Method and apparatus for controlling cleaning robot, medium, and electronic device

Abstract

A method and apparatus for controlling a cleaning robot, a medium, and an electronic device. The method comprises: acquiring a non-cleaning area in a working area, wherein the working area comprises a cleanable area and one or more non-cleaning areas, and at least part of the cleanable area is an uncleaned area (S310); determining a first check point from an intermediate area between a boundary of the non-cleaning area and a boundary of a preset area (S320); determining a target point from the uncleaned area that has a preset relationship with the first check point (S330); and controlling a cleaning robot to move to the target point, and executing a preset cleaning instruction (S340). The method can fully and effectively clean the working area of the cleaning robot.

Description

Control method and device of cleaning robot, medium and electronic equipment Cross-reference to Related Applications

[0001] The present application claims priority to Chinese Patent Application No. 202411288755.6, filed on September 13, 2024, the disclosure of which is hereby incorporated by reference in its entirety into the present application. TECHNICAL FIELD

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

[0003] With the in-depth research of modern intelligent robots, the cleaning robot as a kind of artificial intelligence in the most practical intelligent robots has a wide application in the application scenarios such as home due to its professional cleaning function. SUMMARY

[0004] The purpose of the present disclosure is to provide a control method of a cleaning robot, a control device of a cleaning robot, a computer readable storage medium and an electronic device. The specific scheme is as follows:

[0005] According to the specific embodiment of the present disclosure, in a first aspect, the present disclosure provides a control method of a cleaning robot, the method comprising: obtaining a non-cleaning area in a working area; the working area comprises a cleanable area and one or more non-cleaning areas, at least part of the cleanable area is an unclean area; determining a first check point in the intermediate area between the boundary of the non-cleaning area and the boundary of the preset area; determining a target point in the unclean area meeting a preset relationship with the first check point; controlling the cleaning robot to move to the target point and executing a preset cleaning instruction.

[0006] In a second aspect, the present disclosure provides a control device of a cleaning robot, comprising: a non-cleaning area obtaining module for obtaining a non-cleaning area in a working area; the working area comprises a cleanable area and one or more non-cleaning areas, at least part of the cleanable area is an unclean area; a check point determining module for determining a first check point in the intermediate area between the boundary of the non-cleaning area and the boundary of the preset area; a target point determining module for determining a target point in the unclean area meeting a preset relationship with the first check point; a cleaning instruction executing module for controlling the cleaning robot to move to the target point and executing a preset cleaning instruction.

[0007] In a third aspect, the present disclosure provides a cleaning robot, comprising: a body; and a controller disposed in the body; the controller is configured to perform the control method of the cleaning robot as described above.

[0008] In a fourth aspect, the present disclosure provides a cleaning system, comprising: a base station; and a cleaning robot as described above, the base station is used at least for charging the cleaning robot.

[0009] In a fifth aspect, the present disclosure provides a computer readable storage medium, having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the method as described above.

[0010] In a sixth aspect, the present disclosure provides an electronic device, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the method as described above via executing the executable instructions.

[0011] It should be understood that the general description above and the detailed description below are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0012] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present disclosure and serve to explain the principles of the present disclosure. It is apparent that the accompanying drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings. In the drawings:

[0013] FIG. 1 schematically shows a schematic diagram of controlling a cleaning robot to clean in the related art;

[0014] FIG. 2 schematically shows another schematic diagram of controlling a cleaning robot to clean in the related art;

[0015] FIG. 3 schematically shows a flow chart of a control method of a cleaning robot in the present exemplary embodiment;

[0016] FIG. 4 schematically shows a schematic diagram of a working area in the present exemplary embodiment;

[0017] FIG. 5 schematically shows another schematic diagram of a working area in the present exemplary embodiment;

[0018] FIG. 6 schematically shows a schematic diagram of a working area including an extension line in the present exemplary embodiment;

[0019] FIG. 7 schematically shows a schematic diagram of determining a first checkpoint on a second extension line in the present exemplary embodiment;

[0020] FIG. 8 schematically illustrates another diagram for determining a first checkpoint on a second extension line in the present exemplary embodiment;

[0021] FIG. 9 schematically illustrates a flowchart of another control method of a cleaning robot in the present exemplary embodiment;

[0022] FIG. 10 schematically illustrates a diagram for controlling a cleaning robot to move to a target point in the present exemplary embodiment;

[0023] FIG. 11 schematically illustrates a block diagram of a control device of a cleaning robot in the present exemplary embodiment;

[0024] FIG. 12 schematically illustrates an electronic device for implementing the above-described method in the present exemplary embodiment. DETAILED DESCRIPTION

[0025] In order to make the objects, technical solutions and advantages of the present disclosure clearer, the following will further describe the present disclosure with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, and not all the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present disclosure.

[0026] The terms used in the embodiments of the present disclosure are only for the purpose of describing particular embodiments and are not intended to limit the present disclosure. The singular forms "a", "an" and "the" used in the embodiments of the present disclosure and the appended claims are intended to include plural forms, unless the context clearly indicates otherwise. "Plural" generally includes at least two.

[0027] It should be understood that the term "and / or" used herein only describes an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B, which can represent three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0028] It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present disclosure to describe …, these … should not be limited to these terms. These terms are only used to distinguish … from each other. For example, without departing from the scope of the embodiments of the present disclosure, the first … can also be called the second …, and similarly, the second … can also be called the first ….

[0029] Depending on the context, the word "if" as used herein can be interpreted to mean "when" or "while" or "in response to determining" or "in response to detecting." Similarly, the phrase "if it is determined" or "if [a stated condition or event] is detected" can be interpreted to mean "upon determining" or "in response to determining" or "upon detecting [the stated condition or event]" or "in response to detecting [the stated condition or event]."

