Cleaning method of cleaning robot and related equipment thereof

Abstract

The invention relates to a cleaning method of a cleaning robot and related equipment thereof. The method comprises the following steps: acquiring a map comprising one or more room areas; generating a first patrol path passing through each room area; the cleaning robot is controlled to move along the first patrol path, in the moving process, the environment detection device is used for detecting smudginess information of all the room areas, and the smudginess information comprises the positions, the areas and the smudginess types of the smudginess areas; planning a cleaning path for cleaning a target room area according to the smudginess information, wherein the target room area is a room area containing a smudginess area; and controlling the cleaning robot to clean the target room area along the cleaning path. According to the invention, the problem of long cleaning time consumption of the cleaning robot in the prior art is solved, and the cleaning time is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning robots, in particular to a cleaning method of a cleaning robot and a related device thereof. BACKGROUND

[0002] Currently, when a cleaning robot performs a cleaning task, it usually cleans all areas in a designated room area according to a cleaning mode (sweeping mode, mopping mode or sweeping and mopping integrated mode) indicated by a user, which is rigid and time-consuming. SUMMARY

[0003] The cleaning method of the cleaning robot and the related device thereof of the present embodiment at least solve the problem of long cleaning time of the cleaning robot in the related art.

[0004] A cleaning method of a cleaning robot, the cleaning robot comprising an environment detection device, the method comprising: obtaining a map comprising one or more room areas; generating a first patrol path passing through each room area; controlling the cleaning robot to move along the first patrol path and detect dirt information of each room area by using the environment detection device during the movement, the dirt information comprising a position of a dirty area, an area of the dirty area and a dirt type; planning a cleaning path for cleaning a target room area according to the dirt information, the target room area being a room area containing a dirty area; and controlling the cleaning robot to clean the target room area along the cleaning path.

[0005] In some embodiments, a detection area formed by the cleaning robot moving along the first patrol path comprises all cleanable areas in the one or more room areas, the cleanable areas being areas in the one or more room areas that can be cleaned by the cleaning robot.

[0006] In some embodiments, planning a cleaning path for cleaning a target room area according to the dirt information comprises: determining a cleaning sub-path type corresponding to the dirty area according to the dirt information; and planning the cleaning path according to the cleaning sub-path type, the cleaning path comprising one or more cleaning sub-paths, each cleaning sub-path corresponding to a cleaning sub-path type.

[0007] In some embodiments, the cleaning sub-path type comprises at least one of the following: a twist and wipe path, a bow and wipe path, a cross and wipe path and a spiral and wipe path.

[0008] In some embodiments, the cleaning path connects adjacent cleaning sub-paths by using a shortest path.

[0009] In some embodiments, the controlling the cleaning robot to clean the target room area along the cleaning path comprises: determining a cleaning mode corresponding to the dirty area according to the dirty information, the cleaning mode comprising forward cleaning and reverse cleaning; in a case where the dirty type of the dirty area is solid dirt, controlling the cleaning robot to clean the dirty area in the forward cleaning mode; in a case where the dirty type of the dirty area is liquid dirt, controlling the cleaning robot to clean the dirty area in the reverse cleaning mode.

[0010] In some embodiments, the method further comprises: after controlling the cleaning robot to clean the target room area along the cleaning path, generating a second patrol path of the room area that has been cleaned; controlling the cleaning robot to move along the second patrol path and detect dirty information of the room area that has been cleaned by using the environment detection device during the movement, to determine whether there is still a dirty area in the room area that has been cleaned; and if there is still a dirty area in the room area that has been cleaned, controlling the cleaning robot to clean the dirty area again.

[0011] In some embodiments, the method further comprises: after controlling the cleaning robot to clean the target room area along the cleaning path, generating a third patrol path of the room area containing the target dirty area, the target dirty area comprising a dirty area in the dirty area whose dirtiness is greater than a preset degree; controlling the cleaning robot to move along the third patrol path and detect dirty information of the room area containing the target dirty area by using the environment detection device during the movement, to determine whether there is still a dirty area in the room area containing the target dirty area; and if there is still a dirty area in the room area containing the target dirty area, cleaning the dirty area again.

[0012] A cleaning robot comprising a processing device, the processing device comprising a processor and a non-transitory machine readable medium storing computer instructions, wherein the computer instructions are used to cause the processor to perform the above method.

