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: in response to a cleaning instruction for indicating a specified to-be-cleaned area, controlling a cleaning robot to leave a base station to clean the specified to-be-cleaned area; and after the designated to-be-cleaned area is cleaned, the cleaning robot is controlled to clean the area around the base station. By means of the base station cleaning method and device, after the designated to-be-cleaned area is cleaned, the surrounding area of the base station is cleaned, the problem of secondary contamination of the base station of a cleaning robot system in the related technology is solved, and the cleaning effect of a room is improved.

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, the area near the base station is cleaned when the cleaning robot leaves the base station, and the area near the base station is also regarded as the first cleaned area when the path is planned. However, the robot may return to the base station multiple times during a cleaning task of the sweeping and mopping integrated robot. During the return, the robot may cause secondary pollution in the area near the base station slope or other areas due to the liquid drops on the mop or the dirt swept by the dirty mop. SUMMARY

[0003] The control method of the cleaning robot and the related device thereof of the present embodiment at least solve the problem of secondary pollution in the area near the base station of the cleaning robot system in the related art.

[0004] A cleaning method of a cleaning robot, the method comprising: in response to a cleaning instruction for indicating a specified to-be-cleaned area, controlling the cleaning robot to leave a base station to clean the specified to-be-cleaned area; after cleaning the specified to-be-cleaned area, controlling the cleaning robot to clean an area around the base station.

[0005] In some embodiments thereof, before controlling the cleaning robot to clean the area around the base station, the method further comprises: obtaining contour information of the base station, and determining the area around the base station according to the contour information of the base station.

[0006] In some embodiments thereof, the area around the base station comprises: an area outside the contour of the base station and having a distance less than a preset distance from the contour of the base station, and / or a platform or slope area inside the contour of the base station and used for passing the cleaning robot.

[0007] In some embodiments thereof, the method further comprises: during the process of controlling the cleaning robot to leave the base station to clean the specified to-be-cleaned area, setting a virtual obstacle in the area around the base station, so that the specified to-be-cleaned area does not include the area around the base station.

[0008] In some embodiments thereof, the method further comprises: recording operations performed by the cleaning robot during the process of cleaning the specified to-be-cleaned area. The method further comprises: determining whether the operation performed by the cleaning robot in the process of cleaning the specified area to be cleaned meets a preset base station cleaning condition; and if yes, controlling the cleaning robot to clean the area around the base station, and if not, controlling the cleaning robot to directly return to the base station.

[0009] In some embodiments, the operation performed by the cleaning robot in the process of cleaning the specified area to be cleaned comprises: one or more of a type of dirt cleaned by the cleaning robot in the process of cleaning the specified area to be cleaned, a number of times of returning to the base station, a total area of liquid dirt cleaned by the cleaning robot in the process of cleaning the specified area to be cleaned, and a total amount of dust suction. The base station cleaning condition comprises at least one of: the type of dirt cleaned by the cleaning robot in the process of cleaning comprises liquid dirt, the number of times of returning to the base station by the cleaning robot in the process of cleaning is greater than a preset number of times, the total area of liquid dirt cleaned by the cleaning robot in the process of cleaning is greater than a preset area, and the total amount of dust suction by the cleaning robot in the process of cleaning is greater than a preset amount.

[0010] In some embodiments, before controlling the cleaning robot to clean the area around the base station, the method further comprises: controlling the cleaning robot to return to the base station to clean the cleaning element.

[0011] A cleaning robot comprises a 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 cleaning method of the cleaning robot.

[0012] A non-transitory machine readable medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform the cleaning method of the cleaning robot.

[0013] A computer program product comprising a computer program, wherein in some embodiments, the computer program, when executed by a processor of a computer, is used to cause the computer to perform the cleaning method of the cleaning robot.

[0014] The cleaning method of the cleaning robot and the related device of the embodiments solve the problem of secondary pollution of the base station of the cleaning robot system in the related art by controlling the cleaning robot to clean the specified area to be cleaned after leaving the base station in response to a cleaning instruction indicating the specified area to be cleaned, and then controlling the cleaning robot to clean the area around the base station after cleaning the specified area to be cleaned, thereby improving the cleaning effect of the room. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this embodiment or the prior art, the accompanying drawings used in the description of the embodiment or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments created by the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a bottom view of the cleaning robot in this embodiment.

