the cleaning robot 100 spans at least two cleaning areas, and the crossing distance of the obstacle is greater than the first threshold, the cleaning robot 100 is based on the first space map, the coverage area of the obstacle, and the cleaned area, Determine the second space map, and use the second space map as the first space map, where the second space map is the space map corresponding to the uncleaned area after the covered area in the space to be cleaned with obstacles removed and the cleaned area , The cleaning robot 100 uses the second space map as the first space map.
  • Step S5613 Based on the first space map, the cleaning robot 100 scans the first space map through longitudinal scan lines, and divides the space to be cleaned into at least one cleaning area.
  • the cleaning robot 100 re-divides the cleaning area based on the first space map.
  • the horizontal scanning line and the vertical scanning line are alternately used.
  • the scan line used by the cleaning robot 100 in step S5613 is different from the scan line used by the cleaning robot 100 in step S5603.
  • the cleaning robot 100 scans the first space map through the horizontal scan line
  • step S5612 the cleaning robot 100 encounters an obstacle and re-divides the cleaning area
  • the cleaning robot 100 scans the first space map through the vertical scan line.
  • a space map When the cleaning robot 100 encounters an obstacle again in the process of performing the cleaning operation, the cleaning robot 100 scans the re-determined first space map through the horizontal scan line. Therefore, when cleaning the space to be cleaned, the cleaning robot 100 may divide the cleaning area one or more times.
  • the cleaning robot 100 When the first space map is the space map shown in FIG. 24, after the cleaning robot 100 scans the first space map through the horizontal scan line to obtain the cleaning area as shown in FIG. 27, the cleaning robot 100 responds to the Perform cleaning operations in the cleaning area. When the cleaning robot 100 encounters an obstacle during the cleaning operation of the cleaning area 2, the cleaning robot 100 determines the second space map of the uncleaned area in the space to be cleaned. Referring to FIG. 57, the cleaning robot 100 changes the second space The map is used as the first space map. See FIG. 58. The first space map shown in FIG. 58 is determined by the cleaning robot 100 according to the space map shown in FIG. 57. The cleaning robot 100 scans the first space map shown in FIG. 58 through the longitudinal scan line, see FIG. 59.
  • FIG. 60 is a schematic diagram of the cleaning robot 100 directly scanning the longitudinal scan line shown in FIG.
  • FIG. 61 is a schematic diagram of the cleaning robot 100 first setting a cleaning area in front of the door, and then combining the areas scanned in the same direction to obtain multiple cleaning areas.
  • the cleaning robot 100 After the cleaning robot 100 re-divides the cleaning area, it resets the cleaning direction of the re-divided cleaning area.
  • the cleaning direction For the cleaning area represented by the top node, the cleaning direction is the same as the reference direction.
  • the cleaning direction of the cleaning area represented by the node points to the cleaning area represented by the parent node of the child node, and the cleaning direction of the cleaning area represented by the child node is perpendicular to the reference direction.
  • cleaning area 3 is the cleaning area represented by the top node, and the cleaning direction of the cleaning area is vertical downward; and cleaning area 1 and cleaning area 2 are children of the top node.
  • the cleaning area indicated by the node, the cleaning directions of the two cleaning areas all point to the cleaning area 3, see Figure 62.
  • the cleaning robot 100 if the cleaning robot 100 does not re-divide the cleaning area, after the cleaning robot 100 cleans the ground around the obstacle, the layout of the cleaning area crossed by the obstacle is likely to change, resulting in cleaning oscillations and cleaning The robot 100 turns back and forth for cleaning, polluting the cleaned area, resulting in low cleaning efficiency. Therefore, the cleaning robot 100 needs to re-divide the cleaning area every time it encounters an obstacle.
  • the embodiment of the present application also provides the cleaning robot 100 when encountering an obstacle: The case of not re-dividing the clean area is explained.
  • Figure 63 is a spatial map corresponding to the uncleaned area after removing the obstacles and the cleaned area shown in Figure 57.
  • the spatial map includes clean area 1 and clean area 2.
  • Clean area 2 is divided into two parts by obstacles: part M1 and part M2.
  • Part N is generated in cleaning area 1. The generation of part M1, part M2, and part N may cause cleaning oscillations and contaminate the cleaned area.
  • the cleaning robot 100 does not re-divide the cleaning area, for example, when the cleaning robot 100 is performing a cleaning operation on the part M2 in the cleaning area 2, when the cleaning robot 100 needs to go back to the base station for charging or cleaning cleaning parts, the cleaning robot 100 starts from the base station. After returning, the original setting rule is: for a cleaning area, the cleaning robot 100 moves along a bow-shaped trajectory, and cleans from deep to shallow perpendicular to the cleaning direction. Wherein, the cleaning direction of the cleaning area 2 points to the cleaning area 1, and is parallel to the reference direction.
  • the cleaning robot 100 When the cleaning robot 100 performs a cleaning operation on the cleaning area 2, it moves along a bow-shaped trajectory, which gradually advances along the cleaning direction from deep to shallow, and turns back and forth in a direction perpendicular to the cleaning direction.
  • the cleaning area 2 moves along the bow-shaped trajectory, in the direction perpendicular to the cleaning direction.
  • the deepest part is at the part M1, so the cleaning robot 100 will re-select the cleaning starting point, first go to the part M1 of the cleaning area 2, and perform cleaning along the bow-shaped trajectory perpendicular to the cleaning direction.
  • the cleaning robot 100 may be in the part M1 and Part M2 alternately cleans, causing cleaning oscillations and low cleaning efficiency. Or the cleaning robot 100 first cleans the part M2, then moves to the part M1 for cleaning, and then the cleaning robot 100 moves to the part N for cleaning, and the cleaning robot 100 turns back and forth, which will also cause cleaning oscillations and low cleaning efficiency.
  • the cleaning robot 100 may also generate cleaning oscillations between the part N and other cleaning areas in the cleaning area 1 except for the part N.
  • the cleaning robot 100 finishes cleaning the part N
  • the cleaning robot 100 needs to move back to avoid obstacles or walls, and then clean other cleaning areas in the cleaning area 1 except for the part N. At this time, it may pass through the cleaned area. Clean the area, causing dirty cleaning parts to contaminate the cleaned area.
  • the cleaning robot 100 re-divides the cleaning area once.
  • the horizontal scanning line and the vertical scanning line are used alternately, and the cleaning direction may change due to the change of the scanning line direction. Therefore, when cleaning the space to be cleaned, the cleaning robot 100 may divide the cleaning area one or more times.
  • the cleaning robot 100 when the cleaning robot 100 encounters an obstacle during the cleaning operation, but the distance of the obstacle is not greater than the first threshold, the cleaning robot 100 continues to perform the cleaning operation according to the cleaning direction and cleaning sequence; When the robot 100 encounters an obstacle and the distance of the obstacle is greater than the first threshold, the cleaning robot 100 needs to re-divide the cleaning area. Based on the re-divided cleaning area, reset the cleaning sequence, cleaning direction, and cleaning start point to reset The divided cleaning area is a unit. Starting from the re-divided cleaning starting point, the cleaning operation is performed on the clean area of the space to be cleaned according to the re-divided cleaning direction and the re-divided cleaning sequence.
  • Step S5614 The cleaning robot 100 executes step S5604 based on the at least one cleaning area.
  • the cleaning robot 100 executes step S5604 based on the re-divided at least one cleaning area to reset the node representing each cleaning area, which will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as a room unit, and the room unit is an irregular room unit.
  • the cleaning robot 100 first scans the first through the horizontal scanning line.
  • the space map divides the space to be cleaned into at least one cleaning area; after an obstacle is encountered during the cleaning operation in the cleaning area of the space to be cleaned, the first space map is re-determined by scanning the longitudinal scan line to restore the space to be cleaned It is divided into at least one clean area, and the looped connected graph is de-looped to obtain an area sequence tree.
  • the cleaning sequence is set as an example for description.
  • the method includes:
  • Step S6401 the cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • Step S6402 The cleaning robot 100 judges the first space map, and when the first space map is irregular, execute step S6403.
  • Step S6403 Based on the first space map, the cleaning robot 100 scans the first space map through horizontal scan lines, and divides the space to be cleaned into at least one cleaning area.
  • Step S6404 the cleaning robot 100 sets a node representing each cleaning area.
  • Step S6405 the cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • Step S6406 When there are multiple paths from a node with a non-top node to the top node in the connected graph, the cleaning robot 100 performs de-ring processing on the connected graph to obtain an area sequential tree.
  • Step S6407 The cleaning robot 100 sets the cleaning sequence of a plurality of cleaning areas based on the area sequence tree.
  • Step S6408 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S6409 for cleaning; otherwise, the area map is used as the first space map and the clean area As the space to be cleaned, step S6403 is executed.
  • Step S6409 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • Step S6410 The cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • Step S6411 The cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and cleaning sequence.
  • Steps S6401-S6411 are the same as steps S3401-S3411, respectively, and will not be repeated here.
  • Step S6412 When the cleaning robot 100 encounters an obstacle during the cleaning operation, and when the obstacle crosses at least two cleaning areas, and the distance of the obstacle is greater than the first threshold, the cleaning robot 100 acquires the uncleaned space in the space to be cleaned.
  • the second space map of the area, the second space map is used as the first space map.
  • Step S6413 Based on the first space map, the cleaning robot 100 scans the first space map through longitudinal scan lines, and divides the space to be cleaned into at least one cleaning area.
  • Step S6414 The cleaning robot 100 executes step S6404 based on the at least one cleaning area.
  • Steps S6412-S6414 are the same as steps S5612-S5614, respectively, and will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as a room unit, and the room unit is an irregular room unit.
  • the cleaning robot 100 first scans the first through a longitudinal scan line.
  • the space map divides the space to be cleaned into at least one cleaning area; after an obstacle is encountered during the cleaning operation in the cleaning area of the space to be cleaned, the first space map re-determined by scanning the horizontal scan line scans the space to be cleaned.
  • the method includes:
  • Step S6501 the cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • the first space map acquired by the cleaning robot 100 is the space map shown in FIG. 66.
  • This step is the same as step S2301 and will not be repeated here.
  • Step S6502 The cleaning robot 100 judges the first space map, and when the first space map is irregular, execute step S6503.
  • This step is the same as step S6502, and will not be repeated here.
  • Step S6503 Based on the first space map, the cleaning robot 100 scans the first space map through longitudinal scan lines, and divides the space to be cleaned into at least one cleaning area.
  • the first space map acquired by the cleaning robot 100 is the space map shown in FIG. 66
  • the cleaning robot 100 scans the first space map through the longitudinal scan line
  • at least one cleaning area divided into the space to be cleaned can be seen in FIG. 67.
  • step S4003 The remaining steps are the same as step S4003, and will not be repeated here.
  • Step S6504 The cleaning robot 100 sets a node representing each cleaning area.
  • This step is the same as step 4004 and will not be repeated here.
  • Step S6505 The cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • the cleaning robot 100 obtains a connection diagram according to the communication relationship between the cleaning areas, which can be seen in FIG. 68.
  • step S4005 The remaining steps are the same as step S4005, and will not be repeated here.
  • Step S6506 When there is only one path from any non-top node in the connected graph to the top node, the cleaning robot 100 uses the connected graph as the area sequential tree.
  • step S4006 This step is the same as step S4006, and will not be repeated here.
  • Step S6507 The cleaning robot 100 sets the cleaning sequence of multiple cleaning areas based on the area sequence tree.
  • the cleaning robot 100 determines that the node representing the cleaning area 3 is the top node, and the node representing the cleaning area 2 and the node representing the cleaning area 4 are both the same.
  • step S4007 The remaining steps are the same as step S4007, and will not be repeated here.
  • Step S6508 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S6509 for cleaning. Otherwise, the area map is used as the first space map and the clean area As the space to be cleaned, step S6503 is executed.
  • Step S6509 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • Step S6510 the cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • Step S6511 the cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and cleaning sequence.
  • Steps S6508-S6511 are the same as steps S4008-S4011, respectively, and will not be repeated here.
  • Step S6512 When the cleaning robot 100 encounters an obstacle during the cleaning operation, and when the obstacle crosses at least two cleaning areas, and the distance of the obstacle is greater than the first threshold, the cleaning robot 100 obtains that the space to be cleaned is not clean The second space map of the area, the second space map is used as the first space map.
  • the cleaning robot 100 encounters an obstacle during the cleaning operation of the multiple cleaning areas shown in FIG. 67.
  • the cleaning robot 100 obtains a second space map of the uncleaned area, and uses the second space map as the first space map, see FIG. 70.
  • Step S6512 is the same as step S5612, and will not be repeated here.
  • Step S6513 Based on the first space map, the cleaning robot 100 scans the first space map through horizontal scan lines, and divides the space to be cleaned into at least one cleaning area.
  • the cleaning robot 100 scans through horizontal scan lines, and the multiple cleaning areas obtained can be seen in FIG. 71.
  • the remaining steps are the same as the steps of the cleaning robot 100 scanning the first space map through the horizontal scan line in step S2303, and will not be repeated here.
  • Step S6514 The cleaning robot 100 executes step S6504 based on the at least one cleaning area.
  • Step S6514 is the same as step S5614, and will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from contaminating the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as a room unit, and the room unit is an irregular room unit.
  • the cleaning robot 100 first scans the first through a longitudinal scan line.
  • the space is re-divided into at least one clean area, and the looped connected graph is de-looped to obtain an area sequence tree. According to the area sequence tree, setting the cleaning sequence as an example is described.
  • the method includes:
  • Step S7201 The cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • Step S7202 The cleaning robot 100 judges the first space map, and when the first space map is irregular, execute step S7203.
  • Step S7203 Based on the first space map, the cleaning robot 100 scans the first space map through longitudinal scan lines, and divides the space to be cleaned into at least one cleaning area.
  • Step S7204 the cleaning robot 100 sets a node representing each cleaning area.
  • Step S7205 the cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • Step S7206 When there are multiple paths from a node with a non-top node to the top node in the connected graph, the cleaning robot 100 performs de-ring processing on the connected graph to obtain an area sequential tree.
  • Step S7207 The cleaning robot 100 sets a cleaning sequence of a plurality of cleaning areas based on the area sequence tree.
  • Step S7208 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S7209 for cleaning. Otherwise, the area map is used as the first space map and the clean area As the space to be cleaned, step S7203 is executed.
  • Step S7209 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • Step S7210 The cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • Step S7211 The cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and the cleaning sequence.
  • Steps S7201-S7211 are the same as steps S4601-S4611, respectively, and will not be repeated here.
  • Step S7212 When the cleaning robot 100 encounters an obstacle during the cleaning operation, and when the obstacle crosses at least two cleaning areas, and the distance of the obstacle is greater than the first threshold, the cleaning robot 100 acquires the uncleaned space in the space to be cleaned.
  • the second space map of the area, the second space map is used as the first space map.
  • Step S7213 Based on the first space map, the cleaning robot 100 scans the first space map through horizontal scan lines, and divides the space to be cleaned into at least one cleaning area.
  • Step S7214 The cleaning robot 100 executes step S7204 based on the at least one cleaning area.
  • Steps S7212-S7214 are the same as steps S6512-S6514 respectively, and will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • An embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application uses a space to be cleaned as a plurality of room units, each of the plurality of room units is a regular room unit, and the cleaning robot 100
  • the space to be cleaned is divided into at least one cleaning area, and the acyclic connected graph is directly used as the area sequence tree.
  • the cleaning sequence is set as an example. Methods include:
  • Step S7301 The cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • the first space map obtained by the cleaning robot 100 is the space map shown in FIG. 74.
  • This step is the same as step S2301 and will not be repeated here.
  • Step S7302 The cleaning robot 100 judges the first space map.
  • the first space map is regular, the space to be cleaned or the subspace to be cleaned is regarded as the cleaning area, and step S7309 is executed for cleaning; otherwise, step S7303 is executed.
  • Step S7302 is the same as step S2302, and will not be repeated here.
  • Step S7303 Based on the first space map, the cleaning robot 100 divides the space to be cleaned into at least one cleaning area according to the room information in the first space map.
  • the room information includes information such as the number of room units, the area size of the room units, the door position of each room unit, the edge of each room unit, and the connection relationship between the room units.
  • the cleaning robot 100 can enter and exit the room unit through the door of the room unit, and can also enter other room units through the door of the room unit.
  • the space to be cleaned includes multiple room units.
  • the cleaning robot 100 divides the space to be cleaned into at least one cleaning area according to the number of room units in the first space map, and one room unit is one cleaning area.
  • the first space map acquired by the cleaning robot 100 is the map shown in FIG. 74, and the first space map includes 8 room units, where the room unit where the base station is located is room unit 1.
  • the cleaning robot 100 divides the space to be cleaned into 8 cleaning areas according to the room information of the 8 room units in the first space map, and one room unit is a cleaning area.
  • Step S7304 The cleaning robot 100 sets a node representing each cleaning area.
  • This step is the same as step 2304 and will not be repeated here.
  • Step S7305 The cleaning robot 100 constructs a connection graph of the cleaning area according to the connection relationship between the cleaning areas.
  • the cleaning robot 100 constructs a connection diagram of the cleaning areas according to the communication relationship between the cleaning areas, see FIG. 75.
  • step S2305 The rest of the steps are the same as step S2305 and will not be repeated here.
  • Step S7306 When there is only one path from any node other than the top node in the connected graph to the top node, the cleaning robot 100 uses the connected graph as an area sequence tree.
  • This step is the same as step S2306, and will not be repeated here.
  • Step S7307 The cleaning robot 100 sets the cleaning sequence of multiple cleaning areas based on the area sequence tree.
  • the cleaning robot 100 obtains the cleaning sequence of the multiple cleaning areas as: room unit 5, room unit 6, room unit 4, room unit 3, room unit 7, Room unit 8, room unit 2, and finally room unit 1 where the base station is located.
  • step S2307 The rest of the steps are the same as step S2307 and will not be repeated here.
  • Step S7308 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S7309 for cleaning.
  • the cleaning robot 100 may use the connecting door between two adjacent cleaning areas as a reference object, and perform each cleaning The area map of the area is determined, the area map rule corresponding to each cleaning area shown in FIG. 74 is determined, and step S7309 is executed for cleaning.
  • step S1408 The rest of the steps are the same as step S1408 and will not be repeated here.
  • step S7309 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • the cleaning robot 100 sets a cleaning direction for each room unit shown in FIG. 74 based on the connection diagram shown in FIG. 75.
  • the node representing the room unit 5 is a child node of the node representing the room unit 6, the cleaning direction of the room unit 5 points to the room unit 6; the node representing the room unit 6, the node representing the room unit 4, and the The node of room unit 3 and the node representing room unit 7 are both child nodes of the node representing room unit 8.
  • the cleaning direction of room unit 6, the cleaning direction of room unit 4, the cleaning direction of room unit 3, and room unit 7 The cleaning directions of both point to room unit 8; the node representing room unit 8 and the node representing room unit 2 are child nodes of the node representing room unit 1, therefore, the cleaning direction of room unit 8 and the cleaning direction of room unit 2 both point to Room unit 1; there is a base station in room unit 1.
  • the base station can be used as a reference, and the direction perpendicular to the base station can be used as the reference direction.
  • the node indicating room unit 1 is the top node, and the cleaning direction of the top node is the same as the reference direction. Therefore, the cleaning direction of the room unit 1 is a direction perpendicular to the base station.
  • step S7310 the cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • This step is the same as step S2310, and will not be repeated here.
  • step S7311 the cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and cleaning sequence.
  • This step is the same as step S2311, and will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application uses the space to be cleaned as a plurality of room units, each of the multiple room units is a regular room unit, and the cleaning robot 100
  • the space to be cleaned is divided into at least one clean area, and the ring-shaped connected graph is de-ringed to obtain the area sequence tree.
  • the cleaning sequence set the cleaning sequence as an example
  • the method includes:
  • Step S7701 The cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • the first space map acquired by the cleaning robot 100 is the space map shown in FIG. 78.
  • the space map is similar to the space map shown in FIG. 74.
  • step S2301 The rest of the steps are the same as step S2301 and will not be repeated here.
  • Step S7702 The cleaning robot 100 judges the first space map.
  • the space to be cleaned is regarded as the cleaning area, and step S7709 is executed for cleaning; otherwise, step S7703 is executed.
  • Step S7703 Based on the first space map, the cleaning robot 100 divides the space to be cleaned into at least one cleaning area according to the room information in the first space map.
  • Step S7704 The cleaning robot 100 sets a node representing each cleaning area.
  • Steps S7702-S7704 are the same as steps S7302-S7304 respectively, and will not be repeated here.
  • Step S7705 The cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • the connected graph constructed by the cleaning robot 100 can be seen in FIG. 79.
  • step S7305 The remaining steps are the same as step S7305, and will not be repeated here.
  • Step S7706 When there are multiple paths from a node with a non-top node to the top node in the connected graph, the cleaning robot 100 performs de-ring processing on the connected graph to obtain an area sequential tree.
  • the cleaning robot 100 performs ring removal processing on the connected graph to obtain an acyclic connected graph, and the acyclic connected graph is used as the area sequential tree. After the cleaning robot 100 performs dering processing on the ring-shaped connected graph shown in FIG. 79, the obtained acyclic connected graph is the same as that in FIG. 75.
  • step S3406 The remaining steps are the same as step S3406, and will not be repeated here.
  • Step S7707 The cleaning robot 100 sets the cleaning order of a plurality of cleaning areas based on the area order tree.
  • Step S7708 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S7709 to clean.
  • step S7709 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • step S7710 the cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • step S7711 the cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and cleaning sequence.
  • Steps S7707-S7711 are the same as steps S7307-S7311 respectively, and will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as multiple room units, and there are irregular room units among the multiple room units.
  • the cleaning robot 100 follows the first space
  • the room information in the map divides the space to be cleaned into at least one clean area.
  • the cleaning robot 100 uses the clean area as the space to be cleaned.
  • the area map is used as the first space map
  • the first space map is scanned by scanning lines
  • the space to be cleaned is divided into at least one clean area
  • the acyclic connected graph is directly used as the area sequence tree, according to the area sequence tree . Setting the cleaning sequence as an example, the method includes:
  • Step S8001 the cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • Step S8002 The cleaning robot 100 judges the first space map.
  • the first space map is regular, the space to be cleaned or the subspace to be cleaned is regarded as the cleaning area, and step S8009 is executed for cleaning; otherwise, step S8003 is executed.
  • Step S8003 Based on the first space map, the cleaning robot 100 divides the space to be cleaned into at least one cleaning area according to the room information in the first space map.
  • Step S8004 the cleaning robot 100 sets a node representing each cleaning area.
  • Step S8005 the cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • Step S8006 When there is only one path from any node other than the top node in the connected graph to the top node, the cleaning robot 100 uses the connected graph as an area sequence tree.
  • Step S8007 The cleaning robot 100 sets the cleaning sequence of multiple cleaning areas based on the area sequence tree.
  • Steps S8001-S8007 are the same as steps S7301-S7307, respectively, and will not be repeated here.
  • Step S8008 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S8009 for cleaning. Otherwise, the area map is used as the first space map and the clean area As the space to be cleaned, the first space map is scanned by scanning lines to divide the space to be cleaned into at least one clean area, and step S8004 is executed.
  • step S8009 is directly executed for cleaning; when the area map corresponding to the cleaning area is irregular, the cleaning robot 100 uses the area map as the first Space map, the clean area is regarded as the space to be cleaned.
  • the cleaning robot 100 may scan the first spatial map through horizontal scan lines, or scan the first spatial map through vertical scan lines, or scan the first spatial map through horizontal scan lines first, and then scan the first spatial map through vertical scan lines, or Scan the first spatial map through the vertical scan line first, and then scan the first spatial map through the horizontal scan line. In the embodiments of the present application, this is not specifically limited.
  • step of the cleaning robot 100 scanning the first space map through the horizontal scan line is the same as step S2303, and will not be repeated here.
  • step S4003 of the cleaning robot 100 scanning the first space map through the longitudinal scanning line will not be repeated here.
  • the steps for the cleaning robot 100 to scan the first space map through the horizontal scan line and then scan the first space map through the vertical scan line are the same as step S4703, and will not be repeated here.
  • the steps for the cleaning robot 100 to scan the first space map through the vertical scan line first, and then scan the first space map through the horizontal scan line are the same as step S5203, and will not be repeated here.
  • Step S8009 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • Step S8010 The cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • Step S8011 the cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and the cleaning sequence.
  • Steps S8309-S8311 are the same as steps S2309-S2311, respectively, and will not be repeated here.
  • the cleaning robot 100 when the cleaning robot 100 encounters an obstacle during the cleaning operation, and when the obstacle crosses at least two cleaning areas, and the distance of the obstacle is greater than the first threshold, the cleaning robot 100 obtains the waiting The second space map of the uncleaned area in the clean space, and the second space map is used as the first space map. Based on the first space map, the cleaning robot 100 scans the first space map by scanning lines to divide the space to be cleaned into at least one cleaning area. The cleaning robot 100 executes step S8004 based on the at least one cleaning area.
  • the scan line used is different from the scan line used in step S8008.
  • the cleaning robot 100 uses the area map as the first space map.
  • the cleaning robot 100 can pass after encountering obstacles.
  • the longitudinal scan line scans the first spatial map.
  • the cleaning robot 100 scans the first space map through the vertical scan line in step S8008, the cleaning robot 100 can scan the first space map through the horizontal scan line after encountering an obstacle. In the embodiments of the present application, this is not specifically limited.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as multiple room units, and the multiple room units have irregular room units.
  • the cleaning robot 100 follows the first The room information in the space map divides the space to be cleaned into at least one clean area.
  • the cleaning robot 100 uses the clean area as the clean area to be cleaned.
  • Space use the area map as the first space map, scan the first space map by scanning lines, divide the space to be cleaned into at least one clean area, and process the looped connected graph to obtain the area sequence tree ,
  • the method includes:
  • Step S8101 The cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • Step S8102 The cleaning robot 100 judges the first space map.
  • the first space map is regular, the space to be cleaned or the subspace to be cleaned is regarded as the cleaning area, and step S8109 is executed for cleaning; otherwise, step S8103 is executed.
  • Step S8103 Based on the first space map, the cleaning robot 100 divides the space to be cleaned into at least one cleaning area according to the room information in the first space map.
  • Step S8104 The cleaning robot 100 sets a node representing each cleaning area.
  • Step S8105 The cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • Steps S8101-S8105 are the same as steps S8001-S8005, respectively, and will not be repeated here.
  • Step S8106 When there are multiple paths from a node with a non-top node to the top node in the connected graph, the cleaning robot 100 performs de-ring processing on the connected graph to obtain an area sequential tree.
  • Step S8107 The cleaning robot 100 sets the cleaning sequence of a plurality of cleaning areas based on the area sequence tree.
  • Steps S8106-S8107 are the same as steps S3406-S3407 respectively, and will not be repeated here.
  • Step S8108 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S8109 for cleaning. Otherwise, the area map is used as the first space map and the clean area As the space to be cleaned, scan the first space map by scanning lines to divide the space to be cleaned into at least one clean area, and step S8104 is executed.
  • Step S8109 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • Step S8110 The cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • Step S8111 The cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and cleaning sequence.
  • Steps S8108-S8111 are the same as steps S8008-S8011, respectively, and will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application provides a cleaning control method.
  • the embodiment of the present application takes the space to be cleaned as a room area composed of multiple room units, and the cleaning robot 100 scans the first space map through the scan line, and the The space is divided into at least one clean area, and the acyclic connected graph is directly used as the area sequence tree.
