Cleaning device control method and related device

Abstract

The present application discloses a cleaning device control method and a related device. In the control method provided by the present application, once a first cleaning instruction is received, a cleaning device is controlled to first clean an area where a target carpet is located and then clean a non-target area outside the target carpet area in a working area, and when the target carpet area is cleaned, a cleaning member of the cleaning device is not wetted. On the basis, when the non-target area is cleaned subsequently, the probability that the cleaning device carrying the wetted cleaning member enters the target carpet area can be reduced, and even if the cleaning member of the cleaning device is wetted when the non-target area is cleaned subsequently, the probability of wetting the carpet in the target carpet area by the wetted cleaning member can also be reduced, thereby ensuring the dryness and cleanliness of the carpet, and improving the user experience.

Description

CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims priority to Chinese Patent Application No. 202310729368.0 filed on June 19, 2023, the disclosure of which is herein incorporated as a part of this application by reference in its entirety.TECHNICAL FIELD

[0002] Embodiments of the present application relate to the technical field of cleaning devices, and in particular, to a control method for a cleaning device and related devices.BACKGROUND ART

[0003] In the existing technologies, when the floor is cleaned through a cleaning device, a mop of the cleaning device is wetted during operations on some floors in need of mopping, and a carpet may be wetted when the cleaning device passes over the carpet, affecting the user experience.SUMMARY OF THE INVENTION

[0004] In a first aspect of the present invention, a control method for a cleaning device is provided.

[0005] In a second aspect of the present invention, a computer-readable storage medium is provided.

[0006] In a third aspect of the present invention, an electronic device is provided.

[0007] In view of this, according to the control method for the cleaning device as provided in the first aspect of the embodiments of the present application, the method includes: controlling, in response to a first cleaning instruction, the cleaning device to first clean a target carpet region; and controlling, after the target carpet region has been cleaned, the cleaning device to clean a non-target region other than the target carpet region, wherein after responding to the first cleaning instruction, a cleaning component of the cleaning device maintains unwetted during cleaning of the target carpet region by the cleaning device.

[0008] According to the computer-readable storage medium as provided in the second aspect of the embodiments of the present application, the computer-readable storage medium stores a computer program for implementing the control method as described in any one of the technical solutions described above.

[0009] According to the electronic device as provided in the third aspect of the embodiments of the present application, the electronic device includes: a memory, having a computer program stored thereon; and a processor, configured to execute the computer program, wherein the processor, when executing the computer program, implements the control method as described in any one of the technical solutions described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] By reading the following detailed description of preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The accompanying drawings are only for the purpose of illustrating preferred embodiments, and are not considered to be limitations of the present application. Throughout the accompanying drawings, the same reference symbols denote the same components. In the accompanying drawings: FIG. 1 shows a schematic flowchart of the steps of a control method for a cleaning device according to an embodiment provided in the present application; FIG. 2 shows a structural block diagram of a computer-readable storage medium according to an embodiment provided in the present application; and FIG. 3 shows a structural block diagram of an electronic device according to an embodiment provided in the present application. DETAILED DESCRIPTION

[0011] For better understanding of the above-mentioned technical solutions, the technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings and the specific embodiments, and it should be understood that the embodiments of the present application and the specific features in the embodiments provide a detailed description of the technical solutions of the embodiments of the present application, and are not the limitations on the technical solutions of the present application. Without conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0012] As shown in FIG. 1, a control method for a cleaning device is provided according to a first aspect of the embodiments of the present application. The control method includes the steps as follows.

[0013] In step 101, in response to a first cleaning instruction, the cleaning device is controlled to first clean a target carpet region. It can be understood that the first cleaning instruction may be issued by a user who requests to clean the target carpet region only without mopping the target carpet region, or may be responded by the cleaning device autonomously. For instance, the cleaning device may automatically respond to the first cleaning instruction based on the duration since the last cleaning of the target carpet region, in order to improve the cleanliness of the target carpet region and of an operation region where the cleaning device is located.

[0014] In step 102, after the target carpet region has been cleaned, the cleaning device is controlled to clean a non-target region other than the target carpet region. It can be understood that, by cleaning the non-target region other than the target carpet region after the target carpet region has been cleaned, the probability of carpet wetting can be reduced, and in particular, the probability of carpet wetting within the target region can be reduced.

[0015] After responding to the first cleaning instruction, a cleaning component of the cleaning device maintains unwetted during cleaning of the target carpet region by the cleaning device.

[0016] With the control method for the cleaning device provided in the embodiments of the present application, after receiving the first cleaning instruction indicating that a user requests to clean the carpet, the cleaning device is controlled to first clean the target carpet region, and then to clean the non-target region in an operation region other than the target carpet region, and the cleaning component of the cleaning device is unwetted while the target carpet region is cleaned. Based on this, when the non-target region is subsequently cleaned, the probability for the cleaning device to enter the target carpet region can be greatly reduced, and the cleaning device can be even prevented from entering the target carpet region that has been cleaned; and even though the cleaning component of the cleaning device is wetted when the non-target region is subsequently cleaned, the probability for the wetted cleaning component to wet a carpet in the target carpet region can also be greatly reduced, and the carpet can be even prevented from getting wet by the cleaning component. In this way, the dryness and cleanliness of the carpet in the target carpet region can be guaranteed for the user, and the user experience can be improved.

[0017] According to the control method for the cleaning device provided in the embodiment of the present application, regardless of whether the cleaning device has the function of elevating and lowering the cleaning component or not, the probability of wetting a carpet, in particular a long-haired carpet, by the cleaning device can be reduced.

[0018] In a possible implementation, the cleaning device includes a mopping operation mode and a sweeping operation mode. In a case where an operation mode for the target carpet region includes the sweeping operation mode but not the mopping operation mode, responding to the first cleaning instruction is allowed; and in a case where the cleaning region does not include the target carpet region or a cleaning mode for the target carpet region includes the mopping operation mode, responding to a second cleaning instruction is allowed. Here, the second cleaning instruction is different from the first cleaning instruction.

[0019] In this technical solution, a method for responding to the first cleaning instruction is further provided. The cleaning device includes the sweeping operation mode and the mopping operation mode, based on which an operation space can be better cleaned. In a case where the operation mode for the target carpet region includes the sweeping operation mode but not the mopping operation mode, it indicates that the user only wants to clean, instead of mopping, the carpet within the target carpet region, based on which the first cleaning instruction can be issued to prioritize cleaning the target carpet region with the dry cleaning device, to reduce the probability of wetting the carpet and improve the user experience.

[0020] In this technical solution, in a case where the target carpet region is not included in a desired cleaning region, it indicates that there is no carpet in the current cleaning region that requires preferential cleaning, and thus, there is no possibility of wetting the carpet. Therefore, instead of responding to the first cleaning instruction, the second cleaning instruction may be responded to.

[0021] In this technical solution, in a case where the cleaning mode for the target carpet region includes the mopping operation mode, it indicates that the user needs to mop the carpet in the target carpet region. In this case, there is no need to prioritize cleaning the target carpet region, and the second cleaning instruction can be responded to instead.

[0022] It can be understood that in a case where the second cleaning instruction is received, the cleaning device may directly plan a traveling path based on the cleaning region and obstacle information in response to the second cleaning instruction, to improve cleaning efficiency. This eliminates the need to control the cleaning device to first travel to the target carpet region before performing a cleaning operation, such that the distance that the cleaning device runs empty can be reduced, and the cleaning device can be prevented from running empty over the carpet without sweeping or mopping. This improves user experience and cleaning efficiency.

[0023] It can be understood that the cleaning region not including the target carpet region may mean that the target map region does not exist in the operation region of the cleaning device, or that the cleaning region selected by the user within the operation region of the cleaning device does not include the target carpet region. If the user has selected a carpet cleaning avoidance strategy, the target carpet region is not included in the cleaning region.

[0024] In a possible implementation, before the step of controlling the cleaning device to clean the non-target region other than the target carpet region, the control method further includes: determining, based on a target operation mode for the non-target region, whether to wet the cleaning component.

[0025] In this technical solution, after the cleaning device completes the preferential cleaning of the target carpet region in response to the first cleaning instruction, a further determination may be made before cleaning the non-target region, to determine whether the cleaning component of the cleaning device needs to be wetted. In this way, the operation mode of the cleaning device adapts to the cleaning needs of the user well, and the user experience can be improved.

[0026] In a possible implementation, the step of determining, based on the target operation mode for the non-target region, whether to wet the cleaning component includes: wetting the cleaning component in a case where the target operation mode for the non-target region includes the mopping operation mode; not wetting the cleaning component in a case where the target operation mode for the non-target region includes the sweeping operation mode; or determining whether a cleaning region that requires execution of the sweeping operation mode and no execution of the mopping operation mode exists in the non-target region; and if so, not wetting the cleaning component, and controlling the cleaning device to first clean the cleaning region. Here, the cleaning component is wetted by at least one of a base cloth washing apparatus, a spraying apparatus, and a liquid seepage apparatus of the cleaning device.

[0027] In this technical solution, a specific step of determining whether to wet the cleaning component is further provided. After the target carpet region has been cleaned, if the operation mode to be executed in the non-target region other than this target carpet region is the mopping operation mode, the cleaning component is directly wetted; and if the operation mode for the non-target region is the sweeping operation mode, the sweeping operation mode is first executed instead of wetting the cleaning component, so as to improve a sweeping effect.