[0017] Figure 2 This is a flowchart of the cleaning method of the cleaning robot in this embodiment.

[0018] Figure 3 This is a schematic diagram of the working scenario of the cleaning robot system in this embodiment.

[0019] Figure 4 This is a preferred flowchart of the cleaning method of the cleaning robot in this embodiment.

[0020] Figure 5 This is a schematic diagram of the processing device of the cleaning robot in this embodiment. Detailed Implementation

[0021] 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.

[0022] 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 211 and a central brush 212. The wet cleaning component 22 can be, for example, a mop. Figure 1 The shown sweeper 212 includes two roller brushes that rotate in opposite directions to scrape debris, dust, and other garbage from the ground so that the suction port 50 located between the two roller brushes can suck the debris, dust, and other garbage into the dust collection box.

[0023] Figure 1 The dry cleaning element 21 of the cleaning robot is arranged at the front end of the chassis; the wet cleaning element 22 is arranged at the rear end of the chassis. The dry cleaning element 21 and the wet cleaning element 22 are distributed around the bottom of the cleaning robot. Wherein, the end of the body pointing to the forward direction is defined as the front end, and the opposite end is defined as the rear end.

[0024] The driving device includes at least two driving wheels 31, and can also include a steering wheel 32; the driving wheels 31 can be controlled to turn respectively, and can be controlled to rotate at the same speed or at different speeds, so as to drive the cleaning robot to move in the direction of the front end or the rear end of the cleaning robot, or in the direction of any included angle between the front end or the rear end, and to drive the cleaning robot to turn in place or along any arc.

[0025] The cleaning robot can also include an environment detection device for detecting environmental information. The environment detection device includes but is not limited to a distance sensor and a collision sensor, etc. Wherein, the distance sensor can be one or more of a ToF laser radar sensor based on time-of-flight measurement of distance, a laser radar sensor based on triangulation method to measure distance, an infrared distance measuring sensor, an ultrasonic distance measuring sensor, a binocular camera or a depth camera, a structured light sensor or other sensor devices that can measure distance. Wherein, the binocular camera or the depth camera can also be used as a sensor for detecting ground dirt information.

[0026] Figure 1 The camera 40 of the cleaning robot is located at the front end of the cleaning robot, and is used to capture the image of the ground and the environment 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 type and distribution of ground dirt. 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 larger, and the detection distance is 35cm~80cm, or larger. Generally, the camera 40 can capture the image of the ground with a width greater than the width of the cleaning robot. The cleaning robot can be provided with multiple cameras, for example, one camera can also be arranged on each side of the cleaning robot to enhance the perception ability of the cleaning robot to the environment. The realization of high-precision positioning of the cleaning robot is usually based on the simultaneous localization and mapping (SLAM) technology.

[0027] After the cleaning robot identifies the dirt type by using the environment detection device, for liquid dirt, the cleaning robot uses the wet cleaning element 22 to clean; for solid dirt, the cleaning robot uses the dry cleaning element 21 to clean. During the cleaning process, if the cleaning robot encounters insufficient power or the cleaning area reaches the preset area, the cleaning robot will return to the base station for charging or backwashing. During the return to the base station, the dry cleaning element 21 of the dirt or the wet cleaning element 22 of the liquid dirt may cause secondary pollution in the area around the base station.

[0028] To solve the above problems, the embodiment provides a cleaning method of a cleaning robot. Figure 2 The flowchart of the cleaning method of the cleaning robot in the embodiment is shown in FIG. 1, which includes the following steps: Figure 2 The flowchart of the cleaning method of the cleaning robot in the embodiment is shown in FIG. 1, which includes the following steps: Step S201, in response to a cleaning instruction indicating a specified cleaning area, controlling the cleaning robot to leave the base station to clean the specified cleaning area.

[0029] Step S202, after cleaning the specified cleaning area, controlling the cleaning robot to clean the area around the base station.

[0030] In the above step S201, the cleaning instruction includes but is not limited to a user instruction indicating that the cleaning robot performs a cleaning task, a timing instruction, or an instruction triggered by other events. No matter what kind of cleaning instruction, it will explicitly or implicitly indicate the range of the area to be cleaned, which is referred to as the specified cleaning area in the embodiment. The specified cleaning area can be a certain area in a room, or one or more room areas.