  • the cleaning sequence is set as an example for description.
  • the method includes:
  • Step S8201 The cleaning robot 100 obtains a map of the space to be cleaned as a first space map.
  • the first spatial map acquired by the cleaning robot 100 is the map shown in FIG. 83, which is a room area composed of the room unit 1 and the room unit 2 in the map shown in FIG. 84.
  • step 2301 The rest of the steps are the same as step 2301 and will not be repeated here.
  • Step S8202 The cleaning robot 100 judges the first space map.
  • the first space map is regular, the space to be cleaned or the subspace to be cleaned is regarded as the cleaning area, and step S8209 is executed for cleaning; otherwise, step S8203 is executed.
  • This step is the same as step 2302, and will not be repeated here.
  • Step S8203 Based on the first space map, the cleaning robot 100 scans the first space map through scan lines to divide the space to be cleaned into at least one cleaning area.
  • the cleaning robot 100 may scan the first spatial map through the horizontal scan line, or scan the first spatial map through the vertical scan line, or scan the first spatial map through the horizontal scan line first, and then scan the first spatial map through the vertical scan line.
  • step of the cleaning robot 100 scanning the first space map through the horizontal scan line is the same as step S2303, and will not be repeated here.
  • step S4003 of the cleaning robot 100 scanning the first space map through the longitudinal scanning line will not be repeated here.
  • the steps for the cleaning robot 100 to scan the first space map through the horizontal scan line and then scan the first space map through the vertical scan line are the same as step S4703, and will not be repeated here.
  • the steps for the cleaning robot 100 to scan the first space map through the vertical scan line first, and then scan the first space map through the horizontal scan line are the same as step S5203, and will not be repeated here.
  • the first space map acquired by the cleaning robot 100 is the map shown in FIG. 83, after the cleaning robot scans the first space map through a horizontal scan line, the multiple cleaning areas obtained can be seen in FIG. 85.
  • Step S8204 The cleaning robot 100 sets a node representing each cleaning area.
  • Step S8205 The cleaning robot 100 constructs a connected graph of the cleaning area according to the connection relationship between the cleaning areas.
  • Step S8206 When there is only one path from any node other than the top node in the connected graph to the top node, the cleaning robot 100 uses the connected graph as an area sequential tree.
  • Step S8207 the cleaning robot 100 sets the cleaning sequence of a plurality of cleaning areas based on the area sequence tree.
  • Step S8208 The cleaning robot 100 selects the cleaning area according to the cleaning order, and judges the area map of the cleaning area. When the area map is regular, perform step S8209 for cleaning. Otherwise, the area map is used as the first space map and the clean area As the space to be cleaned, step S8203 is executed.
  • Steps S8204-S8208 are the same as steps S2304-S2308 respectively, and will not be repeated here.
  • Step S8209 the cleaning robot 100 sets a cleaning direction for the cleaning area.
  • the cleaning direction set by the cleaning robot 100 to the cleaning area shown in FIG. 85 may refer to FIG. 86.
  • step S2309 The remaining steps are the same as step S2309, and will not be repeated here.
  • Step S8210 The cleaning robot 100 sets a cleaning starting point for the cleaning area based on the cleaning direction.
  • Step S8211 The cleaning robot 100 starts from the cleaning starting point with the cleaning area as a unit, and performs a cleaning operation on the cleaning area of the space to be cleaned according to the cleaning direction and cleaning sequence.
  • Steps S8210-S8211 are the same as steps S2310-S2311 respectively, and will not be repeated here.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • An embodiment of the present application provides a cleaning control device. See FIG. 87.
  • the device is applied when the cleaning robot 100 cleans an unknown space to be cleaned. It is used in conjunction with a base station.
  • the base station is a cleaning device used by the cleaning robot 100.
  • the clean space is provided with an entrance, and the base station or entrance is a reference object.
  • the device includes:
  • the first obtaining module 8701 is used to obtain a map of the space to be cleaned as a first space map, the first space map is used to indicate the space to be cleaned or the subspace to be cleaned in the space to be cleaned, and the subspace to be cleaned is the space to be cleaned Uncleaned areas;
  • the dividing module 8702 is configured to divide the space to be cleaned into at least one clean area based on the first space map, and an entrance and exit is provided between two adjacent and connected clean areas;
  • the first setting module 8703 is used to set a cleaning sequence for the cleaning area, and the cleaning sequence satisfies that the path of any cleaning area in the cleaning sequence is not allowed to pass through other clean areas that have been cleaned;
  • the execution module 8704 is configured to sequentially perform cleaning operations on the cleaning areas of the space to be cleaned in accordance with the cleaning order by using the cleaning area as a unit.
  • the device further includes:
  • the judgment module is used to judge the first space map.
  • the space to be cleaned or the subspace to be cleaned is regarded as the cleaning area, the cleaning direction and the starting point of the cleaning are set for the cleaning area, and the space to be cleaned
  • the cleaning area performs the cleaning operation, otherwise the space to be cleaned is divided into at least one cleaning area based on the first space map.
  • the first space map rule is defined as: there is at least one path from any point on the first space map to the reference object and the path is satisfied There is no movement path that tends to the opposite direction of the reference direction.
  • the reference direction is the direction in which any point in the space to be cleaned or the subspace to be cleaned points to the reference object, and the connecting area between the point and the reference object does not pass through obstacles.
  • the execution module 8704 is used to set a cleaning direction for the cleaning area, and the cleaning direction is the reference direction; based on the cleaning direction, set a cleaning start point for the cleaning area, and the cleaning start point is the cleaning start point.
  • the device further includes: a selection module for selecting the cleaning area according to the cleaning order, judging the area map of the cleaning area, and setting a cleaning direction for the cleaning area when the area map is regular, Otherwise, take the area map as the first space map and the clean area as the space to be cleaned. Based on the first space map, divide the space to be cleaned into at least one clean area.
  • the rules of the area map are defined as: any point on the area map to the entrance and exit There is at least one path and there is no movement path that tends to the opposite direction of the entrance and exit direction in the path.
  • the device further includes:
  • the moving module is used to move from the cleaning area to the next cleaning area based on the navigation path from the cleaning area to the next cleaning area after performing the cleaning operation on a cleaning area.
  • the dividing module 8702 is also used to divide the space to be cleaned according to the room information in the first space map to obtain at least one clean area.
  • the device further includes:
  • the second setting module is used to set the right angle reference coordinate system with the reference object as the origin, including the X axis and the Y axis, the reference direction is perpendicular to the X axis, and the reference direction is the positive direction of the Y axis;
  • the dividing module 8702 is also used to scan the first spatial map through the horizontal scan line at the position of the reference object, and the horizontal scan line is perpendicular to the reference direction; if the scanned area in the first spatial map is adjacent in the positive direction of the Y axis And the unscanned area, advance the horizontal scan line along the positive direction of the Y axis to scan the adjacent and unscanned area; if the scanned area in the first space map has adjacent and unscanned areas in the negative direction of the Y axis, Then advance the horizontal scan line along the negative direction of the Y-axis to scan the adjacent and unscanned area; use the length of the horizontal scan line to be intercepted by the first spatial map to appear the segmented position and the edge of the first spatial map as the dividing line, The continuous areas scanned in the same direction are merged, thereby dividing the first space map into at least one clean area.
  • the device further includes: a third setting module, which is also used to set a right-angle reference coordinate system with the reference object as the origin, including the X axis and the Y axis, and the reference direction is perpendicular to X Axis, the reference direction is the positive direction of Y axis;
  • the dividing module 8702 is also used to scan the first spatial map through the longitudinal scan line at the position of the reference object, and the longitudinal scan line is parallel to the reference direction; if the scanned area in the first spatial map is adjacent in the positive direction of the X axis And the unscanned area, advance the longitudinal scan line along the positive X-axis to scan the adjacent and unscanned area; if the scanned area in the first spatial map has adjacent and unscanned areas in the negative X-axis direction, Then advance the longitudinal scan line along the negative direction of the X-axis to scan the adjacent and unscanned area; use the length of the longitudinal scan line to be intercepted by the first spatial map to appear the segmented position and the edge of the first spatial map as the dividing line, The continuous areas scanned in the same direction are merged, thereby dividing the space to be cleaned into at least one cleaning area.
  • the device further includes: a fourth setting module, which is also used to set a right angle reference coordinate system with the reference object as the origin, including the X axis and the Y axis, and the reference direction is perpendicular to X Axis, the reference direction is the positive direction of Y axis;
  • the dividing module 8702 is also used to scan the first spatial map through the horizontal scan line and the vertical scan line at the position of the reference object, the horizontal scan line is perpendicular to the reference direction, and the vertical scan line is parallel to the reference direction; if the first spatial map is The scanned area has an adjacent and unscanned area in the positive direction of the Y axis, then advance the horizontal scan line along the positive direction of the Y axis to scan the adjacent and unscanned area; if the scanned area in the first spatial map is on the Y axis If there are adjacent and unscanned areas in the negative direction, advance the horizontal scan line along the negative direction of the Y-axis to scan the adjacent and unscanned areas; if the scanned area in the first spatial map has adjacent and unscanned areas in the positive X-axis direction For unscanned areas, advance longitudinal scan lines along the positive X-axis to scan adjacent and unscanned areas; if the scanned area in the first spatial map has adjacent and unscanned areas in the negative X-axis direction, then Advance the
  • the device further includes:
  • the merging module is used for merging the cleaning area and other adjacent cleaning areas whose area is larger than the preset value when the area of the cleaning area is less than the preset value.
  • the merging module is also used to merge the clean area into the clean area scanned by the scan line propelled in the same direction.
  • the first setting module 8703 is also used to establish an area sequence tree based on the cleaning area.
  • the area sequence tree includes at least one node, and each node represents a cleaning area in the space to be cleaned.
  • a node is connected to at least one node, the node includes a top node, a parent node and a child node, two connected nodes, the node close to the top node is the parent node, the node far away from the top node is the child node, and the parent node represents the clean area and child
  • the clean area represented by the node is adjacent, or one of the parent node and child node represents an isolated clean area, the other node represents the clean area closest to the isolated clean area, and the clean area represented by the top node is the clean area where the reference object is located.
  • Area there is only one path from any non-top node in the area sequence tree to the top node; based on the area sequence tree, set the cleaning order of multiple cleaning areas.
  • the first setting module 8703 is also used to set the nodes representing each clean area; according to the connection relationship between the clean areas, when the clean areas represented by any two nodes are adjacent, Or one of the nodes represents the isolated clean area, and the other node represents the clean area closest to the isolated clean area. Connect the two nodes to construct a connected graph of the clean area; build an area sequence tree based on the connected graph.
  • the first setting module 8703 is also used for when there is only one path from any node other than the top node in the connected graph to the top node, using the connected graph as the area sequential tree; When there are multiple paths from a node with a non-top node to the top node, the connected graph is de-looped to obtain a regional sequential tree.
