Cleaning method and apparatus for cleaning robot, and medium and electronic device

Abstract

Provided in the present disclosure are a cleaning method for a cleaning robot, a cleaning apparatus for a cleaning robot, and a computer-readable storage medium and an electronic device. The method comprises: when a rapid cleaning mode is triggered, determining whether an area map of an area to be cleaned has been stored in a cleaning robot; if the area map has been stored, determining whether daily route cleaning has been performed on the area to be cleaned, wherein the daily route cleaning is cleaning that is performed on a boundary area and an internal area of the area to be cleaned; and if the daily route cleaning has been performed, controlling the cleaning robot to perform cleaning according to the rapid cleaning mode, wherein the rapid cleaning mode is a mode in which cleaning is performed on the internal area of the area to be cleaned. The method meets the requirement for adjusting a cleaning route so as to improve the cleaning efficiency.

Description

Cleaning robot cleaning method and device, medium and electronic equipment

[0001] This application claims priority to Chinese patent application No. 202211329625.3 filed on October 27, 2022, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to the field of smart homes, and in particular to a cleaning robot cleaning method, a cleaning robot cleaning device, a computer-readable storage medium, and an electronic device. Background Art

[0003] In recent years, with the rapid development of computer technology and artificial intelligence science, intelligent robot technology has gradually become a hot topic in the field of modern robotics research. Among them, cleaning robots, as the most practical type of intelligent robots, can automatically complete floor cleaning tasks with a certain degree of artificial intelligence.

[0004] At present, cleaning robots generally follow a fixed cleaning route during the cleaning process. Even if the cleaning route is adjusted, only the intensity of cleaning and the walking speed are adjusted, which cannot meet the demand of truly adjusting the cleaning route to improve cleaning efficiency.

[0005] Summary of the Invention

[0006] The purpose of the present disclosure is to provide a cleaning robot cleaning method, a cleaning robot cleaning device, a computer-readable storage medium, and an electronic device to meet the need to adjust the cleaning route to improve cleaning efficiency. The specific solution is as follows:

[0007] According to the specific embodiments of the present disclosure, in the first aspect, the present disclosure provides a cleaning method for a cleaning robot, comprising: when the quick cleaning mode is triggered, determining whether an area map of the area to be cleaned has been saved in the cleaning robot; if the area map has been saved, determining whether the area to be cleaned has undergone daily route cleaning, wherein the daily route cleaning is the cleaning of the boundary area and its internal area; if the daily route cleaning has been performed, controlling the cleaning robot to clean in accordance with the quick cleaning mode, wherein the quick cleaning mode is a mode for cleaning the internal area of ​​the area to be cleaned.

[0008] In an exemplary embodiment of the present disclosure, the method further includes: if the area to be cleaned has not been subjected to the daily route cleaning, controlling the cleaning robot to perform the daily route cleaning on the area to be cleaned.

[0009] In an exemplary embodiment of the present disclosure, the daily route cleaning includes: first cleaning the boundary area of ​​the area to be cleaned, and then cleaning the inner area of ​​the area to be cleaned.

[0010] In an exemplary embodiment of the present disclosure, controlling the cleaning robot to clean in the quick cleaning mode includes: controlling the cleaning robot to directly clean the internal area of ​​the area to be cleaned, and avoiding obstacles and restricted areas determined during the daily route cleaning process during the cleaning process.

[0011] In an exemplary embodiment of the present disclosure, controlling the cleaning robot to clean in the quick cleaning mode includes controlling the cleaning robot to clean only a sub-area designated by a user within the inner area of ​​the area to be cleaned.

[0012] In an exemplary embodiment of the present disclosure, the method further includes: if the cleaning robot finds a new obstacle when cleaning in the fast cleaning mode, performing edge cleaning on the new obstacle.

[0013] In an exemplary embodiment of the present disclosure, the method further includes: if the cleaning robot does not store an area map of the area to be cleaned, controlling the cleaning robot to construct an area map of the area to be cleaned.

