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

Abstract

The present disclosure provides a cleaning method for a cleaning robot, a cleaning device for a cleaning robot, a computer-readable storage medium, and an electronic device, the method including the following steps: when a fast cleaning mode is triggered, determining whether an area map of an area to be cleaned is stored in the cleaning robot; if an area map is stored, determining whether a daily route cleaning has been performed in the area to be cleaned, the daily route cleaning being cleaning of a boundary area and its internal area; if a daily route cleaning has been performed, controlling the cleaning robot to clean according to a fast cleaning mode, the fast cleaning mode being a mode for cleaning an internal area of ​​the area to be cleaned. This method addresses the need for adjusting the cleaning route to improve cleaning efficiency.

Description

Related Applications

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

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

[0003] In recent years, with the rapid development of computer technology and artificial intelligence science, intelligent robot technology has gradually become a hot spot in the field of modern robot research. Cleaning robots are one of the most practical intelligent robots, and with a certain degree of artificial intelligence, they can automatically complete the task of cleaning the ground.

[0004] Currently, cleaning robots generally follow a fixed cleaning route during the cleaning process, and even if they adjust the cleaning route, it only adjusts it according to the cleaning concentration level and running speed, etc., which does not meet the need to truly adjust the cleaning route to improve cleaning efficiency. Summary of the Invention

[0005] The objective of the present disclosure is to provide a cleaning method, a cleaning device, a computer-readable storage medium, and an electronic device for a cleaning robot that address the need for adjusting a cleaning route to improve cleaning efficiency. According to a specific embodiment of the present disclosure, in a first aspect, the present disclosure provides a cleaning method for a cleaning robot, comprising the following steps: when a fast cleaning mode is triggered, determining whether an area map of an area to be cleaned is stored in the cleaning robot; if the area map is stored, determining whether daily route cleaning has been performed in the area to be cleaned, the daily route cleaning being cleaning of a boundary area and its internal area; if the daily route cleaning has been performed, controlling the cleaning robot to clean according to the fast cleaning mode, which is a mode for cleaning the internal area of ​​the area to be cleaned.

[0006] In an exemplary embodiment of the present disclosure, the method further includes a step of controlling the cleaning robot to perform the daily route cleaning on the area to be cleaned if the daily route cleaning has not been performed on the area to be cleaned.

[0007] In an exemplary embodiment of the present disclosure, the daily route cleaning includes first cleaning a boundary area of ​​the area to be cleaned, and then cleaning an interior area of ​​the area to be cleaned.

[0008] In an exemplary embodiment of the present disclosure, the step of controlling the cleaning robot to clean according to the high-speed cleaning mode includes: controlling the cleaning robot to directly clean the inner area of ​​the area to be cleaned, and during the cleaning process, avoiding obstacles and no-entry areas determined during the daily route cleaning process.

[0009] In an exemplary embodiment of the present disclosure, the step of controlling the cleaning robot to clean according to the high-speed cleaning mode includes: controlling the cleaning robot to clean only a sub-area specified by a user within an internal area of ​​the area to be cleaned.

[0010] In an exemplary embodiment of the present disclosure, the method further includes, when a new obstacle appears when the cleaning robot cleans according to the fast cleaning mode, cleaning the new obstacle along an edge.

[0011] In an exemplary embodiment of the present disclosure, the method further includes a step of controlling the cleaning robot to construct an area map of the area to be cleaned if the cleaning robot does not have an area map of the area to be cleaned stored therein.

[0012] In a second aspect, the present disclosure provides a cleaning device for a cleaning robot, comprising: a first determination module used to determine whether an area map of an area to be cleaned is stored in the cleaning robot when a fast cleaning mode is triggered; a second determination module used to determine whether a daily route cleaning has been performed in the area to be cleaned if the area map is stored, the daily route cleaning being a cleaning of a boundary area and its internal area; and a cleaning module controlled by the cleaning robot to clean according to the fast cleaning mode if the daily route cleaning has been performed, the fast cleaning mode being a mode for cleaning an internal area of ​​the area to be cleaned.