  • the ring is a circular path formed by connecting at least three nodes in sequence. The ring makes the connected graph have non-top There are multiple paths from the node of the node to the top node.
  • the first setting module 8703 is further configured to determine the first target cleaning area based on the area sequence tree; based on the area sequence tree, query the first target node representing the first target cleaning area Parent node, query whether the parent node of the first target node has a child node that represents a non-first target clean area, if not, use the clean area represented by the parent node of the first target node as the second target clean area, if so, The cleaning area represented by the lowest node in the child nodes is taken as the second target cleaning area; based on the area sequence tree, query the parent node of the second target node representing the second target cleaning area, and query whether the parent node of the second target node There are child nodes representing the non-first target cleaning area and the non-second target cleaning area.
  • the cleaning area represented by the parent node of the second target node is taken as the third target cleaning area. If there is, the child node
  • the cleaning area represented by the bottom node of is used as the third target cleaning area; query the third target cleaning area in the area sequence tree until the cleaning area represented by the top node is set as the last target cleaning area.
  • the first setting module 8703 is also used to determine the first cleaning area closest to the current first position of the cleaning robot 100 in the first spatial map; based on the area sequence tree, The first clean area is the start node. Determine whether there are leaf nodes in the target subtree.
  • the target subtree is a local area sequence tree with the start node as the top node in the area sequence tree, and the leaf nodes are the parent nodes in the area sequence tree. Nodes without child nodes; when there are leaf nodes in the target subtree, select a leaf node from the leaf nodes of the target subtree, and use the clean area represented by the selected leaf node as the first target clean area;
  • the clean area represented by the start node is taken as the first target clean area.
  • the cleaning direction of the cleaning area indicated by the top node is the same as the reference direction.
  • the cleaning direction of the cleaning area indicated by the child node points to the child
  • the cleaning area represented by the parent node of the node, and the cleaning direction of the cleaning area represented by the child node is parallel or perpendicular to the reference direction.
  • the execution module 8704 is also used to search for the first uncleaned point closest to the current first position of the cleaning robot 100 in the cleaning area based on the area map; in the cleaning area, Within the preset length range perpendicular to the cleaning direction, search for the second uncleaned spot in the cleaned area in the opposite direction of the cleaning direction.
  • the second uncleaned spot is the uncleaned spot farthest from the first uncleaned spot in the cleaning direction Point; based on the second uncleaned point, determine the cleaning starting point of the cleaning area; or, based on the area map, starting from the current first position of the cleaning robot 100 in the cleaning area, in the form of a scan line along the opposite direction of the cleaning direction Scan and search for the first uncleaned spot in the cleaned area, the scan line is perpendicular to the cleaning direction, the first uncleaned spot is the uncleaned spot farthest from the first position in the cleaning direction; the cleaned area is determined based on the first uncleaned spot Or, based on the area map, use the entrance edge of the cleaning area as the starting position of the cleaning robot 100 in the cleaning area, and search for the first uncleaned point in the cleaning area in the opposite direction of the cleaning direction, and the first uncleaned The point is the uncleaned point farthest from the starting position of the cleaned area in the cleaning direction; based on the first uncleaned point, the cleaning starting point of
  • the execution module 8704 is also used to use the first uncleaned spot as the starting point for cleaning the cleaned area; or, when there is an uncleaned spot on the edge where the first uncleaned spot is located, move to The end point of the edge, the end point of the edge is used as the starting point for cleaning the cleaning area.
  • the device further includes:
  • the second acquiring module is used to acquire the uncleaned area in the space to be cleaned when an obstacle is encountered during the cleaning operation, when the obstacle crosses at least two cleaning areas and the distance of the obstacle is greater than the first threshold
  • the second space map uses the second space map as the first space map, and divides the space to be cleaned into at least one cleaning area based on the first space map.
  • the cleaning robot 100 is provided with a cleaning element, which is used to perform cleaning operations on the ground; the cleaning element is a mopping module, which is used to mopping and clean the ground; to be cleaned
  • the space is a room unit.
  • the cleaning robot 100 obtains a map of the space to be cleaned as a first space map, and based on the first space map, divides the space to be cleaned into at least one cleaning area, and sets a cleaning sequence for the cleaning area.
  • the cleaning sequence satisfies that it is not allowed to pass through other cleaned areas in the path from the entrance and exit of any cleaning area to the reference object in the cleaning sequence, and the cleaning operations are performed sequentially on the cleaning areas of the space to be cleaned in the cleaning sequence in the unit of the cleaning area.
  • the cleaning robot 100 performs the cleaning operation, it performs the cleaning operation in the cleaning area of the space to be cleaned in accordance with the cleaning sequence.
  • this method can prevent the cleaning robot 100 from polluting the cleaned area that has been cleaned when it moves to the area where the base station is located for charging or cleaning cleaning parts, thereby enhancing the cleaning effect and improving the cleaning efficiency.
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium is applied to the cleaning robot 100, and the computer-readable storage medium stores at least one instruction, at least one program, code set, or instruction set, The instruction, the program, the code set, or the instruction set is loaded and executed by the processor to implement the operations performed by the cleaning robot 100 in the cleaning control method of the foregoing embodiment.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Cleaning In General (AREA)

Abstract

一种清洁控制方法、装置、清洁机器人（100）和存储介质，涉及智能设备技术领域。方法包括步骤：清洁机器人（100）获取待清洁空间的地图作为第一空间地图（S1）；基于第一空间地图，将待清洁空间划分为至少一清洁区域（S2）；对清洁区域设定清洁次序（S3）；以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作（S4）。清洁机器人（100）在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，可以避免清洁机器人移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。

Description

清洁控制方法、装置、清洁机器人和存储介质 技术领域
本申请涉及智能设备技术领域。特别涉及一种清洁控制方法、装置、清洁机器人和存储介质。
背景技术
随着智能设备技术的快速发展，具有自动清洁功能的清洁机器人越来越普及；并且随着人们生活节奏的加快，清洁机器人在家庭生活中扮演的角色越来越重要。清洁机器人可以自动在家庭空间或者大型场所等待清洁空间中执行清洁操作，以对待清洁空间进行清洁，从而为用户节省大量清洁时间。
以待清洁空间为家庭空间为例进行说明，现有的清洁机器人在对家庭空间进行清洁时，清洁机器人从当前所在位置开始清洁，清洁机器人具体清洁方式为：清洁机器人以一固定大小区域为单位搜索周边未清洁区域中的第一清洁区域，参见图1，该第一清洁区域的大小为5m×5m，然后对该第一清洁区域按照弓形轨迹进行清洁，清洁完该第一清洁区域后，继续按照5m×5m的区域大小搜索距离最近的未清洁区域中的第二清洁区域，然后继续清洁该第二清洁区域，以此类推，清洁机器人将家庭空间划分为大小相同的多个清洁区域，以清洁区域为单位依次对多个清洁区域执行清洁操作。当清洁机器人的电量不足或需要清洗清洁机器人包括的清洁件时，清洁机器人会通过出入口移动到清洁机器人的基站所在区域进行充电或者清洗，然后返回正在清洁的清洁区域继续执行清洁操作。
当清洁机器人已清洁包括出入口的清洁区域时，在重复通过出入口移动到基站所在区域进行充电或者清洗时，容易污染已清洁的包括出入口的清洁区域，导致清洁效果差，清洁效率低。
申请内容
本申请实施例提供了一种清洁控制方法、装置、清洁机器人和存储介质,能够解决清洁机器人在执行清洁操作过程中，经过已清洁的包括出入口的清洁区域，污染已清洁的包括出入口的清洁区域的问题。所述技术方案如下：
一方面，提供了一种清洁控制方法，应用于清洁机器人对一未知的待清洁空间清洁时执行，清洁机器人配合一基站使用，所述基站为所述清洁机器人使用的清洁设备，所述待清洁空间设有一出入口，所述基站或所述出入口为参考 物，所述清洁控制方法包括：
步骤S1：获取待清洁空间的地图作为第一空间地图，所述第一空间地图用于表示所述待清洁空间或所述待清洁空间内的待清洁子空间，所述待清洁子空间为所述待清洁空间内的未清洁区域；
步骤S2：基于所述第一空间地图，将所述待清洁空间划分为至少一清洁区域，相邻且连通的两清洁区域之间设有一出入口；
步骤S3：对所述清洁区域设定清洁次序，所述清洁次序满足在所述清洁次序中任一个清洁区域的出入口到达所述参考物的路径中不允许经过其它已经清洁过的清洁区域；
步骤S4：以所述清洁区域为单位按照所述清洁次序依次对所述待清洁空间的清洁区域执行清洁操作。
另一方面，提供了一种清洁控制装置，应用于对一未知的待清洁空间清洁时执行，配合一基站使用，所述基站为所述清洁机器人使用的清洁设备，所述待清洁空间设有一出入口，所述基站或所述出入口为参考物，其中，所述装置包括：
第一获取模块，用于获取待清洁空间的地图作为第一空间地图，所述第一空间地图用于表示所述待清洁空间或待清洁空间内的待清洁子空间，所述待清洁子空间为所述待清洁空间内的未清洁区域；
划分模块，用于基于所述第一空间地图，将所述待清洁空间划分为至少一清洁区域，相邻且连通的两清洁区域之间设有一出入口；
第一设定模块，用于对所述清洁区域设定清洁次序，所述清洁次序满足在所述清洁次序中任一个清洁区域的出入口到达所述参考物的路径中不允许经过其它已经清洁过的清洁区域；
执行模块，用于以所述清洁区域为单位按照所述清洁次序依次对所述待清洁空间的清洁区域执行清洁操作。
另一方面，提供了一种清洁机器人，所述清洁机器人包括：
一个或多个处理器和一个或多个存储器，所述一个或多个存储器中存储有至少一条指令、至少一段程序、代码集或指令集，所述指令、所述程序、所述代码集或所述指令集由所述一个或多个处理器加载并执行以实现上述清洁控制方法中任一项所执行的操作。
另一方面，提供了一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有至少一条指令、至少一段程序、代码集或指令集，所述指 令、所述程序、所述代码集或所述指令集由处理器加载并执行以实现上述清洁控制方法中任一项所执行的操作。
本申请实施例提供的技术方案带来的有益效果是：
本申请实施例提供的清洁控制方法，清洁机器人获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
附图说明
图1是背景技术提供的一种划分清洁区域的示意图；
图2是本申请实施例提供的一种清洁控制方法的应用场景的示意图；
图3是本申请实施例提供的一种清洁机器人的立体示意图；
图4是本申请实施例提供的一种清洁机器人拆除部分壳体后的结构示意图；
图5是本申请实施例提供的一种拖地机器人仰视结构示意图；
图6是本申请实施例提供的另一种扫地机器人仰视结构示意图；
图7是本申请实施例提供的一种清洁机器人的结构框图；
图8是本申请实施例提供的一种基站的正视图；
图9是本申请实施例提供的一种基站打开顶盖后的立体示意图；
图10是本申请实施例提供的一种基站的结构框图；
图11是本申请实施例提供的一种清洁机器人驶向基站的示意图；
图12是本申请实施例提供的一种清洁机器人停靠在基站上的状态的示意图；
图13是本申请实施例提供的一种清洁控制方法的流程图；
图14是本申请实施例提供的另一种清洁控制方法的流程图；
图15是本申请实施例提供的一种第一空间地图的示意图；
图16是本申请实施例提供的另一种第一空间地图的示意图；
图17是本申请实施例提供的一种基准方向的示意图；
图18是本申请实施例提供的另一种基准方向的示意图；
图19是本申请实施例提供的一种确定第一未清洁点的示意图；
图20是本申请实施例提供的另一种确定第一未清洁点的示意图；
图21是本申请实施例提供的一种沿弓字型轨迹移动的示意图；
图22是本申请实施例提供的另一种沿弓字型轨迹移动的示意图；
图23是本申请实施例提供的另一种清洁控制方法的流程图；
图24是本申请实施例提供的另一种第一空间地图的示意图；
图25是本申请实施例提供的一种通过横向扫描线扫描第一空间地图的示意图；
图26是本申请实施例提供的一种通过倾斜45°的扫描线扫描第一空间地图的示意图；
图27是本申请实施例提供的一种通过横向扫描线扫描第一空间地图后，合并得到多个清洁区域的示意图；
图28是本申请实施例提供的一种通过倾斜45°的扫描线扫描第一空间地图后，合并得到多个清洁区域的示意图；
图29是本申请实施例提供的一种连通图的示意图；
图30是本申请实施例提供的一种对清洁区域配置清洁方向的示意图；
图31是本申请实施例提供的另一种对清洁区域配置清洁方向的示意图；
图32是本申请实施例提供的一种确定第一未清洁点的示意图；
图33是本申请实施例提供的另一种沿弓字型轨迹移动的示意图；
图34是本申请实施例提供的另一种清洁控制方法的流程图；
图35是本申请实施例提供的一种配置节点间权重的示意图；
图36是本申请实施例提供的一种区域顺序树的示意图；
图37是本申请实施例提供的另一种连通图的示意图；
图38是本申请实施例提供的另一种区域顺序树的示意图；
图39是本申请实施例提供的另一种区域顺序树的示意图；
图40是本申请实施例提供的另一种清洁控制方法的流程图；
图41是本申请实施例提供的另一种第一空间地图的示意图；
图42是本申请实施例提供的一种通过纵向扫描线扫描第一空间地图的示意图；
图43是本申请实施例提供的一种通过纵向扫描线扫描第一空间地图后，合并得到多个清洁区域的示意图；
图44是本申请实施例提供的另一种通过纵向扫描线扫描第一空间地图后，合并得到多个清洁区域的示意图；
图45是本申请实施例提供的另一种连通图的示意图；
图46是本申请实施例提供的另一种清洁控制方法的流程图；
图47是本申请实施例提供的另一种清洁控制方法的流程图；
图48是本申请实施例提供的另一种第一空间地图的示意图；
图49是本申请实施例提供的另一种通过横向扫描线扫描第一空间地图的示意图；
图50是本申请实施例提供的另一种通过纵向扫描线扫描第一空间地图的示意图；
图51是本申请实施例提供的另一种清洁控制方法的流程图；
图52是本申请实施例提供的另一种清洁控制方法的流程图；
图53是本申请实施例提供的另一种通过纵向扫描线扫描第一空间地图的示意图；
图54是本申请实施例提供的另一种通过横向扫描线扫描第一空间地图的示意图；
图55是本申请实施例提供的另一种清洁控制方法的流程图；
图56是本申请实施例提供的另一种清洁控制方法的流程图；
图57是本申请实施例提供的一种在清洁机器人在执行清洁操作过程中遇到障碍物的示意图；
图58是本申请实施例提供的另一种第一空间地图的示意图；
图59是本申请实施例提供的另一种通过纵向扫描线扫描第一空间地图的示意图；
图60是本申请实施例提供的另一种通过纵向扫描线扫描第一空间地图后，合并得到多个清洁区域的示意图；
图61是本申请实施例提供的另一种通过纵向扫描线扫描第一空间地图后，合并得到多个清洁区域的示意图；
图62是本申请实施例提供的另一种对清洁区域配置清洁方向的示意图；
图63是本申请实施例提供的另一种第一空间地图的示意图；
图64是本申请实施例提供的另一种清洁控制方法的流程图；
图65是本申请实施例提供的一种清洁控制装置的流程图；
图66是本申请实施例提供的另一种第一空间地图的示意图；
图67是本申请实施例提供的另一种通过纵向扫描线扫描第一空间地图的示意图；
图68是本申请实施例提供的另一种连通图的示意图；
图69是本申请实施例提供的另一种在清洁机器人在执行清洁操作过程中遇到障碍物的示意图；
图70是本申请实施例提供的另一种第一空间地图的示意图；
图71是本申请实施例提供的另一种通过横向扫描线扫描第一空间地图后，得到多个清洁区域的示意图；
图72是本申请实施例提供的另一种清洁控制方法的流程图；
图73是本申请实施例提供的另一种清洁控制方法的流程图；
图74是本申请实施例提供的另一种第一空间地图的示意图；
图75是本申请实施例提供的另一种连通图的示意图；
图76是本申请实施例提供的另一种对清洁区域配置清洁方向的示意图；
图77是本申请实施例提供的另一种清洁控制方法的流程图；
图78是本申请实施例提供的另一种第一空间地图的示意图；
图79是本申请实施例提供的另一种连通图的示意图；
图80是本申请实施例提供的另一种清洁控制方法的流程图；
图81是本申请实施例提供的另一种清洁控制方法的流程图；
图82是本申请实施例提供的另一种清洁控制方法的流程图；
图83是本申请实施例提供的另一种第一空间地图的示意图；
图84是本申请实施例提供的一种房间区域的示意图；
图85是本申请实施例提供的另一种通过横向扫描线扫描第一空间地图后，得到多个清洁区域的示意图；
图86是本申请实施例提供的另一种对清洁区域配置清洁方向的示意图；
图87是本申请实施例提供的一种清洁控制装置的的结构示意图。
具体实施方式
为使本申请的技术方案和优点更加清楚，下面对本申请实施方式作进一步地详细描述。
本申请实施例提供了一种清洁控制方法的应用场景，参见图2，该应用场景包括清洁机器人100和基站200。该清洁机器人100用于对待清洁空间的地面进行自动清洁，基站200为配合清洁机器人100使用的清洁设备，用于对清洁机器人100进行充电或者对清洁机器人100的清洁件进行清洗。该清洁机器人100 上设有清洁件和驱动装置，驱动装置用于驱动清洁机器人100，清洁件用于对待清洁空间的地面进行自动清洁。清洁件可以为拖地模块或者扫地模块，该拖地模块用于对地面进行拖地清洁，拖地模块可以为拖擦件，拖擦件可以为抹布。该扫地模块用于对地面进行扫地清洁，且该扫地模块可以为边刷。
待清洁空间设有一出入口，该出入口用于清洁机器人100通过该出入口进出待清洁空间。其中，当清洁机器人100需要去基站200所在区域进行充电或者清洗清洁件时，可以通过该出入口进出待清洁空间。该待清洁空间可以为家庭空间中的一个单独的房间单元，待清洁空间为一个房间单元中的部分区域，或者待清洁空间为多个房间单元组成的房间区域，或者待清洁空间为家庭空间。待清洁空间还可以为写字楼中的办公室，大型商场或者机场等公共场所。在本申请实施例中，对待清洁空间不作具体限定。当待清洁空间为一个单独的房间单元时，该出入口可以为该房间单元的房门；当待清洁空间为一个房间单元中的部分区域时，该出入口可以为清洁机器人100进出该部分区域的位置；当待清洁空间为家庭空间时，该出入口可以为该家庭空间的房门。
在本申请实施例中，清洁机器人100在清洁待清洁空间时，获取待清洁空间的地图作为第一空间地图，基于该第一空间地图，将待清洁空间划分为至少一清洁区域，对划分的清洁区域设定清洁次序，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。该方法避免了清洁机器人100移动至基站200所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
本申请实施例提供了一种清洁机器人，该清洁机器人100可用于对地面进行自动清洁。
图3为本申请实施例提供的清洁机器人100的立体示意图，图4为图3所示清洁机器人100拆除部分壳体后的结构示意图。其中，清洁机器人100的类型包括扫地机器人1001和拖地机器人1002等。图5为本申请实施例提供的拖地机器人1002仰视结构示意图，图6为本申请实施例提供的扫地机器人1001仰视结构示意图，图7为本申请实施例提供的清洁机器人100的另一结构示意图。
如图3至图7所示，清洁机器人100包括机器人主体101、驱动电机102、传感器单元103、控制器104、电池105、行走单元106、存储器107、通信单元108、机器人交互单元109、清洁件、和充电部件111等。
机器人主体101可以为圆形结构、方形结构等。在本申请实施例中，以机 器人主体101为D字形结构为例进行说明。如图3所示，机器人主体101前部为倒圆角的矩形结构，后部为半圆形结构。在本申请实施例中，机器人主体101为左右对称结构。
清洁件用于对地面进行清洁，清洁件的数量可以为一个或多个。清洁件设置在机器人主体101的底部，具体为机器人主体101的底部靠前的位置。在机器人主体101内部设有驱动电机102，在机器人主体101的底部伸出两个转轴，清洁件套接在转轴上。驱动电机102可带动转轴旋转，从而转轴带动清洁件旋转。
如图5所示，对于拖地机器人1002来说，清洁件具体为拖擦件1101，拖擦件1101例如为拖布。拖擦件1101用于对地面进行拖地清洁。
如图6所示，对于扫地机器人1001来说，清洁件具体为边刷1102，边刷1102用于对地面进行扫地清洁。扫地机器人1001还设有吸尘装置，吸尘装置包括设置在机器人主体101的底部的吸尘口1121和设置在机器人主体101内部的尘盒1122和风机1123。边刷1102设置在扫地机器人1001底部的转轴上，转轴带动边刷1102后，转动的边刷1102将灰尘等垃圾扫到扫地机器人1001底部的吸尘口1121附近，因风机1123的抽吸作用，这些垃圾被吸入吸尘口1121，通过吸尘口1121进入尘盒1122中进行暂存。
在本申请实施例中，清洁机器人100的清洁件可以设置为可拆卸的连接方式，在需要进行拖地清洁时，将拖擦件1101安装到机器人主体101的底部；在需要进行扫地清洁时，使用边刷1102替换拖擦件1101，将边刷1102安装到机器人主体101的底部。
行走单元106为与清洁机器人100的移动相关的部件，行走单元106包括驱动轮1061和万向轮1062。万向轮1062和驱动轮1061配合实现清洁机器人100的转向和移动。在机器人主体101的底面靠后部的位置，左右两边各设置一个驱动轮1061。万向轮1062设置在机器人主体101的底面的中心线上，且位于两个清洁件之间。
其中，每一驱动轮1061上设有驱动轮电机，在驱动轮电机的带动下，驱动轮1061转动。驱动轮1061转动后，带动清洁机器人100移动。通过控制左右驱动轮1061的转速差，可控制清洁机器人100的转向角度。
图7是图3所示清洁机器人100的另一结构示意图。