[0014] In the second aspect, the present disclosure provides a cleaning device of a cleaning robot, comprising: a first judgment module, for judging whether an area map of the area to be cleaned has been saved in the cleaning robot when the quick cleaning mode is triggered; a second judgment module, for judging whether the area to be cleaned has undergone daily route cleaning if the area map has been saved, and the daily route cleaning is the cleaning of the boundary area and its internal area; a cleaning module, for controlling the cleaning robot to clean in accordance with the quick cleaning mode if the daily route cleaning has been performed, and the quick cleaning mode is a mode for cleaning the internal area of ​​the area to be cleaned.

[0015] In a third aspect, the present disclosure provides a non-transitory computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned cleaning robot cleaning method when executed by a processor.

[0016] In a fourth aspect, the present disclosure provides an electronic device comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-mentioned cleaning robot cleaning method by executing the executable instructions.

[0017] The cleaning method provided by the cleaning robot according to the exemplary embodiment of the present disclosure, when the quick cleaning mode of the cleaning robot is triggered, first determines whether the cleaning robot has saved an area map of the area to be cleaned. If the area map of the area to be cleaned is saved, then determines whether the area to be cleaned has undergone daily route cleaning, wherein daily route cleaning is cleaning the boundary area and its internal area, which can perform a comprehensive cleaning of the area to be cleaned; if the area to be cleaned has undergone daily route cleaning, then the cleaning robot is controlled to clean in the quick cleaning mode, wherein the quick cleaning mode is a mode that cleans only the internal area of ​​the area to be cleaned. On the one hand, the area to be cleaned is controlled to enter the quick cleaning mode, cleaning only the internal area, omitting the edge cleaning of the boundary area compared to the daily route cleaning. Since edge cleaning consumes a long time, the quick cleaning mode can effectively save cleaning time and improve cleaning efficiency. On the other hand, before entering the quick cleaning mode, it is necessary to determine whether the cleaning robot has performed daily route cleaning. Through daily route cleaning, the cleaning robot can fully understand the area information such as the boundary and obstacles of the area to be cleaned, which can reduce the risk of getting stuck and falling during the cleaning process, thereby ensuring safety during the quick cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0019] FIG1 shows a flow chart of a cleaning method of a cleaning robot provided by an exemplary embodiment of the present disclosure;

[0020] FIG2 is a flowchart showing the steps of a cleaning method of a cleaning robot provided by an exemplary embodiment of the present disclosure;

[0021] FIG3 shows a block diagram of a cleaning robot cleaning device according to an embodiment of the present disclosure;

[0022] FIG4 shows a schematic diagram of modules of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] To make the objectives, technical solutions, and advantages of the present disclosure more clear, the present disclosure will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only a portion of the embodiments of the present disclosure, rather than all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative effort are intended to fall within the scope of protection of the present disclosure.

[0024] The terms used in the embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The singular forms "a," "an," "the," and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include plural forms, and unless the context clearly indicates otherwise, "a plurality" generally includes at least two.

[0025] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0026] It should be understood that although the terms "first," "second," "third," etc. may be used to describe "...," these "..." should not be limited to these terms. These terms are merely used to distinguish "...." For example, "first..." could also be referred to as "second...", and similarly, "second..." could also be referred to as "first..." without departing from the scope of the present invention.

[0027] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0028] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the product or device comprising the element.

[0029] The exemplary embodiment of the present disclosure provides a cleaning robot cleaning method for controlling a cleaning robot to clean according to different cleaning routes. Referring to FIG1 , a flow chart of the cleaning robot cleaning method provided by the exemplary embodiment of the present disclosure is shown. The cleaning robot cleaning method may include the following steps:

[0030] Step S110: When the quick cleaning mode is triggered, determining whether the cleaning robot has saved an area map of the area to be cleaned;

[0031] Step S120: If the area map has been saved, determine whether the area to be cleaned has been subjected to routine route cleaning, where routine route cleaning is cleaning of the boundary area and its internal area;

[0032] Step S130: If the daily route cleaning has been performed, the cleaning robot is controlled to clean according to the fast cleaning route. The fast cleaning mode is a mode for cleaning the inner area of ​​the area to be cleaned.