[0013] In a third aspect, the present disclosure provides a non-transitory computer-readable storage medium having a computer program stored thereon, the computer program performing the cleaning method for a cleaning robot when executed by a processor.

[0014] In a fourth aspect, the present disclosure provides an electronic device, comprising: a processor; and a memory for storing executable instructions for the processor, wherein the processor is configured to perform the cleaning method for the cleaning robot described above by executing the executable instructions.

[0015] In a cleaning method for a cleaning robot provided by an exemplary embodiment of the present disclosure, when the fast cleaning mode of the cleaning robot is triggered, the cleaning robot first determines whether an area map of the area to be cleaned is stored in the cleaning robot. If an area map of the area to be cleaned is stored, the cleaning robot determines whether daily route cleaning has been performed in the area to be cleaned. Daily route cleaning is cleaning of the boundary area and its internal area, and the area to be cleaned can be completely cleaned. If it is determined that daily route cleaning has been performed in the area to be cleaned, the cleaning robot is controlled to clean in accordance with the fast cleaning mode, which is a mode that cleans only the internal area of ​​the area to be cleaned. Meanwhile, by entering the fast cleaning mode for the area to be cleaned and controlling it to clean only the internal area, cleaning along the edges of the boundary area is omitted compared to the daily route cleaning, and cleaning along the edges takes longer time, so the fast cleaning mode can effectively save cleaning time and improve cleaning efficiency. On the other hand, before entering the high-speed cleaning mode, it is necessary to determine that the cleaning robot has already performed daily route cleaning. Through daily route cleaning, it can comprehensively grasp area information such as the boundaries of the area to be cleaned and obstacles, thereby reducing the risks of getting stuck and falling during the cleaning process and ensuring safety during the high-speed cleaning process. [Brief explanation of the drawings]

[0016] The accompanying drawings herein are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure. Obviously, the accompanying drawings in the following description are merely some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these accompanying drawings without creative work. [Figure 1] 1 is a flowchart of a cleaning method for a cleaning robot provided by an exemplary embodiment of the present disclosure. [Figure 2] 1 is a flowchart of steps of a cleaning method for a cleaning robot provided by an exemplary embodiment of the present disclosure. [Figure 3] FIG. 1 is a block diagram of a cleaning device of a cleaning robot according to an embodiment of the present disclosure. [Figure 4] FIG. 1 is a schematic diagram of a module of an electronic device according to one embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0017] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be described in more detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments of the present disclosure, other embodiments obtained by those skilled in the art without any creative work are all included in the protection scope of the present disclosure.

[0018] The terms used in the embodiments of the present disclosure are used only for the purpose of describing particular embodiments and are not intended to limit the present disclosure. As used in the embodiments of the present disclosure and the appended claims, the singular forms "a," "the," and "the" are also intended to encompass the plural, and "plurality" generally includes at least two, unless the context clearly dictates otherwise.

[0019] The term "and / or" used in this specification merely describes the relationship between related objects, and there are three relationships. For example, A and / or B means that A may exist alone, A and B may exist simultaneously, or B may exist alone. In addition, " / " in this specification generally indicates that the related objects before and after it are in an "or" relationship.

[0020] In the embodiments of the present disclosure, terms such as first, second, and third may be used to describe ..., but it should be understood that these terms should not be used to limit the scope of the present disclosure. These terms are used only to distinguish between .... For example, a first ... may also be called a second ..., and similarly, a second ... may also be called a first ..., without departing from the scope of the embodiments of the present disclosure.

[0021] Depending on the context, the terms "if" and "then" as used herein may be interpreted as "when" or "if" or "responsive to determining" or "responsive to detecting." Similarly, depending on the context, "(a described condition or event) is determined" or "(a described condition or event) is detected" may be interpreted as "when it is determined" or "responsive to determining" or "when (a described condition or event) is detected" or "responsive to (a described condition or event) being detected."

[0022] It should be noted that the terms "comprises," "has," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or device comprising a set of elements not only includes those elements, but also other elements explicitly listed or inherent in those products or devices. Unless further limited, an element defined with the phrase "comprises" does not exclude the presence of other identical elements in a product or device that includes said element.