控制器104设置在机器人主体101内部，控制器104用于控制清洁机器人100执行具体的操作。该控制器104例如可以为中央处理器(Central Processing  Unit，CPU)、或微处理器(Microprocessor)等。如图7所示，控制器104与电池105、存储器107、驱动电机102、行走单元106、传感器单元103、以及机器人交互单元109等部件电连接，以对这些部件进行控制。
电池105设置在机器人主体101内部，电池105用于为清洁机器人100提供电力。
机器人主体101上还设有充电部件111，该充电部件111用于从外部设备获取电力，从而向清洁机器人100的电池105进行充电。
存储器107设置在机器人主体101上，存储器107上存储有程序，该程序被控制器104执行时实现相应的操作。存储器107还用于存储供清洁机器人100使用的参数。其中，存储器107包括但不限于磁盘存储器、只读光盘(Compact Disc Read-Only Memory，CD-ROM)、光学存储器等。
通信单元108设置在机器人主体101上，通信单元108用于让清洁机器人100和外部设备进行通信，通信单元108包括但不限于无线保真(WIreless-Fidelity，WI-FI)通信模块1081和短距离通信模块1082等。清洁机器人100可以通过WI-FI通信模块1081连接WI-FI路由器，从而与终端进行通信。清洁机器人100通过短距离通信模块1082与基站进行通信。其中，基站为配合清洁机器人100使用的清洁设备。
在机器人主体101上设置的传感器单元103包括各种类型的传感器，例如激光雷达1031、碰撞传感器1032、距离传感器1033、跌落传感器1034、计数器1035、和陀螺仪1036等。
激光雷达1031设置在机器人主体101的顶部，在工作时，激光雷达1031旋转，并通过激光雷达1031上的发射器发射激光信号，激光信号被障碍物反射，从而激光雷达1031的接收器接收障碍物反射回的激光信号。激光雷达1031的电路单元通过对接收的激光信号进行分析，可得到周围的环境信息，例如障碍物相对激光雷达1031的距离和角度等。此外，也可用摄像头替代激光雷达，通过对摄像头拍摄的图像中的障碍物进行分析，也可得到障碍物相对摄像头的距离、角度等。
碰撞传感器1032包括碰撞壳体10321和触发传感器10322。碰撞壳体10321包绕机器人主体101的头部，具体来说，碰撞壳体10321设置在机器人主体101的头部和机器人主体101的左右两侧的靠前位置。触发传感器10322设置在机器人主体101内部且位于碰撞壳体10321之后。在碰撞壳体10321和机器人主体101之间设有弹性缓冲件。当清洁机器人100通过碰撞壳体10321与障碍物 碰撞时，碰撞壳体10321向清洁机器人100内部移动，且压缩弹性缓冲件。在碰撞壳体10321向清洁机器人100内部移动一定距离后，碰撞壳体10321与触发传感器10322接触，触发传感器10322被触发产生信号，该信号可发送到机器人主体101内的控制器104，以进行处理。在碰完障碍物后，清洁机器人100远离障碍物，在弹性缓冲件的作用下，碰撞壳体10321移回原位。可见，碰撞传感器1032可对障碍物进行检测，以及当碰撞到障碍物后，起到缓冲作用。
距离传感器1033具体可以为红外探测传感器，可用于探测障碍物至距离传感器1033的距离。距离传感器1033设置在机器人主体101的侧面，从而通过距离传感器1033可测出位于清洁机器人100侧面附近的障碍物至距离传感器1033的距离值。距离传感器1033也可以是超声波测距传感器、激光测距传感器或者深度传感器等。
跌落传感器1034设置在机器人主体101的底部边缘，数量可以为一个或多个。当清洁机器人100移动到地面的边缘位置时，通过跌落传感器1034可探测出清洁机器人100有从高处跌落的风险，从而执行相应的防跌落反应，例如清洁机器人100停止移动、或往远离跌落位置的方向移动等。
在机器人主体101的内部还设有计数器1035和陀螺仪1036。计数器1035用于对驱动轮1061的转动角度总数进行累计，以计算出驱动轮1061驱动清洁机器人100移动的距离长度。陀螺仪1036用于检测清洁机器人100转动的角度，从而可确定出清洁机器人100的朝向。
机器人交互单元109设置在机器人主体101上，用户可通过机器人交互单元109和清洁机器人100进行交互。机器人交互单元109例如包括开关按钮1091、和扬声器1092等部件。用户可通过按压开关按钮1091，控制清洁机器人100启动工作或停止工作。清洁机器人100可通过扬声器1092向用户播放提示音。
应该理解，本申请实施例描述的清洁机器人100只是一个具体示例，并不对本申请实施例的清洁机器人100构成具体限定，本申请实施例的清洁机器人100还可以为其它的具体实现方式。例如，在其它的实现方式中，清洁机器人100可以比图3所示的清洁机器人100有更多或更少的部件。再如清洁机器人100可以为扫拖一体机器人，即该清洁机器人100的底部设有拖擦件、边刷、和吸风口，从而该清洁机器人100可以对地面同时进行拖地和扫地。
本申请实施例还提供了一种基站200，基站200用于和清洁机器人100配合使用，例如，基站200可以向清洁机器人100进行充电、基站200可以向清洁机器人100提供停靠位置等。在清洁机器人100为拖地机器人1002时，基站200 还可以清洗拖地机器人1002的拖擦件1101。其中，拖擦件1101用于对地面进行拖地清洁。
图8为本申请实施例提供的一种基站200的正视图。图9为图8所示的基站200打开顶盖201后的立体示意图。
如图8和图9所示，本申请实施例的基站200包括基站主体202、清洗槽203和水箱204。
清洗槽203设置在基站主体202上，清洗槽203用于清洗拖地机器人1002的拖擦件1101。设置在清洗槽203上的清洗肋2031可对拖擦件1101进行刮擦清洁。
在基站主体202上设有入槽口205，入槽口205通向清洗槽203。清洁机器人100可通过入槽口205驶入基站200，以使得清洁机器人100停靠在基站200上的预设停靠位置。
水箱204设置在基站主体202内，水箱204具体包括清水箱和污水箱。清水箱用于存储清洁用水。在清洁机器人100为拖地机器人1002，拖地机器人1002底部设有拖擦件1101时，清洁机器人100停靠在基站200上，清洁机器人100的拖擦件1101容置于清洗槽203上。清水箱向清洗槽203提供清洁用水，清洁用水用于清洗拖擦件1101。然后，清洗拖擦件1101后的脏污水被收集到污水箱中。在基站主体202上设有顶盖201，用户通过打开顶盖201，可从基站主体202中取出水箱204。
图10为图8所示基站200的另一结构示意图。
参阅图10，本申请实施例的基站200还包括控制器206、通信单元207、存储器208、水泵209和基站交互单元210等。
控制器206设置在基站主体202内部，控制器206用于控制基站200执行具体的操作。控制器206例如可以为中央处理器(Central Processing Unit，CPU)、或微处理器(Microprocessor)等。其中，控制器206与通信单元207、存储器208、水泵209和基站交互单元210电连接。
存储器208设置在基站主体202上，存储器208上存储有程序，该程序被控制器206执行时实现相应的操作。存储器208还用于存储供基站200使用的参数。其中，存储器208包括但不限于磁盘存储器、CD-ROM、光学存储器等。
水泵209设置在基站主体202内部，具体来说，水泵209有两个，一个水泵209用于控制清水箱向清洗槽203提供清洁用水，另一个水泵209用于将清洗拖擦件1101后的脏污水收集到污水箱中。
通信单元207设置在基站主体202上，通信单元207用于和外部设备进行通信，通信单元207包括但不限于无线保真(WIreless-Fidelity，WI-FI)通信模块2071和短距离通信模块2072等。基站200可以通过WI-FI通信模块2071连接WI-FI路由器，从而与终端进行通信。基站200可通过短距离通信模块2072与清洁机器人100进行通信。
基站交互单元210用于和用户进行交互。基站交互单元210例如包括显示屏2101和控制按钮2102，显示屏2101和控制按钮2102设置在基站主体202上，显示屏2101用于向用户展示信息，控制按钮2102用于供用户进行按压操作，以控制基站200的开机或停机等。
基站主体202上还设有供电部件，而清洁机器人100上设有充电部件111，当清洁机器人100停靠在基站200上的预设停靠位置后，清洁机器人100的充电部件111和基站200的供电部件接触，从而基站200向清洁机器人100进行充电。其中，基站200的电能可来源于市电。
以下对清洁机器人100和基站200配合工作的过程进行示例性说明：
清洁机器人100对房间的地面进行清洁，当清洁机器人100上的电池105的电量少于预设电量阈值时，如图11所示，清洁机器人100自动驶向基站200。清洁机器人100通过基站200上的入槽口205进入基站200，并停靠在基站200上的预设停靠位置。清洁机器人100停靠在基站200上的状态可参阅图12。
此时，清洁机器人100上的充电部件111和基站200上的供电部件接触，基站200从市电获取电力，并通过供电部件和充电部件111向清洁机器人100的电池105进行充电。清洁机器人100充满电后，驶离基站200，继续对房间地面进行清洁。
当清洁机器人100是拖地机器人1002，且该拖地机器人1002的底部设有拖擦件1101时，清洁机器人100用于对地面进行拖地清洁。清洁机器人100对房间地面拖地一段时间，拖擦件1101变脏污后，清洁机器人100驶向基站200。清洁机器人100通过基站200上的入槽口205进入基站200，并停靠在基站200上的预设停靠位置。清洁机器人100停靠在基站200上的状态可参阅图12。此时，清洁机器人100的拖擦件1101容置在清洗槽203上，在水泵209的作用下，基站200内的清水箱的清洁用水流向清洗槽203，通过清洗槽203上的进液结构喷向拖擦件1101上，同时拖擦件1101与清洁槽内的凸起的清洗肋2031刮擦，从而实现对拖擦件1101的清洁。清洗拖擦件1101后的脏污水从清洁槽上的排液结构流出清洗槽203，在水泵209的作用下，脏污水收集到污水箱。
应该理解，本申请实施例描述的基站200只是一个具体示例，并不对本申请实施例的基站200构成具体限定，本申请实施例的基站200还可以为其它的具体实现方式，例如，本申请实施例的基站200可以不包括水箱204，基站主体202可以连接自来水管和排水管，从而使用自来水管的自来水清洗清洁机器人100的拖擦件1101，清洗拖擦件1101后的脏污水由清洗槽203通过排水管流出基站200。或者，在其它的实现方式中，基站200可以比图8所示的基站200有更多或更少的部件。
本申请实施例提供了一种清洁控制方法，参见图13，应用于清洁机器人100对一未知的待清洁空间清洁时执行，清洁机器人100配合一基站200使用，基站200为清洁机器人100使用的清洁设备，待清洁空间设有一出入口，基站200或出入口为参考物，该清洁控制方法包括：
步骤S1：获取待清洁空间的地图作为第一空间地图，第一空间地图用于表示待清洁空间或待清洁空间内的待清洁子空间，待清洁子空间为待清洁空间内的未清洁区域；
步骤S2：基于第一空间地图，将待清洁空间划分为至少一清洁区域，相邻且连通的两清洁区域之间设有一出入口；
步骤S3：对清洁区域设定清洁次序，清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域；
步骤S4：以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。
在一种可能的实现方式中，在步骤S2之前，方法还包括：
步骤S5：对第一空间地图进行判断，当第一空间地图规则时，则将待清洁空间或待清洁子空间作为清洁区域，执行步骤S6：对清洁区域设定清洁方向和清洁起点，对待清洁空间的清洁区域执行清洁操作，否则执行步骤S2，第一空间地图规则的定义为：第一空间地图中任意一点到参考物存在至少一条路径且满足路径中没有趋向于基准方向的反方向的移动路径，基准方向为待清洁空间或待清洁子空间内任意一点指向参考物的方向，且点至参考物之间的连线区域不经过障碍物。
在另一种可能的实现方式中，步骤S4：以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作的方法，包括：
步骤S41：对清洁区域设定一清洁方向，清洁方向为基准方向；
步骤S42：基于清洁方向，对清洁区域设定一清洁起点，清洁起点为清洁区 域的边缘中与清洁方向相背的边缘上的点；
步骤S43：以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
在另一种可能的实现方式中，在步骤S41之前，方法还包括：
步骤S7：按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当区域地图规则时，执行步骤S41进行清洁，否则，将区域地图作为第一空间地图，将清洁区域作为待清洁空间，执行步骤S2，区域地图规则的定义为：区域地图中任意一点到出入口存在至少一条路径且满足路径中没有趋向于出入口方向的反方向的移动路径。
在另一种可能的实现方式中，方法还包括：
当对一清洁区域执行完清洁操作后，基于从清洁区域移动到下一清洁区域的导航路径，从清洁区域移动到下一清洁区域。
在另一种可能的实现方式中，步骤S2：将待清洁空间划分为至少一清洁区域的方法，包括：
将待清洁空间，按照第一空间地图中的房间信息划分，得到至少一清洁区域。
在另一种可能的实现方式中，在步骤S2之前，方法还包括：
以参考物为原点，设定一直角参考坐标系，包括X轴及Y轴，基准方向垂直于X轴，基准方向为Y轴正方向；
步骤S2：基于第一空间地图，将待清洁空间划分为至少一清洁区域的方法，包括：
步骤S21：在参考物的位置处，通过横向扫描线扫描第一空间地图，横向扫描线和基准方向垂直；
若第一空间地图中已经扫描的区域在Y轴正方向上有相邻且未扫描的区域，则沿Y轴正方向推进横向扫描线扫描相邻且未扫描的区域；
若第一空间地图中已经扫描的区域在Y轴负方向上有相邻且未扫描的区域，则沿Y轴负方向推进横向扫描线扫描相邻且未扫描的区域；
步骤S22：以横向扫描线被第一空间地图所截的长度出现分段的位置和第一空间地图的边缘作为分界线，将沿相同方向扫描的连续区域进行合并，从而将待清洁空间划分为至少一清洁区域。
在另一种可能的实现方式中，在步骤S2之前，方法还包括：
以参考物为原点，设定一直角参考坐标系，包括X轴及Y轴，基准方向垂 直于X轴，基准方向为Y轴正方向；
步骤S2：基于第一空间地图，将待清洁空间划分为至少一清洁区域的方法，包括：
步骤S201:在参考物的位置处，通过纵向扫描线扫描第一空间地图，纵向扫描线和基准方向平行；
若第一空间地图中已经扫描的区域在X轴正方向上有相邻且未扫描的区域，则沿X轴正方向推进纵向扫描线扫描相邻且未扫描的区域；
若第一空间地图中已经扫描的区域在X轴负方向上有相邻且未扫描的区域，则沿X轴负方向推进纵向扫描线扫描相邻且未扫描的区域；
步骤S202：以纵向扫描线被第一空间地图所截的长度出现分段的位置和第一空间地图的边缘作为分界线，将沿相同方向扫描的连续区域进行合并，从而将待清洁空间划分为至少一清洁区域。
在另一种可能的实现方式中，在步骤S2之前，方法还包括：
以参考物为原点，设定一直角参考坐标系，包括X轴及Y轴，基准方向垂直于X轴，基准方向为Y轴正方向；
步骤S2：基于第一空间地图，将待清洁空间划分为至少一清洁区域，包括：
步骤S211：在参考物的位置处，通过横向扫描线及纵向扫描线扫描第一空间地图，横向扫描线和基准方向垂直，纵向扫描线和基准方向平行；
若第一空间地图中已经扫描的区域在Y轴正方向上有相邻且未扫描的区域，则沿Y轴正方向推进横向扫描线扫描相邻且未扫描的区域；
若第一空间地图中已经扫描的区域在Y轴负方向上有相邻且未扫描的区域，则沿Y轴负方向推进横向扫描线扫描相邻且未扫描的区域；
若第一空间地图中已经扫描的区域在X轴正方向上有相邻且未扫描的区域，则沿X轴正方向推进纵向扫描线扫描相邻且未扫描的区域；
若第一空间地图中已经扫描的区域在X轴负方向上有相邻且未扫描的区域，则沿X轴负方向推进纵向扫描线扫描相邻且未扫描的区域；
步骤S212：以横向扫描线及纵向扫描线被第一空间地图所截的长度出现分段的位置及第一空间地图的边缘作为分界线，将沿相同方向扫描的区域进行合并，从而将待清洁空间划分为至少一清洁区域。
在另一种可能的实现方式中，在步骤S3之前，方法还包括：
当清洁区域的面积小于预设数值时，将清洁区域和其它面积大于预设数值的相邻的清洁区域合并。
在另一种可能的实现方式中，将清洁区域和其它面积大于预设数值的相邻的清洁区域合并的方法，包括：
将清洁区域合并到被相同方向推进的扫描线扫描的清洁区域。
在另一种可能的实现方式中，步骤S3：对清洁区域设定清洁次序的方法，包括：
步骤S301：基于清洁区域，建立区域顺序树，区域顺序树中包括至少一个节点，每个节点表示待清洁空间中的一个清洁区域，一节点与至少一节点连接，节点包括顶部节点，父节点及子节点，两相连的节点，靠近顶部节点的节点为父节点，远离顶部节点的节点为子节点，父节点表示的清洁区域和子节点表示的清洁区域相邻，或者，父节点和子节点中的一节点表示孤立的清洁区域，另一节点表示与孤立的清洁区域距离最近的清洁区域，顶部节点表示的清洁区域为参考物所在清洁区域，在区域顺序树中任一非顶部节点的节点到顶部节点只有一条路径；
步骤S302：基于区域顺序树，设定多个清洁区域的清洁次序。
在另一种可能的实现方式中，步骤S301：基于清洁区域，建立区域顺序树的方法，包括：
步骤S3011：设定表示每个清洁区域的节点；
步骤S3012：根据清洁区域之间的连通关系，当任意两节点表示的清洁区域相邻，或者其中一节点表示孤立的清洁区域，另一节点表示与孤立的清洁区域距离最近的清洁区域，连接两节点，构建清洁区域的连通图；
步骤S3013：根据连通图，建立区域顺序树。
在另一种可能的实现方式中，步骤S3013：根据连通图，建立区域顺序树的方法，包括：
当连通图中任一非顶部节点的节点到顶部节点只有一条路径时，将连通图作为区域顺序树；
当连通图中有非顶部节点的节点到顶部节点有多条路径时，对连通图进行去环处理，得到区域顺序树，环为至少三个节点依次连接形成的环形路径，环使得连通图中有非顶部节点的节点到顶部节点有多条路径。
在另一种可能的实现方式中，步骤S302：基于区域顺序树，设定多个清洁区域的清洁次序的方法，包括：
步骤S3021：基于区域顺序树，确定第一目标清洁区域；
步骤S3022：基于区域顺序树，查询表示第一目标清洁区域的第一目标节点 的父节点，查询第一目标节点的父节点是否有表示非第一目标清洁区域的子节点，若无，则将第一目标节点的父节点表示的清洁区域作为第二目标清洁区域；若有，则将子节点中的最底层节点表示的清洁区域作为第二目标清洁区域；
步骤S3023：基于区域顺序树，查询表示第二目标清洁区域的第二目标节点的父节点，查询第二目标节点的父节点是否有表示非第一目标清洁区域和非第二目标清洁区域的子节点，若无，则将第二目标节点的父节点表示的清洁区域作为第三目标清洁区域，若有，则将子节点中的最底层节点表示的清洁区域作为第三目标清洁区域；
步骤S3024：查询区域顺序树中的第三目标清洁区域，直至将顶部节点表示的清洁区域设为最后目标清洁区域为止。
在另一种可能的实现方式中，步骤S3021：基于区域顺序树，确定第一目标清洁区域的方法，包括：
在第一空间地图中，确定距离清洁机器人当前的第一位置最近的第一清洁区域；
基于区域顺序树，以第一清洁区域为起始节点，确定目标子树中是否存在叶子节点，目标子树为区域顺序树中以起始节点为顶部节点的局部区域顺序树，叶子节点为区域顺序树中有父节点无子节点的节点；
当目标子树中存在叶子节点时，从目标子树的叶子节点中选择一叶子节点，将选择的叶子节点表示的清洁区域作为第一目标清洁区域；
当目标子树中不存在叶子节点时，将起始节点表示的清洁区域作为第一目标清洁区域。
在另一种可能的实现方式中，顶部节点表示的清洁区域的清洁方向与基准方向相同，对于区域顺序树中的任一非顶部节点的子节点，子节点表示的清洁区域的清洁方向指向子节点的父节点表示的清洁区域，且子节点表示的清洁区域的清洁方向平行或垂直于基准方向。
在另一种可能的实现方式中，步骤S42:对清洁区域设定一清洁起点的方法，包括：
基于区域地图，在清洁区域内，搜索出距离清洁机器人当前的第一位置最近的第一未清洁点；在清洁区域内，在垂直于清洁方向上的预设长度范围内，沿清洁方向的反方向搜索清洁区域的第二未清洁点，第二未清洁点为在清洁方向上距离第一未清洁点最远的未清洁点；基于第二未清洁点，确定清洁区域的清洁起点；或者，
基于区域地图，在清洁区域内，从清洁机器人当前的第一位置开始，通过扫描线的形式，沿清洁方向的反方向扫描搜索清洁区域内的第一未清洁点，扫描线垂直于清洁方向，第一未清洁点为在清洁方向上距离第一位置最远的未清洁点；基于第一未清洁点，确定清洁区域的清洁起点；或者，
基于区域地图，在清洁区域内，以清洁区域的入口边作为清洁机器人的起始位置，沿清洁方向的反方向搜索清洁区域的第一未清洁点，第一未清洁点为在清洁方向上距离清洁区域的起始位置最远的未清洁点；基于第一未清洁点，确定清洁区域的清洁起点；或者，
基于区域地图，在清洁区域内，搜索出距离清洁机器人当前的第一位置最近的第一未清洁点；基于第一未清洁点，确定清洁区域的清洁起点。
在另一种可能的实现方式中，基于第一未清洁点，确定清洁区域的清洁起点的方法，包括：
将第一未清洁点作为清洁区域的清洁起点；或者，
当第一未清洁点所在的边缘上有未清洁点，则移动到边缘的端点，将边缘的端点作为清洁区域的清洁起点。
在另一种可能的实现方式中，方法还包括：
步骤S8：在执行清洁操作过程中遇到障碍物时，当障碍物跨越至少两个清洁区域，且障碍物的跨越距离大于第一阈值时，获取待清洁空间中未清洁区域的第二空间地图，将第二空间地图作为第一空间地图，执行骤S2：基于第一空间地图，将待清洁空间划分为至少一清洁区域的步骤。
在另一种可能的实现方式中，清洁机器人设置有清洁件，清洁件用于供清洁机器人对地面执行清洁操作；清洁件为拖地模块，拖地模块用于对地面进行拖地清洁；待清洁空间为房间单元。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域， 增强了清洁效果，提高了清洁效率。
实施例1
本申请实施例提供了一种清洁控制方法，参见图14，本申请实施例以待清洁空间为一个房间单元，且该房间单元为规则的房间单元，清洁机器人100直接将该房间单元作为清洁区域，对该房间单元执行清洁操作为例进行说明，该方法包括：
步骤S1401：清洁机器人100获取待清洁空间的地图作为第一空间地图。
本申请中所有实施例的清洁控制方法的执行时机可以为：无沿边清洁，或者已经清洁过一部分区域，或者沿边清洁结束，开始弓字型清洁之前。其中，沿边清洁为清洁机器人100对墙边沿地面进行清洁，沿边清洁结束可以为清洁机器人100对待清洁空间沿墙面边缘执行清洁完成，其中，清洁机器人100通过沿边清洁可以获取待清洁空间的边缘信息。弓字型清洁为清洁机器人100沿清洁方向逐渐推进，在垂直于清洁方向的方向上来回折返。另外，第一空间地图用于表示待清洁空间或待清洁空间内的待清洁子空间，其中，待清洁子空间为待清洁空间内的未清洁区域。
在一种可能的实现方式中，在本步骤之前，清洁机器人100获取该待清洁空间的第一空间地图，并存储该第一空间地图；在本步骤中，清洁机器人100在执行清洁控制方法时，直接获取已存储的该第一空间地图。其中，清洁机器人100可以将该第一空间地图存储到存储器上，相应的，清洁机器人100可以从该存储器上读取该第一空间地图。在另一种可能的实现方式中，清洁机器人100可以在本步骤获取待清洁空间的第一空间地图。
其中，清洁机器人100获取该待清洁空间的第一空间地图的方式有以下六种实现方式。对于第一种实现方式，清洁机器人100上安装激光雷达，相应的，清洁机器人100获取该待清洁空间的第一空间地图的步骤可以为：清洁机器人100可以通过清洁机器人100上安装的激光雷达对待清洁空间进行探测，得到该待清洁空间的第一空间地图。
对于第二种实现方式，清洁机器人100可以通过沿边清洁从而获取该待清洁空间的第一空间地图；相应的，清洁机器人100获取该待清洁空间的第一空间地图的步骤可以为：清洁机器人100对该待清洁空间的边缘进行清洁，根据边缘部分的清洁轨迹，得到第一空间地图。其中，当该待清洁空间为家庭空间，且该家庭空间包括多个房间单元时，清洁机器人100对该待清洁空间的边缘进行清洁的步骤可以为：清洁机器人100对该待清洁空间中的每个房间单元的边 缘进行清洁。
对于第三种实现方式，清洁机器人100上安装惯性测量单元和碰撞传感器，相应的，清洁机器人100获取该待清洁空间的第一空间地图的步骤可以为：清洁机器人100使用惯性测量单元和碰撞传感器对待清洁空间进行探测，得到该待清洁空间的第一空间地图。
对于第四种实现方式，清洁机器人100上安装视觉传感器，相应的，清洁机器人100获取该待清洁空间的第一空间地图的步骤可以为：清洁机器人100通过视觉传感器对待清洁空间进行探测，得到该待清洁空间的第一空间地图。
对于第五种实现方式，服务器中存储待清洁空间的第一空间地图，清洁机器人100从服务器中获取该待清洁空间的第一空间地图；相应的，清洁机器人100获取该待清洁空间的第一空间地图的步骤可以为：清洁机器人100向服务器发送获取请求，该获取请求携带该待清洁空间的区域标识；服务器接收该获取请求，根据该区域标识，获取该待清洁空间的第一空间地图，向清洁机器人100发送待清洁空间的第一空间地图；清洁机器人100接收待清洁空间的第一空间地图。
对于第六种实现方式，用户通过终端直接将待清洁空间的第一空间地图输入给清洁机器人100。相应的，清洁机器人100获取该第一空间地图的步骤可以为：清洁机器人100接收终端输入的待清洁空间的第一空间地图。
在本申请实施例中，对清洁机器人100获取第一空间地图的方式不作具体限定。另外，清洁机器人100获取的第一空间地图中可以包括待清洁空间的区域大小，出入口所在位置，基站所在位置或者房门所在位置等。当待清洁空间中包括多个房间单元时，第一空间地图中还可以包括每个房间单元的区域大小、相邻的两个房间单元之间的房门的位置。在本申请实施例中，待清洁空间为一个房间单元，清洁机器人100获得的第一空间地图可以为图15所示的第一空间地图，该第一空间地图中只有一个房间单元。清洁机器人100获得的第一空间地图还可以为图16所示的第一空间地图，该地图中只有一个房间单元，且该房间单元中有基站。
步骤S1402：清洁机器人100对第一空间地图进行判断，当第一空间地图规则时，将待清洁空间或待清洁子空间作为清洁区域，执行步骤S1403进行清洁。
其中，第一空间地图规则的定义为：第一空间地图中任意一点到参考物存在至少一条路径且满足路径中没有趋向于基准方向的反方向的移动路径。该参考物为基站或出入口，基准方向为待清洁空间或待清洁子空间内任意一点指向 参考物的方向，且该点至参考物之间的连线区域不经过障碍物。清洁机器人100确定第一空间地图是否规则的步骤可以为：对于第一空间地图中的任意一点，清洁机器人100确定该点到参考物的至少一条路径；对于该至少一条路径中的每条路径，清洁机器人100确定该路径中是否存在与基准方向相反方向的移动路径；当不存在与基准方向相反方向的移动路径时，清洁机器人100确定第一空间地图规则；当存在与基准方向相反方向的移动路径时，清洁机器人100确定第一空间地图不规则。当第一空间地图规则时，清洁机器人100执行步骤S1403。
例如，当第一空间地图为图15所示的地图时，该地图中没有基站，因此可以将房门作为该待清洁空间的参考物，该地图中任意一点到房门存在至少一条路径且满足路径中没有趋向于基准方向的反方向的移动路径，基准方向为该地图中任意一点指向房门的方向，且该点至房门之间的连线区域不经过障碍物。因此，清洁机器人100确定该地图规则。当第一空间地图为图16所示的地图时，该地图中存在基站和房门，例如，将基站作为参考物，该地图中任意一点到房门存在至少一条路径且满足路径中没有趋向于基准方向的反方向的移动路径，基准方向为该地图中任意一点指向基站的方向，且该点至基站之间的连线区域不经过障碍物。因此，清洁机器人100确定该地图规则。
步骤S1403：清洁机器人100对清洁区域设定一清洁方向。
当第一空间地图规则时，清洁机器人100将待清洁空间或待清洁子空间直接作为清洁区域。该第一空间地图中只有一个清洁区域，该一个清洁区域的清洁方向为基准方向。其中，基准方向为待清洁空间或待清洁子空间任意一点指向参考物的方向，且该点至参考物之间的连线区域不经过障碍物。
例如，当第一空间地图为图15或图16所示的第一空间地图时，图15和图16所示的地图均为规则地图，因此，清洁机器人100直接将该地图对应的待清洁空间或待清洁子空间作为清洁区域，为该清洁区域设定清洁方向，该清洁方向为基准方向。其中，对于图15所示的地图，该地图中的房门为参考物，该基准方向可以为水平指向房门的方向，也即清洁方向，参见图17。对于图16所示的地图，当该地图中的基站为参考物时，基准方向可以为垂直指向基站的方向，也即清洁方向，参见图18。
步骤S1404：清洁机器人100基于该清洁方向，对清洁区域设定一清洁起点。
本步骤可以通过以下任一种实现方式实现。
第一种实现方式，清洁机器人100可以通过以下步骤(A1)至(A2)，实 现，包括：
(A1)清洁机器人100基于该区域地图，在该清洁区域内，搜索出距离清洁机器人100当前的第一位置最近的第一未清洁点。
清洁机器人100在区域地图中确定清洁机器人100当前的第一位置，根据第一位置，在区域地图中搜索距离清洁机器人100当前的第一位置最近的点，将区域地图中距离清洁机器人100当前的第一位置最近的点在清洁区域中表示的位置作为第一未清洁点。
清洁机器人100进行搜索时，清洁机器人100可以从清洁机器人100当前的第一位置开始进行搜索，从而可以尽快搜索到距离该清洁机器人100当前所在位置最近的第一未清洁点，从而提高搜索效率。并且，当清洁机器人100搜索到距离该清洁机器人100当前的第一位置最近的多个未清洁点时，清洁机器人100可以从多个未清洁点中选择第一未清洁点。其中，清洁机器人100可以从多个未清洁点中随机选择一个未清洁点，将选择的未清洁点作为第一未清洁点。清洁机器人100还可以基于该清洁方向，从多个未清洁点中，选择在该清洁方向相背的方向上的未清洁点，将选择的未清洁点作为第一未清洁点。
需要说明的一点是，清洁机器人100从多个未清洁点中选择在该清洁方向相背的方向上的未清洁点作为第一清洁点，从而确保选择的未清洁点为远离入口边的点，进一步提高了后续的清洁效率。
(A2)清洁机器人100在该清洁区域内，在垂直于清洁方向上的预设长度范围内，沿清洁方向的反方向搜索清洁区域的第二未清洁点，该第二未清洁点为在清洁方向上距离第一未清洁点最远的未清洁点。
预设长度可小于清洁区域的边缘的长度，从而减小搜索第二未清洁点的范围，以减小搜索时间。预设长度可以根据需要进行设置并更改，在本申请实施例中，对预设长度不作具体限定；例如，预设长度可以为清洁机器人100的1个机身宽度、2个机身宽度或者3个机身宽度等。
在本步骤中，清洁机器人100也可以直接在该清洁区域内，沿清洁方向的反方向搜索待清洁空间的第二未清洁点，从而确保搜索到的第二未清洁点是清洁区域中距离第一未清洁点最远的未清洁点，进一步提高后续清洁效率。
(A3)清洁机器人100基于该第二未清洁点，确定该清洁区域的清洁起点。
在一种可能的实现方式中，清洁机器人100直接将第二未清洁点作为该清洁区域的清洁起点。在另一种可能的实现方式中，清洁机器人100确定第二未清洁点所在的边缘上是否有未清洁点，当该第二未清洁点所在的边缘上有未清 洁点，则清洁机器人100移动到该边缘的端点，将该边缘的端点作为该清洁区域的清洁起点。
第二种实现方式，清洁机器人100可以通过以下步骤(B1)至(B2)，实现，包括：
(B1)清洁机器人100基于区域地图，在清洁区域内，从清洁机器人100当前的第一位置开始，通过扫描线的形式，沿清洁方向的反方向扫描搜索清洁区域内的第一未清洁点，第一未清洁点为在该清洁方向上距离第一位置最远的未清洁点。
清洁机器人100从清洁机器人100当前的第一位置开始，在该区域地图中通过横向扫描线的形式，沿清洁方向的反方向进行扫描，当扫描到第三未清洁点时，记录第三未清洁点的位置，然后继续进行扫描，当扫描到第四未清洁点时，且第三未清洁点与该清洁机器人100当前的第一位置之间的第一距离小于第四未清洁点与该清洁机器人100当前的第一位置之间的第二距离时，删除第三未清洁点的位置，记录第四为清洁点的位置，当第一距离大于第二距离时，丢弃第四未清洁点的位置，然后继续进行扫描，直到扫描完区域地图为止。清洁机器人100将最终记录的位置映射到清洁区域中，得到第一未清洁点。
例如，当第一空间地图为图15所示的地图，清洁方向为图17所示的清洁方向时，清洁机器人100最终确定的第一未清洁点为P，参见图19；再如，当第一空间地图为图16所示的地图，清洁方向为图18所示的清洁方向时，清洁机器人100最终确定的第一未清洁点为Q，参见图20。
(B2)清洁机器人100基于该第一未清洁点，确定清洁区域的清洁起点。
