Method of planning a cleaning route for a cleaning robot and a chip for achieving the same

A method of planning a cleaning route for a cleaning robot, comprising the following steps:

• starting from an original point based on maps of grids, cleaning grid zones formed by the grids one by one until an entire region is cleaned, and then establishing a map of the entire region;
• searching the map of the entire region to find out uncleaned areas, and then cleaning the uncleaned areas;
• cleaning peripheral areas of the entire region based on the map of the entire region;
• returning to the original point;
• the step of searching the map of the entire region to find out uncleaned areas, and then cleaning the uncleaned areas comprises the following steps:
• determining cleaned areas and entry edges of uncleaned areas based on the map of the entire region;
• configuring two entry reference points at two end points of two ends of each of the entry edges respectively;
• determining a most preferred entry point among the two entry reference points of each of the entry edges based on entry selection criteria;
• determining the most preferred entry point of a particular entry edge as a cleaning starting point of a prioritized cleaning area based on cleaning prioritizing criteria;
• moving from a current point of position to the cleaning starting point;
• cleaning the prioritized cleaning area according to predetermined cleaning criteria;
• after cleaning the prioritized cleaning area, determining a next most preferred entry point as a cleaning starting point of a next prioritized cleaning area according to entry selection criteria and cleaning prioritizing criteria, and so and so forth, until all uncleaned areas that satisfy cleaning criteria of uncleaned areas are cleaned.