[0031] The cleaning robot in the embodiment will plan a cleaning path based on the range of the specified cleaning area before cleaning the specified cleaning area; during the cleaning process, the cleaning robot cleans along the cleaning path, and traversing the entire cleaning path means completing the cleaning task of the specified cleaning area.

[0032] By using the above steps, compared with the related art in which the cleaning of the area around the base station is performed immediately after the cleaning robot leaves the base station, and the cleaning robot directly returns to the base station after the cleaning task is completed, the cleaning method in the embodiment controls the cleaning robot to perform supplementary cleaning of the area around the base station after completing the cleaning of the specified cleaning area, thereby avoiding the influence of secondary pollution in the area around the base station on the cleaning effect of the room.

[0033] Before the cleaning robot cleans the area around the base station, the cleaning robot needs to obtain the position information of the area around the base station. In some embodiments, the range of the base station and the range of the area around the base station can be manually drawn in the map built-in the cleaning robot. This way is very simple and effective for the cleaning robot system with fixed base station position. However, it is not suitable for the scenario where the position of the base station may change, which is easy to cause collision or push the base station during cleaning the specified cleaning area, resulting in device damage or affecting the cleaning effect.

[0034] Therefore, in the present embodiment, the position information of the base station and the area around the base station is determined by obtaining the contour information of the base station and determining the position information of the area around the base station according to the contour information of the base station. The contour information of the base station can be a preset contour shape, and the contour center position information determined by combining the point cloud data obtained by the laser radar sensor and / or the depth camera sensor after the cleaning robot leaves the base station. In some embodiments, the contour information of the base station can also be a contour shape and contour center position information determined by the point cloud data obtained by the laser radar sensor and / or the depth camera sensor after the cleaning robot leaves the base station.

[0035] After determining the contour information of the base station, the area around the base station is further determined based on the contour information of the base station. The area around the base station includes: the area outside the contour of the base station, the distance from the contour of the base station is less than a preset distance, and / or the platform or slope area inside the contour of the base station for passing the cleaning robot. The preset distance can be 0.3m, 0.5m, 0.6m, 0.7m, 1m, etc.

[0036] In order to avoid the collision between the base station and the cleaning robot, in some embodiments, the area around the base station does not include the area within a certain distance range outside the contour of the base station, for example, the area within a distance of less than 0.5cm, 1cm, 2cm, 3cm, etc. from the contour of the base station.

[0037] The contour of the base station is usually represented as a rectangle, and the outer contour of the area around the base station can be a rectangle or other shapes. Figure 3 is a schematic diagram of the working scene of the cleaning robot system of the present embodiment, and Figure 3 the range of the area around the base station of the cleaning robot is shown in, which includes the area of the diagonal hatched part and the area of the orthogonal hatched part. The area of the orthogonal hatched part represents the platform or slope area in the base station for passing the cleaning robot.

[0038] In some of the embodiments, in step S201, the designated cleaning area to be cleaned by the cleaning robot does not include the base station surrounding area. The "does not include" in the present embodiment means that the base station surrounding area is not completely contained in the designated cleaning area, and the two can or can not have an overlapping part. In the case of overlap, the overlapping area is less than a certain threshold, for example, the overlapping area is less than 1 / 3 of the area of the base station surrounding area, or even smaller.

[0039] In the present embodiment, by setting a virtual obstacle in the base station surrounding area during the process of controlling the cleaning robot to clean the designated cleaning area away from the base station, the designated cleaning area does not include the base station surrounding area. After setting the base station surrounding area as a virtual obstacle, the cleaning robot will avoid the base station surrounding area when planning the path of the designated cleaning area, so as to avoid cleaning the base station surrounding area. The virtual obstacle set above will be invalid when the cleaning robot returns to the base station for charging or cleaning, so that the cleaning robot cannot return to the base station.

[0040] In the above-mentioned embodiments, by setting a virtual obstacle in the base station surrounding area during the process of controlling the cleaning robot to clean the designated cleaning area away from the base station, the designated cleaning area does not include the base station surrounding area during the cleaning process of the designated cleaning area; and the base station surrounding area is cleaned after the cleaning of the designated cleaning area is completed, which avoids repeated cleaning of the base station surrounding area, thereby improving the cleaning efficiency under the premise of ensuring the cleaning effect.