在一种可能的实现方式中，清洁机器人100直接将第一未清洁点作为清洁区域的清洁起点。在另一种可能的实现方式中，清洁机器人100确定第一未清洁点所在的边缘上是否有未清洁点，当该第一未清洁点所在的边缘上有未清洁点，移动到该边缘的端点，将该边缘的端点作为该清洁区域的清洁起点；当该第一未清洁点所在的边缘上没有未清洁点时，直接将第一未清洁点作为清洁区域的清洁起点。
需要说明的一点是，第一未清洁点所在的边缘上可能存在多个端点；例如存在两个端点，分别为左端点和右端点。清洁机器人100可以移动到该边缘的任一端点，例如，移动到该边缘的左端点或者移动到该边缘的右端点。
第三种实现方式，清洁机器人100可以通过以下步骤(C1)至(C2)，实现，包括：
(C1)清洁机器人100基于该区域地图，在该清洁区域内，以该清洁区域的入口边作为清洁机器人100的起始位置，沿该清洁方向的反方向搜索该清洁区域的第一未清洁点，第一未清洁点为在该清洁方向上距离该清洁区域的起始位置最远的未清洁点。
其中，清洁机器人100可以将该清洁区域的入口边上的任一点作为清洁机器人100的起始位置。其中，将清洁区域的入口边上的中心点作为清洁机器人100的起始位置，或者，将清洁区域的入口边的端点作为清洁机器人100的起始位置。例如，将清洁区域的入口边的左端点作为清洁机器人100的起始位置，或者将清洁区域的入口边的右端点作为清洁机器人100的起始位置。
(C2)清洁机器人100基于该第一未清洁点，确定清洁区域的清洁起点。
本步骤S与步骤(B2)相同，在此不再赘述。
第四种实现方式，清洁机器人100可以通过以下步骤(D1)至(D2)，实现，包括：
(D1)清洁机器人100基于该区域地图，在该清洁区域内，搜索出距离清洁机器人100当前的第一位置最近的第一未清洁点。
本步骤S与步骤(A1)相同，在此不再赘述。
(D2)清洁机器人100基于该第一未清洁点，确定清洁区域的清洁起点。
本步骤S与步骤(B2)相同，在此不再赘述。
需要说明的一点是，清洁机器人100可以通过以上四种实现方式中的任一实现方式确定该清洁区域的清洁起点。清洁机器人100还可以根据清洁机器人100当前的第一位置，从上述四种实现方式中选择任一实现方式确定该清洁区域的清洁起点。例如，当清洁机器人100当前的第一位置在清洁区域内时，清洁机器人100可以通过以上第一种实现方式、第二种实现方式和第四种实现方式确定该清洁区域的清洁起点。当清洁机器人100当前的第一位置不在清洁区域内时，清洁机器人100可以通过以上第三种实现方式确定该清洁区域的清洁起点。
步骤S1405：清洁机器人100从清洁起点开始，按照清洁方向对待清洁空间的清洁区域执行清洁操作。
本步骤中，清洁机器人100以清洁区域为单位，从清洁起点开始沿弓字型轨迹移动，该弓字型轨迹沿清洁方向逐渐推进，在垂直于清洁方向的方向上来回折返。例如，当清洁机器人100以清洁区域为单位，确定的清洁起点为图19中所示时，清洁机器人100从P点开始，以弓字型轨迹沿水平方向逐渐推进， 参见图21。当清洁机器人100以清洁区域为单位，确定的清洁起点为图20中所示时，清洁机器人100从Q点开始，以弓字型轨迹沿垂直方向逐渐推进，参见图22。
需要说明的一点是，当清洁机器人100在执行清洁操作过程中遇到障碍物时，清洁机器人100先环绕障碍物移动，同时清洁件清洁地面，实现绕障碍物的沿边对地面清洁。由于清洁机器人100在步骤S1401中获取的第一空间地图中往往不包括障碍物的信息，因此清洁机器人100在清洁过程中，可以通过清洁机器人100上设置的传感器检测障碍物，尤其在对障碍物进行环绕后，才能全面探测出障碍物的信息。其中，障碍物的信息主要包括障碍物的跨越距离、覆盖区域等。由于本申请实施例中只有一个清洁区域，因此，清洁机器人100在遇到障碍物后，仍按原来的清洁方向执行清洁操作即可。
在本申请中的所有实施例中，当清洁机器人100内的电池电量不足，达到电量阈值时，清洁机器人100记录当前的清洁位置，移动至基站进行充电操作，充电完成后回到该清洁位置，继续执行清洁操作。当清洁机器人100的清洁件的脏污程度达到脏污阈值时，或者清洁件的清洁时间达到时间阈值时，清洁机器人100记录当前的清洁位置，清洁机器人100移动至基站进行清洁件的清洗操作，清洗操作完成后，清洁机器人100回到清洁位置，继续执行清洁操作。另外，清洁机器人100可以在基站同时进行充电操作和清洗操作。
需要说明的另一点是，清洁机器人100上设置有清洁件，该清洁件用于供清洁机器人100对地面执行清洁操作。该清洁件为拖地模块或者扫地模块，当该清洁件为拖地模块时，该拖地模块用于对地面进行拖地清洁，该拖地模块可以为拖布。当该清洁件为扫地模块时，该扫地模块用于对地面进行扫地清洁，该扫地模块可以为扫地刷。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域， 增强了清洁效果，提高了清洁效率。
实施例2
本申请实施例提供了一种清洁控制方法，参见图23，本申请实施例以待清洁空间为一个房间单元，该房间单元为不规则的房间单元，清洁机器人100通过横向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域，且直接将无环的连通图作为区域顺序树，根据该区域顺序树，设定清洁次序，并且在对该房间单元执行清洁操作过程中没有遇到障碍物为例进行说明，该方法包括：
步骤S2301：清洁机器人100获取待清洁空间的地图作为第一空间地图。
步骤S2301和步骤S1401相同，在此不再赘述。例如，清洁机器人100获取的第一空间地图为图24所示的地图。
步骤S2302：清洁机器人100对第一空间地图进行判断，当第一空间地图不规则时，执行步骤S2303。
本步骤中，清洁机器人100对第一空间地图进行判断的过程和步骤S1402相同，在此不再赘述。其中，当第一空间地图不规则时，清洁机器人100执行步骤S2303。
例如，当清洁机器人100获取的第一空间地图为图24所示的第一空间地图时，该地图中只有房门，清洁机器人100将该房门作为参考物，该地图中有的点到房门存在至少一条路径但路径中存在趋向于基准方向的反方向的移动路径，基准方向为该地图中任意一点指向房门的方向，且该点至房门之间的连线区域不经过障碍物，因此，该地图不规则。则清洁机器人100执行步骤S2303。
步骤S2303：清洁机器人100基于第一空间地图，通过横向扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域。
在本步骤之前，清洁机器人100以参考物为原点，设定一直角参考坐标系，包括X轴及Y轴。其中，基准方向可以垂直于X轴，基准方向为Y轴正方向；或者基准方向可以垂直于Y轴，基准方向为X轴正方向。在本申请实施例中，对此不作具体限定。例如，清洁机器人100将基准方向设为Y轴正方向。
本步骤可以通过以下步骤(1)至(4)实现，包括：
(1)在参考物的位置处，清洁机器人100通过横向扫描线扫描第一空间地图。
其中，横向扫描线和基准方向垂直，基准方向为Y轴正方向。清洁机器人100在通过横向扫描线扫描第一空间地图时，以参考物的位置为起点，沿Y轴 正方向或Y轴负方向扫描第一空间地图。清洁机器人100在通过横向扫描线扫描第一空间地图时，可以每通过横向扫描线扫描一次第一空间地图，确定第一空间地图中沿Y轴正方向或Y轴负方向上是否存在未扫描的区域。当清洁机器人100确定第一空间地图中沿Y轴正方向上存在未扫描的区域时，清洁机器人100执行步骤(2)；当清洁机器人100确定第一空间地图中沿Y轴负方向上存在未扫描的区域时，清洁清洁机器人100执行步骤(3)。其中，清洁机器人100在通过横向扫描线扫描第一空间地图时，可以先沿Y轴正方向扫描第一空间地图，或者先沿Y轴负方向扫描第一空间地图，或者同时沿Y轴正方向和Y轴负方向扫描第一空间地图，在本申请实施例中，对此不作具体限定。
横向扫描线为水平方向的扫描线，该横向扫描线可以从第一空间地图的一侧边缘开始，到达另一侧边缘停止。例如，横向扫描线从第一空间地图的左侧边缘开始，到达右侧边缘停止；或者从第一空间地图的右侧边缘开始，到达左侧边缘停止。在本申请实施例中，对此不作具体限定。横向扫描线的粗细可以根据需要进行设置并更改，在本申请实施例中，对此也不作具体限定。另外，清洁机器人100通过横向扫描线扫描第一空间地图时，清洁机器人100无需移动，清洁机器人100可以通过清洁机器人100内部的扫描仪扫描第一空间地图。
例如，对于图24所示的第一空间地图，清洁机器人100可以将该地图中任意一点指向房门的方向作为基准方向，例如，垂直于房门的方向或者与垂直于房门方向成45°角的方向作为基准方向，在本申请实施例中，对此不作具体限定。
(2)若第一空间地图中已经扫描的区域在Y轴正方向上有相邻且未扫描的区域，则清洁机器人100沿Y轴正方向推进横向扫描线扫描相邻且未扫描的区域。
在一种可能的实现方式中，清洁机器人100每通过横向扫描线沿Y轴正方向扫描一次第一空间地图时，清洁机器人100确定沿Y轴正方向上是否存在未扫描的区域。当存在未扫描的区域时，清洁机器人100沿Y轴正方向推进第一间隔，在距离上次横向扫描线的第一间隔处，扫描第一空间地图，清洁机器人100确定沿Y轴正方向上是否还存在未扫描的区域。当还存在未扫描的区域时，清洁机器人100沿Y轴正方向继续推进第一间隔，直至沿Y轴正方向上不存在未扫描的区域，清洁机器人100执行步骤(4)。
(3)若第一空间地图中已经扫描的区域在Y轴负方向上有相邻且未扫描的区域，则清洁机器人100沿Y轴负方向推进横向扫描线扫描相邻且未扫描的区 域。
本步骤和步骤(2)相似，清洁机器人100每通过横向扫描线沿Y轴负方向扫描一次第一空间地图时，清洁机器人100确定沿Y轴负方向上是否存在未扫描的区域。当存在未扫描的区域时，清洁机器人100沿Y轴负方向推进第一间隔，在距离上次横向扫描线扫描的第一间隔处，扫描第一空间地图，清洁机器人100确定沿Y轴负方向上是否还存在未扫描的区域。当还存在未扫描的区域时，清洁机器人100沿Y轴负方向继续推进第一间隔，直至沿Y轴负方向上不存在未扫描的区域，清洁机器人100执行步骤(4)。
例如，参见图25和图26，图25为将图24所示的第一空间地图按照垂直于房门方向作为基准方向通过横向扫描线扫描的示意图；图26为将图24所示的第一空间地图按照与垂直于房门方向成45°角的方向作为基准方向通过扫描线扫描的示意图。
(4)清洁机器人100以横向扫描线被第一空间地图所截的长度出现分段的位置和第一空间地图的边缘作为分界线，将沿相同方向扫描的连续区域进行合并，从而将第一空间地图划分为至少一清洁区域。
本步骤中，清洁机器人100以横向扫描线被第一空间地图所截的长度出现分段的位置和第一空间地图的边缘作为分界线，将沿Y轴正方向扫描的区域合并为一个清洁区域，以及将沿Y轴负方向扫描的区域合并为一个清洁区域。并且，当横向扫描线出现分段时，清洁机器人100从分段后的扫描线开始，将沿相同方向扫描的区域合并为一个清洁区域，直至横向扫描线再次出现分段或者到达第一空间地图的边缘。清洁机器人100重复执行上述过程，直至遍历完待清洁空间中的所有房间单元。参见图27，图27为根据上述步骤将图25所示的沿相同方向扫描的区域合并后得到的多个清洁区域。参见图28，图28为将图26所示的沿相同方向扫描的区域合并后得到的多个清洁区域。
在一种可能的实现方式中，清洁机器人100通过上述步骤，将待清洁空间划分为至少一清洁区域后，可以直接执行步骤S1404。
在另一种可能的实现方式中，清洁机器人100执行完步骤S1403后，可以确认划分出的每个清洁区域的面积，对于每个清洁区域，当该清洁区域的面积小于预设数值时，清洁机器人100将该清洁区域和其它面积大于预设数值的相邻的清洁区域合并后，执行步骤S2304。相应的，清洁机器人100将该清洁区域与其它面积大于预设数值的相邻的清洁区域合并的步骤可以为：清洁机器人100将该清洁区域合并到被相同方向推进的扫描线扫描的清洁区域。在另一种可能 的实现方式中，清洁机器人100执行完步骤S2303后，可以确定每个清洁区域的长和宽的比值，对于每个清洁区域，当该清洁区域的长和宽的比值大于预设比值时，清洁机器人100将该清洁区域和其它比值小于预设比值的相邻的清洁区域合并后，执行步骤S2304。其中，该清洁区域的长为与基准方向平行的边的长度，该清洁区域的宽为与基准方向垂直的边的长度。
预设数值和预设比值均可以根据需要进行设置并更改，在本申请实施例中，对此不作具体限定。
步骤S2304：清洁机器人100设定表示每个清洁区域的节点。
清洁机器人100将多个清洁区域中的每个清洁区域均用节点表示，一个节点表示一个清洁区域，一节点与至少一节点连接。节点包括顶部节点，父节点及子节点，两相连的节点，靠近顶部节点的节点为父节点，远离顶部节点的节点为子节点，父节点表示的清洁区域和子节点表示的清洁区域相邻，或者父节点和子节点中的一节点表示孤立的清洁区域，另一节点表示与孤立的清洁区域距离最近的清洁区域。顶部节点表示的清洁区域为与参考物所在清洁区域。
步骤S2305：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
清洁机器人100根据清洁区域之间的连通关系，当任意两节点表示的清洁区域相邻，或者其中一节点表示孤立的清洁区域，另一节点表示与所述孤立的清洁区域距离最近的清洁区域，连接两节点，构建清洁区域的连通图。
孤立的清洁区域表示与其它清洁区域都不相邻的清洁区域。该连通图中连接的两个节点表示的清洁区域相邻，或者其中一节点表示孤立的清洁区域，另一节点表示与孤立的清洁区域距离最近的清洁区域。相应的，本步骤可以为：清洁机器人100从多个节点中选择多组节点，每组节点包括第一节点和第二节点，第一节点表示的清洁区域和第二节点表示的清洁区域相邻，或者第一节点表示的清洁区域为孤立的清洁区域，第二节点表示的清洁区域与该孤立的清洁区域距离最近。对于每组节点，清洁机器人100连接第一节点和第二节点，得到该组节点的连接关系，根据每组节点的连接关系，生成连通图。
其中，清洁机器人100连接第一节点和第二节点的步骤可以为：当第一节点和第二节点中有表示参考物所在清洁区域的节点时，清洁机器人100将表示参考物所在清洁区域的节点作为顶部节点，将另一节点作为顶部节点的子节点。例如，第一节点为表示参考物所在清洁区域的节点时，则清洁机器人100将第一节点作为顶部节点，将第二节点作为第一节点的子节点。
当第一节点和第二节点中没有表示参考物所在清洁区域的节点，但有表示的清洁区域与参考物所在清洁区域连接的节点时，清洁机器人100将表示清洁区域与该参考物所在清洁区域相邻的节点作为顶部节点的子节点，将表示的清洁区域不与该参考物所在清洁区域相邻的节点作为该节点的子节点。例如，第一节点表示的清洁区域与参考物所在清洁区域相邻，则清洁机器人100将第一节点作为顶部节点的子节点，将第二节点作为第一节点的子节点。
当第一节点和第二节点中没有表示参考物所在清洁区域的节点，且没有表示清洁区域与参考物所在清洁区域相邻的节点时，清洁机器人100确定第一节点表示的清洁区域与参考物所在清洁区域之间的第一距离，以及确定第二节点表示的清洁区域与参考物所在清洁区域之间的第二距离；当第一距离大于第二距离时，将第一节点作为第二节点的子节点；当第一距离小于第二距离时，将第一节点作为第二节点的父节点。
步骤S2306：当该连通图中任一非顶部节点的节点到顶部节点只有一条路径时，清洁机器人100将该连通图作为区域顺序树。
当连通图中任一非顶部节点的节点到顶部节点只有一条路径时，该连通图为无环的连通图，清洁机器人100直接将该无环的连通图作为区域顺序树。
例如，对于图27所示的清洁区域1和2，清洁机器人100得到的连通图如图29所示，该图中表示清洁区域1的节点为顶部节点，表示清洁区域2的节点为顶部节点的子节点。图29中该子节点到顶部节点只有一条路径，因此，清洁机器人100直接将该连通图作为区域顺序树。
需要说明的一点是，清洁机器人100可以以清洁区域的标号作为节点的标号。例如，节点1表示清洁区域1，节点2表示清洁区域2。在本申请实施例中，对此不作具体限定。
步骤S2307：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
本步骤可以通过以下步骤(1)至(4)实现，包括：
(1)清洁机器人100基于区域顺序树，确定第一目标清洁区域。
第一目标清洁区域为待清洁空间中首先被清洁的清洁区域。
当清洁机器人100当前的第一位置在待清洁空间内时，本步骤可以通过以下步骤(1-1)至(1-4)实现，包括：
(1-1)清洁机器人100在第一空间地图中，确定距离清洁机器人100当前的第一位置最近的第一清洁区域。
本步骤中清洁机器人100首先确定清洁机器人100当前的第一位置。其中，清洁机器人100可以周期性对自身进行定位，从而获取清洁机器人100当前的第一位置。该第一位置可能在待清洁空间内，也可能在待清洁空间外。
清洁机器人100在第一空间地图中，基于该第一位置，确定距离该第一位置最近的第一清洁区域。相应的，该步骤可以为：清洁机器人100通过第一位置到每个清洁区域之间的距离，确定第一清洁区域。其中，清洁机器人100当前的第一位置到每个清洁区域之间的距离可以为第一位置到每个清洁区域的几何中心之间的距离。清洁机器人100确定第一位置到每个清洁区域的几何中心之间的距离，并从多个距离中选择距离第一位置最近的清洁区域，将该清洁区域作为第一清洁区域。
(1-2)清洁机器人100基于区域顺序树，以第一清洁区域为起始节点，确定目标子树中是否存在叶子节点。
该目标子树为区域顺序树中以起始节点为顶部节点的局部区域顺序树。叶子节点为区域顺序树中有父节点无子节点的节点。清洁机器人100确定目标子树中是否存在叶子节点，当存在叶子节点时，清洁机器人100执行步骤(1-3)；当不存在叶子节点时，清洁机器人100执行步骤(1-4)。
(1-3)当目标子树中存在叶子节点时，清洁机器人100从目标子树的叶子节点中选择一叶子节点，将选择的叶子节点表示的清洁区域作为第一目标清洁区域。
清洁机器人100从目标子树中选择一叶子节点的步骤可以为：当目标子树中包括多个叶子节点时，清洁机器人100从多个叶子节点中选择表示的清洁区域距离第一位置最近的叶子节点。清洁机器人100通过该方法选择的叶子节点可以使清洁机器人100的移动距离最小，提高了清洁效率。其中，清洁机器人100从多个叶子节点中选择表示的清洁区域距离第一位置最近的叶子节点的步骤可以为：清洁机器人100确定每个叶子节点表示的清洁区域的几何中心距离第一位置的距离，从多个距离中选择距离最小的清洁区域对应的叶子节点。
(1-4)当目标子树中不存在叶子节点时，清洁机器人100将起始节点表示的清洁区域作为第一目标清洁区域。
当目标子树中不存在叶子节点时，清洁机器人100直接将该起始节点表示的第一清洁区域作为第一目标清洁区域。
当清洁机器人100当前的第一位置不在待清洁空间中时，清洁机器人100直接基于区域顺序树，从区域顺序树的叶子节点中任意选择一叶子节点，将该 叶子节点表示的清洁区域作为第一目标清洁区域；清洁机器人100也可以从叶子节点中选择表示的清洁区域与参考物所在清洁区域之间距离最远的叶子节点，将该叶子节点表示的清洁区域作为第一目标清洁区域，后续使清洁机器人100逐渐由远至近执行清洁操作，避免经过已清洁的清洁区域，污染已清洁的清洁区域，从而提高了清洁效率。
(2)清洁机器人100基于区域顺序树，查询表示第一目标清洁区域的第一目标节点的父节点，查询该第一目标节点的父节点是否有表示非第一目标清洁区域的子节点，若无，则将该第一目标节点的父节点表示的清洁区域作为第二目标清洁区域，若有，则将该子节点中的最底层节点表示的清洁区域作为第二目标清洁区域。
第二目标清洁区域为第一目标清洁区域之后被清洁的下一个清洁区域。
清洁机器人100基于区域顺序树，从区域顺序树中查询表示第一目标清洁区域的第一目标节点的父节点。当该第一目标节点的父节点还存在除该第一目标节点以外的子节点时，则将该子节点作为父节点，确定该子节点是否存在子节点，重复操作，直至确定该子节点的最底层节点，将该最底层节点表示的清洁区域作为第二目标清洁区域。当该第一目标节点的父节点不存在除该第一目标节点以外的子节点时，清洁机器人100则将该父节点表示的清洁区域作为第二目标清洁区域。
(3)清洁机器人100基于区域顺序树，查询表示第二目标清洁区域的第二目标节点的父节点，查询该第二目标节点的父节点是否有表示非第一目标清洁区域和非第二目标清洁区域的子节点，若无，则将第二目标节点的父节点表示的清洁区域作为第三目标清洁区域，若有，则将子节点中的最底层节点表示的清洁区域作为第三目标清洁区域。
第三目标清洁区域为第二目标清洁区域之后被清洁的下一个清洁区域。本步骤中清洁机器人100确定第三目标清洁区域的步骤和上述步骤(2)相似，在此不再赘述。
(4)清洁机器人100查询区域顺序树中的第三目标清洁区域，直至将顶部节点表示的清洁区域设为最后目标清洁区域为止。
清洁机器人100根据上述方法确定第三目标清洁区域，第四目标清洁区域，直至将顶部节点表示的清洁区域设为最后目标清洁区域为止。其中，顶部节点表示的清洁区域为清洁次序中最后被清洁的清洁区域。
例如，对于图29得到的区域顺序树，清洁机器人100确定表示清洁区域1 的节点为顶部节点，表示清洁区域2的节点为该顶部节点的子节点，因此，清洁机器人100确定第一目标清洁区域为清洁区域2，清洁区域1为在清洁区域2之后被清洁的清洁区域。
步骤S2308：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S2309进行清洁，否则，将该区域地图作为第一空间地图，将清洁区域作为待清洁空间或待清洁子空间，执行步骤S2303。
区域地图规则的定义为：区域地图中任意一点到出入口存在至少一条路径且满足路径中没有趋向于出入口方向的反方向的移动路径。两清洁区域之间设有一出入口，对于其中任一清洁区域，当该清洁区域内任意一点到出入口之间的连线区域不经过障碍物时，定义该点指向出入口的方向为该清洁区域的出入口方向，两相邻的清洁区域的出入口方向相反。其中，清洁机器人100确定区域地图是否规则的步骤与步骤S1402中清洁机器人100确定第一空间地图规则的步骤相似，在此不再赘述。
本步骤中当区域地图不规则时，清洁机器人100将该区域地图作为第一空间地图，将清洁区域作为待清洁空间或待清洁子空间，执行步骤S2303；当区域地图规则时，清洁机器人100执行步骤S2309。
例如，当清洁机器人100划分得到的清洁区域为图27中所示的清洁区域1和清洁区域2时，清洁区域1和清洁区域2之间设有一出入口，对于清洁区域1，该清洁区域内任意一点到该出入口存在至少一条路径且满足路径中没有趋向于该清洁区域的出入口方向的反方向的移动路径，因此，清洁区域1规则；对于清洁区域2，该清洁区域内任意一点到该出入口存在一条路径且满足路径中没有趋向于该清洁区域的出入口方向的反方向的移动路径，因此，清洁区域2规则。清洁机器人100执行步骤S2309。
步骤S2309：清洁机器人100对清洁区域设定一清洁方向。
对于区域顺序树中的顶部节点，清洁机器人100配置该顶部节点表示的清洁区域的清洁方向和基准方向相同，该基准方向为指向参考物的方向。
对于区域顺序树中的任一非顶部节点的子节点，清洁机器人100配置该子节点表示的清洁区域的清洁方向指向该子节点的父节点表示的清洁区域，且该子节点表示的清洁区域的清洁方向平行或垂直于该基准方向。
需要说明的一点是，当该清洁区域为步骤S2303中清洁机器人100合并得到的清洁区域时，清洁机器人100对合并后的清洁区域设定清洁方向的步骤， 可以通过以下任一种方式实现。
第一种实现方式，清洁机器人100将面积小于预设数值的清洁区域和其它面积大于预设数值的相邻的清洁区域合并。对于合并后的清洁区域，该合并后的清洁区域的清洁方向为与该面积小于预设数值的清洁区域相邻的且面积大于预设数值的清洁区域的清洁方向。
第二种实现方式，清洁机器人100将长和宽的比值大于预设比值的清洁区域和其它比值大于预设比值的相邻的清洁区域合并。对于合并后的清洁区域，该合并后的清洁区域的清洁方向为与该比值大于预设比值的清洁区域相邻的且比值小于预设比值的清洁区域的清洁方向。
参见图30，图30为对图27得到的清洁区域配置的清洁方向的示意图。参见图31，图31为对图28得到的清洁区域配置的清洁方向的示意图。
步骤S2310：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
例如，对于图30所示的清洁区域和清洁方向，清洁机器人100最终确定的第一未清洁点为R，参见图32。
本步骤和步骤S1404相同，在此不再赘述。
步骤S2311：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
本步骤中，清洁机器人100以清洁区域为单位，从第一目标清洁区域的清洁起点开始，按照第一目标清洁区域的清洁方向，沿弓字型轨迹移动，对第一目标清洁区域执行清洁操作；当对第一目标清洁区域执行完清洁操作后，清洁机器人100从第二目标清洁区域的第二清洁起点开始，按照第二目标清洁区域的清洁方向，沿弓字型轨迹移动，对第二目标清洁区域执行清洁操作；当对第二目标清洁区域执行完清洁操作后，清洁机器人100从第三目标清洁区域的第三清洁起点开始，按照第三目标清洁区域的清洁方向，沿弓字型轨迹移动，对第三目标清洁区域执行清洁操作，直至对参考物所在清洁区域执行完清洁操作为止。
需要说明的一点是，当清洁机器人100对一清洁区域执行完清洁操作后，可以基于预先设置的从该清洁区域移动到下一清洁区域的导航路径，从该清洁区域移动到下一清洁区域，对该下一清洁区域执行清洁操作。
清洁机器人100执行清洁操作时，沿弓字型轨迹移动，该弓字型轨迹沿清洁方向逐渐推进，在垂直于清洁方向的方向上来回折返。参见图33，图33为对图32中的清洁区域沿弓字型轨迹移动的示意图。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例3
本申请实施例提供了一种清洁控制方法，参见图34，本申请实施例以待清洁空间为一个房间单元，该房间单元为不规则的房间单元，清洁机器人100通过横向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域，且将有环的连通图进行去环处理后得到区域顺序树，根据该区域顺序树，设定清洁次序，并且在对该房间单元执行清洁操作过程中没有遇到障碍物为例进行说明，该方法包括：
步骤S3401：清洁机器人100获取待清洁空间的地图作为第一空间地图。
步骤S3402：清洁机器人100对第一空间地图进行判断，当第一空间地图不规则时，执行步骤S3403。
步骤S3403：清洁机器人100基于第一空间地图，通过横向扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域。
步骤S3404：清洁机器人100设定表示每个清洁区域的节点。
步骤S3405：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
步骤S3401-S3405分别和步骤S2301-S2305相同，在此不再赘述。
步骤S3406：当连通图中有非顶部节点的节点到顶部节点有多条路径时，清洁机器人100对连通图进行去环处理，得到区域顺序树。
上述中的环为至少三个节点依次连接形成的环形路径，该环使得连通图中有非顶部节点的节点到顶部节点有多条路径。在本步骤中，清洁机器人100对该环形路径进行去环处理后，得到的区域顺序树中任一非顶部节点的节点到顶部节点只有一条路径。清洁机器人100可以通过任一算法对该环形路径进行去环处理。 例如，清洁机器人100可以使用最小生成树算法、最大流最小割算法或者Tarjan算法。在本申请实施例中，对该算法不作具体限定。
在一种可能的实现方式中，清洁机器人100可以通过最小生成树算法进行去环处理，得到区域顺序树。相应的，该步骤可以为：清洁机器人100配置连接的两个节点之间的权重，根据连接的两个节点之间的权重，确定环形路径中的每个节点到顶部节点的路径权重，根据每个节点到顶部节点的路径权重，选择最小路径权重的路径，将该环形路径中未被选择的路径对应的两个节点之间的连线删除，得到区域顺序树。
其中，对于环形路径中的每个节点，清洁机器人100根据连接的两个节点之间的权重，确定该节点到顶部节点的路径权重的步骤可以为：清洁机器人100将该节点到顶部节点之间的路径中节点之间的权重之和确定为该节点到顶部节点的路径权重。清洁机器人100可以用两个节点间连线的数值表示权重，也可以用相邻两个清洁区域的质心间的距离表示权重，在本申请实施例中，对此不作具体限定。
参见图35，清洁机器人100用两个节点间连线的数值表示权重，图中节点5表示顶部节点，对图35所示的连通图通过最小生成树算法处理后，得到图36所示的区域顺序树。
在另一种可能的实现方式中，当该连通图中非顶部节点的节点到顶部节点有多条路径时，连通图中的环构成强连通分量。清洁机器人100可以通过Tarjan算法对该连通图进行去环处理，得到区域顺序树。相应的，该步骤可以为：清洁机器人100通过Tarjan算法对该环进行环内去边，将强连通分量变成非边连通分量，得到区域顺序树。
参见图37，图中节点1、2、3和4构成强连通分量，清洁机器人100以节点3为初始节点，节点2为终止节点，使用Tarjan算法进行环内去边，得到图38或图39所示的区域顺序树。
步骤S3407：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
例如，对于图38所示的区域顺序树，清洁机器人100先清洁节点6表示的清洁区域，再依次清洁节点3表示的清洁区域、节点1表示的清洁区域、节点4表示的清洁区域、节点2表示的清洁区域，最后清洁节点5表示的清洁区域，也即清洁次序为节点6、节点3、节点1、节点4、节点2、节点5。
对于图39所示的区域顺序树，清洁机器人100先清洁节点6表示的清洁区 域，再依次清洁节点3表示的清洁区域、节点4表示的清洁区域、节点1表示的清洁区域、节点2表示的清洁区域，最后清洁节点5表示的清洁区域，也即清洁次序为节点6、节点3、节点4、节点1、节点2、节点5。
其余步骤和步骤S2307相同，在此不再赘述。
步骤S3408：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S3409进行清洁，否则，将该区域地图作为第一空间地图，将清洁区域作为待清洁空间，执行步骤S3403。
步骤S3409：清洁机器人100对清洁区域设定一清洁方向。
步骤S3410：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S3411：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S3408-S3411分别和步骤S2308-S2311相同，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例4
本申请实施例提供了一种清洁控制方法，参见图40，本申请实施例以待清洁空间为一个房间单元，该房间单元为不规则的房间单元，清洁机器人100通过纵向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域，且直接将无环的连通图作为区域顺序树，根据该区域顺序树，设定清洁次序，并且在对该房间单元执行清洁操作过程中没有遇到障碍物为例进行说明，该方法包括：
步骤S4001：清洁机器人100获取待清洁空间的地图作为第一空间地图。
本步骤和步骤S2301相同，在此不再赘述。
例如，清洁机器人100获取的第一空间地图为图41所示的空间地图。
步骤S4002：清洁机器人100对第一空间地图进行判断，当第一空间地图不规则时，执行步骤S4003。
本步骤和步骤S2302相同，在此不再赘述。
步骤S4003：清洁机器人100基于第一空间地图，通过纵向扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域。
在本步骤之前，清洁机器人100以参考物为原点，设定一直角参考坐标系，包括X轴及Y轴。其中，基准方向可以垂直于X轴，基准方向为Y轴正方向；或者基准方向可以垂直于Y轴，基准方向为X轴正方向。在本申请实施例中，对此不作具体限定。例如，清洁机器人100将基准方向设为Y轴正方向。
本步骤可以通过以下步骤(1)至(4)实现，包括：
(1)在参考物的位置处，清洁机器人100通过纵向扫描线扫描第一空间地图。
其中，纵向扫描线和基准方向平行，基准方向为Y轴正方向。清洁机器人100在通过纵向扫描线扫描第一空间地图时，以参考物的位置为起点，沿X轴正方向或X轴负方向扫描第一空间地图。清洁机器人100在通过纵向扫描线扫描第一空间地图时，可以每通过纵向扫描线扫描一次第一空间地图，确定第一空间地图中沿X轴正方向或X轴负方向上是否存在未扫描的区域。当清洁机器人100确定第一空间地图中沿X轴正方向上存在未扫描的区域时，清洁机器人100执行步骤(2)；当清洁机器人100确定第一空间地图中沿X轴负方向上存在未扫描的区域时，清洁清洁机器人100执行步骤(3)。其中，清洁机器人100在通过纵向扫描线扫描第一空间地图时，可以先沿X轴正方向扫描第一空间地图，或者先沿X轴负方向扫描第一空间地图，在本申请实施例中，对此不作具体限定。