[0030] It is further noted that the terms "comprise" "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or process that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such product or process. An element proceeded by "comprises a" does not, without further recitation, preclude the inclusion of additional elements of the same type or a different type.

[0031] The cleaning robot belongs to a kind of intelligent household appliances, can be with certain artificial intelligence, automatically complete floor cleaning work in room. However, in practical application, cleaning robot can cause the problem of cleaning area to be missed cleaning because of the existence of non-cleaning area in working environment, for example, in the cleaning map shown in Figure 1, including 3 forbidden zones, cleaning robot appears along the edge of forbidden zone 110, 120 and 130 directly bypasses, only cleans area 140, while the cleaning of area 150 is missed;In the cleaning map shown in Figure 2, there is a gap between forbidden zone 210 and wall, but cleaning robot directly defaults the edge of forbidden zone as obstacle edge after moving along forbidden zone 210, only cleans outer area 220, without continuing to clean area 230 inside forbidden zone, causing the problem of missing scanning.

[0032] Therefore, the exemplary embodiments of the present disclosure provide a control method of a cleaning robot, which can be applied to a cleaning robot, and the cleaning robot can implement the method by hardware and / or software. Referring to Figure 3, a flow chart of the control method of the cleaning robot provided by the exemplary embodiments of the present disclosure is shown, and the method can include the following steps S310-S340:

[0033] Step 310, obtain a non-cleaning area in a working area;The working area includes a cleanable area and one or more non-cleaning areas, and at least part of the cleanable area is an uncleaned area.

[0034] The working area refers to an area in which the cleaning robot performs a cleaning task, which can be an entire house including multiple rooms, a house, a certain area set by the user in the house, etc. The non-cleaning area refers to an area in which the cleaning task is not required to be performed, such as an area in which cleaning is prohibited by the user in advance, for example, to avoid line entanglement, the user sets an area below a TV cabinet not to be cleaned, and frames the area in which the TV cabinet is located as a non-cleaning area. The non-cleaning area can also be an area in which an obstacle is located in the working area, such as a plurality of pillars in the house, or an area in which a corner is located, and the area in which the pillar is located or the area in which the corner is located can be regarded as a non-cleaning area, etc.

[0035] The working area can include one or more non-cleaning areas, for example, the user can set multiple areas in which the cleaning robot is not required to clean in the map in advance, as shown in FIG. 1, multiple areas in which cleaning is prohibited can be set. The working area can also include a cleanable area, which refers to an area in which the cleaning robot can perform a cleaning operation. At least part of the cleanable area is an unclean area, which refers to an area in which the cleaning robot has not performed a cleaning operation, such as a missed cleaning area.

[0036] In the present exemplary embodiment, the cleanable area and the non-cleaning area can be determined by the user through the configuration of the control program of the cleaning robot, or can be determined by the cleaning robot with a specific sensor detecting in the working area, etc.

[0037] Step S320, determining a first check point in an intermediate area between the boundary of the non-cleaning area and the boundary of the preset area.

[0038] The first check point refers to a check point for determining an unclean area. Through the check of the first check point, the unclean area in the working area can be determined, and then the target position in the non-cleaning area can be determined. The first check point can be multiple, for example, each first check point can be judged in turn to determine the unclean area in the working area.

[0039] The preset area can be any area in the working area, such as an area in which an obstacle is located, another non-cleaning area, or the working area itself, etc. The boundary of the non-cleaning area and the boundary of the preset area can form an intermediate area, such as a gap area between the boundaries of two non-cleaning areas, or an interval area between the non-cleaning area and the wall, which can be an intermediate area between the non-cleaning area and the boundary of the working area, etc. Any point in the intermediate area can be used as a first check point, or the points included in the intermediate area can be screened to determine the first check point from all the points included in the intermediate area, etc.

[0040] In an example embodiment, the step S320 can include:

[0041] The first checkpoint is determined in a first intermediate region between the boundary of the non-cleaning region and the working region and / or a second intermediate region between different non-cleaning regions.

[0042] The example embodiment can determine the first checkpoint in a first intermediate region between the boundary of the non-cleaning region and the working region and / or a second intermediate region between different non-cleaning regions. The boundary of the working region can refer to a constraint boundary for controlling the cleaning robot to clean, such as a wall or obstacle boundary, etc. In the working region shown in FIG. 4, the region 410 is a non-cleaning region, and other regions except the region 410 are cleanable regions, which include the cleaned region 420 and the uncleaned region 430. The wall 440 can be a boundary of the working region, and the region 450 between the region 410 and the wall 440 can be a first intermediate region. The points in the first intermediate region can be the first checkpoints, or the points in the first intermediate region can be screened to determine more effective first checkpoints, etc. In addition, the first checkpoint can be determined in a second intermediate region between non-cleaning regions, for example, in the working region shown in FIG. 5, the regions 510 and 520 are non-cleaning regions, and other regions except the regions 510 and 520 are cleanable regions, which include the cleaned region 530 and the uncleaned region 540. The second intermediate region between the regions 510 and 520 is a second intermediate region between non-cleaning regions. The points in the second intermediate region can be the first checkpoints, or the points in the second intermediate region can be screened to determine a smaller number of effective first checkpoints, etc. It should be noted that the shapes and coverage of the regions shown in FIGS. 4 and 5 are only example illustrations, and the sizes and shapes of the cleaned and uncleaned regions and the first and second intermediate regions can be determined according to the cleaning trajectory of the cleaning robot. For example, the intermediate region can extend to a predetermined distance on both sides, or the shape of the intermediate region can be irregular according to the boundary shape of the non-cleaning region, etc. The present disclosure does not make specific limitations on this.