[0028] In this technical solution, if a partial region in the non-target region other than the target carpet region still requires execution of the sweeping operation mode and no execution of the mopping operation mode, the cleaning device may be controlled to perform a sweeping operation on the cleaning region first, and then to perform a mopping operation on a region other than the target carpet region and the cleaning region. In such an arrangement, the sweeping operation and the mopping operation can be performed one after another, such that the probability that the wetted cleaning component affects a region with the sweeping operation being performed only can be reduced, the sweeping effect can be improved, the user experience can be better satisfied.

[0029] In this technical solution, the cleaning component may be wetted by one or more of the base cloth washing apparatus, the spraying apparatus, and the liquid seepage apparatus. In such an arrangement, the wetting efficiency can be improved, while the cleanliness of the cleaning component can be guaranteed.

[0030] In a possible implementation, the control method for the cleaning device further includes: setting the target carpet region as a low-frequency passage region in a case where the cleaning component is wetted; and controlling the cleaning device to preferentially move through a region other than the low-frequency passage region.

[0031] In this technical solution, after the target carpet region has been cleaned, the cleaning component may be wetted and then used to perform the mopping operation on the non-target region, so as to improve the cleaning effect.

[0032] In this technical solution, when the sweeping operation is performed by the wetted cleaning component, the target carpet region that has already been cleaned is designated as the low-frequency passage region, and the cleaning device is controlled to move preferentially through a region other than the low-frequency passage region. In such an arrangement, the probability that the wetted cleaning component travels over a carpet that has already been cleaned can be reduced, and the probability of wetting the carpet can be further reduced, such that the user experience can be improved.

[0033] In a possible implementation, the step of controlling the cleaning device to preferentially move through the region other than the low-frequency passage region includes: determining a target traveling region, and determining a plurality of target traveling paths based on the target traveling region and the low-frequency passage region; designating, in a case where one or more first target traveling paths capable of bypassing the low-frequency passage region exist among the plurality of target traveling paths, the first target traveling path or one of the first target traveling paths as a traveling path; and determining, in a case where no first target path capable of bypassing the low-frequency passage region exists among the plurality of target traveling paths, a traveling distance of each of the target traveling paths over the low-frequency passage region, and designating one of the plurality of target traveling paths with a shortest traveling distance as the traveling path. In a case where the cleaning device first cleans the target carpet region, the operation mode for the cleaning device includes a pressurized cleaning mode and / or a secondary cleaning mode; and in a case where the cleaning device passes through the low-frequency passage region via the traveling path, the operation mode for the cleaning device does not include the pressurized cleaning mode and the secondary cleaning mode. In a case where the cleaning device passes through the low-frequency passage region via the traveling path, the cleaning component is in an elevated state. The target traveling region includes a region to be cleaned or a region where a base station is located.

[0034] In this technical solution, a specific method for determining the traveling path of the cleaning device based on the low-frequency passage region is further provided. After the plurality of target traveling paths are determined based on the target traveling region that the cleaning device needs to reach and the low-frequency passage region, a selection may be made from the plurality of target travel. If there is a first target traveling path that can bypass the low-frequency passage region, one of the plurality of first target traveling paths may be selected as a final traveling path. It is further considered that, in some operating conditions, there may be no first target traveling path that bypasses the low-frequency passage region and can reach the target traveling region. For example, the low-frequency passage region is located between two regions requiring mopping and completely blocks the connection between two adjacent regions requiring mopping. In this case, the plurality of target traveling paths may be further analyzed, and a target traveling path with the shortest traveling distance over the low-frequency region is selected as the final traveling path. In such an arrangement, after the target carpet region has been cleaned, the cleaning device carrying the wetted cleaning component can be avoided from entering the target carpet region, and the cleaning device can quickly drive away from the target carpet region even though it enters the target carpet region, such that the probability of wetting the carpet can be further reduced.

[0035] In this technical solution, in a case where the cleaning device first cleans the target carpet region, the operation mode of the cleaning device includes the pressurized cleaning mode and / or the secondary cleaning mode. In such an arrangement, the cleaning effect for the carpet can be improved. However, in a case where the cleaning device only passes through the low-frequency passage region, there is no need to activate the pressurized cleaning mode and / or the secondary cleaning mode. In such an arrangement, the cleaning device is allowed to drive away from the low-frequency passage region as quickly as possible.

[0036] In this technical solution, in a case where the cleaning device carrying the wetted cleaning component passes through the low-frequency passage region, the cleaning component can remain elevated if the cleaning device has the function of elevating the cleaning component, such that the probability of contact between the cleaning component and the carpet is further reduced, and the risk of wetting the carpet is further reduced.

[0037] In this technical solution, the target traveling region includes a region to be cleaned and a region where a base station for charging or cleaning a main body of the cleaning device is located.

[0038] In a possible implementation, the control method for the cleaning device further includes: determining a type of a carpet region in an operation region based on historical operation information of the cleaning device, wherein the historical operation information includes at least one of a historically accessible map, a persistent obstacle map, and simultaneous localization and mapping (SLAM); and the type of the carpet region includes a target carpet region and a non-target carpet region.

[0039] In this technical solution, considering that there may be many regions with carpet materials in the operation region of the cleaning device, if the cleaning device is directly controlled to preferentially clean all regions with the carpet materials, the cleaning device is likely to run empty for a long time, affecting the user experience. Therefore, the types of carpet regions in the operation region may be classified based on the historical operation information of the cleaning device to obtain target carpet regions requiring preferential cleaning and non-target carpet regions requiring no preferential cleaning. In such an arrangement, the cleaning efficiency can be improved.

[0040] In this technical solution, the types of carpet regions are classified based on the historical operation information. In one aspect, this can improve the information reading efficiency and the response efficiency of the cleaning device; and in another aspect, this can accurately determine a carpet type within the operation region, making the classification of the types of carpet regions more accurate.

[0041] In a possible implementation, the step of determining the type of the carpet region within the operation region based on the historical operation information of the cleaning device includes: determining an area of the carpet region based on the historical operation information, and designating the carpet region as a non-target carpet region in a case where the area of the carpet region is less than or equal to a preset value.

[0042] In this technical solution, the area of the carpet region may be determined based on the historical operation information. If the area of the carpet region is less than or equal to the preset value, it indicates that the area of the carpet region is small. In this case, the carpet may be a door sill plate or a small rubber mat. For carpet regions with small areas, preferential cleaning may not be necessary. Therefore, the carpet region with a small area can be determined as a non-target carpet region.

[0043] In a possible implementation, the step of determining the type of the carpet region in the operation region based on the historical operation information of the cleaning device includes: setting a type of the carpet region or of a partial region of the carpet region as a target carpet region, in response to a first setting instruction from a user.

[0044] In this technical solution, after the cleaning device receives the first setting instruction, the type of the carpet region or of a portion of the carpet region may be directly confirmed or changed based on the first setting instruction. For example, the user may issue the first setting instruction to directly set the carpet region or a portion of the carpet region as the target carpet region. Based on this, after the first cleaning instruction is received, a region corresponding to the first setting instruction may be cleaned preferentially.

[0045] In a possible implementation, the step of determining the type of the carpet region in the operation region based on the historical operation information of the cleaning device includes: setting a partial region of the operation region where the cleaning device is located as a target carpet region, in response to a second setting instruction from the user.

[0046] In this technical solution, after receiving the second setting instruction, the cleaning device may directly set a partial region in the operation region, where the cleaning device is located, as a target carpet region based on the second setting instruction. That is, even though a region is not a carpet region, this region can still be set as the target carpet region after the second setting instruction is received. For example, a user may issue the second setting instruction to set a region within the operation region as a target carpet region. Based on this, after the first cleaning instruction is received, a region corresponding to the second setting instruction may be cleaned preferentially.

[0047] It can be understood that both the first and second setting instructions may be issued by the user. In this way, the degree of freedom can be greatly increased for the user.

[0048] In some examples, the preset value is less than or equal to 1 square meter.

[0049] In a possible implementation, the step of determining the type of the carpet region in the operation region based on the historical operation information of the cleaning device includes: designating a carpet region as a non-target carpet region in a case where this carpet region is a region visible to a laser distance sensor, and a periphery of the carpet region is not blocked by an obstacle but has not been reached.

[0050] In this technical solution, if a carpet region is a region visible to a laser distance sensor (LDS) and is not blocked by obstacles, but the cleaning device has not reached the periphery of this region, it is believed that the cleaning device cannot determine the boundary of this carpet region. In this case, the carpet identified by the cleaning device when the cleaning device first enters the operation state to construct a map may be incomplete in this carpet region. Consequently, if preferential cleaning is performed directly on this region, it may lead to unexpected empty running of the cleaning device, and cause difficulties to path planning after this region has been swept. Therefore, such a carpet region may be identified as a non-target carpet region that requires no preferential cleaning.

[0051] In a possible implementation, the step of determining the type of the carpet region in the operation region based on the historical operation information of the cleaning device includes: designating a carpet region as a non-target carpet region when this carpet region not recorded in the historical operation information is identified during traveling of the cleaning device.

[0052] In this technical solution, in addition to acquiring a stored carpet region based on the historical operation information, the cleaning device may also perceive a carpet region not stored in the historical operation information, through material recognition during operation. Such a carpet region may be considered having a carpet newly provided by the user. Considering that a new carpet is relatively clean and requires no cleaning in one aspect, and that the user has not set a specific cleaning mode for this carpet in another aspect, the carpet region where the new carpet is located may be considered a non-target carpet region for the new carpet.