纵向扫描线为竖直方向的扫描线，该纵向扫描线可以从第一空间地图的一侧边缘开始，到达另一侧边缘停止。例如，纵向扫描线从第一空间地图的顶部边缘开始，到达底部边缘停止；或者从第一空间地图的底部边缘开始，到达顶部边缘停止。在本申请实施例中，对此不作具体限定。纵向扫描线的粗细可以根据需要进行设置并更改，在本申请实施例中，对此也不作具体限定。
(2)若第一空间地图中已经扫描的区域在X轴正方向上有相邻且未扫描的区域，则清洁机器人100沿X轴正方向推进纵向扫描线扫描相邻且未扫描的区域。
在一种可能的实现方式中，清洁机器人100每通过纵向扫描线沿X轴正方 向扫描一次第一空间地图时，清洁机器人100确定沿X轴正方向上是否存在未扫描的区域。当存在未扫描的区域时，清洁机器人100沿X轴正方向推进第二间隔，在距离上次纵向扫描线的第二间隔处，扫描第一空间地图，清洁机器人100确定沿X轴正方向上是否还存在未扫描的区域。当还存在未扫描的区域时，清洁机器人100沿X轴正方向继续推进第二间隔，直至沿X轴正方向上不存在未扫描的区域，清洁机器人100执行步骤(4)。
(3)若第一空间地图中已经扫描的区域在X轴负方向上有相邻且未扫描的区域，则清洁机器人100沿X轴负方向推进纵向扫描线扫描相邻且未扫描的区域。
本步骤和步骤(2)相似，清洁机器人100每通过纵向扫描线沿X轴负方向扫描一次第一空间地图时，清洁机器人100确定沿X轴负方向上是否存在未扫描的区域。当存在未扫描的区域时，清洁机器人100沿X轴负方向推进第二间隔，在距离上次纵向扫描线扫描的第二间隔处，扫描第一空间地图，清洁机器人100确定沿X轴负方向上是否还存在未扫描的区域。当还存在未扫描的区域时，清洁机器人100沿X轴负方向继续推进第二间隔，直至沿X轴负方向上不存在未扫描的区域，清洁机器人100执行步骤(4)。参见图42，图42为根据上述步骤将图41所示的第一空间地图通过纵向扫描线扫描的示意图。
(4)以纵向扫描线被第一空间地图所截的长度出现分段的位置和第一空间地图的边缘作为分界线，清洁机器人100将沿相同方向扫描的区域进行合并，从而将第一空间地图划分为至少一清洁区域。
本步骤中，清洁机器人100以纵向扫描线被第一空间地图所截的长度出现分段的位置和第一空间地图的边缘作为分界线，将沿X轴正方向扫描的区域合并为一个清洁区域，以及将沿X轴负方向扫描的区域合并为一个清洁区域。或者，清洁机器人100在将沿相同方向扫描的区域进行合并前，在与参考物相邻的范围设定一区域，作为一清洁区域。在本申请实施例中，对该与参考物相邻的清洁区域的面积大小不作具体限定。
清洁机器人100将沿X轴正方向扫描的区域合并为一个清洁区域，直至纵向扫描线出现分段或者到达第一空间地图的边缘；清洁机器人100将沿X轴负方向扫描的区域合并为一个清洁区域，直至纵向扫描线出现分段或者到达第一空间地图的边缘。当纵向扫描线出现分段时，从分段后的扫描线开始，将沿相同方向扫描的区域合并为一个清洁区域，直至纵向扫描线再次出现分段和到达第一区域地图的边缘。图43为清洁机器人100直接将图42所示的沿相同方向 扫描的清洁区域合并得到多个清洁区域的示意图。图44为清洁机器人100先在参考物相邻的范围设定一清洁区域，然后根据上述步骤将图42所示的沿相同方向扫描的区域合并后得到的多个清洁区域的示意图。
步骤S4004：清洁机器人100设定表示每个清洁区域的节点。
本步骤和步骤S2304相同，在此不再赘述。
步骤S4005：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
本步骤和步骤S2305相同，在此不再赘述。
例如，对于图44所示的多个清洁区域，清洁机器人100根据清洁区域之间的连通关系，构建得到的连通图可以参见图45。
步骤S4006：当该连通图中任一非顶部节点的节点到顶部节点只有一条路径时，清洁机器人100将该连通图作为区域顺序树。
本步骤和步骤S2306相同，在此不再赘述。
步骤S4007：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
例如，对于图45所示的连通图，清洁机器人100确定表示清洁区域3的节点为顶部节点，表示清洁区域1和清洁区域2的节点均为该顶部节点的子节点，因此，清洁机器人100确定的清洁次序为清洁区域1、清洁区域2、清洁区域3，或清洁区域2、清洁区域1、清洁区域3。
其余步骤和步骤S2307相同，在此不再赘述。
步骤S4008：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S4009进行清洁，否则，将该区域地图作为第一空间地图，将清洁区域作为待清洁空间，执行步骤4003。
步骤S4009：清洁机器人100对清洁区域设定一清洁方向。
步骤S4010：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S4011：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S4004-S4011分别和步骤S2304-S2311相同，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁 区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例5
本申请实施例提供了一种清洁控制方法，参见图46，本申请实施例以待清洁空间为一个房间单元，该房间单元为不规则的房间单元，清洁机器人100通过纵向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域，且将有环的连通图进行去环处理后得到区域顺序树，根据该区域顺序树，设定清洁次序，并且在对该房间单元执行清洁操作过程中没有遇到障碍物为例进行说明，该方法包括：
步骤S4601：清洁机器人100获取待清洁空间的地图作为第一空间地图。
步骤S4602：清洁机器人100对第一空间地图进行判断，当第一空间地图不规则时，执行步骤S4603。
步骤S4603：清洁机器人100基于第一空间地图，通过纵向扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域。
步骤S4604：清洁机器人100设定表示每个清洁区域的节点。
步骤S4605：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
步骤S4601-S4605分别与步骤S4001-S4005相同，在此不再赘述。
步骤S4606：当连通图中有非顶部节点的节点到顶部节点有多条路径时，清洁机器人100对连通图进行去环处理，得到区域顺序树。
步骤S4606与步骤S3406相同，在此不再赘述。
步骤S4607：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
步骤S4608：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S4609进行清洁，否则，将该区域地图作为第一空间地图，将清洁区域作为待清洁空间，执行步骤S4603。
步骤S4609：清洁机器人100对清洁区域设定一清洁方向。
步骤S4610：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S4611：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S4607-S4611分别和步骤S4007-S4011相同，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例6
本申请实施例提供了一种清洁控制方法，参见图47，本申请实施例以待清洁空间为一个房间单元，该房间单元为不规则的房间单元，清洁机器人100先通过横向扫描线扫描第一空间地图，再通过纵向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域，且直接将无环的连通图作为区域顺序树，根据该区域顺序树，设定清洁次序，并且在对该房间单元执行清洁操作过程中没有遇到障碍物为例进行说明，该方法包括：
步骤S4701：清洁机器人100获取待清洁空间的地图作为第一空间地图。
本步骤和步骤S2301相同，在此不再赘述。
例如，清洁机器人100获取的第一空间地图为图48所示的第一空间地图。
步骤S4702：清洁机器人100对第一空间地图进行判断，当第一空间地图不规则时，执行步骤S4703。
本步骤和步骤S2302相同，在此不再赘述。
步骤S4703：清洁机器人100基于第一空间地图，先通过横向扫描线扫描第一空间地图，再通过纵向扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域。
本步骤中清洁机器人100先通过横向扫描线扫描第一空间地图。其中，清洁机器人100通过横向扫描线扫描第一空间地图的步骤和步骤S2303中清洁机器人100通过横向扫描线扫描第一空间地图的步骤相同，在此不再赘述。
清洁机器人100通过横线扫描线扫描第一空间地图后，可以通过纵向扫描线扫描第一空间地图。其中，清洁机器人100通过纵向扫描线扫描第一空间地图的步骤和步骤S4003中清洁机器人100通过纵向扫描线扫描第一空间地图的步骤相同，在此不再赘述。
清洁机器人100通过横向扫描线扫描第一空间地图后，以横向扫描线被第一空间地图所截的长度出现分段的位置和第一空间地图的边缘作为分界线，将沿相同方向扫描的连续区域进行合并，得到至少一清洁区域。清洁机器人100通过纵向扫描线扫描第一空间地图后，以纵向扫描线被第一空间地图所截的长度出现分段的位置、第一空间地图的边缘和与横向扫描线扫描得到的两个清洁区域的交点作为分界线，将沿相同方向扫描的连续区域进行合并，得到至少一清洁区域。
清洁机器人100先通过横向扫描线扫描，再通过纵向扫描线扫描。当第一空间地图为图48所示的空间地图时，清洁机器人100先通过横向扫描线扫描该第一空间地图，划分得到的多个清洁区域参见图49，图49中的清洁区域分别为清洁区域1、清洁区域2和清洁区域3；清洁机器人100再通过纵向扫描线扫描图49所示的第一空间地图时，最终划分得到的多个清洁区域参见图50，图50中的清洁区域分别为清洁区域1、清洁区域2、清洁区域3、清洁区域4和清洁区域5。
步骤S4704：清洁机器人100设定表示每个清洁区域的节点。
步骤S4705：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
步骤S4706：当该连通图中任一非顶部节点的节点到顶部节点只有一条路径时，清洁机器人100将该连通图作为区域顺序树。
步骤S4707：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
步骤S4708：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S4709进行清洁，否则，将该区域地图作为第一空间地图，将清洁区域作为待清洁空间，执行步骤S4703。
步骤S4709：清洁机器人100对清洁区域设定一清洁方向。
步骤S4710：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S4711：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S4704-S4711分别和步骤S2304-S2311相同，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例7
本申请实施例提供了一种清洁控制方法，参见图51，本申请实施例以待清洁空间为一个房间单元，该房间单元为不规则的房间单元，清洁机器人100先通过横向扫描线扫描第一空间地图，再通过纵向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域，将有环的连通图进行去环处理后得到区域顺序树，根据该区域顺序树，设定清洁次序，并且在对该房间单元执行清洁操作过程中没有遇到障碍物为例进行说明，该方法包括：
步骤S5101：清洁机器人100获取待清洁空间的地图作为第一空间地图。
步骤S5102：清洁机器人100对第一空间地图进行判断，当第一空间地图不规则时，执行步骤S5103。
步骤S5103：清洁机器人100基于第一空间地图，先通过横向扫描线扫描第一空间地图，再通过纵向扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域。
步骤S5104：清洁机器人100设定表示每个清洁区域的节点。
步骤S5105：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
步骤S5101-S5105分别和步骤S4701-S4705相同，在此不再赘述。
步骤S5106：当连通图中有非顶部节点的节点到顶部节点有多条路径时，清洁机器人100对连通图进行去环处理，得到区域顺序树。
步骤S5107：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
步骤S5108：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S5109进行清洁，否则，将该区域地图作为第一空间地图，将清洁区域作为待清洁空间，执行步骤S5103。
步骤S5109：清洁机器人100对清洁区域设定一清洁方向。
步骤S5110：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S5111：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S5106-S5111分别和步骤S3406-S3411相同，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例8
本申请实施例提供了一种清洁控制方法，参见图52，本申请实施例以待清洁空间为一个房间单元，该房间单元为不规则的房间单元，清洁机器人100先通过纵向扫描线扫描第一空间地图，再通过横向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域，且直接将无环的连通图作为区域顺序树，根据该区域顺序树，设定清洁次序，并且在对该房间单元执行清洁操作过程中没有遇到障碍物为例进行说明，该方法包括：
步骤S5201：清洁机器人100获取待清洁空间的地图作为第一空间地图。
步骤S5202：清洁机器人100对第一空间地图进行判断，当第一空间地图不规则时，执行步骤S5203。
步骤S5203：清洁机器人100基于第一空间地图，先通过纵向扫描线扫描第一空间地图，再通过横向扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域。
本步骤中清洁机器人100通过纵向扫描线扫描第一空间地图的步骤和步骤 S4003中清洁机器人100通过纵向扫描线扫描第一空间地图的步骤相同，在此不再赘述。
本步骤中清洁机器人100通过横向扫描线第一空间地图的步骤和步骤S2303中清洁机器人100通过横向扫描线扫描第一空间地图的步骤相同，在此不再赘述。
清洁机器人100通过纵向扫描线扫描第一空间地图后，将沿相同方向扫描的连续区域进行合并，直至纵向扫描线出现分段或者到达房间边缘，得到至少一清洁区域。清洁机器人100以纵向扫描线被第一空间地图所截的长度出现分段的位置和第一空间地图的边缘作为分界线，将沿相同方向扫描的连续区域进行合并，得到至少一清洁区域。
清洁机器人100先通过纵向扫描线扫描第一空间地图，再通过横向扫描线扫描。当第一空间地图为图48所示的空间地图时，清洁机器人100先通过纵向扫描线扫描第一空间地图，划分得到的多个清洁区域参见图53。图53中的清洁区域分别为清洁区域1和清洁区域2；清洁机器人100再通过横向扫描线扫描图53所示的第一空间地图时，最终划分得到的多个清洁区域参见图54，图54中清洁区域分别为清洁区域1、清洁区域2、清洁区域3和清洁区域4。
步骤S5204：清洁机器人100设定表示每个清洁区域的节点。
步骤S5205：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
步骤S5206：当该连通图中任一非顶部节点的节点到顶部节点只有一条路径时，清洁机器人100将该连通图作为区域顺序树。
步骤S5207：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
步骤S5208：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S5209进行清洁，否则，将该区域地图作为第一空间地图，将清洁区域作为待清洁空间，执行步骤S5203。
步骤S5209：清洁机器人100对清洁区域设定一清洁方向。
步骤S5210：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S5211：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S5204-S5211分别和步骤S1404-S1411相同，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地 图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例9
本申请实施例提供了一种清洁控制方法，参见图55，本申请实施例以待清洁空间为一个房间单元，该房间单元为不规则的房间单元，清洁机器人100先通过纵向扫描线扫描第一空间地图，再通过横向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域，且将有环的连通图进行去环处理后得到区域顺序树，根据该区域顺序树，设定清洁次序，并且在对该房间单元执行清洁操作过程中没有遇到障碍物为例进行说明，该方法包括：
步骤S5501：清洁机器人100获取待清洁空间的地图作为第一空间地图。
步骤S5502：清洁机器人100对第一空间地图进行判断，当第一空间地图不规则时，执行步骤S5503。
步骤S5503：清洁机器人100基于第一空间地图，先通过纵向扫描线扫描第一空间地图，再通过横向扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域。
步骤S5504：清洁机器人100设定表示每个清洁区域的节点。
步骤S5505：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
步骤S5501-S5505分别和步骤S5201-S5205相同，在此不再赘述。
步骤S5506：当连通图中有非顶部节点的节点到顶部节点有多条路径时，清洁机器人100对连通图进行去环处理，得到区域顺序树。
步骤S5507：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
步骤S5508：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S5509进行清洁，否则，将该 区域地图作为第一空间地图，将清洁区域作为待清洁空间，执行步骤S5503。
步骤S5509：清洁机器人100对清洁区域设定一清洁方向。
步骤S5510：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S5511：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S5506-S5511分别和步骤S3406-S3411相同，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例10
本申请实施例提供了一种清洁控制方法，参见图56，本申请实施例以待清洁空间为一个房间单元，该房间单元为不规则的房间单元，清洁机器人100先通过横向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域；在对待清洁空间的清洁区域执行清洁操作过程中遇到障碍物后，通过纵向扫描线扫描重新确定的第一空间地图，将该待清洁空间重新划分为至少一清洁区域，且直接将无环的连通图作为区域顺序树，根据区域顺序树，设定清洁次序为例进行说明，该方法包括：
步骤S5601：清洁机器人100获取待清洁空间的地图作为第一空间地图。
例如，清洁机器人100获取的第一空间地图为图24所示的空间地图。
步骤S5602：清洁机器人100对第一空间地图进行判断，当第一空间地图不规则时，执行步骤S5603。
步骤S5603：清洁机器人100基于第一空间地图，通过横向扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域。
步骤S5604：清洁机器人100设定表示每个清洁区域的节点。
步骤S5605：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域 的连通图。
步骤S5606：当该连通图中任一非顶部节点的节点到顶部节点只有一条路径时，清洁机器人100将该连通图作为区域顺序树。
步骤S5607：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
步骤S5608：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S5609进行清洁，否则，将该区域地图作为第一空间地图，将清洁区域作为待清洁空间，执行步骤S5603。
步骤S5609：清洁机器人100对清洁区域设定一清洁方向。
清洁机器人100在遇到障碍物之前，顶部节点表示的清洁区域的清洁方向和基准方向相同，其中，该基准方向为指向参考物的方向。对于任一非顶部节点的子节点，清洁机器人100配置该子节点表示的清洁区域的清洁方向指向该子节点的父节点表示的清洁区域，且该子节点表示的清洁区域的清洁方向平行于该基准方向。
当清洁机器人100遇到障碍物后，清洁机器人100需要重新划分清洁区域，顶部节点表示的清洁区域的清洁方向不变，仍和基准方向相同。而对于任一非顶部节点的子节点，该子节点表示的清洁区域的清洁方向仍指向该子节点的父节点表示的清洁区域，但该子节点表示的清洁区域的清洁方向垂直于该基准方向。
需要说明的一点是，清洁机器人100每重新划分一次清洁区域，清洁方向都根据上述方法重新设定一次。
步骤S5610：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S5611：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S5601-S5611分别与步骤S2301-S2311相同，在此不再赘述。
步骤S5612：当清洁机器人100在执行清洁操作过程中遇到障碍物，当障碍物跨越至少两个清洁区域，且障碍物的跨越距离大于第一阈值时，清洁机器人100获取待清洁空间中未清洁区域的第二空间地图，将第二空间地图作为第一空间地图。
清洁机器人100在执行清洁操作过程中遇到障碍物时，先环绕障碍物移动，同时清洁件清洁地面，实现绕障碍物的沿边对地面清洁。由于清洁机器人100在步骤S5601中获取的第一空间地图中往往不包括障碍物的信息，因此清洁机 器人100在清洁过程中，可以通过清洁机器人100上设置的传感器检测障碍物，尤其在对障碍物进行环绕后，才能全面探测出障碍物的信息。其中，障碍物的信息主要包括障碍物的跨越距离、覆盖区域等。
当清洁机器人100遇到的障碍物跨越至少两个清洁区域，且该障碍物的跨越距离大于第一阈值时，清洁机器人100基于第一空间地图、障碍物的覆盖区域和已清洁的清洁区域，确定第二空间地图，将该第二空间地图作为第一空间地图，其中，第二空间地图为待清洁空间中去除障碍物的覆盖区域和已清洁的清洁区域之后的未清洁区域对应的空间地图，清洁机器人100将第二空间地图作为第一空间地图。
步骤S5613：清洁机器人100基于该第一空间地图，通过纵向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域。
本步骤中，清洁机器人100基于该第一空间地图，重新划分清洁区域。清洁机器人100重新划分清洁区域时，横向扫描线和纵向扫描线交替使用。步骤S5613中清洁机器人100使用的扫描线和步骤S5603中清洁机器人100使用的扫描线不同。本申请实施例中，步骤S5603中清洁机器人100通过横向扫描线扫描第一空间地图，则在步骤S5612中清洁机器人100遇到障碍物，重新划分清洁区域时，清洁机器人100通过纵向扫描线扫描第一空间地图。当清洁机器人100在执行清洁操作的过程中，再次遇到障碍物时，清洁机器人100则通过横向扫描线扫描重新确定的第一空间地图。因此，清洁机器人100在对待清洁空间进行清洁时，可能进行一次或者多次清洁区域的划分。
当第一空间地图为图24所示的空间地图时，清洁机器人100通过横向扫描线扫描该第一空间地图后，得到如图27所示的清洁区域后，清洁机器人100对图27所示的清洁区域执行清洁操作。当清洁机器人100在对清洁区域2执行清洁操作过程中，遇到障碍物时，清洁机器人100确定待清洁空间中未清洁区域的第二空间地图，参见图57，清洁机器人100将该第二空间地图作为第一空间地图，参见图58，图58中所示的第一空间地图为清洁机器人100根据图57所示的空间地图确定的。清洁机器人100通过纵向扫描线扫描图58所示的第一空间地图，参见图59。
清洁机器人100通过纵向扫描线扫描该第一空间地图后，可以直接将沿相同方向扫描的区域进行合并，得到多个清洁区域；或者清洁机器人100在参考物前设置一清洁区域，该清洁区域一端与参考物连接，另一端到达第一空间地图边缘，然后清洁机器人100以纵向扫描线被第一空间地图所截的长度出现分 段的位置和第一空间地图的边缘作为分界线，将沿相同方向扫描的区域进行合并，得到多个清洁区域。参见图60，图60为清洁机器人100直接将图59所示的纵向扫描线扫描第一空间地图，沿相同方向合并得到的多个清洁区域的示意图。参见图61，图61为清洁机器人100先在房门前设置一清洁区域，然后将沿相同方向扫描的区域合并得到多个清洁区域的示意图。
清洁机器人100重新划分清洁区域后，对重新划分得到的清洁区域重新设定清洁方向，对于顶部节点表示的清洁区域，其清洁方向和基准方向相同，对于任一非顶部节点的子节点，该子节点表示的清洁区域的清洁方向指向该子节点的父节点表示的清洁区域，且该子节点表示的清洁区域的清洁方向垂直于基准方向。
例如，对于图61中所示的多个清洁区域，清洁区域3为顶部节点表示的清洁区域，该清洁区域的清洁方向为竖直向下；而清洁区域1和清洁区域2为顶部节点的子节点表示的清洁区域，这两个清洁区域的清洁方向均指向清洁区域3，参见图62。
在本申请实施例中，如果清洁机器人100不重新划分清洁区域，由于清洁机器人100在环绕障碍物对地面进行清洁后，障碍物跨越的清洁区域的布局很可能产生变化，导致产生清洁振荡，清洁机器人100来回折返进行清洁，污染已清洁的清洁区域，导致清洁效率低，因此清洁机器人100在每遇到障碍物后都需要重新划分清洁区域。
为了便于理解清洁机器人100在遇到障碍物，且障碍物的跨越距离大于第一阈值，清洁机器人100重新划分清洁区域的必要性，本申请实施例还对清洁机器人100在遇到障碍物时，不重新划分清洁区域的情况进行了说明。
参见图63，图63为图57中所示的去除障碍物的覆盖区域和已清洁的清洁区域之后的未清洁区域对应的空间地图，该空间地图中包括清洁区域1和清洁区域2，清洁区域2被障碍物划分为两个部分：部分M1和部分M2，清洁区域1中产生部分N。部分M1、部分M2和部分N的产生，可能导致发生清洁振荡，污染已清洁的清洁区域。
如果清洁机器人100不重新划分清洁区域，例如，清洁机器人100在对清洁区域2中的部分M2执行清洁操作过程中，清洁机器人100需要回基站进行充电或者清洗清洁件时，清洁机器人100从基站处回来后，因原本的设定规则为：对一清洁区域，清洁机器人100沿弓字型轨迹移动，在垂直于清洁方向上由深至浅进行清洁。其中，清洁区域2的清洁方向为指向清洁区域1，且与基准方向 平行。清洁机器人100对清洁区域2执行清洁操作时，沿弓字型轨迹移动，该弓字型轨迹沿清洁方向由深至浅逐渐推进，在垂直于清洁方向的方向上来回折返。在清洁机器人100移向基站前，因清洁机器人100已经对部分M2进行了部分面积的清洁，从而清洁机器人100从基站处回来后，清洁区域2沿弓字型轨迹移动，在垂直于清洁方向的最深处在部分M1处，从而清洁机器人100会重新选择清洁起点，先去清洁区域2的部分M1，沿弓字型轨迹，垂直于清洁方向进行清洁，如此，清洁机器人100有可能在部分M1和部分M2之间交替清洁，产生清洁振荡，清洁效率低。或者清洁机器人100先对部分M2进行清洁，然后移动到部分M1进行清洁，然后清洁机器人100移动到部分N进行清洁，清洁机器人100来回折返，也会导致产生清洁振荡，清洁效率低。
另外，对于清洁区域1，清洁机器人100在部分N和清洁区域1中除部分N以外的其它清洁区域之间也可能会产生清洁振荡。清洁机器人100在清洁完成部分N时，清洁机器人100需要往回移动，以避开障碍物或者墙壁，进而对清洁区域1中除部分N以外的其它清洁区域进行清洁，此时可能经过已清洁的清洁区域，导致脏污的清洁件污染已清洁的清洁区域。
因此，在本申请实施例中，只要清洁机器人100遇到的障碍物跨越至少两个清洁区域，且跨越距离大于第一阈值时，清洁机器人100都重新划分一次清洁区域。其中，横向扫描线和纵向扫描线交替使用，清洁方向因扫描线方向的变化可能会发生变化。因此，清洁机器人100在对待清洁空间进行清洁时，可能进行一次或者多次清洁区域的划分。
综上所述，当清洁机器人100在执行清洁操作过程中，遇到障碍物，但障碍物的跨越距离不大于第一阈值时，清洁机器人100继续按清洁方向和清洁次序执行清洁操作；当清洁机器人100遇到障碍物，且障碍物的跨越距离大于第一阈值时，清洁机器人100则需要重新划分清洁区域，基于重新划分的清洁区域，重新设定清洁次序、清洁方向和清洁起点，以重新划分的清洁区域为单位，从重新划分的清洁起点开始，按照重新划分的清洁方向及重新划分的清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S5614：清洁机器人100基于该至少一清洁区域，执行步骤S5604。
本步骤中清洁机器人100基于重新划分的至少一清洁区域，执行步骤S5604即重新设定表示每个清洁区域的节点，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区 域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例11
本申请实施例提供了一种清洁控制方法，参见图64，本申请实施例以待清洁空间为一个房间单元，该房间单元为不规则的房间单元，清洁机器人100先通过横向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域；在对待清洁空间的清洁区域执行清洁操作过程中遇到障碍物后，通过纵向扫描线扫描重新确定的第一空间地图，将待清洁空间重新划分为至少一清洁区域，且将有环的连通图进行去环处理后得到区域顺序树，根据该区域顺序树，设定清洁次序为例进行说明，该方法包括：
步骤S6401：清洁机器人100获取待清洁空间的地图作为第一空间地图。
步骤S6402：清洁机器人100对第一空间地图进行判断，当第一空间地图不规则时，执行步骤S6403。
步骤S6403：清洁机器人100基于第一空间地图，通过横向扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域。
步骤S6404：清洁机器人100设定表示每个清洁区域的节点。
步骤S6405：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
步骤S6406：当连通图中有非顶部节点的节点到顶部节点有多条路径时，清洁机器人100对连通图进行去环处理，得到区域顺序树。
步骤S6407：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
步骤S6408：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S6409进行清洁，否则，将该区域地图作为第一空间地图，将清洁区域作为待清洁空间，执行步骤S6403。
步骤S6409：清洁机器人100对清洁区域设定一清洁方向。
步骤S6410：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S6411：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S6401-S6411分别和步骤S3401-S3411相同，在此不再赘述。