[0043] In step S330, a target point is determined in an uncleaned region that meets a predetermined relationship with the first checkpoint.

[0044] The target point refers to a target moving position determined in the unclean area and needed to be moved to by the cleaning robot. The target point is located in the unclean area and can be any point in the unclean area or a point or multiple points determined from the unclean area according to a preset algorithm or preset condition. The target point can be expressed by coordinates or by a preset rule, for example, the working area can be identified by an x*y grid map, and the target point can be expressed as a cell in the xth row and yth column. The preset relationship refers to a relationship condition used to determine the unclean area from the working area. In this example embodiment, the unclean area meeting the preset relationship with the first checkpoint can be found in the working area, and then the target point in the unclean area is determined. Specifically, the preset relationship can be customized according to actual needs or determined by the system. For example, the preset relationship can be an unclean area having a distance of a preset distance threshold from the first checkpoint and an area reaching a preset area threshold.

[0045] The target point in the unclean area can be determined in various ways. For example, a point in the determined unclean area can be arbitrarily determined as the target point, such as a point closest to the cleaning robot or a point at the boundary of the unclean area, or a target point in the unclean area can be determined by a preset search algorithm. The present disclosure does not make specific limitations thereto.

[0046] In step S340, the cleaning robot is controlled to move to the target point and execute a preset cleaning instruction.

[0047] After the target point is determined, the cleaning robot can be controlled to move to the target point and execute a preset cleaning instruction on the unclean area. The preset cleaning instruction can include a normal cleaning instruction or a supplementary cleaning instruction for the unclean area missed in the cleaning, etc. For example, the preset cleaning instruction can be a supplementary cleaning instruction for the general cleaning instruction, used to clean the unclean area missed in the general cleaning instruction.

[0048] It should be noted that the cleaning robot can detect the moving position in real time or periodically to determine whether it has moved to the target point or the unclean area. When the target point has not been moved to, the instruction of finding the target point or moving to the target point can be continued to be executed. In addition, the cleaning progress can be checked. When the cleaning is completed, the cleaning is stopped, and the next target point or unclean area is found.

[0049] Based on the above description, in the present exemplary embodiment, a non-clean area in a working area is acquired; the working area includes a cleanable area and one or more non-clean areas, at least part of the cleanable area is an unclean area; a first checkpoint is determined in an intermediate area between the boundary of the non-clean area and the boundary of the preset area; a target point is determined in the unclean area that meets a preset relationship with the first checkpoint; the cleaning robot is controlled to move to the target point and execute a preset cleaning instruction. On the one hand, the present exemplary embodiment proposes a new control method of the cleaning robot, which can determine a first checkpoint in an intermediate area between the boundary of the non-clean area and the boundary of the preset area, and determine an unclean area according to the first checkpoint, thereby avoiding the problem that part of the unclean area in the working area is missed due to the presence of the non-clean area in the working area, resulting in incomplete cleaning; on the other hand, the present exemplary embodiment can determine a target point in the unclean area that meets a preset relationship with the first checkpoint, and control the cleaning robot to move to the target point to execute a preset cleaning instruction, thereby providing a specific implementation for the cleaning robot to clean the unclean area in the working area, so that the cleaning robot can quickly and accurately reach a reasonable position point when cleaning the unclean area, and perform accurate and effective cleaning operation.

[0050] In an exemplary embodiment, the first checkpoint can be determined in a first intermediate area between the non-clean area and the boundary of the working area and / or a second intermediate area between different non-clean areas, which can include:

[0051] extending the boundary of the non-clean area to the boundary of the working area to form a first extension line located in the first intermediate area, and determining a second checkpoint on the first extension line; and / or extending the boundary of the non-clean area to the boundary of the other non-clean area to form a second extension line located in the second intermediate area, and determining a second checkpoint on the second extension line;

[0052] determining the first checkpoint according to the second checkpoint.

[0053] In the present exemplary embodiment, the first extension line refers to an extension line of the first intermediate area between the boundary of the non-clean area and the boundary of the working area, which can be determined in the area 440 as shown in FIG. 4. The second extension line refers to an extension line of the second intermediate area between the boundary of the non-clean area and the boundary of the other non-clean area, which can be determined in the area 550 as shown in FIG. 5. In the present exemplary embodiment, the points on the first extension line formed by extending the boundary of the non-clean area to the boundary of the working area can be determined first, and the second checkpoint can be determined in these points, or the points on the second extension line formed by extending the boundary of the non-clean area to the boundary of the other non-clean area can be determined first, and the second checkpoint can be determined in these points.

[0054] In the example embodiment, the points on the extension line can all be the second checkpoints, or the second checkpoints can be determined at preset unit intervals on the extension line, etc. The second checkpoints can be regarded as the initially determined checkpoints to be checked, and the first checkpoints can be regarded as more effective and accurate checkpoints determined from the second checkpoints. By determining the first checkpoints from the second checkpoints and determining the unclean area based on the first checkpoints, the processing amount of calculating a large number of checkpoints can be reduced, and the accuracy and effectiveness of the unclean area determination can be improved. As shown in FIG. 6, in the second intermediate area 630 between the boundary of the unclean area 610 and the boundary of the unclean area 620, the boundary of the unclean area 610 extends to the boundary of the other unclean area 620, and a plurality of second extension lines can be formed, such as the extension line 640 or the extension line 650, etc. The example embodiment can regard the points on the extension line 640 and the extension line 650 as the second checkpoints, and then determine the first checkpoints from the second checkpoints.