[0013] A non-transitory machine readable medium storing computer instructions, the computer instructions being used to cause a computer to perform the above method.

[0014] The cleaning method of the cleaning robot and the related device thereof in the embodiment adopt obtaining a map including one or more room areas; generating a first patrol path passing through each room area; controlling the cleaning robot to move along the first patrol path, and detecting dirt information of each room area by using the environment detection device during the movement, the dirt information including a position of a dirty area, an area of the dirty area and a dirt type; and planning a cleaning path for a target room area according to the dirt information, the target room area being a room area containing a dirty area; and controlling the cleaning robot to clean the target room area along the cleaning path, so that the problem of long cleaning time of the cleaning robot in the related art is solved, and the cleaning time is saved. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other embodiments can also be obtained from these drawings without creative labor.

[0016] Figure 1 is a bottom structure schematic diagram of the cleaning robot in the embodiment.

[0017] Figure 2 is a flow chart of the cleaning method of the cleaning robot in the embodiment.

[0018] Figure 3a is a schematic diagram of a twist and wipe path in the embodiment.

[0019] Figure 3b is a schematic diagram of another twist and wipe path in the embodiment.

[0020] Figure 3c is a schematic diagram of a bow and wipe path in the embodiment.

[0021] Figure 3d is a schematic diagram of a cross and wipe path in the embodiment.

[0022] Figure 3e is a schematic diagram of a spiral and wipe path in the embodiment.

[0023] Figure 4 is a schematic diagram of a cleaning path in the embodiment.

[0024] Figure 5 is a structure schematic diagram of the processing device of the cleaning robot in the embodiment. DETAILED DESCRIPTION

[0025] The present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0026] Figure 1 This is a bottom view of the cleaning robot in this embodiment, as shown. Figure 1 As shown, the cleaning robot includes a body 10, cleaning components mounted on the chassis, and a drive unit. The cleaning components can be any type of part capable of cleaning; for example, they can include a dry cleaning component 21 and / or a wet cleaning component 22. The dry cleaning component 21 can include multiple components, such as multiple side brushes and a central brush. The wet cleaning component 22 can be, for example, a mop.

[0027] Figure 1 The dry cleaning component 21 of the cleaning robot shown is generally located at the front end of the chassis; the wet cleaning component 22 is generally located at the rear end of the chassis. The dry cleaning component 21 and the wet cleaning component 22 are distributed around the bottom of the cleaning robot. The end of the robot body facing forward is defined as the front end, and the opposite end is defined as the rear end.

[0028] The drive unit includes at least two drive wheels 31 and may also include steering wheels 32; the drive wheels 31 can be controlled to steer independently, and can be controlled synchronously or independently to drive the cleaning robot to move towards its front or rear end, or to move the cleaning robot at any angle between its front and rear ends, and to drive the cleaning robot to turn in place or turn along any arc.

[0029] Cleaning robots may also include environmental detection devices for sensing environmental information. These devices include, but are not limited to, distance sensors and collision sensors. The distance sensor can be one or more of the following: a Time-of-Flight (ToF) lidar sensor, a lidar sensor based on triangulation, an infrared-based distance sensor, an ultrasonic-based distance sensor, a binocular camera or depth camera, a structured light sensor, or other sensor devices capable of distance measurement. The binocular camera or depth camera may also be used to detect dirt or grime on the ground. Figure 1The camera 40 of the cleaning robot is located at the front end of the cleaning robot. The camera 40 can be slightly arranged towards the ground to capture the image of the ground in front of the cleaning robot. The image captured by the camera 40 will be provided to an image processing module based on artificial intelligence technology to identify the ground dirt type and distribution. In order to be able to capture the image of a larger range of ground, the horizontal field of view angle of the camera 40 is 90°~120°, or more, and the detection distance is 35cm~80cm, or more. Generally, the camera 40 can capture the image of the ground with a width greater than the width of the cleaning robot. In the embodiment, in order to shorten the total length of the patrol path, the camera 40 can use a camera that can capture the image of the ground with a width more than twice the width of the camera itself.