步骤S6412：当清洁机器人100在执行清洁操作过程中遇到障碍物，当障碍物跨越至少两个清洁区域，且障碍物的跨越距离大于第一阈值时，清洁机器人100获取待清洁空间中未清洁区域的第二空间地图，将第二空间地图作为第一空间地图。
步骤S6413：清洁机器人100基于该第一空间地图，通过纵向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域。
步骤S6414：清洁机器人100基于该至少一清洁区域，执行步骤S6404。
步骤S6412-S6414分别和步骤S5612-S5614相同，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例12
本申请实施例提供了一种清洁控制方法，参见图65，本申请实施例以待清洁空间为一个房间单元，该房间单元为不规则的房间单元，清洁机器人100先通过纵向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域；在对待清洁空间的清洁区域执行清洁操作过程中遇到障碍物后，通过横向扫描线扫描重新确定的第一空间地图，将待清洁空间重新划分为至少一清洁区域，且直接将无环的连通图作为区域顺序树，根据区域顺序树，设定清洁次序为例进行说明，该方法包括：
步骤S6501：清洁机器人100获取待清洁空间的地图作为第一空间地图。
例如，清洁机器人100获取的第一空间地图为图66所示的空间地图。
本步骤和步骤S2301相同，在此不再赘述。
步骤S6502：清洁机器人100对第一空间地图进行判断，当第一空间地图不规则时，执行步骤S6503。
本步骤和步骤S6502相同，在此不再赘述。
步骤S6503：清洁机器人100基于第一空间地图，通过纵向扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域。
例如，当清洁机器人100获取的第一空间地图为图66所示的空间地图时，清洁机器人100通过纵向扫描线扫描该第一空间地图后，将待清洁空间划分的至少一清洁区域可以参见图67。
其余步骤和步骤S4003相同，在此不再赘述。
步骤S6504：清洁机器人100设定表示每个清洁区域的节点。
本步骤和步骤4004相同，在此不再赘述。
步骤S6505：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
例如，对于图67中所示的清洁区域，清洁机器人100根据清洁区域之间的连通关系，得到的连通图可以参见图68。
其余步骤和步骤S4005相同，在此不再赘述。
步骤S6506：当该连通图中任一非顶部节点的节点到顶部节点只有一条路径时，清洁机器人100将该连通图作为区域顺序树。
本步骤和步骤S4006相同，在此不再赘述。
步骤S6507：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
例如，当清洁机器人100获得的连通图为图68所示的连通图时，清洁机器人100确定表示清洁区域3的节点为顶部节点，表示清洁区域2的节点和表示清洁区域4的节点均为该顶部节点的子节点，其中，表示清洁区域1的节点为表示清洁区域2的节点的子节点，表示清洁区域5的节点为表示清洁区域4的节点的子节点。因此，清洁机器人100确定的清洁次序为清洁区域5、清洁区域4、清洁区域1、清洁区域2、清洁区域3；或者清洁区域1、清洁区域2、清洁区域5、清洁区域4、清洁区域3。
其余步骤和步骤S4007相同，在此不再赘述。
步骤S6508：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S6509进行清洁，否则，将该 区域地图作为第一空间地图，将清洁区域作为待清洁空间，执行步骤S6503。
步骤S6509：清洁机器人100对清洁区域设定一清洁方向。
步骤S6510：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S6511：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S6508-S6511分别和步骤S4008-S4011相同，在此不再赘述。
步骤S6512：当清洁机器人100在执行清洁操作过程中遇到障碍物，当障碍物跨越至少两个清洁区域，且障碍物的跨越距离大于第一阈值时，清洁机器人100获取待清洁空间中未清洁区域的第二空间地图，将第二空间地图作为第一空间地图。
例如，清洁机器人100对图67所示的多个清洁区域在执行清洁操作过程中，遇到障碍物，当障碍物跨越清洁区域4和清洁区域5，且障碍物的跨越距离大于第一阈值时，参见图69，清洁机器人100获取未清洁区域的第二空间地图，将第二空间地图作为第一空间地图，参见图70。
步骤S6512和步骤S5612相同，在此不再赘述。
步骤S6513：清洁机器人100基于该第一空间地图，通过横向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域。
例如，对于图70所示的空间地图，清洁机器人100通过横向扫描线扫描，得到的多个清洁区域可以参见图71。
其余步骤和步骤S2303中清洁机器人100通过横向扫描线扫描第一空间地图的步骤相同，在此不再赘述。
步骤S6514：清洁机器人100基于该至少一清洁区域，执行步骤S6504。
步骤S6514和步骤S5614相同，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域， 增强了清洁效果，提高了清洁效率。
实施例13
本申请实施例提供了一种清洁控制方法，参见图72，本申请实施例以待清洁空间为一个房间单元，该房间单元为不规则的房间单元，清洁机器人100先通过纵向扫描线扫描第一空间地图，将该待清洁空间重新划分为至少一清洁区域；在对待清洁空间的清洁区域执行清洁操作过程中遇到障碍物后，通过横向扫描线扫描重新确定的第一空间地图，将待清洁空间重新划分为至少一清洁区域，且将有环的连通图进行去环处理后得到区域顺序树，根据该区域顺序树，设定清洁次序为例进行说明，该方法包括：
步骤S7201：清洁机器人100获取待清洁空间的地图作为第一空间地图。
步骤S7202：清洁机器人100对第一空间地图进行判断，当第一空间地图不规则时，执行步骤S7203。
步骤S7203：清洁机器人100基于第一空间地图，通过纵向扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域。
步骤S7204：清洁机器人100设定表示每个清洁区域的节点。
步骤S7205：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
步骤S7206：当连通图中有非顶部节点的节点到顶部节点有多条路径时，清洁机器人100对连通图进行去环处理，得到区域顺序树。
步骤S7207：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
步骤S7208：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S7209进行清洁，否则，将该区域地图作为第一空间地图，将清洁区域作为待清洁空间，执行步骤S7203。
步骤S7209：清洁机器人100对清洁区域设定一清洁方向。
步骤S7210：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S7211：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S7201-S7211分别和步骤S4601-S4611相同，在此不再赘述。
步骤S7212：当清洁机器人100在执行清洁操作过程中遇到障碍物，当障碍物跨越至少两个清洁区域，且障碍物的跨越距离大于第一阈值时，清洁机器人100获取待清洁空间中未清洁区域的第二空间地图，将第二空间地图作为第一空 间地图。
步骤S7213：清洁机器人100基于该第一空间地图，通过横向扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域。
步骤S7214：清洁机器人100基于该至少一清洁区域，执行步骤S7204。
步骤S7212-S7214分别和步骤S6512-S6514相同，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例14
本申请实施例提供了一种清洁控制方法，参见图73，本申请实施例以待清洁空间为多个房间单元，该多个房间单元中每个房间单元均为规则的房间单元，清洁机器人100按照第一空间地图中的房间信息，将待清洁空间划分为至少一清洁区域，且直接将无环的连通图作为区域顺序树，根据该区域顺序树，设定清洁次序为例进行说明，该方法包括：
步骤S7301：清洁机器人100获取待清洁空间的地图作为第一空间地图。
例如，清洁机器人100获取的第一空间地图为图74所示的空间地图，该空间地图中有多个房间单元，分别为房间单元1-房间单元8，每两个房间单元之间通过房门连通。
本步骤和步骤S2301相同，在此不再赘述。
步骤S7302：清洁机器人100对第一空间地图进行判断，当第一空间地图规则时，将待清洁空间或待清洁子空间作为清洁区域，执行步骤S7309进行清洁，否则执行步骤S7303。
步骤S7302和步骤S2302相同，在此不再赘述。
步骤S7303：清洁机器人100基于第一空间地图，按照第一空间地图中的房间信息，将待清洁空间划分为至少一清洁区域。
该房间信息包括房间单元的数量、房间单元的区域大小，每个房间单元的房门位置，每个房间单元的边缘，以及房间单元之间的连通关系等信息。清洁机器人100可以通过房间单元的房门进出该房间单元，也可以通过房间单元的房门进入其他房间单元。
本步骤中，待清洁空间中包括多个房间单元。清洁机器人100按照第一空间地图中的房间单元的数量，将待清洁空间划分为至少一清洁区域，一个房间单元为一个清洁区域。例如，清洁机器人100获取的第一空间地图为图74所示的地图，该第一空间地图中包括8个房间单元，其中，基站所在房间单元为房间单元1。清洁机器人100按照第一空间地图中的该8个房间单元的房间信息，将待清洁空间划分为8个清洁区域，一个房间单元为一个清洁区域。
步骤S7304：清洁机器人100设定表示每个清洁区域的节点。
本步骤和步骤2304相同，在此不再赘述。
步骤S7305：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
例如，对于图74所示的多个房间单元，清洁机器人100根据清洁区域之间的连通关系，构建的清洁区域的连通图可以参见图75。
其余步骤和步骤S2305相同，在此不再赘述。
步骤S7306：当该连通图中任一非顶部节点的节点到顶部节点只有一条路径时，清洁机器人100将该连通图作为区域顺序树。
本步骤和步骤S2306相同，在此不再赘述。
步骤S7307：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
例如，当区域顺序树为图75所示的连通图时，清洁机器人100得到该多个清洁区域的清洁次序为：房间单元5、房间单元6、房间单元4、房间单元3、房间单元7、房间单元8、房间单元2，最后清洁基站所在的房间单元1。
其余步骤和步骤S2307相同，在此不再赘述。
步骤S7308：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S7309进行清洁。
例如，当清洁机器人100划分得到的多个清洁区域为图74中所示的清洁区域时，清洁机器人100可以将两个相邻的清洁区域之间连通的房门作为参考物，对每个清洁区域的区域地图进行判断，确定图74中所示的每个清洁区域对应的区域地图规则，执行步骤S7309进行清洁。
其余步骤和步骤S1408相同，在此不再赘述。
步骤S7309，清洁机器人100对清洁区域设定一清洁方向。
例如，清洁机器人100基于图75中所示的连通图，对图74中所示的各个房间单元，设定清洁方向。参见图76，由于表示房间单元5的节点是表示房间单元6的节点的子节点，因此，房间单元5的清洁方向指向房间单元6；表示房间单元6的节点、表示房间单元4的节点、表示房间单元3的节点和表示房间单元7的节点均是表示房间单元8的节点的子节点，因此，房间单元6的清洁方向、房间单元4的清洁方向、房间单元3的清洁方向和房间单元7的清洁方向均指向房间单元8；表示房间单元8的节点和表示房间单元2的节点是表示房间单元1的节点的子节点，因此，房间单元8的清洁方向和房间单元2的清洁方向均指向房间单元1；房间单元1内有基站，可以将基站作为参考物，将垂直指向基站的方向作为基准方向，而表示房间单元1的节点为顶部节点，该顶部节点的清洁方向和基准方向相同，因此，房间单元1的清洁方向为垂直指向基站的方向。
步骤S7310，清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
本步骤和步骤S2310相同，在此不再赘述。
步骤S7311，清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
本步骤和步骤S2311相同，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例15
本申请实施例提供了一种清洁控制方法，参见图77，本申请实施例以待清洁空间为多个房间单元，该多个房间单元中每个房间单元均为规则的房间单元， 清洁机器人100按照第一空间地图中的房间信息，将待清洁空间划分为至少一清洁区域，且将有环的连通图进行去环处理后得到区域顺序树，根据该区域顺序树，设定清洁次序为例进行说明，该方法包括：
步骤S7701：清洁机器人100获取待清洁空间的地图作为第一空间地图。
例如，清洁机器人100获取的第一空间地图为图78所示的空间地图，该空间地图和图74所示的空间地图相似，也有8个房间单元，只不过房间单元3和房间单元4之间多了一个连通的房门，其余房间单元相同。
其余步骤和步骤S2301相同，在此不再赘述。
步骤S7702：清洁机器人100对第一空间地图进行判断，当第一空间地图规则时，将待清洁空间作为清洁区域，执行步骤S7709进行清洁，否则执行步骤S7703。
步骤S7703：清洁机器人100基于第一空间地图，按照第一空间地图中的房间信息，将待清洁空间划分为至少一清洁区域。
步骤S7704：清洁机器人100设定表示每个清洁区域的节点。
步骤S7702-S7704分别和步骤S7302-S7304相同，在此不再赘述。
步骤S7705：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
例如，对于图78所示的多个房间单元，也即多个清洁区域，清洁机器人100构建得到的连通图可以参见图79。
其余步骤和步骤S7305相同，在此不再赘述。
步骤S7706：当连通图中有非顶部节点的节点到顶部节点有多条路径时，清洁机器人100对连通图进行去环处理，得到区域顺序树。
例如，当清洁机器人100得到的连通图为图79所示的连通图时，清洁机器人100对该连通图进行去环处理，得到无环的连通图，将无环的连通图作为区域顺序树。清洁机器人100将图79所示的有环连通图进行去环处理后，得到的无环连通图和图75相同。
其余步骤和步骤S3406相同，在此不再赘述。
步骤S7707：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
步骤S7708：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S7709进行清洁。
步骤S7709，清洁机器人100对清洁区域设定一清洁方向。
步骤S7710，清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S7711，清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S7707-S7711分别和步骤S7307-S7311相同，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例16
本申请实施例提供了一种清洁控制方法，参见图80，本申请实施例以待清洁空间为多个房间单元，该多个房间单元中有不规则的房间单元，清洁机器人100按照第一空间地图中的房间信息，将待清洁空间划分为至少一清洁区域，当划分得到的清洁区域中存在一个或多个清洁区域对应的区域地图不规则时，清洁机器人100将该清洁区域作为待清洁空间，将该区域地图作为第一空间地图，通过扫描线扫描该第一空间地图，将该待清洁空间划分为至少一清洁区域，且直接将无环的连通图作为区域顺序树，根据区域顺序树，设定清洁次序为例进行说明，该方法包括：
步骤S8001：清洁机器人100获取待清洁空间的地图作为第一空间地图。
步骤S8002：清洁机器人100对第一空间地图进行判断，当第一空间地图规则时，将待清洁空间或待清洁子空间作为清洁区域，执行步骤S8009进行清洁，否则执行步骤S8003。
步骤S8003：清洁机器人100基于第一空间地图，按照第一空间地图中的房间信息，将待清洁空间划分为至少一清洁区域。
步骤S8004：清洁机器人100设定表示每个清洁区域的节点。
步骤S8005：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
步骤S8006：当该连通图中任一非顶部节点的节点到顶部节点只有一条路径时，清洁机器人100将该连通图作为区域顺序树。
步骤S8007：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
步骤S8001-S8007分别和步骤S7301-S7307相同，在此不再赘述。
步骤S8008：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S8009进行清洁，否则，将该区域地图作为第一空间地图，将清洁区域作为待清洁空间，通过扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域，执行步骤S8004。
本步骤中，对于任一清洁区域，当该清洁区域对应的区域地图规则时，直接执行步骤S8009进行清洁；当该清洁区域对应的区域地图不规则时，清洁机器人100将该区域地图作为第一空间地图，将清洁区域作为待清洁空间。清洁机器人100可以通过横向扫描线扫描该第一空间地图，或者纵向扫描线扫描该第一空间地图，或者先通过横向扫描线扫描第一空间地图，再通过纵向扫描线扫描第一空间地图，或者先通过纵向扫描线扫描第一空间地图，再通过横向扫描线扫描第一空间地图。在本申请实施例中，对此不作具体限定。
其中，清洁机器人100通过横向扫描线扫描第一空间地图的步骤和步骤S2303相同，在此不再赘述。清洁机器人100通过纵向扫描线扫描第一空间地图的步骤和步骤S4003，在此不再赘述。清洁机器人100先通过横向扫描线扫描第一空间地图，再通过纵向扫描线扫描第一空间地图的步骤和步骤S4703相同，在此不再赘述。清洁机器人100先通过纵向扫描线扫描第一空间地图，再通过横向扫描线扫描第一空间地图的步骤和步骤S5203相同，在此不再赘述。
步骤S8009：清洁机器人100对清洁区域设定一清洁方向。
步骤S8010：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S8011：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S8309-S8311分别和步骤S2309-S2311相同，在此不再赘述。
在本申请实施例中，当清洁机器人100在执行清洁操作过程中，遇到障碍物，当障碍物跨越至少两个清洁区域，且障碍物的跨越距离大于第一阈值时，清洁机器人100获取待清洁空间中未清洁区域的第二空间地图，将第二空间地图作为第一空间地图。清洁机器人100基于该第一空间地图，通过扫描线扫描第一空间地图，将待清洁空间划分为至少一清洁区域。清洁机器人100基于该 至少一清洁区域，执行步骤S8004。
其中，清洁机器人100在遇到障碍物后，使用的扫描线和步骤S8008中使用的扫描线不同。例如，步骤S8008中，当区域地图不规则时，清洁机器人100将该区域地图作为第一空间地图，通过横向扫描线扫描第一空间地图时，则清洁机器人100在遇到障碍物后，可以通过纵向扫描线扫描第一空间地图。当步骤S8008中清洁机器人100通过纵向扫描线扫描第一空间地图时，则清洁机器人100在遇到障碍物后，可以通过横向扫描线扫描第一空间地图。在本申请实施例中，对此不作具体限定。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例17
本申请实施例提供了一种清洁控制方法，参见图81，本申请实施例以以待清洁空间为多个房间单元，该多个房间单元中有不规则的房间单元，清洁机器人100按照第一空间地图中的房间信息，将待清洁空间划分为至少一清洁区域，当划分得到的清洁区域中存在一个或多个清洁区域对应的区域地图不规则时，清洁机器人100将该清洁区域作为待清洁空间，将该区域地图作为第一空间地图，通过扫描线扫描该第一空间地图，将该待清洁空间划分为至少一清洁区域，且将有环的连通图进行去环处理后得到区域顺序树，根据区域顺序树，设定清洁次序为例进行说明，该方法包括：
步骤S8101：清洁机器人100获取待清洁空间的地图作为第一空间地图。
步骤S8102：清洁机器人100对第一空间地图进行判断，当第一空间地图规则时，将待清洁空间或待清洁子空间作为清洁区域，执行步骤S8109进行清洁，否则执行步骤S8103。
步骤S8103：清洁机器人100基于第一空间地图，按照第一空间地图中的房 间信息，将待清洁空间划分为至少一清洁区域。
步骤S8104：清洁机器人100设定表示每个清洁区域的节点。
步骤S8105：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
步骤S8101-S8105分别和步骤S8001-S8005相同，在此不再赘述。
步骤S8106：当连通图中有非顶部节点的节点到顶部节点有多条路径时，清洁机器人100对连通图进行去环处理，得到区域顺序树。
步骤S8107：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
步骤S8106-S8107分别和步骤S3406-S3407相同，在此不再赘述。
步骤S8108：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S8109进行清洁，否则，将该区域地图作为第一空间地图，将清洁区域作为待清洁空间，通过扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域，执行步骤S8104。
步骤S8109：清洁机器人100对清洁区域设定一清洁方向。
步骤S8110：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S8111：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S8108-S8111分别和步骤S8008-S8011相同，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
实施例18
本申请实施例提供了一种清洁控制方法，参见图82，本申请实施例以待清洁空间为多个房间单元组成的房间区域，清洁机器人100通过扫描线扫描第一 空间地图，将该待清洁空间划分为至少一清洁区域，且直接将无环的连通图作为区域顺序树，根据区域顺序树，设定清洁次序为例进行说明，该方法包括：
步骤S8201：清洁机器人100获取待清洁空间的地图作为第一空间地图。
例如，清洁机器人100获取的第一空间地图为图83所示的地图，该地图为图84所示的地图中以房间单元1和房间单元2组成的房间区域。
其余步骤和步骤2301相同，在此不再赘述。
步骤S8202：清洁机器人100对第一空间地图进行判断，当第一空间地图规则时，将待清洁空间或待清洁子空间作为清洁区域，执行步骤S8209进行清洁，否则执行步骤S8203。
本步骤和步骤2302相同，在此不再赘述。
步骤S8203：清洁机器人100基于第一空间地图，通过扫描线扫描该第一空间地图，将待清洁空间划分为至少一清洁区域。
本步骤中，清洁机器人100可以通过横向扫描线扫描该第一空间地图，或者纵向扫描线扫描该第一空间地图，或者先通过横向扫描线扫描第一空间地图，再通过纵向扫描线扫描第一空间地图，或者先通过纵向扫描线扫描第一空间地图，再通过横向扫描线扫描第一空间地图。在本申请实施例中，对此不作具体限定。
其中，清洁机器人100通过横向扫描线扫描第一空间地图的步骤和步骤S2303相同，在此不再赘述。清洁机器人100通过纵向扫描线扫描第一空间地图的步骤和步骤S4003，在此不再赘述。清洁机器人100先通过横向扫描线扫描第一空间地图，再通过纵向扫描线扫描第一空间地图的步骤和步骤S4703相同，在此不再赘述。清洁机器人100先通过纵向扫描线扫描第一空间地图，再通过横向扫描线扫描第一空间地图的步骤和步骤S5203相同，在此不再赘述。
当清洁机器人100获取的第一空间地图为图83所示的地图时，清洁机器人通过横向扫描线扫描该第一空间地图后，得到的多个清洁区域可以参见图85。
步骤S8204：清洁机器人100设定表示每个清洁区域的节点。
步骤S8205：清洁机器人100根据清洁区域之间的连通关系，构建清洁区域的连通图。
步骤S8206：当该连通图中任一非顶部节点的节点到顶部节点只有一条路径时，清洁机器人100将该连通图作为区域顺序树。
步骤S8207：清洁机器人100基于区域顺序树，设定多个清洁区域的清洁次序。
步骤S8208：清洁机器人100按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当该区域地图规则时，执行步骤S8209进行清洁，否则，将该区域地图作为第一空间地图，将清洁区域作为待清洁空间，执行步骤S8203。
步骤S8204-S8208分别和步骤S2304-S2308相同，在此不再赘述。
步骤S8209：清洁机器人100对清洁区域设定一清洁方向。
例如，清洁机器人100对图85所示的清洁区域设定的清洁方向可以参见图86。
其余步骤和步骤S2309相同，在此不再赘述。
步骤S8210：清洁机器人100基于清洁方向，对清洁区域设定一清洁起点。
步骤S8211：清洁机器人100以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
步骤S8210-S8211分别和步骤S2310-S2311相同，在此不再赘述。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
本申请实施例提供了一种清洁控制装置，参见图87，该装置应用于清洁机器人100对一未知的待清洁空间清洁时执行，配合一基站使用，基站为清洁机器人100使用的清洁设备，待清洁空间设有一出入口，基站或出入口为参考物，该装置包括：
第一获取模块8701，用于获取待清洁空间的地图作为第一空间地图，第一空间地图用于表示待清洁空间或待清洁空间内的待清洁子空间，待清洁子空间为待清洁空间内的未清洁区域；
划分模块8702，用于基于第一空间地图，将待清洁空间划分为至少一清洁区域，相邻且连通的两清洁区域之间设有一出入口；
第一设定模块8703，用于对清洁区域设定清洁次序，清洁次序满足在清洁 次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域；
执行模块8704，用于以所述清洁区域为单位按照所述清洁次序依次对所述待清洁空间的清洁区域执行清洁操作。
在一种可能的实现方式中，装置还包括：
判断模块，用于对第一空间地图进行判断，当第一空间地图规则时，则将待清洁空间或待清洁子空间作为清洁区域，对清洁区域设定清洁方向和清洁起点，对待清洁空间的清洁区域执行清洁操作，否则基于第一空间地图，将待清洁空间划分为至少一清洁区域，第一空间地图规则的定义为：第一空间地图中任意一点到参考物存在至少一条路径且满足路径中没有趋向于基准方向的反方向的移动路径，基准方向为待清洁空间或待清洁子空间内任意一点指向参考物的方向，且点至参考物之间的连线区域不经过障碍物。
在另一种可能的实现方式中，执行模块8704，用于对清洁区域设定一清洁方向，清洁方向为基准方向；基于清洁方向，对清洁区域设定一清洁起点，清洁起点为清洁区域的边缘中与清洁方向相背的边缘上的点；以清洁区域为单位从清洁起点开始，按照清洁方向及清洁次序对待清洁空间的清洁区域执行清洁操作。
在另一种可能的实现方式中，装置还包括：选择模块，用于按清洁次序选择清洁区域，对清洁区域的区域地图进行判断，当区域地图规则时，对清洁区域设定一清洁方向，否则，将区域地图作为第一空间地图，将清洁区域作为待清洁空间，基于第一空间地图，将待清洁空间划分为至少一清洁区域，区域地图规则的定义为：区域地图中任意一点到出入口存在至少一条路径且满足路径中没有趋向于出入口方向的反方向的移动路径。
在另一种可能的实现方式中，装置还包括：
移动模块，用于当对一清洁区域执行完清洁操作后，基于从清洁区域移动到下一清洁区域的导航路径，从清洁区域移动到下一清洁区域。
在另一种可能的实现方式中，划分模块8702，还用于将待清洁空间，按照第一空间地图中的房间信息划分，得到至少一清洁区域。
在另一种可能的实现方式中，装置还包括：
第二设定模块，用于以参考物为原点，设定一直角参考坐标系，包括X轴及Y轴，基准方向垂直于X轴，基准方向为Y轴正方向；
划分模块8702，还用于在参考物的位置处，通过横向扫描线扫描第一空间 地图，横向扫描线和基准方向垂直；若第一空间地图中已经扫描的区域在Y轴正方向上有相邻且未扫描的区域，则沿Y轴正方向推进横向扫描线扫描相邻且未扫描的区域；若第一空间地图中已经扫描的区域在Y轴负方向上有相邻且未扫描的区域，则沿Y轴负方向推进横向扫描线扫描相邻且未扫描的区域；以横向扫描线被第一空间地图所截的长度出现分段的位置和第一空间地图的边缘作为分界线，将沿相同方向扫描的连续区域进行合并，从而将第一空间地图划分为至少一清洁区域。
在另一种可能的实现方式中，该装置还包括：第三设定模块，还用于以参考物为原点，设定一直角参考坐标系，包括X轴及Y轴，基准方向垂直于X轴，基准方向为Y轴正方向；
划分模块8702，还用于在参考物的位置处，通过纵向扫描线扫描第一空间地图，纵向扫描线和基准方向平行；若第一空间地图中已经扫描的区域在X轴正方向上有相邻且未扫描的区域，则沿X轴正方向推进纵向扫描线扫描相邻且未扫描的区域；若第一空间地图中已经扫描的区域在X轴负方向上有相邻且未扫描的区域，则沿X轴负方向推进纵向扫描线扫描相邻且未扫描的区域；以纵向扫描线被第一空间地图所截的长度出现分段的位置和第一空间地图的边缘作为分界线，将沿相同方向扫描的连续区域进行合并，从而将待清洁空间划分为至少一清洁区域。
在另一种可能的实现方式中，该装置还包括：第四设定模块，还用于以参考物为原点，设定一直角参考坐标系，包括X轴及Y轴，基准方向垂直于X轴，基准方向为Y轴正方向；
划分模块8702，还用于在参考物的位置处，通过横向扫描线及纵向扫描线扫描第一空间地图，横向扫描线和基准方向垂直，纵向扫描线和基准方向平行；若第一空间地图中已经扫描的区域在Y轴正方向上有相邻且未扫描的区域，则沿Y轴正方向推进横向扫描线扫描相邻且未扫描的区域；若第一空间地图中已经扫描的区域在Y轴负方向上有相邻且未扫描的区域，则沿Y轴负方向推进横向扫描线扫描相邻且未扫描的区域；若第一空间地图中已经扫描的区域在X轴正方向上有相邻且未扫描的区域，则沿X轴正方向推进纵向扫描线扫描相邻且未扫描的区域；若第一空间地图中已经扫描的区域在X轴负方向上有相邻且未扫描的区域，则沿X轴负方向推进纵向扫描线扫描相邻且未扫描的区域；以横向扫描线及纵向扫描线被第一空间地图所截的长度出现分段的位置及第一空间地图的边缘作为分界线，将沿相同方向扫描的区域进行合并，从而将待清洁空 间划分为至少一清洁区域。
在另一种可能的实现方式中，装置还包括：
合并模块，用于当清洁区域的面积小于预设数值时，将清洁区域和其它面积大于预设数值的相邻的清洁区域合并。
在另一种可能的实现方式中，合并模块，还用于将清洁区域合并到被相同方向推进的扫描线扫描的清洁区域。
在另一种可能的实现方式中，第一设定模块8703，还用于基于清洁区域，建立区域顺序树，区域顺序树中包括至少一个节点，每个节点表示待清洁空间中的一个清洁区域，一节点与至少一节点连接，节点包括顶部节点，父节点及子节点，两相连的节点，靠近顶部节点的节点为父节点，远离顶部节点的节点为子节点，父节点表示的清洁区域和子节点表示的清洁区域相邻，或者，父节点和子节点中的一节点表示孤立的清洁区域，另一节点表示与孤立的清洁区域距离最近的清洁区域，顶部节点表示的清洁区域为参考物所在清洁区域，在区域顺序树中任一非顶部节点的节点到顶部节点只有一条路径；基于区域顺序树，设定多个清洁区域的清洁次序。