[0055] In an example embodiment, the above-mentioned determination of the first checkpoints from the second checkpoints includes:

[0056] screening the second checkpoints satisfying the first preset condition as the first checkpoints;

[0057] The first preset condition includes one or more of the following:

[0058] The distance between the second checkpoint and the obstacle is not less than the first preset distance;

[0059] The distance between the second checkpoint and the unclean area is not more than the second preset distance;

[0060] The second checkpoint is located in the unclean area satisfying the first size condition;

[0061] The second checkpoint is not used as the first checkpoint in the current cleaning process for the working area.

[0062] The first preset condition refers to the judgment condition for screening the first checkpoints from the second checkpoints, and can include one or more of the following:

[0063] A. The distance between the second checkpoint and the obstacle is not less than the first preset distance, wherein the first preset distance can be customized as needed, for example, 30 cm (centimeters), or determined by the system, etc. The obstacle refers to an object in the working area that affects the movement of the cleaning robot, such as fixed obstacles such as refrigerators, wardrobes, table and chair legs, lines, and non-fixed obstacles such as pets, etc. The distance between the second checkpoint and the obstacle is determined to be not less than the first preset distance in order to ensure that there is no obstacle around the first checkpoint.

[0064] B, the second checkpoint is within a second preset distance from the non-clean area, wherein the second preset distance refers to a distance threshold for determining the distance from the non-clean area, which can be set by the system or set by the user, for example, 30 cm, and the second checkpoint is within the second preset distance from the non-clean area, so as to ensure that the first checkpoint is within a certain range near the non-clean area.

[0065] C, the second checkpoint is located in the non-clean area meeting the first size condition, and the first size condition can include the area, shape, length, width and other parameter conditions of the non-clean area, such as an area exceeding a preset area threshold, a shape being a preset shape, a length / width being greater than a preset length, and the like. The second checkpoint is located in the non-clean area meeting the first size condition, which can be that the second checkpoint is located in the non-clean area, such as any point in the non-clean area or a point on the boundary, and the non-clean area meets the first size condition, such as the length of the non-clean area being greater than a preset length threshold or the area being greater than a preset area threshold, and the second checkpoint being located in the non-clean area meeting the first size condition can ensure that the first checkpoint exists in a certain direction around the non-clean area meeting the first size condition, such as a non-clean area 35 cm to the left of the second checkpoint.

[0066] D, the second checkpoint is not used as the first checkpoint in the current cleaning process for the working area, so as to ensure that the first checkpoint is not repeatedly calculated.

[0067] Based on the above judgment process, in the working area shown in FIG. 7 including the non-clean area 710 and the non-clean area 720, the point on the second extension line 730 can be finally determined as the first checkpoint; in the working area shown in FIG. 8 including the non-clean area 810 and the non-clean area 820, the point on the second extension line 830 can be finally determined as the first checkpoint.

[0068] In an exemplary embodiment, step S330 can include:

[0069] Clustering the first checkpoints to form one or more checkpoint sets;

[0070] If the checkpoint set meets the second preset condition and the non-clean area meeting the preset relationship with the checkpoint set meets the second size condition, a target point is determined in the non-clean area.

[0071] In the present exemplary embodiment, the first checkpoint can be a valid and legal checkpoint, and the way of determining the target point can be that the first checkpoints are clustered to form one or more checkpoint sets, and the target point is determined in the non-clean area when the checkpoint set meets the second preset condition and the non-clean area meeting the preset relationship meets the second size condition.

[0072] The second preset condition is a constraint condition for the checkpoint set, such as a length of the checkpoint set exceeding a preset threshold. The second size condition is a constraint condition for the unclean area, such as a number of points in the unclean area exceeding a preset number, or an area of the unclean area exceeding a preset area threshold, and the like.

[0073] The preset relationship is a judgment relationship between the region to be judged as the unclean area and the checkpoint set. According to the preset relationship, the example embodiment can determine the corresponding unclean area in the working area. The preset relationship can be a specific distance relationship with the points in the checkpoint set. For example, a region formed by uncleaned points within a preset distance around the checkpoint set can be an unclean area that meets the preset relationship with the checkpoint set. Further, by judging whether the checkpoint set meets the second preset condition and whether the clean area meets the second size condition, it can be determined whether the target point can be determined in the unclean area.

[0074] In an example embodiment, the above-mentioned preset relationship can include: the distance from the checkpoint set is not more than a third preset distance.

[0075] That is, the example embodiment can find a region formed by a plurality of unclean points within a third preset distance from the checkpoint set in the working area as an unclean area, such as an unclean area where points that have not been cleaned within 30 cm around the checkpoint set.

[0076] In an example embodiment, the second preset condition includes: a checkpoint region determined according to the checkpoint set meets a third size condition.

[0077] The checkpoint region can include a region surrounded by points in the checkpoint set, a minimum enclosing region, or a region formed by sequentially connecting a first checkpoint in the checkpoint region, and the like. The checkpoint region meets the third size condition, such as an area condition, a first checkpoint number condition, a length-width condition of the region, and the like, to determine that it meets the second preset condition.

[0078] In the example embodiment, the checkpoint set meets the second preset condition, and the unclean area that meets the preset relationship with the checkpoint set meets the second size condition. The target point is determined in the unclean area, such as when the length of the checkpoint set is 6 unit grids, and the unclean area within a preset distance around the checkpoint set is 1 square meter or more.

[0079] In an example embodiment, the above-mentioned determining the target point in the unclean area can include:

[0080] Finding a point that meets a third preset condition in the unclean area as the target point;

[0081] The third preset condition includes one or more of the following:

[0082] a distance to the obstacle is not less than a fourth preset distance;

[0083] a distance to the non-clean area is not less than a fifth preset distance.