[0023] An exemplary embodiment of the present disclosure provides a cleaning method for a cleaning robot, for controlling the cleaning robot to clean according to different cleaning routes. Referring to Figure 1, a flowchart of the cleaning method for a cleaning robot provided by an exemplary embodiment of the present disclosure is shown, and the cleaning method for a cleaning robot may include the following steps: Step S110: if the fast cleaning mode is triggered, determine whether the cleaning robot stores an area map of the area to be cleaned; Step S120: if the area map is stored, determine whether the area to be cleaned has undergone routine cleaning, and the routine cleaning is cleaning the boundary area and its internal area; Step S130: if the daily route cleaning is being performed, the cleaning robot is controlled to clean according to the fast cleaning route, and the fast cleaning mode is a mode for cleaning the inner area of ​​the area to be cleaned.

[0024] In a cleaning method for a cleaning robot provided by an exemplary embodiment of the present disclosure, when the fast cleaning mode of a cleaning robot is triggered, the cleaning robot first determines whether an area map of the area to be cleaned is stored in the cleaning robot. If an area map of the area to be cleaned is stored, the method determines whether a routine route cleaning has been performed for the area to be cleaned. The routine route cleaning is cleaning of the boundary area and its internal area, which can comprehensively clean the area to be cleaned. The boundary area is an area covered when cleaning along the edge of an area such as a wall, an obstacle, or a no-entry area. If a routine route cleaning has been performed for the area to be cleaned, the cleaning robot is controlled to clean according to the fast cleaning mode, which is a mode that cleans only the internal area of ​​the area to be cleaned. On the other hand, by entering the fast cleaning mode for the area to be cleaned and controlling it to clean only the internal area, cleaning along the edge of the boundary area is omitted compared to the routine route cleaning, and cleaning along the edge takes longer time. Therefore, the fast cleaning mode can effectively save cleaning time and further improve cleaning efficiency. On the other hand, before entering the high-speed cleaning mode, it is necessary to determine that the cleaning robot has performed daily route cleaning. Through daily route cleaning, it can comprehensively grasp area information such as the boundaries of the area to be cleaned and obstacles, thereby reducing the risks of getting stuck and falling during the cleaning process and ensuring safety during the high-speed cleaning process.

[0025] The cleaning method of the cleaning robot provided by the exemplary embodiment of the present disclosure can be used when the user feels that the home environment is not very dirty and there is no need to perform a full cleaning, and the user can clean only the inner area of ​​the boundary area by triggering the fast cleaning mode, thereby improving cleaning efficiency and meeting the various needs of the user.

[0026] Hereinafter, specific embodiments will be given to describe in detail each step of the cleaning method for the cleaning robot provided by the exemplary embodiments of the present disclosure.

[0027] In step S110, if the fast cleaning mode is triggered, it is determined whether the cleaning robot has stored an area map of the area to be cleaned.

[0028] In an exemplary embodiment of the present disclosure, the cleaning robot performs not only daily route cleaning but also high-speed cleaning during the cleaning process. To facilitate the user's operation of the cleaning robot through the user terminal, an application program (APP) for controlling the cleaning robot is typically installed on the user terminal, and the user can operate and control the cleaning mode, cleaning route, cleaning intensity, etc. of the cleaning robot through the application program.

[0029] For example, during the process of controlling the cleaning route, various cleaning routes may usually be included, for example, corresponding to the embodiment of the present disclosure, including a daily cleaning route and a fast cleaning route, where the daily cleaning route is a mode for cleaning the boundary area and its internal area, and the fast cleaning route represents a cleaning route under the fast cleaning mode in the exemplary embodiment of the present disclosure, i.e., a route for cleaning only the internal area.

[0030] After a user triggers the fast cleaning mode, the cleaning method of the cleaning robot provided by the exemplary embodiment of the present disclosure first determines whether the cleaning robot has stored an area map of the area to be cleaned.