在另一种可能的实现方式中，第一设定模块8703，还用于设定表示每个清洁区域的节点；根据清洁区域之间的连通关系，当任意两节点表示的清洁区域相邻，或者其中一节点表示孤立的清洁区域，另一节点表示与孤立的清洁区域距离最近的清洁区域，连接两节点，构建清洁区域的连通图；根据连通图，建立区域顺序树。
在另一种可能的实现方式中，第一设定模块8703，还用于当连通图中任一非顶部节点的节点到顶部节点只有一条路径时，将连通图作为区域顺序树；当连通图中有非顶部节点的节点到顶部节点有多条路径时，对连通图进行去环处理，得到区域顺序树，环为至少三个节点依次连接形成的环形路径，环使得连通图中有非顶部节点的节点到顶部节点有多条路径。
在另一种可能的实现方式中，第一设定模块8703，还用于基于区域顺序树，确定第一目标清洁区域；基于区域顺序树，查询表示第一目标清洁区域的第一目标节点的父节点，查询第一目标节点的父节点是否有表示非第一目标清洁区域的子节点，若无，则将第一目标节点的父节点表示的清洁区域作为第二目标清洁区域，若有，则将子节点中的最底层节点表示的清洁区域作为第二目标清洁区域；基于区域顺序树，查询表示第二目标清洁区域的第二目标节点的父节点，查询第二目标节点的父节点是否有表示非第一目标清洁区域和非第二目标 清洁区域的子节点，若无，则将第二目标节点的父节点表示的清洁区域作为第三目标清洁区域，若有，则将子节点中的最底层节点表示的清洁区域作为第三目标清洁区域；查询区域顺序树中的第三目标清洁区域，直至将顶部节点表示的清洁区域设为最后目标清洁区域为止。
在另一种可能的实现方式中，第一设定模块8703，还用于在第一空间地图中，确定距离清洁机器人100当前的第一位置最近的第一清洁区域；基于区域顺序树，以第一清洁区域为起始节点，确定目标子树中是否存在叶子节点，目标子树为区域顺序树中以起始节点为顶部节点的局部区域顺序树，叶子节点为区域顺序树中有父节点无子节点的节点；当目标子树中存在叶子节点时，从目标子树的叶子节点中选择一叶子节点，将选择的叶子节点表示的清洁区域作为第一目标清洁区域；
当目标子树中不存在叶子节点时，将起始节点表示的清洁区域作为第一目标清洁区域。
在另一种可能的实现方式中，顶部节点表示的清洁区域的清洁方向与基准方向相同，对于区域顺序树中的任一非顶部节点的子节点，子节点表示的清洁区域的清洁方向指向子节点的父节点表示的清洁区域，且子节点表示的清洁区域的清洁方向平行或垂直于基准方向。
在另一种可能的实现方式中，执行模块8704，还用于基于区域地图，在清洁区域内，搜索出距离清洁机器人100当前的第一位置最近的第一未清洁点；在清洁区域内，在垂直于清洁方向上的预设长度范围内，沿清洁方向的反方向搜索清洁区域的第二未清洁点，第二未清洁点为在清洁方向上距离第一未清洁点最远的未清洁点；基于第二未清洁点，确定清洁区域的清洁起点；或者，基于区域地图，在清洁区域内，从清洁机器人100当前的第一位置开始，通过扫描线的形式，沿清洁方向的反方向扫描搜索清洁区域内的第一未清洁点，扫描线垂直于清洁方向，第一未清洁点为在清洁方向上距离第一位置最远的未清洁点；基于第一未清洁点，确定清洁区域的清洁起点；或者，基于区域地图，在清洁区域内，以清洁区域的入口边作为清洁机器人100的起始位置，沿清洁方向的反方向搜索清洁区域的第一未清洁点，第一未清洁点为在清洁方向上距离清洁区域的起始位置最远的未清洁点；基于第一未清洁点，确定清洁区域的清洁起点；或者，基于区域地图，在清洁区域内，搜索出距离清洁机器人100当前的第一位置最近的第一未清洁点；基于第一未清洁点，确定清洁区域的清洁起点。
在另一种可能的实现方式中，执行模块8704，还用于将第一未清洁点作为清洁区域的清洁起点；或者，当第一未清洁点所在的边缘上有未清洁点，则移动到边缘的端点，将边缘的端点作为清洁区域的清洁起点。
在另一种可能的实现方式中，装置还包括：
第二获取模块，用于在执行清洁操作过程中遇到障碍物时，当障碍物跨越至少两个清洁区域，且障碍物的跨越距离大于第一阈值时，获取待清洁空间中未清洁区域的第二空间地图，将第二空间地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域。
在另一种可能的实现方式中，清洁机器人100设置有清洁件，清洁件用于供对地面执行清洁操作；清洁件为拖地模块，拖地模块用于对地面进行拖地清洁；待清洁空间为房间单元。
本申请实施例提供的清洁控制方法，清洁机器人100获取待清洁空间的地图作为第一空间地图，基于第一空间地图，将待清洁空间划分为至少一清洁区域，对清洁区域设定清洁次序，该清洁次序满足在清洁次序中任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，以清洁区域为单位按照清洁次序依次对待清洁空间的清洁区域执行清洁操作。清洁机器人100在执行清洁操作时，按照清洁次序对待清洁空间的清洁区域执行清洁操作，由于设定的清洁次序满足任一个清洁区域的出入口到达参考物的路径中不允许经过其它已经清洁过的清洁区域，因此，该方法可以避免清洁机器人100移动至基站所在区域进行充电或者清洗清洁件时，污染已经清洁过的清洁区域，增强了清洁效果，提高了清洁效率。
本申请实施例还提供了一种计算机可读存储介质，该计算机可读存储介质应用于清洁机器人100，该计算机可读存储介质中存储有至少一条指令、至少一段程序、代码集或指令集，该指令、该程序、该代码集或该指令集由处理器加载并执行以实现上述实施例的清洁控制方法中清洁机器人100所执行的操作。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。
以上所述仅是为了便于本领域的技术人员理解本申请的技术方案，并不用以控制本申请。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (44)

  1. 一种清洁控制方法，应用于清洁机器人对一未知的待清洁空间清洁时执行，清洁机器人配合一基站使用，所述基站为所述清洁机器人使用的清洁设备，所述待清洁空间设有一出入口，所述基站或所述出入口为参考物，其特征在于，
    所述清洁控制方法包括：
    步骤S1：获取待清洁空间的地图作为第一空间地图，所述第一空间地图用于表示所述待清洁空间或所述待清洁空间内的待清洁子空间，所述待清洁子空间为所述待清洁空间内的未清洁区域；
    步骤S2：基于所述第一空间地图，将所述待清洁空间划分为至少一清洁区域，相邻且连通的两清洁区域之间设有一出入口；
    步骤S3：对所述清洁区域设定清洁次序，所述清洁次序满足在所述清洁次序中任一个清洁区域的出入口到达所述参考物的路径中不允许经过其它已经清洁过的清洁区域；
    步骤S4：以所述清洁区域为单位按照所述清洁次序依次对所述待清洁空间的清洁区域执行清洁操作。
  2. 根据权利要求1所述的方法，其特征在于，在所述步骤S2之前，所述方法还包括：
    步骤S5：对所述第一空间地图进行判断，当所述第一空间地图规则时，则将所述待清洁空间或所述待清洁子空间作为清洁区域，执行步骤S6：对所述清洁区域设定清洁方向和清洁起点，对所述待清洁空间的清洁区域执行清洁操作，否则执行步骤S2，所述第一空间地图规则的定义为：所述第一空间地图中任意一点到所述参考物存在至少一条路径且满足路径中没有趋向于基准方向的反方向的移动路径，所述基准方向为所述待清洁空间或所述待清洁子空间内任意一点指向所述参考物的方向，且所述点至所述参考物之间的连线区域不经过障碍物。
  3. 根据权利要求1所述的方法，其特征在于，所述步骤S4：以所述清洁区域为单位按照所述清洁次序依次对所述待清洁空间的清洁区域执行清洁操作的方法，包括：
    步骤S41：对所述清洁区域设定一清洁方向，所述清洁方向为所述基准方向；
    步骤S42：基于所述清洁方向，对所述清洁区域设定一清洁起点，所述清洁起点为所述清洁区域的边缘中与所述清洁方向相背的边缘上的点；
    步骤S43：以所述清洁区域为单位从所述清洁起点开始，按照所述清洁方向及所述清洁次序对所述待清洁空间的清洁区域执行清洁操作。
  4. 根据权利要求3所述的方法，其特征在于，在所述步骤S41之前，所述方法还包括：
    步骤S7：按所述清洁次序选择清洁区域，对所述清洁区域的区域地图进行判断，当所述区域地图规则时，执行步骤S41进行清洁，否则，将所述区域地图作为所述第一空间地图，将所述清洁区域作为所述待清洁空间，执行步骤S2，所述区域地图规则的定义为：所述区域地图中任意一点到所述出入口存在至少一条路径且满足路径中没有趋向于所述出入口方向的反方向的移动路径。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述方法还包括：
    当对一清洁区域执行完清洁操作后，基于从所述清洁区域移动到下一清洁区域的导航路径，从所述清洁区域移动到所述下一清洁区域。
  6. 根据权利要求1-4任一项所述的方法，其特征在于，所述步骤S2：将所述待清洁空间划分为至少一清洁区域的方法，包括：
    将所述待清洁空间，按照所述第一空间地图中的房间信息划分，得到所述至少一清洁区域。
  7. 根据权利要求2-4任一项所述的方法，其特征在于，在所述步骤S2之前，所述方法还包括：
    以所述参考物为原点，设定一直角参考坐标系，包括X轴及Y轴，所述基准方向垂直于X轴，所述基准方向为Y轴正方向；
    所述步骤S2：基于所述第一空间地图，将所述待清洁空间划分为至少一清洁区域的方法，包括：
    步骤S21：在所述参考物的位置处，通过横向扫描线扫描所述第一空间地图，所述横向扫描线和所述基准方向垂直；
    若所述第一空间地图中已经扫描的区域在所述Y轴正方向上有相邻且未扫描的区域，则沿所述Y轴正方向推进所述横向扫描线扫描相邻且未扫描的区域；
    若所述第一空间地图中已经扫描的区域在所述Y轴负方向上有相邻且未扫描的区域，则沿所述Y轴负方向推进所述横向扫描线扫描相邻且未扫描的区域；
    步骤S22：以所述横向扫描线被所述第一空间地图所截的长度出现分段的位置和所述第一空间地图的边缘作为分界线，将沿相同方向扫描的连续区域进行合并，从而将所述待清洁空间划分为所述至少一清洁区域。
  8. 根据权利要求2-4任一项所述的方法，其特征在于，在所述步骤S2之前， 所述方法还包括：
    以所述参考物为原点，设定一直角参考坐标系，包括X轴及Y轴，所述基准方向垂直于X轴，所述基准方向为Y轴正方向；
    所述步骤S2：基于所述第一空间地图，将所述待清洁空间划分为至少一清洁区域的方法，包括：
    步骤S201:在所述参考物的位置处，通过纵向扫描线扫描所述第一空间地图，所述纵向扫描线和所述基准方向平行；
    若所述第一空间地图中已经扫描的区域在所述X轴正方向上有相邻且未扫描的区域，则沿所述X轴正方向推进所述纵向扫描线扫描相邻且未扫描的区域；
    若所述第一空间地图中已经扫描的区域在所述X轴负方向上有相邻且未扫描的区域，则沿所述X轴负方向推进所述纵向扫描线扫描相邻且未扫描的区域；
    步骤S202：以所述纵向扫描线被所述第一空间地图所截的长度出现分段的位置和所述第一空间地图的边缘作为分界线，将沿相同方向扫描的连续区域进行合并，从而将所述待清洁空间划分为所述至少一清洁区域。
  9. 根据权利要求2-4任一项所述的方法，其特征在于，在所述步骤S2之前，所述方法还包括：
    以所述参考物为原点，设定一直角参考坐标系，包括X轴及Y轴，所述基准方向垂直于X轴，所述基准方向为Y轴正方向；
    所述步骤S2：基于所述第一空间地图，将所述待清洁空间划分为至少一清洁区域，包括：
    步骤S211：在所述参考物的位置处，通过横向扫描线及纵向扫描线扫描所述第一空间地图，所述横向扫描线和所述基准方向垂直，所述纵向扫描线和所述基准方向平行；
    若所述第一空间地图中已经扫描的区域在所述Y轴正方向上有相邻且未扫描的区域，则沿所述Y轴正方向推进所述横向扫描线扫描相邻且未扫描的区域；
    若所述第一空间地图中已经扫描的区域在所述Y轴负方向上有相邻且未扫描的区域，则沿所述Y轴负方向推进所述横向扫描线扫描相邻且未扫描的区域；
    若所述第一空间地图中已经扫描的区域在所述X轴正方向上有相邻且未扫描的区域，则沿所述X轴正方向推进所述纵向扫描线扫描相邻且未扫描的区域；
    若所述第一空间地图中已经扫描的区域在所述X轴负方向上有相邻且未扫描的区域，则沿所述X轴负方向推进所述纵向扫描线扫描相邻且未扫描的区域；
    步骤S212：以所述横向扫描线及所述纵向扫描线被所述第一空间地图所截 的长度出现分段的位置及所述第一空间地图的边缘作为分界线，将沿相同方向扫描的区域进行合并，从而将所述待清洁空间划分为所述至少一清洁区域。
  10. 根据权利要求2-4任一项所述的方法，其特征在于，在所述步骤S3之前，所述方法还包括：
    当所述清洁区域的面积小于预设数值时，将所述清洁区域和其它面积大于所述预设数值的相邻的清洁区域合并。
  11. 根据权利要求10所述的方法，其特征在于，所述将所述清洁区域和其它面积大于所述预设数值的相邻的清洁区域合并的方法，包括：
    将所述清洁区域合并到被相同方向推进的扫描线扫描的清洁区域。
  12. 根据权利要求1-4任一项或10所述的方法，其特征在于，所述步骤S3：对所述清洁区域设定清洁次序的方法，包括：
    步骤S301：基于所述清洁区域，建立区域顺序树，所述区域顺序树中包括至少一个节点，每个节点表示所述待清洁空间中的一个清洁区域，一节点与至少一节点连接，所述节点包括顶部节点，父节点及子节点，两相连的节点，靠近所述顶部节点的节点为父节点，远离所述顶部节点的节点为子节点，父节点表示的清洁区域和子节点表示的清洁区域相邻，或者，父节点和子节点中的一节点表示孤立的清洁区域，另一节点表示与所述孤立的清洁区域距离最近的清洁区域，所述顶部节点表示的清洁区域为所述参考物所在清洁区域，在所述区域顺序树中任一非顶部节点的节点到所述顶部节点只有一条路径；
    步骤S302：基于所述区域顺序树，设定多个清洁区域的清洁次序。
  13. 根据权利要求12所述的方法，其特征在于，所述步骤S301：基于所述清洁区域，建立区域顺序树的方法，包括：
    步骤S3011：设定表示每个所述清洁区域的节点；
    步骤S3012：根据清洁区域之间的连通关系，当任意两节点表示的清洁区域相邻，或者其中一节点表示孤立的清洁区域，另一节点表示与所述孤立的清洁区域距离最近的清洁区域，连接所述两节点，构建所述清洁区域的连通图；
    步骤S3013：根据所述连通图，建立所述区域顺序树。
  14. 根据权利要求13所述的方法，其特征在于，所述步骤S3013：根据所述连通图，建立所述区域顺序树的方法，包括：
    当所述连通图中任一非顶部节点的节点到所述顶部节点只有一条路径时，将所述连通图作为所述区域顺序树；
    当所述连通图中有非顶部节点的节点到所述顶部节点有多条路径时，对所 述连通图进行去环处理，得到所述区域顺序树，所述环为至少三个节点依次连接形成的环形路径，所述环使得所述连通图中有非顶部节点的节点到所述顶部节点有多条路径。
  15. 根据权利要求12所述的方法，其特征在于，所述步骤S302：基于所述区域顺序树，设定所述多个清洁区域的清洁次序的方法，包括：
    步骤S3021：基于所述区域顺序树，确定第一目标清洁区域；
    步骤S3022：基于所述区域顺序树，查询表示所述第一目标清洁区域的第一目标节点的父节点，查询所述第一目标节点的父节点是否有表示非第一目标清洁区域的子节点，若无，则将所述第一目标节点的父节点表示的清洁区域作为第二目标清洁区域；若有，则将所述子节点中的最底层节点表示的清洁区域作为第二目标清洁区域；
    步骤S3023：基于所述区域顺序树，查询表示所述第二目标清洁区域的第二目标节点的父节点，查询所述第二目标节点的父节点是否有表示所述非第一目标清洁区域和非第二目标清洁区域的子节点，若无，则将所述第二目标节点的父节点表示的清洁区域作为第三目标清洁区域，若有，则将所述子节点中的最底层节点表示的清洁区域作为所述第三目标清洁区域；
    步骤S3024：查询所述区域顺序树中的所述第三目标清洁区域，直至将所述顶部节点表示的清洁区域设为最后目标清洁区域为止。
  16. 根据权利要求15所述的方法，其特征在于，所述步骤S3021：基于所述区域顺序树，确定第一目标清洁区域的方法，包括：
    在所述第一空间地图中，确定距离所述清洁机器人当前的第一位置最近的第一清洁区域；
    基于所述区域顺序树，以所述第一清洁区域为起始节点，确定目标子树中是否存在叶子节点，所述目标子树为所述区域顺序树中以所述起始节点为顶部节点的局部区域顺序树，所述叶子节点为所述区域顺序树中有父节点无子节点的节点；
    当所述目标子树中存在叶子节点时，从所述目标子树的叶子节点中选择一叶子节点，将选择的叶子节点表示的清洁区域作为所述第一目标清洁区域；
    当所述目标子树中不存在叶子节点时，将所述起始节点表示的清洁区域作为所述第一目标清洁区域。
  17. 根据权利要求16所述的方法，其特征在于，所述顶部节点表示的清洁区域的清洁方向与所述基准方向相同，对于所述区域顺序树中的任一非顶部节 点的子节点，所述子节点表示的清洁区域的清洁方向指向所述子节点的父节点表示的清洁区域，且所述子节点表示的清洁区域的清洁方向平行或垂直于所述基准方向。
  18. 根据权利要求3所述的方法，其特征在于，所述步骤S42:对所述清洁区域设定一清洁起点的方法，包括：
    基于所述区域地图，在所述清洁区域内，搜索出距离所述清洁机器人当前的第一位置最近的第一未清洁点；在所述清洁区域内，在垂直于所述清洁方向上的预设长度范围内，沿所述清洁方向的反方向搜索所述清洁区域的第二未清洁点，所述第二未清洁点为在所述清洁方向上距离所述第一未清洁点最远的未清洁点；基于所述第二未清洁点，确定所述清洁区域的清洁起点；或者，
    基于所述区域地图，在所述清洁区域内，从所述清洁机器人当前的第一位置开始，通过扫描线的形式，沿所述清洁方向的反方向扫描搜索所述清洁区域内的第一未清洁点，所述扫描线垂直于所述清洁方向，所述第一未清洁点为在所述清洁方向上距离所述第一位置最远的未清洁点；基于所述第一未清洁点，确定所述清洁区域的清洁起点；或者，
    基于所述区域地图，在所述清洁区域内，以所述清洁区域的入口边作为所述清洁机器人的起始位置，沿所述清洁方向的反方向搜索所述清洁区域的第一未清洁点，所述第一未清洁点为在所述清洁方向上距离所述清洁区域的起始位置最远的未清洁点；基于所述第一未清洁点，确定所述清洁区域的清洁起点；或者，
    基于所述区域地图，在所述清洁区域内，搜索出距离所述清洁机器人当前的第一位置最近的第一未清洁点；基于所述第一未清洁点，确定所述清洁区域的清洁起点。
  19. 根据权利要求18所述的方法，其特征在于，所述基于所述第一未清洁点，确定所述清洁区域的清洁起点的方法，包括：
    将所述第一未清洁点作为所述清洁区域的清洁起点；或者，
    当所述第一未清洁点所在的边缘上有未清洁点，则移动到所述边缘的端点，将所述边缘的端点作为所述清洁区域的清洁起点。
  20. 根据权利要求1-4任一项或11或13-19任一项所述的方法，其特征在于，所述方法还包括：
    步骤S8：在执行清洁操作过程中遇到障碍物时，当所述障碍物跨越至少两个清洁区域，且所述障碍物的跨越距离大于第一阈值时，获取所述待清洁空间 中未清洁区域的第二空间地图，将所述第二空间地图作为所述第一空间地图，执行所述骤S2：基于所述第一空间地图，将所述待清洁空间划分为至少一清洁区域的步骤。
  21. 根据权利要求1-4任一项或11或13-19任一项所述的方法，其特征在于，
    所述清洁机器人设置有清洁件，所述清洁件用于供所述清洁机器人对地面执行清洁操作；
    所述清洁件为拖地模块，所述拖地模块用于对地面进行拖地清洁；
    所述待清洁空间为房间单元。
  22. 一种清洁控制装置，应用于对一未知的待清洁空间清洁时执行，配合一基站使用，所述基站为所述清洁机器人使用的清洁设备，所述待清洁空间设有一出入口，所述基站或所述出入口为参考物，其特征在于，所述装置包括：
    第一获取模块，用于获取待清洁空间的地图作为第一空间地图，所述第一空间地图用于表示所述待清洁空间或待清洁空间内的待清洁子空间，所述待清洁子空间为所述待清洁空间内的未清洁区域；
    划分模块，用于基于所述第一空间地图，将所述待清洁空间划分为至少一清洁区域，相邻且连通的两清洁区域之间设有一出入口；
    第一设定模块，用于对所述清洁区域设定清洁次序，所述清洁次序满足在所述清洁次序中任一个清洁区域的出入口到达所述参考物的路径中不允许经过其它已经清洁过的清洁区域；
    执行模块，用于以所述清洁区域为单位按照所述清洁次序依次对所述待清洁空间的清洁区域执行清洁操作。
  23. 根据权利要求22所述的装置，其特征在于，所述装置还包括：
    判断模块，用于对所述第一空间地图进行判断，当所述第一空间地图规则时，则将所述待清洁空间或所述待清洁子空间作为清洁区域，对所述清洁区域设定清洁方向和清洁起点，对所述待清洁空间的清洁区域执行清洁操作，否则基于所述第一空间地图，将所述待清洁空间划分为至少一清洁区域，所述第一空间地图规则的定义为：所述第一空间地图中任意一点到所述参考物存在至少一条路径且满足路径中没有趋向于基准方向的反方向的移动路径，所述基准方向为所述待清洁空间或所述待清洁子空间内任意一点指向所述参考物的方向，且所述点至所述参考物之间的连线区域不经过障碍物。
  24. 根据权利要求22所述的装置，其特征在于，所述执行模块还用于对所 述清洁区域设定一清洁方向，所述清洁方向为所述基准方向；基于所述清洁方向，对所述清洁区域设定一清洁起点，所述清洁起点为所述清洁区域的边缘中与所述清洁方向相背的边缘上的点；以所述清洁区域为单位从所述清洁起点开始，按照所述清洁方向及所述清洁次序对所述待清洁空间的清洁区域执行清洁操作。
  25. 根据权利要求24所述的装置，其特征在于，所述装置还包括：
    选择模块，用于按所述清洁次序选择清洁区域，对所述清洁区域的区域地图进行判断，当所述区域地图规则时，对所述清洁区域设定一清洁方向，否则，将所述区域地图作为所述第一空间地图，将所述清洁区域作为所述待清洁空间，基于所述第一空间地图，将所述待清洁空间划分为至少一清洁区域，所述区域地图规则的定义为：所述区域地图中任意一点到所述出入口存在至少一条路径且满足路径中没有趋向于所述出入口方向的反方向的移动路径。
  26. 根据权利要求22-25任一项所述的装置，其特征在于，所述装置还包括：
    移动模块，用于当对一清洁区域执行完清洁操作后，基于从所述清洁区域移动到下一清洁区域的导航路径，从所述清洁区域移动到所述下一清洁区域。
  27. 根据权利要求22-25任一项所述的装置，其特征在于，所述划分模块，还用于将所述待清洁空间，按照所述第一空间地图中的房间信息划分，得到所述至少一清洁区域。
  28. 根据权利要求23-25任一项所述的装置，其特征在于，所述装置还包括：
    第二设定模块，用于以所述参考物为原点，设定一直角参考坐标系，包括X轴及Y轴，所述基准方向垂直于X轴，所述基准方向为Y轴正方向；
    所述划分模块，还用于在所述参考物的位置处，通过横向扫描线扫描所述第一空间地图，所述横向扫描线和所述基准方向垂直；若所述第一空间地图中已经扫描的区域在所述Y轴正方向上有相邻且未扫描的区域，则沿所述Y轴正方向推进所述横向扫描线扫描相邻且未扫描的区域；若所述第一空间地图中已经扫描的区域在所述Y轴负方向上有相邻且未扫描的区域，则沿所述Y轴负方向推进所述横向扫描线扫描相邻且未扫描的区域；以所述横向扫描线被所述第一空间地图所截的长度出现分段的位置和所述第一空间地图的边缘作为分界线，将沿相同方向扫描的连续区域进行合并，从而将所述第一空间地图划分为所述至少一清洁区域。
  29. 根据权利要求23-25任一项所述的装置，其特征在于，所述装置还包括：
    所述第三设定模块，用于以所述参考物为原点，设定一直角参考坐标系，包括X轴及Y轴，所述基准方向垂直于X轴，所述基准方向为Y轴正方向；
    所述划分模块，还用于在所述参考物的位置处，通过纵向扫描线扫描所述第一空间地图，所述纵向扫描线和所述基准方向平行；若所述第一空间地图中已经扫描的区域在所述X轴正方向上有相邻且未扫描的区域，则沿所述X轴正方向推进所述纵向扫描线扫描相邻且未扫描的区域；若所述第一空间地图中已经扫描的区域在所述X轴负方向上有相邻且未扫描的区域，则沿所述X轴负方向推进所述纵向扫描线扫描相邻且未扫描的区域；以所述纵向扫描线被所述第一空间地图所截的长度出现分段的位置和所述第一空间地图的边缘作为分界线，将沿相同方向扫描的连续区域进行合并，从而将所述待清洁空间划分为所述至少一清洁区域。
  30. 根据权利要求23-25任一项所述的装置，其特征在于，所述装置还包括：
    所述第四设定模块，用于以所述参考物为原点，设定一直角参考坐标系，包括X轴及Y轴，所述基准方向垂直于X轴，所述基准方向为Y轴正方向；
    所述划分模块，还用于在所述参考物的位置处，通过横向扫描线及纵向扫描线扫描所述第一空间地图，所述横向扫描线和所述基准方向垂直，所述纵向扫描线和所述基准方向平行；若所述第一空间地图中已经扫描的区域在所述Y轴正方向上有相邻且未扫描的区域，则沿所述Y轴正方向推进所述横向扫描线扫描相邻且未扫描的区域；若所述第一空间地图中已经扫描的区域在所述Y轴负方向上有相邻且未扫描的区域，则沿所述Y轴负方向推进所述横向扫描线扫描相邻且未扫描的区域；若所述第一空间地图中已经扫描的区域在所述X轴正方向上有相邻且未扫描的区域，则沿所述X轴正方向推进所述纵向扫描线扫描相邻且未扫描的区域；若所述第一空间地图中已经扫描的区域在所述X轴负方向上有相邻且未扫描的区域，则沿所述X轴负方向推进所述纵向扫描线扫描相邻且未扫描的区域；以所述横向扫描线及所述纵向扫描线被所述第一空间地图所截的长度出现分段的位置及所述第一空间地图的边缘作为分界线，将沿相同方向扫描的区域进行合并，从而将所述待清洁空间划分为所述至少一清洁区域。
  31. 根据权利要求23-25任一项所述的装置，其特征在于，所述装置还包括：
    合并模块，用于当所述清洁区域的面积小于预设数值时，将所述清洁区域和其它面积大于所述预设数值的相邻的清洁区域合并。
  32. 根据权利要求31所述的装置，其特征在于，所述合并模块，还用于将所述清洁区域合并到被相同方向推进的扫描线扫描的清洁区域。
  33. 根据权利要求22-25任一项或31任一项所述的装置，其特征在于，所述第一设定模块，还用于基于所述清洁区域，建立区域顺序树，所述区域顺序树中包括至少一个节点，每个节点表示所述待清洁空间中的一个清洁区域，一节点与至少一节点连接，所述节点包括顶部节点，父节点及子节点，两相连的节点，靠近所述顶部节点的节点为父节点，远离所述顶部节点的节点为子节点，父节点表示的清洁区域和子节点表示的清洁区域相邻，或者，父节点和子节点中的一节点表示孤立的清洁区域，另一节点表示与所述孤立的清洁区域距离最近的清洁区域，所述顶部节点表示的清洁区域为所述参考物所在清洁区域，在所述区域顺序树中任一非顶部节点的节点到所述顶部节点只有一条路径；基于所述区域顺序树，设定多个清洁区域的清洁次序。
  34. 根据权利要求33所述的装置，其特征在于，所述第一设定模块，还用于设定表示每个所述清洁区域的节点；根据清洁区域之间的连通关系，当任意两节点表示的清洁区域相邻，或者其中一节点表示孤立的清洁区域，另一节点表示与所述孤立的清洁区域距离最近的清洁区域，连接所述两节点，构建所述清洁区域的连通图；根据所述连通图，建立所述区域顺序树。
  35. 根据权利要求34所述的装置，其特征在于，所述第一设定模块，还用于当所述连通图中任一非顶部节点的节点到所述顶部节点只有一条路径时，将所述连通图作为所述区域顺序树；当所述连通图中有非顶部节点的节点到所述顶部节点有多条路径时，对所述连通图进行去环处理，得到所述区域顺序树，所述环为至少三个节点依次连接形成的环形路径，所述环使得所述连通图中有非顶部节点的节点到所述顶部节点有多条路径。
  36. 根据权利要求33所述的装置，其特征在于，所述第一设定模块，还用于基于所述区域顺序树，确定第一目标清洁区域；基于所述区域顺序树，查询表示所述第一目标清洁区域的第一目标节点的父节点，查询所述第一目标节点的父节点是否有表示非第一目标清洁区域的子节点，若无，则将所述第一目标节点的父节点表示的清洁区域作为第二目标清洁区域，若有，则将所述子节点中的最底层节点表示的清洁区域作为第二目标清洁区域；基于所述区域顺序树，查询表示所述第二目标清洁区域的第二目标节点的父节点，查询所述第二目标节点的父节点是否有表示所述非第一目标清洁区域和非第二目标清洁区域的子节点，若无，则将所述第二目标节点的父节点表示的清洁区域作为第三目标清洁区域，若有，则将所述子节点中的最底层节点表示的清洁区域作为所述第三目标清洁区域；查询所述区域顺序树中的所述第三目标清洁区域，直至将所述 顶部节点表示的清洁区域设为最后目标清洁区域为止。
  37. 根据权利要求36所述的装置，其特征在于，所述第一设定模块，还用于在所述第一空间地图中，确定距离所述清洁机器人当前的第一位置最近的第一清洁区域；基于所述区域顺序树，以所述第一清洁区域为起始节点，确定目标子树中是否存在叶子节点，所述目标子树为所述区域顺序树中以所述起始节点为顶部节点的局部区域顺序树，所述叶子节点为所述区域顺序树中有父节点无子节点的节点；当所述目标子树中存在叶子节点时，从所述目标子树的叶子节点中选择一叶子节点，将选择的叶子节点表示的清洁区域作为所述第一目标清洁区域；
    当所述目标子树中不存在叶子节点时，将所述起始节点表示的清洁区域作为所述第一目标清洁区域。
  38. 根据权利要求37所述的装置，其特征在于，所述顶部节点表示的清洁区域的清洁方向与所述基准方向相同，对于所述区域顺序树中的任一非顶部节点的子节点，所述子节点表示的清洁区域的清洁方向指向所述子节点的父节点表示的清洁区域，且所述子节点表示的清洁区域的清洁方向平行或垂直于所述基准方向。
  39. 根据权利要求24所述的装置，其特征在于，所述执行模块，还用于基于所述区域地图，在所述清洁区域内，搜索出距离所述清洁机器人当前的第一位置最近的第一未清洁点；在所述清洁区域内，在垂直于所述清洁方向上的预设长度范围内，沿所述清洁方向的反方向搜索所述清洁区域的第二未清洁点，所述第二未清洁点为在所述清洁方向上距离所述第一未清洁点最远的未清洁点；基于所述第二未清洁点，确定所述清洁区域的清洁起点；或者，基于所述区域地图，在所述清洁区域内，从所述清洁机器人当前的第一位置开始，通过扫描线的形式，沿所述清洁方向的反方向扫描搜索所述清洁区域内的第一未清洁点，所述扫描线垂直于所述清洁方向，所述第一未清洁点为在所述清洁方向上距离所述第一位置最远的未清洁点；基于所述第一未清洁点，确定所述清洁区域的清洁起点；或者，基于所述区域地图，在所述清洁区域内，以所述清洁区域的入口边作为所述清洁机器人的起始位置，沿所述清洁方向的反方向搜索所述清洁区域的第一未清洁点，所述第一未清洁点为在所述清洁方向上距离所述清洁区域的起始位置最远的未清洁点；基于所述第一未清洁点，确定所述清洁区域的清洁起点；或者，基于所述区域地图，在所述清洁区域内，搜索出距离所述清洁机器人当前的第一位置最近的第一未清洁点；基于所述第一未清洁 点，确定所述清洁区域的清洁起点。
  40. 根据权利要求39所述的装置，其特征在于，所述执行模块，还用于将所述第一未清洁点作为所述清洁区域的清洁起点；或者，当所述第一未清洁点所在的边缘上有未清洁点，则移动到所述边缘的端点，将所述边缘的端点作为所述清洁区域的清洁起点。
  41. 根据权利要求22-25任一项或32或34-40任一项所述的装置，其特征在于，所述装置还包括：
    第二获取模块，用于在执行清洁操作过程中遇到障碍物时，当所述障碍物跨越至少两个清洁区域，且所述障碍物的跨越距离大于第一阈值时，获取所述待清洁空间中未清洁区域的第二空间地图，将所述第二空间地图作为所述第一空间地图，基于所述第一空间地图，将所述待清洁空间划分为至少一清洁区域。
  42. 根据权利要求22-25任一项或32或34-40任一项所述的装置，其特征在于，
    所述清洁机器人设置有清洁件，所述清洁件用于供所述对地面执行清洁操作；
    所述清洁件为拖地模块，所述拖地模块用于对地面进行拖地清洁；
    所述待清洁空间为房间单元。
  43. 一种清洁机器人，其特征在于，所述清洁机器人包括：
    一个或多个处理器和一个或多个存储器，所述一个或多个存储器中存储有至少一条指令、至少一段程序、代码集或指令集，所述指令、所述程序、所述代码集或所述指令集由所述一个或多个处理器加载并执行以实现权利要求1-21任一项所述的清洁控制方法中所执行的操作。
  44. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有至少一条指令、至少一段程序、代码集或指令集，所述指令、所述程序、所述代码集或所述指令集由处理器加载并执行以实现权利要求1-21任一项所述的清洁控制方法中所执行的操作。
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