[0053] In a possible implementation, the step of controlling the cleaning device to first clean the target carpet region includes: controlling, during cleaning of the target carpet region and when a traveling route passes through the non-target carpet region, the cleaning device to pass through the non-target carpet region; and the step of controlling the cleaning device to clean the non-target region other than the target carpet region includes: controlling, during cleaning of a non-target region, the cleaning component of the cleaning device to be elevated, to clean a carpet in the non-target carpet region.

[0054] In this technical solution, after the non-target carpet region is identified, the cleaning device may be controlled to pass directly through the non-target carpet region when the cleaning device needs to clean the target carpet region. In such an arrangement, the cleaning efficiency can be improved.

[0055] In this technical solution, after the non-target carpet region is identified, if the cleaning device passes over the non-target carpet while cleaning a non-target region, the cleaning component may be controlled to be elevated to reduce the probability of wetting a carpet in the non-target carpet region by the cleaning component, such that the user experience is improved.

[0056] It can be understood that the cleaning component is elevated during cleaning of the non-target region, and the non-target carpet region may be still cleaned using the sweeping operation mode of the cleaning device, so as to improve the cleanliness of the non-target carpet region.

[0057] In a possible implementation, the control method for the cleaning device further includes: designating, in response to a start instruction, a map filled after previous cleaning as a map to be cleaned, in a case where the cleaning device is still in an operation space for a previous operation; allowing responding to the first cleaning instruction in a case where the map to be cleaned includes the target carpet region; and disallowing responding to the first cleaning instruction in a case where the map to be cleaned does not include the target carpet region, and allowing directly wetting the cleaning component.

[0058] In this technical solution, the control method may further include: after the cleaning device is activated, if the cleaning device is still in the operation space for the previous operation, further analyzing the map to be cleaned by taking a map for the previous operation as the map to be cleaned; if the target carpet region exists in the map to be cleaned, allowing responding to the first cleaning instruction, i.e., prioritizing cleaning of the target carpet region; and if the target carpet region does not exist in the map to be cleaned, which makes preferential cleaning unnecessary for the carpet, disallowing responding to the first cleaning instruction, and allowing wetting the cleaning component directly.

[0059] In a possible implementation, the control method further includes: determining, in response to the start instruction, simultaneous localization and mapping information of the cleaning device in a case where the cleaning device is not in the operation space for the previous operation; allowing responding to the first cleaning instruction in a case where the simultaneous localization and mapping information includes the target carpet region; disallowing responding to the first cleaning instruction in a case where the simultaneous localization and mapping information does not include the target carpet region, in which case wetting the cleaning component may be allowed; and controlling the cleaning device to construct new simultaneous localization and mapping in a case where the simultaneous localization and mapping information is not acquired.

[0060] In this technical solution, it is further considered that a single cleaning device may serve different operation spaces and a new cleaning device may be started. Therefore, in a case where the cleaning device is not in the last operation space, the cleaning device can be located to determine its simultaneous localization and mapping information, which is then further analyzed. In a case where the target carpet region exists in the simultaneous localization and mapping information, responding to the first cleaning instruction is allowed, i.e., preferential cleaning of the target carpet region is allowed; and if the target carpet region does not exist in the simultaneous localization and mapping information, which makes preferential cleaning unnecessary for the carpet, responding to the first cleaning instruction is disallowed, and the cleaning component is allowed to be wetted directly.

[0061] It can be understood that in a case where responding to the first cleaning instruction is disallowed, the cleaning component of the cleaning device may be wetted directly. In such an arrangement, the following situation can be avoided: the absence of the target carpet region is not identified until the cleaning main body of the cleaning device leaves a base station, and the cleaning device has to return to the base station to wet the cleaning component, resulting in empty running of the cleaning main body and affecting user experience.

[0062] Under some operation conditions, for example, when a new cleaning device is started, it may be impossible to acquire the simultaneous localization and mapping information. In this case, responding to the first cleaning instruction is unnecessary or not allowed. Instead, the cleaning device directly moves in the operation region to construct new simultaneous localization and mapping, to facilitate operation execution of the cleaning device.

[0063] In a possible implementation, the control method for the cleaning device further includes: determining whether the cleaning device is in an operation space for a previous operation, based on a movement state of the cleaning device and power-off information.

[0064] In this technical solution, whether the cleaning device is in the operation space for the previous operation may be determined based on the movement state of the cleaning device and the power-off information. If the cleaning device is powered off and has been elevated (drop trigger), it indicates that the cleaning device has changed its operation space; and if the cleaning device has not been moved or powered off, it indicates that the cleaning device is still in the operation space for the previous operation.

[0065] As shown in FIG. 2, a computer-readable storage medium 201 is provided according to the second aspect of the embodiments of the present application. The computer-readable storage medium 201 has a computer program 202 stored thereon for implementing the control method as described in any one of the technical solutions above.

[0066] Because the computer-readable storage medium 201 provided in the embodiment of the present application implements the control method according to any one of the technical solutions as described above, the computer-readable storage medium 201 has all the beneficial effects of the control method in the technical solutions as described above.

[0067] With the computer-readable storage medium 201 provided in the embodiment of the present application, after receiving the first cleaning instruction indicating a user who requests carpet cleaning, the cleaning device is controlled to first clean a target carpet region, and then to clean a non-target region in an operation region other than the target carpet region, and a cleaning component of the cleaning device is unwetted while the target carpet region is cleaned. Based on this, when the non-target region is subsequently cleaned, the probability for the cleaning device to enter the target carpet region can be greatly reduced, and the cleaning device can be even prevented from entering the target carpet region that has been cleaned; and even though the cleaning component of the cleaning device is wetted when the non-target region is subsequently cleaned, the probability for the wetted cleaning component to wet a carpet in the target carpet region can also be greatly reduced, and the carpet can be even prevented from getting wet by the cleaning component. In this way, the dryness and cleanliness of the carpet in the target carpet region can be guaranteed for the user, and the user experience can be improved.

[0068] Based on such a understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a USB flash disk, a portable hard disk, or the like) and include a number of instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in each implementation scene of the present application.

[0069] As shown in FIG. 3, an electronic device is provided according to the third aspect of the embodiments of the present application. The electronic device includes: a memory 301 having a computer program stored thereon; and a processor 302 configured to execute the computer program, wherein the processor 302, when executing the computer program, implements the control method in any one of the technical solutions as described above.

[0070] Because the electronic device provided in the embodiments of the present application implements the control method in any one of the technical solutions as described above, the electronic device has all the beneficial effects of the control method in the technical solutions as described above.

[0071] With the electronic device provided in the embodiments of the present application, after receiving the first cleaning instruction indicating a user who requests carpet cleaning, the cleaning device is controlled to first clean a target carpet region, and then to clean a non-target region in an operation region other than the target carpet region, and a cleaning component of the cleaning device is unwetted while the target carpet region is cleaned. Based on this, when the non-target region is subsequently cleaned, the probability for the cleaning device to enter the target carpet region can be greatly reduced, and the cleaning device can be even prevented from entering the target carpet region that has been cleaned; and even though the cleaning component of the cleaning device is wetted when the non-target region is subsequently cleaned, the probability for the wetted cleaning component to wet a carpet in the target carpet region can also be greatly reduced, and the carpet can be even prevented from getting wet by the cleaning component. In this way, the dryness and cleanliness of the carpet in the target carpet region can be guaranteed for the user, and the user experience can be improved.

[0072] In some examples, the electronic device may further include a user interface, a network interface, a camera, a radio-frequency (RF) circuit, a sensor, an audio circuit, a WI-FI module and the like. The user interface may include a display, an input unit such as a keyboard, or the like, and optionally, may further include a USB interface, a card reader interface and the like. Optionally, the network interface may include a standard wired interface, a standard wireless interface (such as a WI-FI interface), and the like.

[0073] In an exemplary embodiment, the electronic device may further include an input / output interface and a display device; and respective functional units are capable of communicating with each other via a bus. The memory 301 has a computer program stored thereon. The processor 302 is configured to execute the program stored on the memory 301 to execute the method in the above embodiments.

[0074] The storage medium may further include an operating system and a network communication module. The operating system is a program that manages hardware and software resources of the physical devices in the method described above, and enables the running of information processing programs and other software and / or programs. The network communication module is configured to implement the communication between various components inside the storage medium, as well as the communication between other hardware and software in the physical information processing device.

[0075] Based on the description of the implementations above, those skilled in the art can clearly understand that the present application can be implemented by virtue of software plus a necessary general-purpose hardware platform, or by hardware.

[0076] The present application is described with reference to the flowcharts and / or block diagrams of the method, device (system), and computer program product with reference to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, and a combination of the processes and / or blocks in the flowchart and / or block diagram, may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or a further programmable data processing device to produce a machine, such that an apparatus for implementing the function(s) specified in one or more processes in the flowchart and / or in one or more blocks in the block diagram is produced by means of the instructions executed by the processor of the computer or of the further programmable data processing device.

[0077] In a possible implementation, the cleaning device includes a mopping operation mode and a sweeping operation mode; in a case where an operation mode for the target carpet region includes the sweeping operation mode but does not include the mopping operation mode, responding to the first cleaning instruction is allowed; and in a case where a cleaning region does not include the target carpet region or a cleaning mode for the target carpet region includes the mopping operation mode, responding to a second cleaning instruction is allowed, wherein the second cleaning instruction is different from the first cleaning instruction.

[0078] In a possible implementation, before the step of controlling the cleaning device to clean the non-target region other than the target carpet region, the control method further includes: determining, based on a target operation mode for the non-target region, whether to wet the cleaning component.