[0033] The cleaning method of the cleaning robot provided by the exemplary embodiment of the present disclosure is as follows: when the quick cleaning mode of the cleaning robot is triggered, the cleaning robot first determines whether a regional map of the area to be cleaned has been saved in the cleaning robot; if the regional map of the area to be cleaned has been saved, the cleaning robot then determines whether the area to be cleaned has undergone daily route cleaning, wherein daily route cleaning is performed on the boundary area and its internal area, and can perform comprehensive cleaning on the area to be cleaned. The above-mentioned boundary area can be the area covered by edge cleaning along a wall, along an obstacle, or along a restricted area; if the area to be cleaned has undergone daily route cleaning, the cleaning robot is controlled to clean in a quick cleaning mode, wherein the quick cleaning mode is a mode that only cleans the internal area of ​​the area to be cleaned. On the one hand, by controlling the area to be cleaned to enter the quick cleaning mode, only the internal area is cleaned, and the edge cleaning of the boundary area is omitted compared to the daily route cleaning. Since edge cleaning consumes a long time, the quick cleaning mode can effectively save cleaning time, thereby improving cleaning efficiency. On the other hand, before entering the quick cleaning mode, it is necessary to make sure that the cleaning robot has completed daily route cleaning. Through daily route cleaning, it can fully grasp the boundaries, obstacles and other area information of the area to be cleaned, which can reduce the risks of getting stuck and falling during the cleaning process, thereby ensuring safety during the quick cleaning process.

[0034] The cleaning robot cleaning method provided by the exemplary embodiment of the present disclosure can be used when the user feels that the home environment is not too dirty and does not need to be cleaned throughout the entire area. By triggering the quick cleaning mode, the user can only clean the inner area of ​​the boundary area, thereby improving the cleaning efficiency and meeting the diverse needs of users.

[0035] The following specific embodiments are given to describe in detail the various steps of the cleaning method of the cleaning robot provided by the exemplary embodiment of the present disclosure:

[0036] In step S110 , when the quick cleaning mode is triggered, it is determined whether an area map of the area to be cleaned has been saved in the cleaning robot.

[0037] In the exemplary embodiments of the present disclosure, the cleaning robot performs not only daily cleaning but also quick cleaning during its cleaning process. To facilitate user operation of the cleaning robot through a user terminal, an application (APP) for controlling the cleaning robot is usually installed on the user terminal. The user can use the application to control the cleaning robot's cleaning mode, cleaning route, cleaning intensity, etc.

[0038] For example, in the process of controlling the cleaning route, multiple cleaning routes are usually displayed. For example, corresponding to the embodiment of the present disclosure, it can include a daily cleaning route and a quick cleaning route. The daily cleaning route here is a mode for cleaning the boundary area and its internal area, and the quick cleaning route represents the cleaning route in the quick cleaning mode in the exemplary embodiment of the present disclosure, that is, a route that only cleans the internal area.

[0039] After the user triggers the quick cleaning mode, the cleaning robot cleaning method provided by the exemplary embodiment of the present disclosure will first determine whether the cleaning robot has saved an area map of the area to be cleaned.

[0040] Normally, when the cleaning robot enters the area to be cleaned for the first time, it will start the map construction mode to construct the regional map of the area to be cleaned. The methods of constructing the regional map include but are not limited to the following methods: using the SLAM (simultaneous localization and mapping) map and positioning construction module to locate the cleaning robot, and at the same time constructing the regional map of the cleaning robot's location, the cleaning robot is equipped with a laser transmitter, the laser transmitter emits a laser, and the laser is reflected when it encounters an obstacle, and SLAM constructs the regional map based on the emitted and reflected laser. It should be noted that all existing methods that can be used to construct the regional map corresponding to the cleaning robot in this embodiment are included in the scope of protection of this disclosure.

[0041] After building the area map, the cleaning robot will store the area map for later use in cleaning or positioning.

[0042] The exemplary embodiment of the present disclosure determines whether the cleaning robot has saved an area map of the area to be cleaned, thereby ensuring that the cleaning robot can directly clean the area to be cleaned.

[0043] In actual applications, if the user triggers the quick cleaning mode and determines that the cleaning robot does not have a regional map of the area to be cleaned, it is necessary to first control the cleaning robot to enter the mapping mode, and control the cleaning robot to construct a regional map of the area to be cleaned according to the method of constructing the regional map as described above, and then make subsequent judgments after the regional map is constructed.