[0030] In order to realize active patrol on-demand cleaning, in order to reduce the cleaning time consumption, the embodiment provides a cleaning method of a cleaning robot. Figure 2 The flow chart of the cleaning method of the cleaning robot of the embodiment is shown in Figure 2 The flow chart includes the following steps: Step S201, obtaining a map including one or more room areas.

[0031] In the above steps, the map is a pre-generated map including one or more room areas. After the cleaning robot is powered on for the first time in a new environment, it will perform a first patrol in the new environment. In the first patrol, the cleaning robot scans the environment through the built-in sensors (such as lidar, camera, etc.), identifies walls, furniture layout, doorways and other obstacles, and finally constructs a two-dimensional or three-dimensional map of one or more rooms to facilitate subsequent planning of the action path.

[0032] Step S202, generating a first patrol path passing through each room area.

[0033] The first patrol path generated in step S202 is intended to efficiently facilitate all rooms to ensure that each room can be accessed while minimizing repeated movement. However, unlike the cleaning path generated in the related art, the first patrol path does not make the cleaning robot traverse every area in the room area, but only needs its detection area to cover all cleanable areas in the room area.

[0034] That is, the cleaning robot moves along the first patrol path, and the detection area formed by the camera 40 can include all cleanable areas in one or more room areas. The cleanable area is an area in one or more room areas that can be cleaned by the cleaning robot, and the cleanable area can be determined when the cleaning robot first patrols the room. For those areas in the room area that are narrower than the cleaning robot and cannot be entered by the cleaning robot (for example, narrow gaps between furniture and walls), they do not belong to the cleanable area.

[0035] In step S203, the cleaning robot is controlled to move along the first patrol path, and the environmental detection device is used to detect the dirt information of each room area during movement. The dirt information includes the position of the dirty area, the area of the dirty area, and the type of dirt.

[0036] During movement along the first patrol path, the cleaning robot uses the environmental detection device (such as the camera 40) carried by the cleaning robot to detect the dirt level of the ground. These information includes the specific position of the dirty area, the size of the covered area, and the type of the stain (such as liquid dirt or solid dirt), which prepares for the subsequent targeted cleaning.

[0037] In step S204, a cleaning path for cleaning the target room area is planned according to the dirt information, and the target room area is a room area containing a dirty area.

[0038] In step S204, the cleaning robot dynamically plans a cleaning path for the room containing the dirty area according to the collected dirt information. In the process of planning the cleaning path, the cleaning order of each room area can be determined, and the cleaning sub-path type and cleaning method corresponding to each dirty area can be determined. In addition, the cleaning parameters such as increasing the cleaning frequency or adjusting the cleaning intensity can be determined according to the degree of dirt.

[0039] In step S205, the cleaning robot is controlled to clean the target room area along the cleaning path.

[0040] Compared with the related art in which the cleaning robot cleans all areas in the specified room in the entire to-be-cleaned area according to the user's instruction, the above steps actively patrol the dirt information before cleaning, and plan a cleaning path for cleaning the room area containing the dirty area according to the dirt information obtained by the patrol, thereby avoiding cleaning the room area without the dirty area, reducing the cleaning time. Moreover, the cleaning method is more flexible and intelligent, and realizes on-demand cleaning of the room.

[0041] In step S204, a cleaning sub-path type corresponding to the dirty area is determined according to the dirty information, and a cleaning path is planned according to the cleaning sub-path type. In this embodiment, the planned cleaning path includes a cleaning sub-path corresponding to each dirty area. In each dirty area, the cleaning robot cleans the dirty area along the cleaning sub-path. For different types and different areas of dirty areas, different cleaning sub-paths can be planned to improve the cleaning effect. The cleaning sub-path type includes at least one of the following: a twist-and-wipe path, a bow-and-wipe path, a cross-and-wipe path, and a spiral-and-wipe path.