[0031] Typically, when a cleaning robot first enters an area to be cleaned, it will enter a map construction mode to construct an area map of the area to be cleaned. The area map construction method includes, but is not limited to, using a SLAM (simultaneous localization and mapping) map and localization construction module to locate the cleaning robot and simultaneously construct an area map of the cleaning robot's location; the cleaning robot is equipped with a laser transmitter, which emits a laser beam and reflects it when it encounters an obstacle; and SLAM constructs the area map based on the emitted and reflected laser beam. It should be understood that any existing method for constructing an area map corresponding to the cleaning robot in this embodiment is within the scope of protection of the present disclosure.

[0032] After the cleaning robot builds the area map, it stores the area map for use in subsequent cleaning or positioning operations.

[0033] An exemplary embodiment of the present disclosure ensures that the cleaning robot can directly clean the area to be cleaned by determining whether the cleaning robot has an area map of the area to be cleaned stored therein.

[0034] In practical applications, after a user triggers the high-speed cleaning mode, if it is determined that the cleaning robot does not store an area map of the area to be cleaned, the cleaning robot will first enter a map construction mode, construct an area map for the area to be cleaned according to the above-mentioned area map construction method, and make a judgment after constructing the area map.

[0035] The area to be cleaned may be an area selected by the user through the APP on the user terminal, or an area where the user intends to place the cleaning robot. If the area is an area where the user intends to place the cleaning robot, the cleaning robot must enter a positioning mode, position the current area, determine a specific location, and then determine whether an area map of the location is stored within the area.

[0036] In step S120, if an area map is stored, it is determined whether the area to be cleaned has undergone routine route cleaning, and the routine route cleaning is cleaning of the boundary area and its internal area.

[0037] In an exemplary embodiment of the present disclosure, if it is determined based on step S110 that the cleaning robot has stored an area map of the area to be cleaned, it is necessary to further determine whether daily route cleaning has been performed in the area to be cleaned. The determination of whether daily route cleaning has been performed may be based on whether the cleaning robot has performed daily route cleaning within a predetermined period, for example, whether daily route cleaning has been performed in the area to be cleaned within one week, or whether daily route cleaning has been performed within another predetermined period of time, and is not particularly limited in the exemplary embodiment of the present disclosure.

[0038] In practical application, daily route cleaning refers to cleaning both the boundary area and its internal area, and is a comprehensive cleaning method for the area to be cleaned. For example, the boundary area of ​​the area to be cleaned may be cleaned first, i.e., the edge of the area to be cleaned may be cleaned first, and then the internal area of ​​the area to be cleaned may be cleaned. Here, during the process of cleaning the internal area of ​​the area to be cleaned, cleaning may be performed along a Z-shaped route or other types of route, and is not particularly limited in the exemplary embodiment of the present disclosure.

[0039] In an exemplary embodiment of the present disclosure, if it is determined that a daily route cleaning has not been performed in the area to be cleaned, the cleaning robot is controlled to perform the daily route cleaning. After the cleaning robot performs the daily route cleaning, the subsequent steps are performed.

[0040] Since the daily route cleaning is performed along the edge, the safety boundary of the area to be cleaned is determined during the process of cleaning along the edge, and the obstacles and no-entry areas within the area to be cleaned are also determined during the process of daily route cleaning, so that data such as along-wall data, obstacle avoidance data, and no-entry area avoidance data can be determined. The above data can be directly applied to high-speed cleaning, which can further improve the efficiency and accuracy during the high-speed cleaning process.

[0041] In step S130, if the daily route cleaning is being performed, the cleaning robot is controlled to clean according to the fast cleaning route, and the fast cleaning mode is a mode for cleaning the inner area of ​​the area to be cleaned.

[0042] In an exemplary embodiment of the present disclosure, when it is determined that a daily route cleaning has been performed on an area to be cleaned, the cleaning robot is controlled to clean according to a fast cleaning route, and the fast cleaning mode is a mode for cleaning the interior area of ​​the area to be cleaned.