[0044] It should be noted that the area to be cleaned can be the area selected by the user on the user-side APP, or the area where the user places the cleaning robot. If it is the area where the user places the cleaning robot, the cleaning robot needs to start the positioning mode to locate the area it is currently in. After determining the specific location, it will determine whether it has a regional map stored in its internal storage.

[0045] In step S120 , if the area map has been saved, it is determined whether the area to be cleaned has been subjected to daily route cleaning. Daily route cleaning is cleaning of the boundary area and its internal area.

[0046] In the exemplary embodiment of the present disclosure, based on the above step S110, if it is determined that the cleaning robot has saved an area map of the area to be cleaned, it is necessary to further determine whether the area to be cleaned has undergone daily route cleaning. The determination of whether daily route cleaning has been performed can be to determine whether the cleaning robot has performed daily route cleaning within a preset time period, for example, to determine whether the area to be cleaned has undergone daily route cleaning within a week, or within a preset time period of another length, which is not particularly limited in the exemplary embodiment of the present disclosure.

[0047] In practical applications, daily route cleaning involves cleaning both the boundary area and the interior area, providing a comprehensive cleaning of the area to be cleaned. For example, the boundary area of ​​the area to be cleaned may be cleaned first, that is, the edges of the area to be cleaned may be cleaned first, and then the interior area of ​​the area to be cleaned may be cleaned in a zigzag pattern or in other patterns, and this is not specifically limited in the exemplary embodiments of the present disclosure.

[0048] In an exemplary embodiment of the present disclosure, if it is determined that the area to be cleaned has not been cleaned on a daily route, the cleaning robot may be controlled to perform daily route cleaning, and subsequent steps may be performed after the cleaning robot has performed daily route cleaning.

[0049] Since daily route cleaning involves edge cleaning, the safety boundaries of the area to be cleaned are determined during this process. Furthermore, obstacles and restricted areas within the area to be cleaned are also identified during daily route cleaning, generating data such as wall-to-wall data, obstacle avoidance data, and restricted area avoidance data. This data can be directly applied to rapid cleaning, further improving efficiency and accuracy.

[0050] In step S130 , if the daily route cleaning has been performed, the cleaning robot is controlled to clean according to the fast cleaning route. The fast cleaning mode is a mode for cleaning the inner area of ​​the area to be cleaned.

[0051] In an exemplary embodiment of the present disclosure, if it is determined that the area to be cleaned has been cleaned on a daily route, the cleaning robot may be controlled to clean according to a fast cleaning route. The fast cleaning mode is a mode for cleaning the inner area of ​​the area to be cleaned.

[0052] There are many different ways to clean the interior of the area to be cleaned. For example, instead of cleaning along the edges, the interior of the area to be cleaned can be cleaned directly, avoiding obstacles and restricted areas identified during routine cleaning. In other words, the system avoids obstacles based on the aforementioned wall avoidance data, obstacle avoidance data, and restricted area avoidance data, thereby reducing the cleaning area while improving cleaning efficiency.

[0053] It is also possible to control the cleaning robot to clean only the sub-area specified by the user in the inner area of ​​the area to be cleaned, that is, to clean only part of the inner area. In actual application, the user's client will display the area map of the area to be cleaned. At this time, the user can circle the sub-area he wants to clean by hand-drawing or using freehand graphics, and then the cleaning robot will quickly clean according to the sub-area circled by the user. The user can also determine the specified sub-area of ​​the area to be cleaned by selecting one or more areas of the area to be cleaned. Cleaning by specifying sub-areas can meet the user's more diverse needs and only clean the part the user wants to clean, thereby improving the user experience.

[0054] It's important to note that the sub-area must be within the area to be cleaned. If the user circles outside the area to be cleaned while defining a sub-area, the client will prompt the user to circle the area incorrectly and ask them to circle again. This setting prevents sub-areas outside the area to be cleaned, which could cause uncertainty during the cleaning process and prevent the robot from getting stuck or falling.