[0084] The example embodiment can find a point in the non-clean area, and take a point satisfying a third preset condition as the target point. The third preset condition can be a distance condition of the point to the obstacle and / or a distance condition of the point to the non-clean area. Specifically, the point to the obstacle can be searched in the non-clean area, and a point having a distance to the obstacle not less than a fourth preset distance can be taken as the target point. The point to the non-clean area can be searched in the non-clean area, and a point having a distance to the non-clean area not less than a fifth preset distance can be taken as the target point. The fourth preset distance and the fifth preset distance can be set according to actual needs. The third preset condition is determined to ensure that the target point found is surrounded by no obstacle and is far away from the non-clean area.

[0085] The specific search can be implemented in various ways. For example, the example embodiment can start from a plurality of checkpoints or any checkpoint in the checkpoint set, perform a BFS (Breath First Search) search in the direction of the non-clean area, and take a point satisfying the third preset condition as the target point.

[0086] In an example embodiment, the clustering of the first checkpoints to form one or more checkpoint sets can include:

[0087] a plurality of first checkpoints having a distance not more than a sixth preset distance to each other are divided into the same checkpoint set.

[0088] To reduce the calculation complexity while ensuring the effectiveness of the first checkpoints, the example embodiment can cluster the first checkpoints to form one or more checkpoint sets. Specifically, a plurality of first checkpoints having a distance not more than a sixth preset distance to each other can be divided into the same checkpoint set according to the distance between the positions of the first checkpoints. For example, the first checkpoints having a distance within 2 unit grids to each other can be clustered into one checkpoint set. Finally, a plurality of linear segment-shaped clustering results can be obtained. The size and unit of the sixth preset distance can be set according to actual needs, for example, 2 unit grids or 2 cm.

[0089] In an example embodiment, if the checkpoint set satisfies the second preset condition and the non-clean area satisfying the preset relationship with the checkpoint set satisfies the second size condition, the target point can be determined in the non-clean area, which can include:

[0090] The following target point searching process is performed on the checkpoint set in order from the checkpoint set closest to the cleaning robot to the checkpoint set farthest from the cleaning robot: if the checkpoint set meets the second preset condition and the uncleaned area meeting the preset relationship with the checkpoint set meets the second size condition, a target point is determined in the uncleaned area.

[0091] In response to determining the target point, the target point searching process is ended.

[0092] The distance of the cleaning robot refers to the distance between the current position of the cleaning robot and the boundary of the checkpoint set or the reference point of the checkpoint set, such as the center point. In the present exemplary embodiment, the distances of different checkpoint sets obtained by clustering to the cleaning robot may be different. The determination of the target point in the uncleaned area based on the checkpoint set can sequentially perform the target point searching process on the checkpoint set in order from the checkpoint set closest to the cleaning robot to the checkpoint set farthest from the cleaning robot. If the checkpoint set meets the second preset condition and the uncleaned area meeting the preset relationship with the checkpoint set meets the second size condition, a target point is determined in the uncleaned area, so as to improve the accuracy and efficiency of the checkpoint determination. When the target point is determined, the searching process for the target point can be stopped.

[0093] In an exemplary embodiment, during the process of controlling the cleaning robot to move to the target point, the above-mentioned control method of the cleaning robot can further include:

[0094] If the cleaning robot fails to move, it is detected whether the current position of the cleaning robot meets the fourth preset condition. If yes, the cleaning robot is controlled to perform a preset cleaning instruction.

[0095] The fourth preset condition includes one or more of the following:

[0096] Located in a target area where the target point is located;

[0097] Located in an uncleaned area meeting a fourth size condition.

[0098] When the control of the cleaning robot to move to the target point fails, the current position of the cleaning robot can be checked, and when a fourth preset condition is met, it is determined that the cleaning robot moves successfully, and the cleaning robot can be controlled to execute the preset cleaning instruction. The fourth preset condition can be that the current position to which the cleaning robot moves is in the target region where the target point is located, indicating that the cleaning robot is currently in the unclean region, or the current position to which the cleaning robot moves is located in the unclean region that meets the fourth size condition, for example, the unclean region around the current position exceeds the preset threshold, indicating that there is enough unclean region around the current position that needs to be cleaned, and then it is determined that the fourth preset condition is met, or the current position can also be in the target region where the target point is located and located in the unclean region that meets the fourth size condition. The fourth size condition refers to a condition for judging whether the size of the unclean region meets the judgment condition for executing the preset cleaning instruction. The condition can be an area condition, a number of points constituting the region condition, or a length, width condition related to the size of the region, and the specific numerical value or unit can be customized as needed, and the present disclosure does not make specific limitations. For example, in the process of controlling the cleaning robot to normally move to the target point, if the movement fails, the current position can be detected again whether it is in the region where the target point is located, and whether there is enough unclean region around the current position. If so, it is considered that the movement is successful, and the cleaning operation or the supplementary cleaning operation is continued. If the fourth preset condition is not met, the movement and the operation of executing the preset cleaning instruction can be stopped, and the unclean region is searched again.