[0043] Here, there are various methods for cleaning the inner area of ​​the area to be cleaned. For example, the inner area of ​​the area to be cleaned may be cleaned directly without cleaning along the edges, and during the cleaning process, obstacles and no-entry areas determined during the daily route cleaning process may be avoided based on the above-mentioned wall-along data, obstacle avoidance data, and no-entry area avoidance data, thereby reducing the cleaning area and improving cleaning efficiency.

[0044] The cleaning robot may be controlled to clean only a sub-area designated by the user within the area to be cleaned, i.e., to clean only a portion of the area. In practical application, the user's client displays an area map of the area to be cleaned, and the user can manually or use a shape of their own choosing to define the sub-area they want to clean. The cleaning robot then performs high-speed cleaning according to the sub-area defined by the user. The user may determine the designated sub-area of ​​the area to be cleaned by selecting one or more areas of the area to be cleaned. By designating and cleaning sub-areas, the user's various needs can be met, and the user's experience can be improved by cleaning only the parts they want to clean.

[0045] In addition, the sub-area must be a sub-area within the area to be cleaned, and if the user defines a sub-area outside the area to be cleaned during the process of defining the sub-area, the client can prompt the user to define it again because there is an error in the defined range. This setting can avoid the sub-area being outside the area to be cleaned, which can cause uncertainty in the cleaning process of the cleaning robot and prevent the occurrence of risks such as getting stuck or falling.

[0046] In practical applications, when a cleaning robot cleans according to the high-speed cleaning mode, if a new obstacle appears, the cleaning robot is required to clean along the edge of the new obstacle, store the edge information, and add this edge information to the area map for use in future cleaning.

[0047] 2 shows a step flowchart of a cleaning method for a cleaning robot provided by an exemplary embodiment of the present disclosure. In FIG. 2, when the fast cleaning mode is triggered, the process proceeds to step S210, i.e., judgment condition 1, to determine whether the cleaning robot has stored an area map of the area to be cleaned. If yes, i.e., an area map has already been stored for the area to be cleaned, the process proceeds to step S220, i.e., judgment condition 2, to determine whether daily route cleaning has been performed for the area to be cleaned. If yes, i.e., daily route cleaning has been performed, the process proceeds to step S230, to control the cleaning robot to clean according to the fast cleaning mode. If not, i.e., if daily route cleaning has not been performed, the process proceeds to step S240, to control the cleaning robot to perform daily route cleaning. After the daily route cleaning is completed, the process proceeds to step S220, and continues to make a judgment according to judgment condition 2.

[0048] If the cleaning robot does not store an area map of the area to be cleaned, the process proceeds to step S250, where the cleaning robot is controlled to construct an area map of the area to be cleaned. After constructing the area map, the process proceeds to step S210, where the process continues to make a judgment in accordance with judgment condition 1.

[0049] The cleaning method of a cleaning robot provided by an exemplary embodiment of the present disclosure determines two conditions before the cleaning robot is controlled to perform high-speed cleaning, namely, whether an area map of the area to be cleaned has been saved and whether daily route cleaning has been performed, thereby providing the necessary basis for high-speed cleaning, and during the high-speed cleaning process, it can avoid obstacles based on previous cleaning information, such as obstacle information on the area map and no-entry area information, thereby further improving cleaning efficiency in cleaning only the internal area, realizing simpler and more efficient high-speed cleaning, and meeting more diverse needs of users.

[0050] It should be noted that the above method can be used not only for a cleaning robot having a dry cleaning device and a wet cleaning module, but also for a sweeping cleaning robot having only a dry cleaning device, or a mopping cleaning robot having only a wet cleaning module, etc., and is not limited thereto in the exemplary embodiments of the present disclosure.

[0051] It should be noted that although the accompanying figures depict the steps of the disclosed methods in a particular order, this does not require or imply that the steps must be performed in a particular order, or that all steps shown must be performed to achieve a desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined and performed as a single step, and / or a single step may be broken down into multiple steps and performed.