[0041] In some embodiments, the cleaning of the base station surrounding area by the cleaning robot is not always performed, but is performed conditionally. The condition for performing the cleaning of the base station surrounding area mainly depends on the evaluation of the possibility of secondary pollution of the base station surrounding area. In order to obtain the evaluation of the possibility of secondary pollution of the base station surrounding area, the operations performed by the cleaning robot during the cleaning process are also recorded in the present embodiment.

[0042] Figure 4 is the preferred flowchart of the cleaning method of the cleaning robot of the present embodiment, as shown in Figure 4 The flowchart includes the following steps: Step S401, in response to a cleaning instruction for indicating a designated cleaning area, controlling the cleaning robot to clean the designated cleaning area away from the base station.

[0043] Step S402, recording the operations performed by the cleaning robot during the cleaning of the designated cleaning area.

[0044] Step S403, after the specified to-be-cleaned area is cleaned, it is judged whether the operation performed by the cleaning robot in the process of cleaning the specified to-be-cleaned area meets the preset base station cleaning condition.

[0045] Step S404, if yes, the cleaning robot is controlled to clean the area around the base station.

[0046] Step S405, otherwise, the cleaning robot is controlled to return to the base station directly.

[0047] Different from the cleaning method shown in FIG. 4, the cleaning method shown in FIG. 5 judges the possibility of secondary contamination existing in the area around the base station through the base station cleaning condition, and in the case of low possibility, the cleaning robot no longer cleans the area around the base station, so as to end the cleaning as soon as possible and improve the cleaning efficiency. Figure 1 Figure 4 Different from the cleaning method shown in FIG. 4, the cleaning method shown in FIG. 5 judges the possibility of secondary contamination existing in the area around the base station through the base station cleaning condition, and in the case of low possibility, the cleaning robot no longer cleans the area around the base station, so as to end the cleaning as soon as possible and improve the cleaning efficiency.

[0048] In order to judge the possibility of secondary contamination existing in the area around the base station, the operation performed by the cleaning robot in the cleaning task is recorded in the above step S402 as the basis for judging whether the secondary contamination exists in the area around the base station. These operations include but are not limited to: the type of contamination cleaned by the cleaning robot in the process of cleaning the specified to-be-cleaned area, the number of times of returning to the base station, the total area of liquid contamination cleaned, and the total amount of dust suction.

[0049] In some embodiments, the cleaning robot judges whether the secondary contamination exists in the area around the base station based on the type of contamination cleaned in the process of cleaning the specified to-be-cleaned area. For this purpose, the cleaning robot records whether the type of contamination cleaned by the cleaning robot in the process of cleaning the specified to-be-cleaned area includes liquid contamination. When the cleaning robot cleans the liquid contamination, for the dried liquid contamination, the wet cleaning element will be repeatedly wiped on the dried liquid contamination after being wetted; for the not-dried liquid contamination, the cleaning robot will absorb the liquid contamination on the wet cleaning element. The more the injected clean water or absorbed liquid contamination on the wet cleaning element, the greater the possibility of liquid contamination dripping to the area around the base station in the backwashing process. Therefore, if the type of contamination cleaned by the cleaning robot in the process of cleaning the specified to-be-cleaned area includes liquid contamination, the cleaning robot can be controlled to clean the area around the base station after completing the cleaning of the specified to-be-cleaned area, so as to avoid the secondary contamination existing in the area around the base station.

[0050] ​In some embodiments, the cleaning robot determines whether the area around the base station is secondarily contaminated based on the number of times the cleaning robot returns to the base station during the cleaning of the specified area to be cleaned. To this end, the cleaning robot records the number of times the cleaning robot returns to the base station during the cleaning of the specified area to be cleaned. The cleaning robot needs to return to the base station to charge or clean the wet cleaning element when the power is too low or the cleaning area reaches the backwash area. As the number of times the cleaning robot returns to the base station increases, the possibility of secondarily contaminating the area around the base station also gradually increases. Therefore, if the number of times the cleaning robot returns to the base station during the cleaning of the specified area to be cleaned is greater than a preset number of times, the cleaning robot can be controlled to clean the area around the base station after completing the cleaning of the specified area to be cleaned, so as to avoid the secondarily contaminated area around the base station. The preset number of times can be one, two, three or more times.