[0099] In an example embodiment, the first intermediate region between the boundary of the non-cleaning region and the working region and / or the second intermediate region between different non-cleaning regions determines the first check point, which can include:

[0100] In the case where the regular cleaning instruction for the working region has been completed, the first check point is determined in the first intermediate region and / or the second intermediate region;

[0101] The control of the cleaning robot to move to the target point and execute the preset cleaning instruction includes:

[0102] The control of the cleaning robot to move to the target point and execute the preset cleaning instruction includes:

[0103] The regular cleaning instruction refers to an instruction that the cleaning robot cleans the to-be-cleaned area in the working area according to a pre-default cleaning instruction, for example, a default operation of cleaning the non-to-be-cleaned area in the working area. In actual application, the regular cleaning instruction is usually the first executed cleaning instruction, for example, the first round of cleaning operation in an environment without cleaning. When the regular cleaning instruction for the working area is completed, it is considered that there may be a missed area in the working area due to the shielding or surrounding of the non-to-be-cleaned area, so the first checkpoint in the first intermediate area and / or the second intermediate area is determined, the related inspection of the first checkpoint is used to determine whether there is a non-cleaned area in the working area and a target point of movement, and further, the cleaning robot is controlled to move to the target point to execute a supplementary cleaning instruction. The supplementary cleaning instruction can be regarded as a supplement to the regular cleaning instruction to supplement the missed non-cleaned area. The example embodiment can further improve the cleaning completeness and effectiveness of the cleaning robot for the working area by combining the regular cleaning instruction with the supplementary cleaning instruction.

[0104] FIG. 9 shows a flowchart of another control method of a cleaning robot, which can specifically include the following steps:

[0105] In step S902, a non-cleaned area in a working area is obtained; the working area includes a cleanable area and one or more non-cleaned areas, and at least part of the cleanable area is a non-cleaned area;

[0106] In step S904, a boundary of the non-cleaned area is extended to a boundary of the working area to form a first extension line located in a first intermediate area, and a second checkpoint is determined on the first extension line; and / or a boundary of the non-cleaned area is extended to a boundary of another non-cleaned area to form a second extension line located in a second intermediate area, and a second checkpoint is determined on the second extension line;

[0107] In step S906, a second checkpoint meeting a first preset condition is selected as a first checkpoint;

[0108] In step S908, the first checkpoints are clustered to form one or more checkpoint sets;

[0109] In step S910, it is determined whether the checkpoint set meets a second preset condition; for example, the length of the checkpoint set does not reach a preset threshold;

[0110] If the checkpoint set does not meet the second preset condition, return to step S906 or step S904;

[0111] Step S912, if the checkpoint set satisfies the second preset condition, it is determined whether the unclean area meeting the preset relationship with the checkpoint set satisfies a second size condition; for example, whether the unclean area reaches a preset area threshold;

[0112] If the unclean area meeting the preset relationship with the checkpoint set does not satisfy the second size condition, it is returned to step S906 or step S904;

[0113] Step S914, if the unclean area meeting the preset relationship with the checkpoint set satisfies the second size condition, a point meeting a third preset condition is found in the unclean area as a target point; for example, the checkpoint set finds a position without obstacles around and far away from the unclean area in the unclean area as the target point;

[0114] Step S916, the cleaning robot is controlled to move to the target point and execute a preset cleaning instruction;

[0115] Step S918, if the cleaning robot fails to move, it is detected whether the current position of the cleaning robot satisfies a fourth preset condition;

[0116] Step S920, if yes, the cleaning robot is controlled to execute the preset cleaning instruction;

[0117] Step S922, if no, the execution of the preset cleaning instruction is stopped.

[0118] FIG. 10 shows a schematic diagram of controlling the cleaning robot to move, the working area includes an unclean area 1010 and an unclean area 1020, and the cleaning robot 1030 completes the regular cleaning instruction in the right area, determines a target point 1040 in the unclean area 1050 based on the above process, and controls the cleaning robot 1030 to move to the target point 1040, starts to execute the supplementary cleaning instruction to perform supplementary cleaning on the unclean area 1050.

[0119] In an example embodiment of the present disclosure, a control device of a cleaning robot is also provided, as shown in FIG. 11, the control device 1100 of the cleaning robot can include: a non-cleaning area obtaining module 1110, a checkpoint determining module 1120, a target point determining module 1130, and a non-cleaning area obtaining module 1140, wherein: the non-cleaning area obtaining module 1110 is configured to obtain a non-cleaning area in a working area; the working area includes a cleanable area and one or more non-cleaning areas, at least part of the cleanable area is an uncleaned area; the checkpoint determining module 1120 is configured to determine a first checkpoint in an intermediate area between a boundary of the non-cleaning area and a boundary of a preset area; the target point determining module 1130 is configured to determine a target point in an uncleaned area that meets a preset relationship with the first checkpoint; and the cleaning instruction executing module 1140 is configured to control the cleaning robot to move to the target point and execute a preset cleaning instruction.

[0120] In an example embodiment of the present disclosure, the checkpoint determining module includes: a checkpoint determining unit configured to determine a first checkpoint in a first intermediate area between the non-cleaning area and a boundary of the working area and / or a second intermediate area between different non-cleaning areas.

[0121] In an example embodiment of the present disclosure, the checkpoint determining unit includes: a second checkpoint determining unit configured to extend the boundary of the non-cleaning area to the boundary of the working area to form a first extension line located in the first intermediate area, and determine a second checkpoint on the first extension line; and / or extend the boundary of the non-cleaning area to the boundary of the other non-cleaning area to form a second extension line located in the second intermediate area, and determine a second checkpoint on the second extension line; and a first checkpoint determining unit configured to determine the first checkpoint according to the second checkpoint.

[0122] In an example embodiment of the present disclosure, the first checkpoint determining unit includes: a first checkpoint screening sub-unit configured to screen out the second checkpoint that meets a first preset condition as the first checkpoint; and the first preset condition includes one or more of: the distance between the second checkpoint and the obstacle is not less than a first preset distance; the distance between the second checkpoint and the non-cleaning area is not more than a second preset distance; the second checkpoint is located in an uncleaned area that meets a first size condition; and the second checkpoint has not been a first checkpoint in a current cleaning process for the working area.