[0052] An exemplary embodiment of the present disclosure further provides a cleaning device of a cleaning robot, and as shown in FIG. 3 , the cleaning device 300 of the cleaning robot may further include a first determination module 310, a second determination module 320, a cleaning module 330 and a map construction module 340, wherein: The first determination module 310 is used to determine whether the cleaning robot has stored an area map of the area to be cleaned when the fast cleaning mode is triggered; The second determination module 320 is used to determine whether a routine route cleaning has been performed in the area to be cleaned if an area map is stored, and the routine route cleaning is cleaning of the boundary area and its internal area; The cleaning module 330 is used to control the cleaning robot to clean according to a fast cleaning mode when daily route cleaning is being performed, and the fast cleaning mode is a mode for cleaning the internal area of ​​the area to be cleaned.

[0053] In an exemplary embodiment of the present disclosure, the cleaning module 330 is used to control the cleaning robot to perform daily route cleaning on an area to be cleaned if daily route cleaning has not been performed on the area to be cleaned.

[0054] In an exemplary embodiment of the present disclosure, daily route cleaning includes first cleaning the boundary areas of the area to be cleaned, and then cleaning the interior areas of the area to be cleaned.

[0055] In an exemplary embodiment of the present disclosure, the cleaning module 330 is further used to control the cleaning robot to directly clean the interior area of ​​the area to be cleaned, and to avoid obstacles and no-entry areas determined in the daily route cleaning process during the cleaning process.

[0056] In an exemplary embodiment of the present disclosure, the cleaning module 330 is further used to control the cleaning robot to clean only a sub-area designated by a user within the inner area of ​​the area to be cleaned.

[0057] In an exemplary embodiment of the present disclosure, the cleaning module 330 is further used to control the cleaning robot to clean along the edge of a new obstacle when the cleaning robot encounters a new obstacle while cleaning according to the fast cleaning mode.

[0058] In an exemplary embodiment of the present disclosure, the map construction module 340 is used to control the cleaning robot to construct an area map for the area to be cleaned if the cleaning robot does not store an area map for the area to be cleaned.

[0059] The specific details of the cleaning device modules of each of the above cleaning robots have already been described in detail in the cleaning methods of the corresponding cleaning robots, and therefore will not be repeated here.

[0060] It should be noted that although the above detailed description refers to multiple modules or units of an apparatus for execution, such division is not required. In fact, according to embodiments of the present disclosure, the features and functions of two or more of the modules or units described above may be embodied in a single module or unit. Conversely, the features and functions of one module or unit described above may be further divided so as to be embodied by multiple modules or units.

[0061] An exemplary embodiment of the present disclosure further provides an electronic device capable of implementing the above method, and the electronic device may be, for example, a cleaning robot capable of implementing the above method.

[0062] Those skilled in the art will appreciate that each aspect of the present disclosure may be realized as a system, a method, or a program product. Accordingly, each aspect of the present disclosure may be specifically realized in the form of an entirely hardware implementation, an entirely software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software, which may be collectively referred to herein as a "circuit," "module," or "system."

[0063] An electronic device 400 according to such an embodiment of the present disclosure will now be described with reference to Figure 4. The electronic device 400 shown in Figure 4 is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present disclosure.

[0064] 4, the electronic device 400 is represented in the form of a general-purpose computing device. The components of the electronic device 400 may include, but are not limited to, the at least one processing unit 410, the at least one storage unit 420, a bus 430 connecting different system components (including the storage unit 420 and the processing unit 410), and a display unit 440.

[0065] Here, the storage unit 420 stores program code, and when the program code is executed by the processing unit 410, the processing unit 410 can execute the steps according to the exemplary embodiments of the present disclosure described in the "Exemplary Method" section described herein. For example, the processing unit 410 can execute the steps shown in Fig. 1, namely, step S110: if a fast cleaning mode is triggered, determine whether an area map of the area to be cleaned is stored in the cleaning robot; step S120: if an area map is stored, determine whether a daily route cleaning has been performed in the area to be cleaned, where the daily route cleaning is cleaning of the boundary area and its internal area; and step S130: if a daily route cleaning has been performed, control the cleaning robot to clean according to a fast cleaning route, where the fast cleaning mode is a mode for cleaning the internal area of ​​the area to be cleaned.