[0079] In a possible implementation, the step of determining, based on the target operation mode for the non-target region, whether to wet the cleaning component includes: wetting the cleaning component in a case where the target operation mode for the non-target region includes the mopping operation mode; not wetting the cleaning component in a case where the target operation mode for the non-target region includes the sweeping operation mode; or analyzing the non-target region, and determining whether a cleaning region that requires execution of the sweeping operation mode and no execution of the mopping operation mode exists in the non-target region; and if so, not wetting the cleaning component, and controlling the cleaning device to first clean the cleaning region.

[0080] In a possible implementation, the cleaning component is wetted by at least one of a base cloth washing apparatus, a spraying apparatus, and a liquid seepage apparatus of the cleaning device.

[0081] In a possible implementation, the control method for the cleaning device further includes: setting the target carpet region as a low-frequency passage region in a case where the cleaning component is wetted; and controlling the cleaning device to preferentially move through a region other than the low-frequency passage region.

[0082] In a possible implementation, the step of controlling the cleaning device to preferentially move through the region other than the low-frequency passage region includes: determining a target traveling region, and determining a plurality of target traveling paths based on the target traveling region and the low-frequency passage region; designating, in a case where one or more first target traveling paths capable of bypassing the low-frequency passage region exist among the plurality of target traveling paths, the first target traveling path or one of the first target traveling paths as a traveling path; and determining, in a case where no first target path capable of bypassing the low-frequency passage region exists among the plurality of target traveling paths, a traveling distance of each of the target traveling paths over the low-frequency passage region, and designating one of the plurality of target traveling paths with a shortest traveling distance as the traveling path.

[0083] In a possible implementation, in a case where the cleaning device first cleans the target carpet region, the operation mode for the cleaning device includes a pressurized cleaning mode and / or a secondary cleaning mode; and in a case where the cleaning device passes through the low-frequency passage region via the traveling path, the operation mode for the cleaning device does not include the pressurized cleaning mode and the secondary cleaning mode, wherein in a case where the cleaning device passes through the low-frequency passage region via the traveling path, the cleaning component is in an elevated state; and wherein the target traveling region includes a region to be cleaned or a region where a base station is located.

[0084] In a possible implementation, the control method for the cleaning device further includes: determining a type of a carpet region in an operation region based on historical operation information of the cleaning device, wherein the historical operation information includes at least one of a historically accessible map, a persistent obstacle map, and simultaneous localization and mapping; and wherein the type of carpet region includes a target carpet region and a non-target carpet region; setting a type of the carpet region or of a partial region in the carpet region as a target carpet region, in response to a first setting instruction from a user; and / or setting a partial region of the operation region where the cleaning device is located as a target carpet region, in response to a second setting instruction from the user.

[0085] In a possible implementation, the step of determining the type of the carpet region in the operation region based on the historical operation information of the cleaning device includes: determining an area of the carpet region based on the historical operation information, and determining the carpet region as a non-target carpet region in a case where the area of the carpet region is less than or equal to a preset value; and / or determining a carpet region as a non-target carpet region when this carpet region not recorded in the historical operation information is identified during traveling of the cleaning device; determining the carpet region as a non-target carpet region in a case where the carpet region is a region visible to a laser distance sensor, and a periphery of the carpet region is not blocked by an obstacle but has not been reached; and / or

[0086] In a possible implementation, the step of controlling the cleaning device to first clean the target carpet region includes: controlling, during cleaning of the target carpet region and when a traveling route passes through the non-target carpet region, the cleaning device to pass through the non-target carpet region; and the step of controlling the cleaning device to clean the non-target region other than the target carpet region includes: controlling, during cleaning of the non-target region, the cleaning component of the cleaning device to be elevated, to clean a carpet in the non-target carpet region.

[0087] In a possible implementation, the control method for the cleaning device further includes: designating, in response to a start instruction, a map filled after previous cleaning as a map to be cleaned, in a case where the cleaning device is still in the operation space for the previous operation; allowing responding to the first cleaning instruction in a case where the map to be cleaned includes the target carpet region; and disallowing responding to the first cleaning instruction in a case where the map to be cleaned does not include the target carpet region.

[0088] In a possible implementation, in response to the start instruction, simultaneous localization and mapping information of the cleaning device is determined in a case where the cleaning device is not in the operation space for the previous operation; allowing responding to the first cleaning instruction in a case where the simultaneous localization and mapping information includes the target carpet region; disallowing responding to the first cleaning instruction in a case where the simultaneous localization and mapping information does not include the target carpet region; and controlling the cleaning device to construct new simultaneous localization and mapping in a case where the simultaneous localization and mapping information is not acquired.

[0089] In a possible implementation, the control method for the cleaning device further includes: determining whether the cleaning device is in the operation space for the previous operation, based on a movement state of the cleaning device and power-off information.

[0090] In the present invention, the terms "first", "second" and "third" are for a descriptive purpose only and shall not be construed as indicating or implying relative importance; and the term "a plurality of" refers to two or more, unless otherwise specified. The terms "installed", "connected with", "connected to", "fixed" and the like should be understood in a broad sense. For example, the term "connected to" may refer to a fixed connection, detachable connection or integrated connection; and the term "connected with" may refer to a direct connection or an indirect connection via an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in accordance with specific conditions.

[0091] In the description of the present invention, it should be noted that the terms such as "up", "down, "left", "right", "front", and "back" indicate directions or positional relations based on the directions or positional relations as shown in the accompanying drawings only for the convenience of describing the present invention and simplifying the description, instead of indicating or implying that a mentioned apparatus or unit must have a specific direction and must be constructed and operated in a specific direction. Therefore, these terms should not be construed as limiting the present invention.

[0092] In the description of the present specification, the description of terms such as "an embodiment", "some embodiments" and "specific embodiments" means the incorporation of a specific feature, structure, material or characteristic as described in combination with the embodiment(s) or example(s) into at least one embodiment or example of the present invention. In the present specification, the illustrative expression of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a proper manner.

[0093] Described above are only preferred embodiments of the present invention, which are not intended to limit the present invention. Various changes and variations can be made to the present invention for those skilled in the art. Within the spirit and principles of the present invention, any modifications, equivalent substitutions, improvements and the like shall be construed as falling within the protection scope of the present invention.

Examples

Embodiment Construction

[0011]For better understanding of the above-mentioned technical solutions, the technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings and the specific embodiments, and it should be understood that the embodiments of the present application and the specific features in the embodiments provide a detailed description of the technical solutions of the embodiments of the present application, and are not the limitations on the technical solutions of the present application. Without conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0012]As shown in FIG. 1, a control method for a cleaning device is provided according to a first aspect of the embodiments of the present application. The control method includes the steps as follows.

[0013]In step 101, in response to a first cleaning instruction, the cleaning device is controlled t...

CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims priority to Chinese Patent Application No. 202310729368.0 filed on June 19, 2023, the disclosure of which is herein incorporated as a part of this application by reference in its entirety.TECHNICAL FIELD

[0002] Embodiments of the present application relate to the technical field of cleaning devices, and in particular, to a control method for a cleaning device and related devices.BACKGROUND ART

[0003] In the existing technologies, when the floor is cleaned through a cleaning device, a mop of the cleaning device is wetted during operations on some floors in need of mopping, and a carpet may be wetted when the cleaning device passes over the carpet, affecting the user experience.SUMMARY OF THE INVENTION

[0004] In a first aspect of the present invention, a control method for a cleaning device is provided.

[0005] In a second aspect of the present invention, a computer-readable storage medium is provided.

[0006] In a third aspect of the present invention, an electronic device is provided.

[0007] In view of this, according to the control method for the cleaning device as provided in the first aspect of the embodiments of the present application, the method includes: controlling, in response to a first cleaning instruction, the cleaning device to first clean a target carpet region; and controlling, after the target carpet region has been cleaned, the cleaning device to clean a non-target region other than the target carpet region, wherein after responding to the first cleaning instruction, a cleaning component of the cleaning device maintains unwetted during cleaning of the target carpet region by the cleaning device.

[0008] According to the computer-readable storage medium as provided in the second aspect of the embodiments of the present application, the computer-readable storage medium stores a computer program for implementing the control method as described in any one of the technical solutions described above.

[0009] According to the electronic device as provided in the third aspect of the embodiments of the present application, the electronic device includes: a memory, having a computer program stored thereon; and a processor, configured to execute the computer program, wherein the processor, when executing the computer program, implements the control method as described in any one of the technical solutions described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] By reading the following detailed description of preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The accompanying drawings are only for the purpose of illustrating preferred embodiments, and are not considered to be limitations of the present application. Throughout the accompanying drawings, the same reference symbols denote the same components. In the accompanying drawings: FIG. 1 shows a schematic flowchart of the steps of a control method for a cleaning device according to an embodiment provided in the present application; FIG. 2 shows a structural block diagram of a computer-readable storage medium according to an embodiment provided in the present application; and FIG. 3 shows a structural block diagram of an electronic device according to an embodiment provided in the present application. DETAILED DESCRIPTION

[0011] For better understanding of the above-mentioned technical solutions, the technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings and the specific embodiments, and it should be understood that the embodiments of the present application and the specific features in the embodiments provide a detailed description of the technical solutions of the embodiments of the present application, and are not the limitations on the technical solutions of the present application. Without conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0012] As shown in FIG. 1, a control method for a cleaning device is provided according to a first aspect of the embodiments of the present application. The control method includes the steps as follows.