[0123] In an example embodiment of the present disclosure, the target point determining module includes: a checkpoint clustering unit configured to cluster the first checkpoints to form one or more checkpoint sets; and a target point determining unit configured to determine a target point in an uncleaned area that meets a second size condition if the checkpoint set meets a second preset condition and the uncleaned area that meets a preset relationship with the checkpoint set.

[0124] In an example embodiment of the present disclosure, the preset relationship comprises: a distance to the checkpoint set is not more than a third preset distance.

[0125] In an example embodiment of the present disclosure, the second preset condition comprises: a checkpoint region determined according to the checkpoint set satisfies a third size condition.

[0126] In an example embodiment of the present disclosure, the target point determination unit comprises: a target point determination subunit, configured to find a point satisfying a third preset condition in the unclean region as the target point; the third preset condition comprises one or more of: a distance to the obstacle is not less than a fourth preset distance; a distance to the unclean region is not less than a fifth preset distance.

[0127] In an example embodiment of the present disclosure, the checkpoint set clustering unit comprises: a clustering subunit, configured to divide a plurality of first checkpoints with a distance not more than a sixth preset distance to each other into the same checkpoint set.

[0128] In an example embodiment of the present disclosure, the target point determination unit comprises: a finding processing subunit, configured to sequentially perform the following target point finding processing on the checkpoint set in order of a distance from the checkpoint set to the cleaning robot from near to far: if the checkpoint set satisfies the second preset condition, and the unclean region meeting the preset relationship with the checkpoint set satisfies a second size condition, then determining the target point in the unclean region; a response judgment subunit, configured to end the target point finding processing in response to determining the target point.

[0129] In an example embodiment of the present disclosure, in the process of controlling the cleaning robot to move to the target point, the control device of the cleaning robot further comprises: a current position judgment unit, configured to, if the cleaning robot fails to move, detect whether a current position of the cleaning robot satisfies a fourth preset condition, and if so, control the cleaning robot to execute a preset cleaning instruction; the fourth preset condition comprises one or more of: located in a target region where the target point is located; located in an unclean region satisfying a fourth size condition.

[0130] In an example embodiment of the present disclosure, the checkpoint determination module comprises: a first checkpoint determination unit, configured to determine the first checkpoint in the first intermediate region and / or the second intermediate region in a case that a regular cleaning instruction for the working region has been completed; the cleaning instruction execution module comprises: a supplementary cleaning instruction execution unit, configured to control the cleaning robot to move to the target point and execute the supplementary cleaning instruction from the target point.

[0131] The specific details of the control device modules of the cleaning robots in the above have been described in detail in the corresponding control methods of the cleaning robots, and thus will not be described here again.

[0132] It should be noted that although several modules or units of devices for performing are mentioned in the above detailed description, such division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into a plurality of modules or units for embodiment.

[0133] In the exemplary embodiments of the present disclosure, an electronic device capable of implementing the above method is also provided, for example, the electronic device can be a cleaning robot capable of implementing the above method.

[0134] Those skilled in the art can understand that various aspects of the present disclosure can be implemented as a system, a method or a program product. Therefore, various aspects of the present disclosure can be embodied as a complete hardware embodiment, a complete software embodiment (including firmware, microcode, etc.), or an embodiment combining hardware and software aspects, which can be collectively referred to as "circuitry", "module" or "system" here.

[0135] The electronic device 1200 according to such exemplary embodiments of the present disclosure will be described below with reference to FIG. 12. FIG. 12 shows the electronic device 1200 only as an example, and should not bring any limitation to the functions and use range of the embodiments of the present disclosure.

[0136] As shown in FIG. 12, the electronic device 1200 is in the form of a general computing device. The components of the electronic device 1200 can include, but are not limited to, the above-mentioned at least one processing unit 1210, the above-mentioned at least one storage unit 1220, a bus 1230 connecting different system components (including the storage unit 1220 and the processing unit 1210), a display unit 1240.

[0137] Among them, the storage unit stores program code, which can be executed by the processing unit 1210, so that the processing unit 1210 performs the steps according to various exemplary embodiments of the present disclosure described in the above "Exemplary Method" section of the present specification. For example, the processing unit 1210 can perform the steps shown in FIG. 3 or FIG. 9, etc.

[0138] The storage unit 1220 can include a readable medium in the form of a volatile storage unit, such as a random access memory (RAM) 1221 and / or a cache memory unit 1222, and can further include a read-only memory (ROM) 1223.

[0139] Storage unit 1220 may also include a program / utility 1224 having a set (at least one) of program modules 1225, such program modules 1225 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0140] Bus 1230 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0141] Electronic device 1200 can also communicate with one or more external devices 1300 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 1200, and / or with any device that enables electronic device 1200 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 1250. Furthermore, electronic device 1200 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 1260. As shown, network adapter 1260 communicates with other modules of electronic device 1200 via bus 1230. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 1200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0142] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0143] In an exemplary embodiment of this disclosure, a cleaning robot is also provided, comprising: a body; and a controller disposed in the body; the controller may be configured to execute the control method of the cleaning robot described above.

[0144] In the example embodiments of the present disclosure, a cleaning system is also provided, which comprises a base station and a cleaning robot, wherein the base station can be used at least for charging the cleaning robot, and can also be used for self-cleaning or water replenishment of the cleaning robot according to actual needs.

[0145] In the example embodiments of the present disclosure, a computer readable storage medium is also provided, on which a program product capable of implementing the above-mentioned method of the present disclosure is stored. In some possible implementations, various aspects of the present disclosure can also be implemented in the form of a program product, which includes program codes for causing the terminal device to perform the steps described in the above-mentioned “example method” section of the present disclosure according to various example embodiments of the present disclosure when the program product is run on the terminal device.