[0055] In actual applications, if the cleaning robot finds a new obstacle while cleaning in the quick cleaning mode, it is necessary to control the cleaning robot to clean along the edge of the new obstacle and record the edge information. The edge information can be added to the area map for use in future cleaning.

[0056] Referring to FIG2 , a flowchart of the steps of the cleaning robot cleaning method provided by an exemplary embodiment of the present disclosure is shown. In FIG2 , when the quick cleaning mode is triggered, the process proceeds to step S210 , i.e., judgment condition 1, to determine whether the cleaning robot has saved an area map of the area to be cleaned; if so, i.e., the area map has been saved in the area to be cleaned, the process proceeds to step S220 , i.e., judgment condition 2, to determine whether the area to be cleaned has been subjected to daily route cleaning; if so, i.e., daily route cleaning has been performed, the process proceeds to step S230 , to control the cleaning robot to clean in accordance with the quick cleaning mode; if not, i.e., daily route cleaning has not been performed, the process proceeds to step S240 , to control the cleaning robot to perform daily route cleaning; after the daily route cleaning is completed, the process proceeds to step S220 to continue judging according to judgment condition 2.

[0057] If the cleaning robot does not store the area map of the area to be cleaned, the process proceeds to step S250 to control the cleaning robot to construct an area map of the area to be cleaned; after the area map is constructed, the process proceeds to step S210 to continue to make judgments according to judgment condition 1.

[0058] The cleaning robot cleaning method provided by the exemplary embodiment of the present disclosure judges two conditions before controlling the cleaning robot to perform quick cleaning, namely whether the area map of the area to be cleaned has been saved and whether daily route cleaning has been performed, so as to provide the necessary basis for quick cleaning. During the quick cleaning process, obstacles can be avoided based on previous cleaning information, such as obstacle information and restricted area information on the area map, thereby further improving the cleaning efficiency on the basis of only cleaning the internal area, making quick cleaning more convenient and efficient, and meeting the more diverse needs of users.

[0059] It should be noted that the above method is not only applicable to cleaning robots with dry cleaning devices and wet cleaning modules, but can also be applied to sweeping robots with only dry cleaning devices, or mopping robots with only wet cleaning modules, etc. The exemplary embodiments of the present disclosure do not limit this.

[0060] It should be noted that although the steps of the method disclosed herein are depicted in a particular order in the accompanying drawings, this does not require or imply that the steps must be performed in that particular order, or that all steps must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one, and / or one step may be decomposed into multiple steps.

[0061] In an exemplary embodiment of the present disclosure, a cleaning robot cleaning device is further provided. As shown in FIG3 , the cleaning robot cleaning device 300 may include: a first judgment module 310, a second judgment module 320, a cleaning module 330, and a map construction module 340, wherein:

[0062] The first determination module 310 may be used to determine whether an area map of the area to be cleaned has been saved in the cleaning robot when the quick cleaning mode is triggered;

[0063] The second judgment module 320 can be used to judge whether the area to be cleaned has been subjected to daily route cleaning if the area map has been saved. Daily route cleaning is cleaning of the boundary area and its internal area;

[0064] The cleaning module 330 may be used to control the cleaning robot to perform cleaning in a quick cleaning mode if daily route cleaning has been performed. The quick cleaning mode is a mode for cleaning the inner area of ​​the area to be cleaned.

[0065] In an exemplary embodiment of the present disclosure, the cleaning module 330 may also be configured to control the cleaning robot to perform daily route cleaning on the area to be cleaned if the area to be cleaned has not been subjected to daily route cleaning.

[0066] In an exemplary embodiment of the present disclosure, daily route cleaning includes: first cleaning the boundary area of ​​the area to be cleaned, and then cleaning the inner area of ​​the area to be cleaned.

[0067] In an exemplary embodiment of the present disclosure, the cleaning module 330 may also be used to control the cleaning robot to directly clean the interior area of ​​the area to be cleaned, and avoid obstacles and restricted areas determined during daily route cleaning during the cleaning process.

[0068] In an exemplary embodiment of the present disclosure, the cleaning module 330 may also be used to control the cleaning robot to clean only the sub-area specified by the user within the inner area of ​​the area to be cleaned.