[0013] In step 101, in response to a first cleaning instruction, the cleaning device is controlled to first clean a target carpet region. It can be understood that the first cleaning instruction may be issued by a user who requests to clean the target carpet region only without mopping the target carpet region, or may be responded by the cleaning device autonomously. For instance, the cleaning device may automatically respond to the first cleaning instruction based on the duration since the last cleaning of the target carpet region, in order to improve the cleanliness of the target carpet region and of an operation region where the cleaning device is located.

[0014] In step 102, after the target carpet region has been cleaned, the cleaning device is controlled to clean a non-target region other than the target carpet region. It can be understood that, by cleaning the non-target region other than the target carpet region after the target carpet region has been cleaned, the probability of carpet wetting can be reduced, and in particular, the probability of carpet wetting within the target region can be reduced.

[0015] After responding to the first cleaning instruction, a cleaning component of the cleaning device maintains unwetted during cleaning of the target carpet region by the cleaning device.

[0016] With the control method for the cleaning device provided in the embodiments of the present application, after receiving the first cleaning instruction indicating that a user requests to clean the carpet, the cleaning device is controlled to first clean the target carpet region, and then to clean the non-target region in an operation region other than the target carpet region, and the cleaning component of the cleaning device is unwetted while the target carpet region is cleaned. Based on this, when the non-target region is subsequently cleaned, the probability for the cleaning device to enter the target carpet region can be greatly reduced, and the cleaning device can be even prevented from entering the target carpet region that has been cleaned; and even though the cleaning component of the cleaning device is wetted when the non-target region is subsequently cleaned, the probability for the wetted cleaning component to wet a carpet in the target carpet region can also be greatly reduced, and the carpet can be even prevented from getting wet by the cleaning component. In this way, the dryness and cleanliness of the carpet in the target carpet region can be guaranteed for the user, and the user experience can be improved.

[0017] According to the control method for the cleaning device provided in the embodiment of the present application, regardless of whether the cleaning device has the function of elevating and lowering the cleaning component or not, the probability of wetting a carpet, in particular a long-haired carpet, by the cleaning device can be reduced.

[0018] In a possible implementation, the cleaning device includes a mopping operation mode and a sweeping operation mode. In a case where an operation mode for the target carpet region includes the sweeping operation mode but not the mopping operation mode, responding to the first cleaning instruction is allowed; and in a case where the cleaning region does not include the target carpet region or a cleaning mode for the target carpet region includes the mopping operation mode, responding to a second cleaning instruction is allowed. Here, the second cleaning instruction is different from the first cleaning instruction.

[0019] In this technical solution, a method for responding to the first cleaning instruction is further provided. The cleaning device includes the sweeping operation mode and the mopping operation mode, based on which an operation space can be better cleaned. In a case where the operation mode for the target carpet region includes the sweeping operation mode but not the mopping operation mode, it indicates that the user only wants to clean, instead of mopping, the carpet within the target carpet region, based on which the first cleaning instruction can be issued to prioritize cleaning the target carpet region with the dry cleaning device, to reduce the probability of wetting the carpet and improve the user experience.

[0020] In this technical solution, in a case where the target carpet region is not included in a desired cleaning region, it indicates that there is no carpet in the current cleaning region that requires preferential cleaning, and thus, there is no possibility of wetting the carpet. Therefore, instead of responding to the first cleaning instruction, the second cleaning instruction may be responded to.

[0021] In this technical solution, in a case where the cleaning mode for the target carpet region includes the mopping operation mode, it indicates that the user needs to mop the carpet in the target carpet region. In this case, there is no need to prioritize cleaning the target carpet region, and the second cleaning instruction can be responded to instead.

[0022] It can be understood that in a case where the second cleaning instruction is received, the cleaning device may directly plan a traveling path based on the cleaning region and obstacle information in response to the second cleaning instruction, to improve cleaning efficiency. This eliminates the need to control the cleaning device to first travel to the target carpet region before performing a cleaning operation, such that the distance that the cleaning device runs empty can be reduced, and the cleaning device can be prevented from running empty over the carpet without sweeping or mopping. This improves user experience and cleaning efficiency.

[0023] It can be understood that the cleaning region not including the target carpet region may mean that the target map region does not exist in the operation region of the cleaning device, or that the cleaning region selected by the user within the operation region of the cleaning device does not include the target carpet region. If the user has selected a carpet cleaning avoidance strategy, the target carpet region is not included in the cleaning region.

[0024] In a possible implementation, before the step of controlling the cleaning device to clean the non-target region other than the target carpet region, the control method further includes: determining, based on a target operation mode for the non-target region, whether to wet the cleaning component.

[0025] In this technical solution, after the cleaning device completes the preferential cleaning of the target carpet region in response to the first cleaning instruction, a further determination may be made before cleaning the non-target region, to determine whether the cleaning component of the cleaning device needs to be wetted. In this way, the operation mode of the cleaning device adapts to the cleaning needs of the user well, and the user experience can be improved.

[0026] In a possible implementation, the step of determining, based on the target operation mode for the non-target region, whether to wet the cleaning component includes: wetting the cleaning component in a case where the target operation mode for the non-target region includes the mopping operation mode; not wetting the cleaning component in a case where the target operation mode for the non-target region includes the sweeping operation mode; or determining whether a cleaning region that requires execution of the sweeping operation mode and no execution of the mopping operation mode exists in the non-target region; and if so, not wetting the cleaning component, and controlling the cleaning device to first clean the cleaning region. Here, the cleaning component is wetted by at least one of a base cloth washing apparatus, a spraying apparatus, and a liquid seepage apparatus of the cleaning device.

[0027] In this technical solution, a specific step of determining whether to wet the cleaning component is further provided. After the target carpet region has been cleaned, if the operation mode to be executed in the non-target region other than this target carpet region is the mopping operation mode, the cleaning component is directly wetted; and if the operation mode for the non-target region is the sweeping operation mode, the sweeping operation mode is first executed instead of wetting the cleaning component, so as to improve a sweeping effect.

[0028] In this technical solution, if a partial region in the non-target region other than the target carpet region still requires execution of the sweeping operation mode and no execution of the mopping operation mode, the cleaning device may be controlled to perform a sweeping operation on the cleaning region first, and then to perform a mopping operation on a region other than the target carpet region and the cleaning region. In such an arrangement, the sweeping operation and the mopping operation can be performed one after another, such that the probability that the wetted cleaning component affects a region with the sweeping operation being performed only can be reduced, the sweeping effect can be improved, the user experience can be better satisfied.

[0029] In this technical solution, the cleaning component may be wetted by one or more of the base cloth washing apparatus, the spraying apparatus, and the liquid seepage apparatus. In such an arrangement, the wetting efficiency can be improved, while the cleanliness of the cleaning component can be guaranteed.

[0030] In a possible implementation, the control method for the cleaning device further includes: setting the target carpet region as a low-frequency passage region in a case where the cleaning component is wetted; and controlling the cleaning device to preferentially move through a region other than the low-frequency passage region.

[0031] In this technical solution, after the target carpet region has been cleaned, the cleaning component may be wetted and then used to perform the mopping operation on the non-target region, so as to improve the cleaning effect.

[0032] In this technical solution, when the sweeping operation is performed by the wetted cleaning component, the target carpet region that has already been cleaned is designated as the low-frequency passage region, and the cleaning device is controlled to move preferentially through a region other than the low-frequency passage region. In such an arrangement, the probability that the wetted cleaning component travels over a carpet that has already been cleaned can be reduced, and the probability of wetting the carpet can be further reduced, such that the user experience can be improved.

[0033] In a possible implementation, the step of controlling the cleaning device to preferentially move through the region other than the low-frequency passage region includes: determining a target traveling region, and determining a plurality of target traveling paths based on the target traveling region and the low-frequency passage region; designating, in a case where one or more first target traveling paths capable of bypassing the low-frequency passage region exist among the plurality of target traveling paths, the first target traveling path or one of the first target traveling paths as a traveling path; and determining, in a case where no first target path capable of bypassing the low-frequency passage region exists among the plurality of target traveling paths, a traveling distance of each of the target traveling paths over the low-frequency passage region, and designating one of the plurality of target traveling paths with a shortest traveling distance as the traveling path. In a case where the cleaning device first cleans the target carpet region, the operation mode for the cleaning device includes a pressurized cleaning mode and / or a secondary cleaning mode; and in a case where the cleaning device passes through the low-frequency passage region via the traveling path, the operation mode for the cleaning device does not include the pressurized cleaning mode and the secondary cleaning mode. In a case where the cleaning device passes through the low-frequency passage region via the traveling path, the cleaning component is in an elevated state. The target traveling region includes a region to be cleaned or a region where a base station is located.

[0034] In this technical solution, a specific method for determining the traveling path of the cleaning device based on the low-frequency passage region is further provided. After the plurality of target traveling paths are determined based on the target traveling region that the cleaning device needs to reach and the low-frequency passage region, a selection may be made from the plurality of target travel. If there is a first target traveling path that can bypass the low-frequency passage region, one of the plurality of first target traveling paths may be selected as a final traveling path. It is further considered that, in some operating conditions, there may be no first target traveling path that bypasses the low-frequency passage region and can reach the target traveling region. For example, the low-frequency passage region is located between two regions requiring mopping and completely blocks the connection between two adjacent regions requiring mopping. In this case, the plurality of target traveling paths may be further analyzed, and a target traveling path with the shortest traveling distance over the low-frequency region is selected as the final traveling path. In such an arrangement, after the target carpet region has been cleaned, the cleaning device carrying the wetted cleaning component can be avoided from entering the target carpet region, and the cleaning device can quickly drive away from the target carpet region even though it enters the target carpet region, such that the probability of wetting the carpet can be further reduced.