[0042] Figure 3a Figure 3b Figure 3c Figure 3d Figure 3e are schematic diagrams of two twist-and-wipe paths, one bow-and-wipe path, one cross-and-wipe path, and one spiral-and-wipe path, respectively. Twist-and-wipe refers to a cleaning method in which the front end or the rear end of the cleaning robot swings to the left and right sides to drive the cleaning element to wipe the ground left and right during cleaning. When the end of the cleaning robot swings to the left and right while moving forward, its path is as shown in Figure 3a . After the cleaning robot stops moving, the end of the cleaning robot swings to the left and right several times and then moves forward by a distance, and its path is as shown in Figure 3b . Bow-and-wipe refers to a cleaning method in which the end of the cleaning robot is always directed forward along the path of the bow during cleaning. The bow-and-wipe path is as shown in Figure 3c . Cross-and-wipe refers to a cleaning method in which the cleaning robot first cleans the dirty area row by row and then cleans the dirty area column by column. The cross-and-wipe path is as shown in Figure 3d . Spiral-and-wipe refers to a cleaning method in which the cleaning robot starts from the outer area of the dirty area and spirals around the center of the dirty area while gradually reducing the radius of the spiral. The spiral-and-wipe path is as shown in Figure 3e .

[0043] In some embodiments, the twist-and-wipe path is used to clean liquid or dirt that is not wider than the width of the cleaning robot. The bow-and-wipe path is used to clean liquid or solid dirt that is small in size and has a width greater than the width of the cleaning robot. The cross-and-wipe path is used to clean liquid or solid dirt that is large in size and has a length and width greater than the width of the cleaning robot. The spiral-and-wipe path is used to clean liquid dirt that is deep, or stubborn solid or liquid dirt.

[0044] ​​​​In some of the embodiments, the cleaning robot plans a W-shaped path for the room region identified as a non-dirty region in the target room region for regular cleaning, and plans a cleaning sub-path for the room region identified as a dirty region for cleaning in a cleaning mode corresponding to the type and degree of dirt. In this way, each target room region is cleaned completely, and the cleaning efficiency is guaranteed because the room region identified as a non-dirty region is cleaned in a W-shaped path with high efficiency.

[0045] In other embodiments, the cleaning robot does not clean the room region identified as a non-dirty region in the target room region, but only cleans the dirty region, so as to improve the cleaning efficiency as much as possible. In this case, the cleaning range formed by the movement of the cleaning robot along the cleaning path does not cover all the regions of the target room region. Figure 4 FIG. 1 is a schematic diagram of a cleaning path of the present embodiment. In Figure 4 In FIG. 1, the W-shaped path, the cross-shaped path and the spiral path are planned for the dirty region A, the dirty region B and the dirty region C respectively, and in the finally planned cleaning path, the shortest paths are used to connect adjacent cleaning sub-paths, and the cleaning elements of the cleaning robot can not work on the shortest paths connecting the cleaning sub-paths.

[0046] In order to avoid wetting the dry cleaning elements or sucking liquid into the dust collection box of the cleaning robot, in the present embodiment, the reverse cleaning mode is adopted for liquid dirt. That is, the cleaning robot is turned around so that the wet cleaning elements face forward and the dry cleaning elements face backward to clean the liquid dirt, and the dry cleaning elements and the suction port do not work when cleaning the liquid dirt. If the dry cleaning elements have a lifting function, the dry cleaning elements are lifted.

[0047] To this end, in some of the embodiments, the cleaning mode corresponding to the dirty region can be determined according to the dirt information in step S205, and the cleaning mode includes forward cleaning and reverse cleaning; in the case where the type of dirt in the dirty region is solid dirt, the cleaning robot is controlled to clean the dirty region in the forward cleaning mode; in the case where the type of dirt in the dirty region is liquid dirt, the cleaning robot is controlled to clean the dirty region in the reverse cleaning mode.

[0048] In order to ensure that the dirty region has been thoroughly cleaned, after the cleaning robot completes a cleaning along the cleaning path, the dirty region can be checked to determine whether to clean again.

[0049] For example, in some embodiments, after controlling the cleaning robot to clean the target room area along the cleaning path, a second patrol path of the room area that has been cleaned is generated; the cleaning robot is controlled to move along the second patrol path and detect dirt information of the room area that has been cleaned by using the environment detection device during the movement, to determine whether there is still a dirty area in the room area that has been cleaned; and if there is still a dirty area in the room area that has been cleaned, the cleaning robot is controlled to clean the dirty area again. In this embodiment, the second patrol path is generated in a similar manner to the first patrol path, and the only difference is that the patrol area of the first patrol path is all room areas in one or more room areas, while the patrol area of the second patrol path is the room area that has been cleaned.