[0066] The storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 4201 and / or a cache storage unit 4202, and may further include a read-only storage unit (ROM) 4203.

[0067] The storage unit 420 may further include a program / utility 4204 having a set (at least one) of program modules 4205, such program modules 4205 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, and may also include a network environment implementation in each of these examples or in some combination.

[0068] Bus 430 may be one or more of several bus structures, including a storage unit bus or storage unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area bus using any bus structure in multiple bus structures.

[0069] The electronic device 400 may communicate with one or more external devices 470 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that allow a user to interact with the electronic device 400, and / or any device (e.g., a router, a modem, etc.) that allows the electronic device 400 to communicate with one or more other computing devices. Such communication may occur via an input / output (I / O) interface 450. The electronic device 400 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 460. As shown, the network adapter 460 communicates with other modules of the electronic device 400 via a bus 430. It should be understood that, although not shown, other hardware and / or software modules (including, but not limited to, microcode, device drives, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems) may be used in conjunction with the electronic device 400.

[0070] From the above description of the embodiments, it is easily understood by those skilled in the art that the exemplary embodiments described herein may be realized by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (such as a CD-ROM, a USB flash drive, a removable hard disk, etc.) or a network, and includes a number of instructions for causing a computing device (such as a personal computer, a server, a terminal device, or a network device) to execute the method of the embodiments of the present disclosure.

[0071] An exemplary embodiment of the present disclosure further provides a computer-readable storage medium having stored thereon a program product capable of implementing the methods described herein. In some possible embodiments, aspects of the present disclosure may be implemented in the form of a program product including program code, which, when executed on a terminal device, is used to cause the terminal device to perform steps according to the exemplary embodiments of the present disclosure described in the "Exemplary Methods" section of this specification.

[0072] A program product for implementing the above method according to an embodiment of the present disclosure may be a portable compact disc read-only memory (CD-ROM), containing program code, and may be executed on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this specification, a readable storage medium may be any tangible medium that contains or stores a program, which can be used by or in combination with an instruction execution system, apparatus, or device.

[0073] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0074] A computer-readable signal medium may be comprised of a propagated data signal in baseband or a data signal propagated as part of a carrier carrying readable program code. Such a propagated data signal may take various forms, including, but not limited to, an electromagnetic signal, an optical signal, or any suitable combination of the above. A readable signal medium may be any readable medium, other than a readable storage medium, that transmits, propagates, or transports a program for use by or in connection with an instruction execution system, apparatus, or device.

[0075] The program code contained in the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, fiber optic cable, RF, etc., or any suitable combination of the above.

[0076] Program code for carrying out the operations of the present disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may execute entirely on the user computing device, partially on the user device, as a standalone software package, partially on the user computing device, partially on a remote computing device, or entirely on a remote computing device or server. In situations involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., by using an Internet service provider to connect via the Internet).

[0077] Furthermore, the above-mentioned accompanying drawings are merely schematic illustrations of the processes involved in the method according to the exemplary embodiments of the present disclosure and are not intended to be limiting. It is readily understood that the processes shown in the above-mentioned accompanying drawings do not indicate or limit the chronological order of these processes. It is also readily understood that the processes may be performed synchronously or asynchronously in multiple modules, for example.

[0078] Other embodiments of the present disclosure will be readily suggestive to those skilled in the art from consideration of the specification and practice of the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure in accordance with the general principles of the present disclosure, including technical means known or customary in the art but not disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0079] It should be understood that the present disclosure is not limited to the exact construction described above and illustrated in the accompanying drawings, and that various modifications and changes may be made thereto without departing from the scope thereof, which is intended to be limited only by the appended claims.