[0035] In this technical solution, in a case where the cleaning device first cleans the target carpet region, the operation mode of the cleaning device includes the pressurized cleaning mode and / or the secondary cleaning mode. In such an arrangement, the cleaning effect for the carpet can be improved. However, in a case where the cleaning device only passes through the low-frequency passage region, there is no need to activate the pressurized cleaning mode and / or the secondary cleaning mode. In such an arrangement, the cleaning device is allowed to drive away from the low-frequency passage region as quickly as possible.

[0036] In this technical solution, in a case where the cleaning device carrying the wetted cleaning component passes through the low-frequency passage region, the cleaning component can remain elevated if the cleaning device has the function of elevating the cleaning component, such that the probability of contact between the cleaning component and the carpet is further reduced, and the risk of wetting the carpet is further reduced.

[0037] In this technical solution, the target traveling region includes a region to be cleaned and a region where a base station for charging or cleaning a main body of the cleaning device is located.

[0038] In a possible implementation, the control method for the cleaning device further includes: determining a type of a carpet region in an operation region based on historical operation information of the cleaning device, wherein the historical operation information includes at least one of a historically accessible map, a persistent obstacle map, and simultaneous localization and mapping (SLAM); and the type of the carpet region includes a target carpet region and a non-target carpet region.

[0039] In this technical solution, considering that there may be many regions with carpet materials in the operation region of the cleaning device, if the cleaning device is directly controlled to preferentially clean all regions with the carpet materials, the cleaning device is likely to run empty for a long time, affecting the user experience. Therefore, the types of carpet regions in the operation region may be classified based on the historical operation information of the cleaning device to obtain target carpet regions requiring preferential cleaning and non-target carpet regions requiring no preferential cleaning. In such an arrangement, the cleaning efficiency can be improved.

[0040] In this technical solution, the types of carpet regions are classified based on the historical operation information. In one aspect, this can improve the information reading efficiency and the response efficiency of the cleaning device; and in another aspect, this can accurately determine a carpet type within the operation region, making the classification of the types of carpet regions more accurate.

[0041] In a possible implementation, the step of determining the type of the carpet region within the operation region based on the historical operation information of the cleaning device includes: determining an area of the carpet region based on the historical operation information, and designating the carpet region as a non-target carpet region in a case where the area of the carpet region is less than or equal to a preset value.

[0042] In this technical solution, the area of the carpet region may be determined based on the historical operation information. If the area of the carpet region is less than or equal to the preset value, it indicates that the area of the carpet region is small. In this case, the carpet may be a door sill plate or a small rubber mat. For carpet regions with small areas, preferential cleaning may not be necessary. Therefore, the carpet region with a small area can be determined as a non-target carpet region.

[0043] In a possible implementation, the step of determining the type of the carpet region in the operation region based on the historical operation information of the cleaning device includes: setting a type of the carpet region or of a partial region of the carpet region as a target carpet region, in response to a first setting instruction from a user.

[0044] In this technical solution, after the cleaning device receives the first setting instruction, the type of the carpet region or of a portion of the carpet region may be directly confirmed or changed based on the first setting instruction. For example, the user may issue the first setting instruction to directly set the carpet region or a portion of the carpet region as the target carpet region. Based on this, after the first cleaning instruction is received, a region corresponding to the first setting instruction may be cleaned preferentially.

[0045] In a possible implementation, the step of determining the type of the carpet region in the operation region based on the historical operation information of the cleaning device includes: setting a partial region of the operation region where the cleaning device is located as a target carpet region, in response to a second setting instruction from the user.

[0046] In this technical solution, after receiving the second setting instruction, the cleaning device may directly set a partial region in the operation region, where the cleaning device is located, as a target carpet region based on the second setting instruction. That is, even though a region is not a carpet region, this region can still be set as the target carpet region after the second setting instruction is received. For example, a user may issue the second setting instruction to set a region within the operation region as a target carpet region. Based on this, after the first cleaning instruction is received, a region corresponding to the second setting instruction may be cleaned preferentially.

[0047] It can be understood that both the first and second setting instructions may be issued by the user. In this way, the degree of freedom can be greatly increased for the user.

[0048] In some examples, the preset value is less than or equal to 1 square meter.

[0049] In a possible implementation, the step of determining the type of the carpet region in the operation region based on the historical operation information of the cleaning device includes: designating a carpet region as a non-target carpet region in a case where this carpet region is a region visible to a laser distance sensor, and a periphery of the carpet region is not blocked by an obstacle but has not been reached.

[0050] In this technical solution, if a carpet region is a region visible to a laser distance sensor (LDS) and is not blocked by obstacles, but the cleaning device has not reached the periphery of this region, it is believed that the cleaning device cannot determine the boundary of this carpet region. In this case, the carpet identified by the cleaning device when the cleaning device first enters the operation state to construct a map may be incomplete in this carpet region. Consequently, if preferential cleaning is performed directly on this region, it may lead to unexpected empty running of the cleaning device, and cause difficulties to path planning after this region has been swept. Therefore, such a carpet region may be identified as a non-target carpet region that requires no preferential cleaning.

[0051] In a possible implementation, the step of determining the type of the carpet region in the operation region based on the historical operation information of the cleaning device includes: designating a carpet region as a non-target carpet region when this carpet region not recorded in the historical operation information is identified during traveling of the cleaning device.

[0052] In this technical solution, in addition to acquiring a stored carpet region based on the historical operation information, the cleaning device may also perceive a carpet region not stored in the historical operation information, through material recognition during operation. Such a carpet region may be considered having a carpet newly provided by the user. Considering that a new carpet is relatively clean and requires no cleaning in one aspect, and that the user has not set a specific cleaning mode for this carpet in another aspect, the carpet region where the new carpet is located may be considered a non-target carpet region for the new carpet.

[0053] In a possible implementation, the step of controlling the cleaning device to first clean the target carpet region includes: controlling, during cleaning of the target carpet region and when a traveling route passes through the non-target carpet region, the cleaning device to pass through the non-target carpet region; and the step of controlling the cleaning device to clean the non-target region other than the target carpet region includes: controlling, during cleaning of a non-target region, the cleaning component of the cleaning device to be elevated, to clean a carpet in the non-target carpet region.

[0054] In this technical solution, after the non-target carpet region is identified, the cleaning device may be controlled to pass directly through the non-target carpet region when the cleaning device needs to clean the target carpet region. In such an arrangement, the cleaning efficiency can be improved.

[0055] In this technical solution, after the non-target carpet region is identified, if the cleaning device passes over the non-target carpet while cleaning a non-target region, the cleaning component may be controlled to be elevated to reduce the probability of wetting a carpet in the non-target carpet region by the cleaning component, such that the user experience is improved.

[0056] It can be understood that the cleaning component is elevated during cleaning of the non-target region, and the non-target carpet region may be still cleaned using the sweeping operation mode of the cleaning device, so as to improve the cleanliness of the non-target carpet region.

[0057] In a possible implementation, the control method for the cleaning device further includes: designating, in response to a start instruction, a map filled after previous cleaning as a map to be cleaned, in a case where the cleaning device is still in an operation space for a previous operation; allowing responding to the first cleaning instruction in a case where the map to be cleaned includes the target carpet region; and disallowing responding to the first cleaning instruction in a case where the map to be cleaned does not include the target carpet region, and allowing directly wetting the cleaning component.

[0058] In this technical solution, the control method may further include: after the cleaning device is activated, if the cleaning device is still in the operation space for the previous operation, further analyzing the map to be cleaned by taking a map for the previous operation as the map to be cleaned; if the target carpet region exists in the map to be cleaned, allowing responding to the first cleaning instruction, i.e., prioritizing cleaning of the target carpet region; and if the target carpet region does not exist in the map to be cleaned, which makes preferential cleaning unnecessary for the carpet, disallowing responding to the first cleaning instruction, and allowing wetting the cleaning component directly.

[0059] In a possible implementation, the control method further includes: determining, in response to the start instruction, simultaneous localization and mapping information of the cleaning device in a case where the cleaning device is not in the operation space for the previous operation; allowing responding to the first cleaning instruction in a case where the simultaneous localization and mapping information includes the target carpet region; disallowing responding to the first cleaning instruction in a case where the simultaneous localization and mapping information does not include the target carpet region, in which case wetting the cleaning component may be allowed; and controlling the cleaning device to construct new simultaneous localization and mapping in a case where the simultaneous localization and mapping information is not acquired.

[0060] In this technical solution, it is further considered that a single cleaning device may serve different operation spaces and a new cleaning device may be started. Therefore, in a case where the cleaning device is not in the last operation space, the cleaning device can be located to determine its simultaneous localization and mapping information, which is then further analyzed. In a case where the target carpet region exists in the simultaneous localization and mapping information, responding to the first cleaning instruction is allowed, i.e., preferential cleaning of the target carpet region is allowed; and if the target carpet region does not exist in the simultaneous localization and mapping information, which makes preferential cleaning unnecessary for the carpet, responding to the first cleaning instruction is disallowed, and the cleaning component is allowed to be wetted directly.

[0061] It can be understood that in a case where responding to the first cleaning instruction is disallowed, the cleaning component of the cleaning device may be wetted directly. In such an arrangement, the following situation can be avoided: the absence of the target carpet region is not identified until the cleaning main body of the cleaning device leaves a base station, and the cleaning device has to return to the base station to wet the cleaning component, resulting in empty running of the cleaning main body and affecting user experience.