[0050] For another example, in some other embodiments, only the key dirt is re-inspected. After controlling the cleaning robot to clean the target room area along the cleaning path, a third patrol path of the room area containing the target dirty area is generated, the target dirty area including a dirty area whose dirt degree is greater than a preset degree; the cleaning robot is controlled to move along the third patrol path and detect dirt information of the room area containing the target dirty area by using the environment detection device during the movement, to determine whether there is still a dirty area in the room area containing the target dirty area; and if there is still a dirty area in the room area that has been cleaned, the dirty area is cleaned again. In this embodiment, the third patrol path is different from the first patrol path or the second patrol path, and the patrol area of the third patrol path only contains those dirty areas whose dirt degree is greater than the preset degree. The dirt degree can be determined according to the coverage area of the dirty area, and / or the category of the dirt, and / or the state of the dirt. For example, the preset degree mentioned above refers to a dirt degree with relatively high cleaning difficulty, including but not limited to: a dirty area with an area greater than 100 square centimeters, or a dry liquid dirt (soup, ink, etc.) area, etc.

[0051] The embodiment also provides a non-transitory machine readable medium storing computer instructions for causing a computer to execute the cleaning method of the cleaning robot.

[0052] The embodiment also provides a cleaning robot. The cleaning robot comprises a processing device, the processing device comprising a processor and a non-transitory machine readable medium storing computer instructions, wherein the computer instructions are used to cause the processor to execute the cleaning method of the cleaning robot.

[0053] The processing device of the embodiment comprises at least one processor; and a memory connected in communication with the at least one processor. The memory stores computer instructions executable by the at least one processor, and the computer instructions, when executed by the at least one processor, are configured to cause the processing device to perform the method of the embodiment.

[0054] Reference will now be made to Figure 5 a block diagram of a processing device that can serve as a server or client of the embodiment, which is an example of a hardware device that can be applied to various aspects of the present invention. The processing device is intended to represent various forms of digital electronic computer devices, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The processing device can also represent various forms of mobile devices such as personal digital assistants, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present invention described and / or claimed in this document.

[0055] As shown in Figure 5 , the processing device includes a computing unit 501 that can perform various appropriate actions and processes in accordance with computer instructions stored in a read-only memory (ROM) 502 or computer instructions loaded from a storage unit 508 into a random access memory (RAM) 503. Various programs and data required for operation of the processing device can also be stored in the RAM 503. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0056] Various components in the processing device are connected to the I / O interface 505, including an input unit 506, an output unit 507, the storage unit 508, and a communication unit 509. The input unit 506 can be any type of device that can input information to the processing device, and can receive inputted digital or character information, as well as generate key signal inputs related to user settings and / or function controls of the processing device. The output unit 507 can be any type of device that can present information, and can include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 508 can include, but is not limited to, a magnetic disk, an optical disk. The communication unit 509 allows the processing device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include, but is not limited to, a modem, a network card, an infrared communication device, and / or a wireless communication transceiver, such as a Bluetooth device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0057] The computing unit 501 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, CPUs, graphics processing units (GPUs), various special-purpose artificial intelligence (AI) computing units, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above. For example, in some embodiments, the method embodiments of the present invention can be implemented as computer instructions tangibly contained in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer instructions can be loaded and / or mounted onto the processing device via ROM 502 and / or communication unit 509. In some embodiments, the computing unit 501 can be configured to perform the methods described above by any other suitable means (e.g., by means of firmware).

[0058] The computer instructions used to implement the methods of this embodiment may be written in any combination of one or more programming languages. These computer instructions may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the computer instructions cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer instructions may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a standalone software package, or entirely on a remote machine or server.

[0059] In the context of this embodiment, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable signal medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, or infrared systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0060] It should be noted that the terms "comprises" and variations thereof used in the present description and claims are open-ended, that is, a listing of elements is not exclusive or exhaustive. The terms "comprises" and variations thereof mean "consisting of at least the specified elements or steps, not excluding additional elements or steps." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment." The term "another embodiment" means "at least one additional embodiment." The term "some embodiments" means "at least some embodiments." The terms "a" and "an" are defined as "one or more" unless explicitly stated otherwise, and the terms "the" and "this" are defined as "the one or more" unless explicitly stated otherwise.

[0061] The various steps of the method embodiments provided by the present embodiments can be performed in different orders and / or in parallel. Furthermore, the method embodiments can include additional steps and / or omit performing the steps shown. The scope of protection of the present invention is not limited in this respect.