[0051] In some embodiments, the cleaning robot determines whether the area around the base station is secondarily contaminated based on the total area of the liquid contaminated area cleaned during the cleaning of the specified area to be cleaned. To this end, the cleaning robot records the total area of the liquid contaminated area cleaned by the cleaning robot during the cleaning of the specified area to be cleaned. The greater the total area of the liquid contaminated area cleaned by the cleaning robot, the greater the possibility of secondarily contaminating the area around the base station. Therefore, if the total area of the liquid contaminated area cleaned by the cleaning robot during the cleaning of the specified area to be cleaned is greater than a preset area, the cleaning robot can be controlled to clean the area around the base station after completing the cleaning of the specified area to be cleaned, so as to avoid the secondarily contaminated area around the base station.

[0052] In some embodiments, the cleaning robot determines whether the area around the base station is secondarily contaminated based on the total amount of dust suction during the cleaning of the specified area to be cleaned. To this end, the cleaning robot records the total amount of dust suction of the cleaning robot during the cleaning of the specified area to be cleaned. The greater the total amount of dust suction of the cleaning robot, the more serious the contamination of the cleaned area, which is more likely to cause the dry cleaning element to be contaminated, and thus the area around the base station to be secondarily contaminated. Therefore, if the total amount of dust suction of the cleaning robot during the cleaning of the specified area to be cleaned is greater than a preset amount, the cleaning robot can be controlled to clean the area around the base station after completing the cleaning of the specified area to be cleaned, so as to avoid the secondarily contaminated area around the base station.

[0053] In addition, in some embodiments, the above base station cleaning conditions can be combined for use to more accurately evaluate the possibility of secondarily contaminating the area around the base station.

[0054] When the cleaning robot finishes cleaning the designated cleaning area and returns to the base station, the cleaning element is in a dirty state at this time. In order to further improve the cleaning effect of the area around the base station, when the cleaning robot finishes cleaning the designated cleaning area and returns to the vicinity of the base station, the cleaning robot is first controlled to return to the base station for cleaning of the cleaning element, and then the cleaning robot is controlled to clean the area around the base station.

[0055] 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.

[0056] The embodiment also provides a computer program product comprising a computer program, wherein the computer program is used for causing a computer to execute the method of the embodiment of the application when the computer program is executed by a processor of the computer.

[0057] The embodiment also provides a cleaning robot. The cleaning robot comprises a processing device comprising a processor and a non-transitory machine readable medium storing computer instructions, wherein the computer instructions are used for causing the processor to execute the cleaning method of the cleaning robot.

[0058] The processing device of the embodiment comprises at least one processor and a memory in communication with the at least one processor. The memory stores computer instructions executable by the at least one processor, and the computer instructions are used for causing the processing device to execute the method of the embodiment when executed by the at least one processor.

[0059] Reference Figure 5 The structure block diagram of the processing device which can be the server or the client of the embodiment will be described, which is an example of the hardware device that can be applied to each aspect of the application. The processing device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The processing device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown in this figure, their connections, and relationships, and their functions, are meant only as examples, and are not meant to limit implementations of the application described and / or claimed in this document.

[0060] As Figure 5As shown, 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 the storage unit 508 into a random access memory (RAM) 503. Various programs and data required for the 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.

[0061] A plurality of components in the processing device are connected to the I / O interface 505, including an input unit 506, an output unit 507, a 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 numerical 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.

[0062] The computing unit 501 can be various general and / or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a CPU, a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing units, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 501 performs 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 embodied in a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer instructions can be loaded and / or installed on the processing device via the ROM 502 and / or the communication unit 509. In some embodiments, the computing unit 501 can be configured to perform the above-described methods by any other appropriate means, such as by means of firmware.

[0063] Computer instructions implementing the method of the present embodiment can be written in any combination of one or more programming languages. These computer instructions can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer instructions, when executed by the processor or controller, cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer instructions can be executed entirely on a machine, partially on a machine, partially on a machine as part of a standalone software package, and partially on a remote machine or entirely on a remote machine or server.