[0062] Under some operation conditions, for example, when a new cleaning device is started, it may be impossible to acquire the simultaneous localization and mapping information. In this case, responding to the first cleaning instruction is unnecessary or not allowed. Instead, the cleaning device directly moves in the operation region to construct new simultaneous localization and mapping, to facilitate operation execution of the cleaning device.

[0063] In a possible implementation, the control method for the cleaning device further includes: determining whether the cleaning device is in an operation space for a previous operation, based on a movement state of the cleaning device and power-off information.

[0064] In this technical solution, whether the cleaning device is in the operation space for the previous operation may be determined based on the movement state of the cleaning device and the power-off information. If the cleaning device is powered off and has been elevated (drop trigger), it indicates that the cleaning device has changed its operation space; and if the cleaning device has not been moved or powered off, it indicates that the cleaning device is still in the operation space for the previous operation.

[0065] As shown in FIG. 2, a computer-readable storage medium 201 is provided according to the second aspect of the embodiments of the present application. The computer-readable storage medium 201 has a computer program 202 stored thereon for implementing the control method as described in any one of the technical solutions above.

[0066] Because the computer-readable storage medium 201 provided in the embodiment of the present application implements the control method according to any one of the technical solutions as described above, the computer-readable storage medium 201 has all the beneficial effects of the control method in the technical solutions as described above.

[0067] With the computer-readable storage medium 201 provided in the embodiment of the present application, after receiving the first cleaning instruction indicating a user who requests carpet cleaning, the cleaning device is controlled to first clean a target carpet region, and then to clean a non-target region in an operation region other than the target carpet region, and a cleaning component of the cleaning device is unwetted while the target carpet region is cleaned. Based on this, when the non-target region is subsequently cleaned, the probability for the cleaning device to enter the target carpet region can be greatly reduced, and the cleaning device can be even prevented from entering the target carpet region that has been cleaned; and even though the cleaning component of the cleaning device is wetted when the non-target region is subsequently cleaned, the probability for the wetted cleaning component to wet a carpet in the target carpet region can also be greatly reduced, and the carpet can be even prevented from getting wet by the cleaning component. In this way, the dryness and cleanliness of the carpet in the target carpet region can be guaranteed for the user, and the user experience can be improved.

[0068] Based on such a understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a USB flash disk, a portable hard disk, or the like) and include a number of instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in each implementation scene of the present application.

[0069] As shown in FIG. 3, an electronic device is provided according to the third aspect of the embodiments of the present application. The electronic device includes: a memory 301 having a computer program stored thereon; and a processor 302 configured to execute the computer program, wherein the processor 302, when executing the computer program, implements the control method in any one of the technical solutions as described above.

[0070] Because the electronic device provided in the embodiments of the present application implements the control method in any one of the technical solutions as described above, the electronic device has all the beneficial effects of the control method in the technical solutions as described above.

[0071] With the electronic device provided in the embodiments of the present application, after receiving the first cleaning instruction indicating a user who requests carpet cleaning, the cleaning device is controlled to first clean a target carpet region, and then to clean a non-target region in an operation region other than the target carpet region, and a cleaning component of the cleaning device is unwetted while the target carpet region is cleaned. Based on this, when the non-target region is subsequently cleaned, the probability for the cleaning device to enter the target carpet region can be greatly reduced, and the cleaning device can be even prevented from entering the target carpet region that has been cleaned; and even though the cleaning component of the cleaning device is wetted when the non-target region is subsequently cleaned, the probability for the wetted cleaning component to wet a carpet in the target carpet region can also be greatly reduced, and the carpet can be even prevented from getting wet by the cleaning component. In this way, the dryness and cleanliness of the carpet in the target carpet region can be guaranteed for the user, and the user experience can be improved.

[0072] In some examples, the electronic device may further include a user interface, a network interface, a camera, a radio-frequency (RF) circuit, a sensor, an audio circuit, a WI-FI module and the like. The user interface may include a display, an input unit such as a keyboard, or the like, and optionally, may further include a USB interface, a card reader interface and the like. Optionally, the network interface may include a standard wired interface, a standard wireless interface (such as a WI-FI interface), and the like.

[0073] In an exemplary embodiment, the electronic device may further include an input / output interface and a display device; and respective functional units are capable of communicating with each other via a bus. The memory 301 has a computer program stored thereon. The processor 302 is configured to execute the program stored on the memory 301 to execute the method in the above embodiments.

[0074] The storage medium may further include an operating system and a network communication module. The operating system is a program that manages hardware and software resources of the physical devices in the method described above, and enables the running of information processing programs and other software and / or programs. The network communication module is configured to implement the communication between various components inside the storage medium, as well as the communication between other hardware and software in the physical information processing device.

[0075] Based on the description of the implementations above, those skilled in the art can clearly understand that the present application can be implemented by virtue of software plus a necessary general-purpose hardware platform, or by hardware.

[0076] The present application is described with reference to the flowcharts and / or block diagrams of the method, device (system), and computer program product with reference to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, and a combination of the processes and / or blocks in the flowchart and / or block diagram, may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or a further programmable data processing device to produce a machine, such that an apparatus for implementing the function(s) specified in one or more processes in the flowchart and / or in one or more blocks in the block diagram is produced by means of the instructions executed by the processor of the computer or of the further programmable data processing device.

[0077] In a possible implementation, the cleaning device includes a mopping operation mode and a sweeping operation mode; in a case where an operation mode for the target carpet region includes the sweeping operation mode but does not include the mopping operation mode, responding to the first cleaning instruction is allowed; and in a case where a cleaning region does not include the target carpet region or a cleaning mode for the target carpet region includes the mopping operation mode, responding to a second cleaning instruction is allowed, wherein the second cleaning instruction is different from the first cleaning instruction.

[0078] In a possible implementation, before the step of controlling the cleaning device to clean the non-target region other than the target carpet region, the control method further includes: determining, based on a target operation mode for the non-target region, whether to wet the cleaning component.

[0079] In a possible implementation, the step of determining, based on the target operation mode for the non-target region, whether to wet the cleaning component includes: wetting the cleaning component in a case where the target operation mode for the non-target region includes the mopping operation mode; not wetting the cleaning component in a case where the target operation mode for the non-target region includes the sweeping operation mode; or analyzing the non-target region, and determining whether a cleaning region that requires execution of the sweeping operation mode and no execution of the mopping operation mode exists in the non-target region; and if so, not wetting the cleaning component, and controlling the cleaning device to first clean the cleaning region.

[0080] In a possible implementation, the cleaning component is wetted by at least one of a base cloth washing apparatus, a spraying apparatus, and a liquid seepage apparatus of the cleaning device.

[0081] In a possible implementation, the control method for the cleaning device further includes: setting the target carpet region as a low-frequency passage region in a case where the cleaning component is wetted; and controlling the cleaning device to preferentially move through a region other than the low-frequency passage region.

[0082] In a possible implementation, the step of controlling the cleaning device to preferentially move through the region other than the low-frequency passage region includes: determining a target traveling region, and determining a plurality of target traveling paths based on the target traveling region and the low-frequency passage region; designating, in a case where one or more first target traveling paths capable of bypassing the low-frequency passage region exist among the plurality of target traveling paths, the first target traveling path or one of the first target traveling paths as a traveling path; and determining, in a case where no first target path capable of bypassing the low-frequency passage region exists among the plurality of target traveling paths, a traveling distance of each of the target traveling paths over the low-frequency passage region, and designating one of the plurality of target traveling paths with a shortest traveling distance as the traveling path.

[0083] In a possible implementation, in a case where the cleaning device first cleans the target carpet region, the operation mode for the cleaning device includes a pressurized cleaning mode and / or a secondary cleaning mode; and in a case where the cleaning device passes through the low-frequency passage region via the traveling path, the operation mode for the cleaning device does not include the pressurized cleaning mode and the secondary cleaning mode, wherein in a case where the cleaning device passes through the low-frequency passage region via the traveling path, the cleaning component is in an elevated state; and wherein the target traveling region includes a region to be cleaned or a region where a base station is located.

[0084] In a possible implementation, the control method for the cleaning device further includes: determining a type of a carpet region in an operation region based on historical operation information of the cleaning device, wherein the historical operation information includes at least one of a historically accessible map, a persistent obstacle map, and simultaneous localization and mapping; and wherein the type of carpet region includes a target carpet region and a non-target carpet region; setting a type of the carpet region or of a partial region in the carpet region as a target carpet region, in response to a first setting instruction from a user; and / or setting a partial region of the operation region where the cleaning device is located as a target carpet region, in response to a second setting instruction from the user.

[0085] In a possible implementation, the step of determining the type of the carpet region in the operation region based on the historical operation information of the cleaning device includes: determining an area of the carpet region based on the historical operation information, and determining the carpet region as a non-target carpet region in a case where the area of the carpet region is less than or equal to a preset value; and / or determining a carpet region as a non-target carpet region when this carpet region not recorded in the historical operation information is identified during traveling of the cleaning device; determining the carpet region as a non-target carpet region in a case where the carpet region is a region visible to a laser distance sensor, and a periphery of the carpet region is not blocked by an obstacle but has not been reached; and / or

[0086] In a possible implementation, the step of controlling the cleaning device to first clean the target carpet region includes: controlling, during cleaning of the target carpet region and when a traveling route passes through the non-target carpet region, the cleaning device to pass through the non-target carpet region; and the step of controlling the cleaning device to clean the non-target region other than the target carpet region includes: controlling, during cleaning of the non-target region, the cleaning component of the cleaning device to be elevated, to clean a carpet in the non-target carpet region.