[0069] In an exemplary embodiment of the present disclosure, the cleaning module 330 may also be configured to perform edge cleaning on a new obstacle if the cleaning robot finds a new obstacle while cleaning in a fast cleaning mode.

[0070] In an exemplary embodiment of the present disclosure, the map construction module 340 may be configured to control the cleaning robot to construct a regional map for the area to be cleaned if the cleaning robot does not store the regional map of the area to be cleaned.

[0071] The specific details of each cleaning device module of the cleaning robot mentioned above have been described in detail in the corresponding cleaning robot cleaning method, so they will not be repeated here.

[0072] It should be noted that although several modules or units of the device for execution are mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0073] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is further provided. For example, the electronic device may be a cleaning robot capable of implementing the above method.

[0074] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods, or program products. Therefore, various aspects of the present disclosure may be implemented in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits," "modules," or "systems."

[0075] The electronic device 400 according to this embodiment of the present disclosure is described below with reference to Figure 4. The electronic device 400 shown in Figure 4 is merely an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0076] As shown in FIG4 , electronic device 400 is implemented as a general-purpose computing device. Components of electronic device 400 may include, but are not limited to, the aforementioned at least one processing unit 410, the aforementioned at least one storage unit 420, a bus 430 connecting various system components (including storage unit 420 and processing unit 410), and a display unit 440.

[0077] The storage unit 420 stores a program code, and the program code can be executed by the processing unit 410, so that the processing unit 410 performs the steps described in the "Exemplary Method" section of the present specification according to various exemplary embodiments of the present disclosure. For example, the processing unit 410 can execute step S110 as shown in Figure 1, when the quick cleaning mode is triggered, determine whether the cleaning robot has saved an area map of the area to be cleaned; step S120, if the area map has been saved, determine whether the area to be cleaned has been subjected to daily route cleaning, and daily route cleaning is cleaning of the boundary area and its internal area; step S130, if daily route cleaning has been performed, control the cleaning robot to clean according to the quick cleaning route, and the quick cleaning mode is a mode for cleaning the internal area of ​​the area to be cleaned.

[0078] The storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 4201 and / or a cache memory unit 4202 , and may further include a read-only memory unit (ROM) 4203 .

[0079] The storage unit 420 may also include a program / utility 4204 having a set (at least one) of program modules 4205, such program modules 4205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0080] Bus 430 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0081] The electronic device 400 can also communicate with one or more external devices 470 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 400, and / or any device that enables the electronic device 400 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 450. Furthermore, the electronic device 400 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 460. As shown, the network adapter 460 communicates with other modules of the electronic device 400 via a bus 430. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 400, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0082] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0083] In exemplary embodiments of the present disclosure, a computer-readable storage medium is also provided, on which is stored a program product capable of implementing the aforementioned methods of this specification. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product comprising program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to execute the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of the present disclosure.

[0084] According to an embodiment of the present disclosure, a program product for implementing the above-mentioned method can be a portable compact disc read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0085] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0086] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0087] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0088] The program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0089] Furthermore, the figures above are merely illustrative of the processes included in the methods according to exemplary embodiments of the present disclosure and are not intended to be limiting. It is readily understood that the processes illustrated in the figures above do not indicate or limit the temporal order of these processes. Furthermore, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0090] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing what is disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the claims.

[0091] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A cleaning method of a cleaning robot, comprising:determining whether a region map of a region to be cleaned has been saved in the cleaning robot in a case where a rapid cleaning mode is triggered;5        determining whether the region to be cleaned has been subjected to daily route cleaning inresponse to determining that the region map has been saved, wherein the daily route cleaning comprises cleaning of a boundary region and an internal region of the region to be cleaned; the daily route cleaning comprises cleaning along an edge, and wall-following data, obstacle avoidance data and restricted region avoidance data of the region to be cleaned are obtained during the daily 10 route cleaning;controlling the cleaning robot to perform cleaning based on the wall-following data, the obstacle avoidance data and the restricted region avoidance data according to the rapid cleaning mode in response to determining that the daily route cleaning has been performed, wherein the rapid cleaning mode is a mode in which the internal region of the region to be cleaned is cleaned; 15 andcontrolling the cleaning robot to perform the daily route cleaning of the region to be cleaned in response to determining that the region to be cleaned has not been subjected to the daily route cleaning.20        2. The method according to claim 1, wherein the daily route cleaning comprises: cleaning theboundary region of the region to be cleaned first, and then cleaning the internal region of the region to be cleaned.