Claims

1. A cleaning method for a cleaning robot, comprising: If a fast cleaning mode is triggered, determining whether the cleaning robot has stored an area map of the area to be cleaned; If the area map is stored, determining whether a daily route cleaning has been performed in the area to be cleaned, and the daily route cleaning is cleaning of a boundary area and its internal area; A cleaning method for a cleaning robot, comprising a step of controlling the cleaning robot to clean according to the high-speed cleaning mode when the daily route cleaning is performed, the high-speed cleaning mode being a mode for cleaning the internal area of ​​the area to be cleaned.

2. The method of claim 1 , further comprising the step of controlling the cleaning robot to perform the daily route cleaning on the area to be cleaned if the daily route cleaning has not been performed on the area to be cleaned.

3. The method of claim 1 or 2, wherein the daily route cleaning includes first cleaning a boundary area of ​​the area to be cleaned and then cleaning an interior area of ​​the area to be cleaned.

4. The step of controlling the cleaning robot to clean in accordance with the high-speed cleaning mode includes: The method according to any one of claims 1 to 3, further comprising controlling the cleaning robot to directly clean the interior area of ​​the area to be cleaned, and to avoid obstacles and no-entry areas determined in the daily route cleaning during the cleaning process.

5. The step of controlling the cleaning robot to clean in accordance with the high-speed cleaning mode includes: The method according to any one of claims 1 to 4, further comprising controlling the cleaning robot to clean a sub-area designated by a user in the internal area of ​​the area to be cleaned.

6. The method according to claim 4 or 5, further comprising the step of, when a new obstacle appears when the cleaning robot cleans according to the fast cleaning mode, cleaning the new obstacle along an edge.

7. The method according to any one of claims 1 to 6, further comprising the step of controlling the cleaning robot to construct an area map of the area to be cleaned if the cleaning robot does not have an area map of the area to be cleaned stored therein.

8. A cleaning device for a cleaning robot, a first determination module used to determine whether the cleaning robot has stored an area map of an area to be cleaned when a fast cleaning mode is triggered; a second determination module, when the area map is stored, used to determine whether a routine cleaning route has been performed in the area to be cleaned, the routine cleaning route being cleaning of a boundary area and its internal area; a cleaning module used to control the cleaning robot to clean according to the fast cleaning mode when the daily route cleaning is performed, the fast cleaning mode being a mode for cleaning the internal area of ​​the area to be cleaned.

9. 9. The cleaning device of claim 8, wherein the cleaning module is further used to control the cleaning robot to perform the daily route cleaning on the area to be cleaned if the daily route cleaning has not been performed on the area to be cleaned.

10. The cleaning device of claim 8 or 9, wherein the daily route cleaning includes first cleaning a boundary area of ​​the area to be cleaned, and then cleaning an inner area of ​​the area to be cleaned.

11. The step of controlling the cleaning robot to clean in accordance with the high-speed cleaning mode includes:

11. The cleaning device of claim 8, wherein the cleaning robot is controlled to directly clean the interior area of ​​the area to be cleaned, and to avoid obstacles and no-entry areas determined during the daily route cleaning during the cleaning process.

12. The step of controlling the cleaning robot to clean in accordance with the high-speed cleaning mode includes: The cleaning device of a cleaning robot according to any one of claims 8 to 11, further comprising controlling the cleaning robot to clean a sub-area designated by a user within the internal area of ​​the area to be cleaned.

13. 13. The cleaning device of claim 11 or 12, wherein the cleaning module is further used to clean along edges of new obstacles that appear when the cleaning robot cleans according to the fast cleaning mode.

14. The cleaning device for a cleaning robot according to any one of claims 8 to 13, wherein the cleaning module is further used to control the cleaning robot to construct an area map of the area to be cleaned if the cleaning robot does not have an area map of the area to be cleaned stored therein.

15. A non-transitory computer-readable storage medium having a computer program stored therein, the non-transitory computer-readable storage medium being characterized in that, when the computer program is executed by a processor, the non-transitory computer-readable storage medium performs the cleaning method for a cleaning robot according to any one of claims 1 to 7.

16. a processor; a memory for storing executable instructions for said processor; The electronic device, wherein the processor is configured to implement the cleaning method for a cleaning robot according to any one of claims 1 to 7 by executing the executable instructions.

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