[0064] In the context of the present embodiment, a machine-readable medium can be a tangible medium that can contain or store the program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable signal medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, or infrared system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.

[0065] It should be noted that the terms “comprises” and variations thereof used in the present embodiment are open-ended, meaning “including, but not limited to”. The term “based on” is intended to mean “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 indicated to the contrary in the context in which they are used. The term “another” is defined as “at least one” unless explicitly indicated to the contrary in the context in which they are used.

[0066] The various steps in the method implementation provided by the present embodiment can be performed in different order, and / or in parallel. In addition, the method implementation 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.

[0067] The word "implementation" in this description refers to the fact that the specific features, structures, or characteristics described in connection with an implementation can be included in at least one implementation of the invention. The occurrence of the phrase in various locations and repetitions of the phrase throughout the specification does not necessarily all refer to the same implementation, nor does it necessarily mean that other implementations are mutually exclusive or alternative. Each implementation described in this specification is described in a related manner, and the same or similar parts of each implementation refer to each other. In particular, for device, apparatus, system implementations, since they are basically similar to method implementations, the description is relatively simple, and the relevant parts refer to the part of the method implementation description.

[0068] The above-described implementations only express several implementation manners of the present invention, and the description is relatively specific and detailed, but it cannot be understood as a limitation on the protection scope. It should be noted that, for ordinary skilled persons in the art, under the premise of not departing from the inventive concept, a number of modifications and improvements can be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A cleaning method of a cleaning robot, characterized by, The method comprises: in response to a cleaning instruction indicating a specified area to be cleaned, controlling the cleaning robot to clean the specified area to be cleaned away from the base station; after cleaning the specified area to be cleaned, controlling the cleaning robot to clean the area around the base station.

2. The method of claim 1, wherein, Before controlling the cleaning robot to clean the area around the base station, the method further comprises: obtaining contour information of the base station, and determining the area around the base station according to the contour information of the base station.

3. The method of claim 2, wherein, The area around the base station comprises: an area outside the contour of the base station, a distance from the contour of the base station being less than a preset distance, and / or a platform or slope area inside the contour of the base station for passing the cleaning robot.

4. The method of claim 2, wherein, The method further comprises: during the process of controlling the cleaning robot to clean the specified area to be cleaned away from the base station, setting a virtual obstacle in the area around the base station, so that the specified area to be cleaned does not include the area around the base station.

5. The method of claim 1, wherein, The method further comprises: recording the operations performed by the cleaning robot during the process of cleaning the specified area to be cleaned. Controlling the cleaning robot to clean the area around the base station comprises: determining whether the operations performed by the cleaning robot during the process of cleaning the specified area to be cleaned meet a preset base station cleaning condition; if yes, controlling the cleaning robot to clean the area around the base station, otherwise controlling the cleaning robot to directly return to the base station.

6. The method of claim 5, wherein, Recording the operations performed by the cleaning robot during the process of cleaning the specified area to be cleaned comprises: recording one or more of the following: a type of dirt cleaned by the cleaning robot during the process of cleaning the specified area to be cleaned, a number of times of returning to the base station, a total area of liquid dirt cleaned, and a total amount of dust suction; The base station cleaning condition comprises at least one of the following: the type of dirt cleaned by the cleaning robot during the cleaning process includes liquid dirt, the number of times of returning to the base station by the cleaning robot during the cleaning process is greater than a preset number of times, the total area of liquid dirt cleaned by the cleaning robot during the cleaning process is greater than a preset area, and the total amount of dust suction by the cleaning robot during the cleaning process is greater than a preset amount.

7. The method of claim 1, wherein, Before controlling the cleaning robot to clean the area around the base station, the method further comprises: controlling the cleaning robot to return to the base station for cleaning of cleaning elements.

8. 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 cleaning method of the cleaning robot according to any one of claims 1 to 7.

9. A non-transitory machine-readable medium having stored thereon computer instructions, wherein: The computer instructions are used to cause a computer to perform the cleaning method of the cleaning robot according to any one of claims 1 to 7.

10. A computer program product comprising a computer program, characterized in that, The computer program, when executed by a processor of a computer, is used to cause the computer to perform the cleaning method of the cleaning robot according to any one of claims 1 to 7.

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