[0062] The word "comprise" in the specification means "including, but not limited to", and the word "comprising" in the claims means "including at least". The word "based on" means "based, at least in part, on". The word "one embodiment" means "at least one embodiment"; the word "another embodiment" means "at least one additional embodiment"; the word "some embodiments" means "at least some embodiments". The words "a" and "an" are defined as "one or more" unless explicitly stated otherwise, and the words "the" and "this" are defined as "the one or more" unless explicitly stated otherwise.

[0063] The above-described embodiments are merely illustrative of the present invention and do not limit the scope of the present invention. The description is relatively specific and detailed, but it should not be construed as limiting the scope of protection. It should be noted that for those skilled in the art, without departing from the concept of the present invention, a number of modifications and improvements can be made, which are within the scope of the present invention. Therefore, the scope of protection of the present invention should be subject to the appended claims.

Claims

1. A cleaning method of a cleaning robot, characterized by, The cleaning robot comprises an environment detection device, and the method comprises: obtaining a map comprising one or more room areas; generating a first patrol path passing through each room area; controlling the cleaning robot to move along the first patrol path and detect dirt information of each room area by using the environment detection device during the movement, the dirt information comprising positions of dirty areas, areas of dirty areas and dirt types; planning a cleaning path for cleaning a target room area according to the dirt information, the target room area being a room area containing a dirty area; controlling the cleaning robot to clean the target room area along the cleaning path.

2. The method of claim 1, wherein, The detection area formed by the movement of the cleaning robot along the first patrol path comprises all cleanable areas in the one or more room areas, the cleanable areas being areas in the one or more room areas that can be cleaned by the cleaning robot.

3. The method of claim 1, wherein, Planning a cleaning path for cleaning a target room area according to the dirt information comprises: determining a cleaning sub-path type corresponding to the dirty area according to the dirt information; planning the cleaning path according to the cleaning sub-path type, the cleaning path comprising one or more cleaning sub-paths, each cleaning sub-path corresponding to a cleaning sub-path type.

4. The method of claim 3, wherein, The cleaning sub-path type comprises at least one of the following: a twist-and-wipe path, an arch-and-wipe path, a cross-and-wipe path and a spiral-and-wipe path.

5. The method of claim 3, wherein, The cleaning path connects adjacent cleaning sub-paths by using a shortest path.

6. The method of claim 1, wherein, Controlling the cleaning robot to clean the target room area along the cleaning path comprises: determining a cleaning mode corresponding to the dirty area according to the dirt information, the cleaning mode comprising forward cleaning and reverse cleaning; in the case that the dirt type of the dirty area is solid dirt, controlling the cleaning robot to clean the dirty area in the cleaning mode of forward cleaning; in the case that the dirt type of the dirty area is liquid dirt, controlling the cleaning robot to clean the dirty area in the cleaning mode of reverse cleaning.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: after controlling the cleaning robot to clean the target room area along the cleaning path, generating a second patrol path passing through a room area that has been cleaned; controlling the cleaning robot to move along the second patrol path and detect dirt information of the room area that has been cleaned by using the environment detection device during the movement, to determine whether there is still a dirty area in the room area that has been cleaned; if there is still a dirty area in the room area that has been cleaned, controlling the cleaning robot to clean the dirty area again.

8. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: after controlling the cleaning robot to clean the target room area along the cleaning path, generating a third patrol path passing through a room area containing a target dirty area, the target dirty area comprising a dirty area whose dirt level is greater than a preset level among the dirty areas; controlling the cleaning robot to move along the third patrol path and to detect, by using the environment detection device, dirt information of a room area containing a target dirty area during the movement, to determine whether the room area containing the target dirty area still has a dirty area; if the room area that has been cleaned still has a dirty area, performing re-cleaning on the dirty area.

9. A cleaning robot comprising a processing device, characterized in that The processing device comprises a processor and a non-transient machine readable medium storing computer instructions, wherein the computer instructions are used to cause the processor to perform the method of any one of claims 1 to 8.

10. A non-transitory machine-readable medium having stored thereon computer instructions, wherein: The computer instructions are used to cause a computer to perform the method of any one of claims 1 to 8.

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