3. The method according to any one of claims 1 to 2, wherein controlling the cleaning robot 25 to perform cleaning according to the rapid cleaning mode comprises:controlling the cleaning robot to directly clean the internal region of the region to be cleaned, and avoiding an obstacle and a restricted region which are determined in the daily route cleaning process during cleaning.30        4. The method according to any one of claims 1 to 3, wherein controlling the cleaning robotto perform cleaning according to the rapid cleaning mode comprises:controlling the cleaning robot to clean only a sub-region specified by a user in the internal region of the region to be cleaned.35        5. The method according to claim 3 or 4, further comprising:performing cleaning along an edge of a new obstacle in response to the cleaning robot2023369015   21 Aug 2026discovering the new obstacle when performing cleaning according to the rapid cleaning mode.

6. The method according to any one of claims 1 to 5, further comprising:controlling the cleaning robot to construct the region map of the region to be cleaned in 5 response to determining that the cleaning robot does not save the region map of the region to be cleaned.

7. A cleaning apparatus of a cleaning robot, comprising:a first determining module configured to determine whether a region map of a region to be 10 cleaned has been saved in the cleaning robot in a case where a rapid cleaning mode is triggered;a second determining module configured to determine whether the region to be cleaned has been subjected to daily route cleaning in response to determining that the region map has been saved, wherein the daily route cleaning comprises cleaning of a boundary region and an internal region of the region to be cleaned, the daily route cleaning comprises cleaning along an edge, and 15 wall-following data, obstacle avoidance data and restricted region avoidance data of the region to be cleaned are obtained during the daily route cleaning; anda cleaning module configured to control the cleaning robot to perform cleaning based on the wall-following data, the obstacle avoidance data and the restricted region avoidance data according to the rapid cleaning mode in response to determining that the daily route cleaning has been20 performed, wherein the rapid cleaning mode is a mode in which the internal region of the region to be cleaned is cleaned,wherein the cleaning module is also configured to control the cleaning robot to perform the daily route cleaning of the region to be cleaned in response to determining that the region to be cleaned has not been subjected to the daily route cleaning.

258. The cleaning apparatus of the cleaning robot according to claim 7, wherein the daily route cleaning comprises: cleaning the boundary region of the region to be cleaned first, and then cleaning the internal region of the region to be cleaned.30        9. The cleaning apparatus of the cleaning robot according to any one of claims 7 to 8, whereincontrolling the cleaning robot to perform cleaning according to the rapid cleaning mode comprises:controlling the cleaning robot to directly clean the internal region of the region to be cleaned, and avoiding an obstacle and a restricted region which are determined in the daily route cleaning process during cleaning.3510. The cleaning apparatus of the cleaning robot according to any one of claims 7 to 9, wherein2023369015   21 Aug 2026controlling the cleaning robot to perform cleaning according to the rapid cleaning mode comprises: controlling the cleaning robot to clean only a sub-region specified by a user in the internal region of the region to be cleaned.5        11. The cleaning apparatus of the cleaning robot according to claim 9 or 10, whereinthe cleaning module is also configured to perform cleaning along an edge of a new obstacle in response to the cleaning robot discovering the new obstacle when performing cleaning according to the rapid cleaning mode.10        12. The cleaning apparatus of the cleaning robot according to any one of claims 7 to 11,whereinthe cleaning module is also configured to control the cleaning robot to construct the region map of the region to be cleaned in response to determining that the cleaning robot does not save the region map of the region to be cleaned.1513. A non-transitory computer-readable storage medium, configured to store a computer program thereon, wherein the computer program, when executed by a processor, implements the cleaning method of the cleaning robot according to any one of claims 1 to 6.20        14. An electronic device, comprising:a processor; anda memory configured to store executable instructions of the processor,wherein the processor is configured to execute the cleaning method of the cleaning robot according to any one of claims 1 to 6 by executing the executable instructions.

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