[0087] In a possible implementation, the control method for the cleaning device further includes: designating, in response to a start instruction, a map filled after previous cleaning as a map to be cleaned, in a case where the cleaning device is still in the operation space for the previous operation; allowing responding to the first cleaning instruction in a case where the map to be cleaned includes the target carpet region; and disallowing responding to the first cleaning instruction in a case where the map to be cleaned does not include the target carpet region.

[0088] In a possible implementation, in response to the start instruction, simultaneous localization and mapping information of the cleaning device is determined in a case where the cleaning device is not in the operation space for the previous operation; allowing responding to the first cleaning instruction in a case where the simultaneous localization and mapping information includes the target carpet region; disallowing responding to the first cleaning instruction in a case where the simultaneous localization and mapping information does not include the target carpet region; and controlling the cleaning device to construct new simultaneous localization and mapping in a case where the simultaneous localization and mapping information is not acquired.

[0089] In a possible implementation, the control method for the cleaning device further includes: determining whether the cleaning device is in the operation space for the previous operation, based on a movement state of the cleaning device and power-off information.

[0090] In the present invention, the terms "first", "second" and "third" are for a descriptive purpose only and shall not be construed as indicating or implying relative importance; and the term "a plurality of" refers to two or more, unless otherwise specified. The terms "installed", "connected with", "connected to", "fixed" and the like should be understood in a broad sense. For example, the term "connected to" may refer to a fixed connection, detachable connection or integrated connection; and the term "connected with" may refer to a direct connection or an indirect connection via an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in accordance with specific conditions.

[0091] In the description of the present invention, it should be noted that the terms such as "up", "down, "left", "right", "front", and "back" indicate directions or positional relations based on the directions or positional relations as shown in the accompanying drawings only for the convenience of describing the present invention and simplifying the description, instead of indicating or implying that a mentioned apparatus or unit must have a specific direction and must be constructed and operated in a specific direction. Therefore, these terms should not be construed as limiting the present invention.

[0092] In the description of the present specification, the description of terms such as "an embodiment", "some embodiments" and "specific embodiments" means the incorporation of a specific feature, structure, material or characteristic as described in combination with the embodiment(s) or example(s) into at least one embodiment or example of the present invention. In the present specification, the illustrative expression of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a proper manner.

[0093] Described above are only preferred embodiments of the present invention, which are not intended to limit the present invention. Various changes and variations can be made to the present invention for those skilled in the art. Within the spirit and principles of the present invention, any modifications, equivalent substitutions, improvements and the like shall be construed as falling within the protection scope of the present invention.

Examples

Embodiment Construction

[0011]For better understanding of the above-mentioned technical solutions, the technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings and the specific embodiments, and it should be understood that the embodiments of the present application and the specific features in the embodiments provide a detailed description of the technical solutions of the embodiments of the present application, and are not the limitations on the technical solutions of the present application. Without conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0012]As shown in FIG. 1, a control method for a cleaning device is provided according to a first aspect of the embodiments of the present application. The control method includes the steps as follows.

[0013]In step 101, in response to a first cleaning instruction, the cleaning device is controlled t...

Claims

1. A control method for a cleaning device, comprising: controlling, in response to a first cleaning instruction, the cleaning device to first clean a target carpet region; and controlling, after the target carpet region has been cleaned, the cleaning device to clean a non-target region other than the target carpet region, wherein after responding to the first cleaning instruction, a cleaning component of the cleaning device maintains unwetted during cleaning of the target carpet region by the cleaning device.

2. The control method for the cleaning device according to claim 1, wherein the cleaning device comprises a mopping operation mode and a sweeping operation mode; in a case where an operation mode for the target carpet region comprises the sweeping operation mode but does not comprise the mopping operation mode, responding to the first cleaning instruction is allowed; and in a case where a cleaning region does not comprise the target carpet region or a cleaning mode for the target carpet region comprises the mopping operation mode, responding to a second cleaning instruction is allowed, wherein the second cleaning instruction is different from the first cleaning instruction.

3. The control method for the cleaning device according to claim 1, wherein before the step of controlling the cleaning device to clean the non-target region other than the target carpet region, the control method further comprises: determining, based on a target operation mode for the non-target region, whether to wet the cleaning component.

4. The control method for the cleaning device according to claim 3, wherein the step of determining, based on the target operation mode for the non-target region, whether to wet the cleaning component comprises: wetting the cleaning component in a case where the target operation mode for the non-target region comprises the mopping operation mode; not wetting the cleaning component in a case where the target operation mode for the non-target region comprises the sweeping operation mode; and / or determining whether a cleaning region that needs to execute the sweeping operation mode and not execute the mopping operation mode exists in the non-target region; and if it is determined that a cleaning region that needs to execute the sweeping operation mode and not execute the mopping operation mode exists in the non-target region, not wetting the cleaning component, and controlling the cleaning device to first clean the cleaning region.

5. The control method for the cleaning device according to claim 4, wherein the cleaning component is wetted by at least one of a base cloth washing apparatus, a spraying apparatus, and a liquid seepage apparatus of the cleaning device.

6. The control method for the cleaning device according to claim 1, further comprising: setting the target carpet region as a low-frequency passage region in a case where the cleaning component is wetted; and controlling the cleaning device to preferentially move through a region other than the low-frequency passage region.

7. The control method for the cleaning device according to claim 6, wherein the step of controlling the cleaning device to preferentially move through the region other than the low-frequency passage region comprises: determining a target traveling region, and determining a plurality of target traveling paths based on the target traveling region and the low-frequency passage region; designating, in a case where one or more first target traveling paths capable of bypassing the low-frequency passage region exist among the plurality of target traveling paths, the first target traveling path or one of the first target traveling paths as a traveling path; and determining, in a case where no first target path capable of bypassing the low-frequency passage region exists among the plurality of target traveling paths, a traveling distance of each of the target traveling paths over the low-frequency passage region, and designating one of the plurality of target traveling paths with a shortest traveling distance as the traveling path.

8. The control method for the cleaning device according to claim 7, wherein in a case where the cleaning device first cleans the target carpet region, the operation mode for the cleaning device comprises a pressurized cleaning mode and / or a secondary cleaning mode; and in a case where the cleaning device passes through the low-frequency passage region via the traveling path, the operation mode for the cleaning device does not comprise the pressurized cleaning mode and the secondary cleaning mode, wherein in a case where the cleaning device passes through the low-frequency passage region via the traveling path, the cleaning component is in an elevated state; and wherein the target traveling region comprises a region to be cleaned or a region where a base station is located.

9. The control method for the cleaning device according to claim 1, further comprising: determining a type of a carpet region in an operation region based on historical operation information of the cleaning device, wherein the historical operation information comprises at least one of a historically accessible map, a persistent obstacle map, and simultaneous localization and mapping; and wherein the type of carpet region comprises a target carpet region and a non-target carpet region.

10. The control method for the cleaning device according to claim 9, wherein the step of determining the type of the carpet region in the operation region based on the historical operation information of the cleaning device comprises: determining an area of the carpet region based on the historical operation information, and designating the carpet region as a non-target carpet region in a case where the area of the carpet region is less than or equal to a preset value; and / or designating a carpet region as a non-target carpet region in a case where said carpet region is a region visible to a laser distance sensor, and a periphery of the carpet region is not blocked by an obstacle but has not been reached; and / or designating a carpet region as a non-target carpet region when said carpet region not recorded in the historical operation information is identified during traveling of the cleaning device; setting a type of the carpet region or of a partial region in the carpet region as a target carpet region, in response to a first setting instruction from a user; and / or setting a partial region of the operation region where the cleaning device is located as a target carpet region, in response to a second setting instruction from the user.

11. The control method for the cleaning device according to claim 10, wherein the step of controlling the cleaning device to first clean the target carpet region comprises: controlling, during cleaning of the target carpet region and when a traveling route passes through the non-target carpet region, the cleaning device to pass through the non-target carpet region; and the step of controlling the cleaning device to clean the non-target region other than the target carpet region comprises: controlling, during cleaning of a non-target region, the cleaning component of the cleaning device to be elevated, to clean a carpet in the non-target carpet region.

12. The control method for the cleaning device according to any one of claims 1 to 11, further comprising: designating, in response to a start instruction, a map filled after previous cleaning as a map to be cleaned, in a case where the cleaning device is still in an operation space for a previous operation; allowing responding to the first cleaning instruction in a case where the map to be cleaned comprises the target carpet region; and disallowing responding to the first cleaning instruction in a case where the map to be cleaned does not comprise the target carpet region.

13. The control method for the cleaning device according to claim 12, further comprising: determining, in response to the start instruction, simultaneous localization and mapping information of the cleaning device in a case where the cleaning device is not in the operation space for the previous operation; allowing responding to the first cleaning instruction in a case where the simultaneous localization and mapping information comprises the target carpet region; disallowing responding to the first cleaning instruction in a case where the simultaneous localization and mapping information does not comprise the target carpet region; and controlling the cleaning device to construct new simultaneous localization and mapping in a case where the simultaneous localization and mapping information is not acquired.

14. The control method for the cleaning device according to claim 13, further comprising: determining whether the cleaning device is in the operation space for the previous operation, based on a movement state of the cleaning device and power-off information.

15. A computer-readable storage medium, wherein the computer-readable storage medium has a computer program stored thereon for implementing the control method according to any one of claims 1 to 14.

16. An electronic device, comprising: a memory, having a computer program stored thereon; and a processor, configured to execute the computer program, wherein the processor, when executing the computer program, implements the control method according to any one of claims 1 to 14.

Images