[0146] The program product for implementing the above-mentioned method according to the embodiments of the present disclosure can adopt a portable compact disc read-only memory (CD-ROM) and include program codes, and can be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited to this, and in the present document, the readable storage medium can be any tangible medium containing or storing a program, which can be used by or in conjunction with an instruction execution system, apparatus or device.

[0147] The program product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, be but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0148] The computer readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which readable program codes are borne. Such a propagated data signal can adopt various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The readable signal medium can also be any readable medium other than the readable storage medium, which can send, propagate or transmit programs for use by or in conjunction with an instruction execution system, apparatus or device.

[0149] The program codes contained on the readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0150] The program code may, for example, be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, for example, through the Internet using an Internet Service Provider.

[0151] In addition, the above-described flowcharts are merely illustrative of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to limit the purpose. It is easily understood that the processes shown in the above-described flowcharts do not indicate or limit the time sequence of the processes. In addition, it is also easily understood that the processes can be executed synchronously or asynchronously, for example, in a plurality of modules.

[0152] Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon considering the description hereof, particularly the methods disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present disclosure following, in general, the principles of the present disclosure and including such departures from the present disclosure that come within known or customary practice in the art to which the present disclosure pertains. The teachings of the specification and the examples are to be considered exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0153] It is to be understood that the present disclosure is not limited to the precise construction described and shown in the drawings and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present disclosure. The scope of the present disclosure is limited only by the claims appended hereto.

Claims

1. A control method of a cleaning robot in which, The method comprises: acquiring a non-clean area in a working area; the working area comprises a cleanable area and one or more non-clean areas, at least part of the cleanable area is an unclean area; determining a first checkpoint in an intermediate area between a boundary of the non-clean area and a boundary of a preset area; determining a target point in an unclean area meeting a preset relationship with the first checkpoint; and controlling a cleaning robot to move to the target point and execute a preset cleaning instruction.

2. The method of claim 1, wherein, The determining of the first checkpoint in the intermediate area between the boundary of the non-clean area and the boundary of the preset area comprises: determining the first checkpoint in a first intermediate area between the non-clean area and a boundary of the working area and / or a second intermediate area between different non-clean areas.

3. The method of claim 2, wherein, The determining of the first checkpoint in the first intermediate area between the non-clean area and the boundary of the working area and / or the second intermediate area between different non-clean areas comprises: extending the boundary of the non-clean area to the boundary of the working area to form a first extension line located in the first intermediate area, and determining a second checkpoint on the first extension line; and / or extending the boundary of the non-clean area to the boundary of another non-clean area to form a second extension line located in the second intermediate area, and determining a second checkpoint on the second extension line; determining the first checkpoint according to the second checkpoint.

4. The method of claim 3, wherein, The determining of the first checkpoint according to the second checkpoint comprises: screening the second checkpoint meeting a first preset condition as the first checkpoint. The first preset condition comprises one or more of: a distance between the second checkpoint and an obstacle is not less than a first preset distance; a distance between the second checkpoint and the non-clean area is not more than a second preset distance; the second checkpoint is located in an unclean area meeting a first size condition; the second checkpoint is not a first checkpoint in a current cleaning process for the working area.

5. The method of claim 1, wherein, The determining of the target point in the unclean area meeting the preset relationship with the first checkpoint comprises: clustering the first checkpoints to form one or more checkpoint sets; if the checkpoint set meets a second preset condition and an unclean area meeting a preset relationship with the checkpoint set meets a second size condition, determining a target point in the unclean area.

6. The method of claim 5, wherein, The preset relationship comprises that a distance between the checkpoint set and the unclean area is not more than a third preset distance.

7. The method of claim 5, wherein, The second preset condition comprises that a checkpoint area determined according to the checkpoint set meets a third size condition.

8. The method of claim 5, wherein, The determining of the target point in the unclean area comprises: finding a point meeting a third preset condition in the unclean area as the target point. The third preset condition comprises one or more of: a distance from an obstacle is not less than a fourth preset distance; a distance from the non-clean area is not less than a fifth preset distance.

9. The method of claim 5, wherein, The clustering of the first checkpoints to form one or more checkpoint sets comprises: dividing a plurality of first checkpoints with a distance therebetween not more than a sixth preset distance into a same checkpoint set.

10. The method of claim 5, wherein, If the checkpoint set meets a second preset condition and an unclean area meeting a preset relationship with the checkpoint set meets a second size condition, a target point is determined in the unclean area, including: In order from near to far of the distance between the checkpoint set and the cleaning robot, the checkpoint set is sequentially subjected to the following target point finding processing: if the checkpoint set meets a second preset condition and an unclean area meeting a preset relationship with the checkpoint set meets a second size condition, a target point is determined in the unclean area; In response to determining the target point, the target point finding processing is ended.

11. The method of claim 1, wherein, In the process of controlling the cleaning robot to move to the target point, the method further includes: If the cleaning robot fails to move, it is detected whether the current position of the cleaning robot meets a fourth preset condition, and if so, the cleaning robot is controlled to execute a preset cleaning instruction; The fourth preset condition includes one or more of: Located in a target area where the target point is located; Located in an unclean area meeting a fourth size condition.

12. The method of claim 1, wherein, The first checkpoint is determined in the first intermediate area between the unclean area and the boundary of the working area and / or the second intermediate area between different unclean areas, including: In the case where the regular cleaning instruction for the working area has been completed, the first checkpoint is determined in the first intermediate area and / or the second intermediate area; The control of the cleaning robot to move to the target point and execute the preset cleaning instruction includes: Controlling the cleaning robot to move to the target point and execute a supplementary cleaning instruction starting from the target point.

13. A control device of a cleaning robot, comprising: An unclean area acquisition module for acquiring an unclean area in a working area; The working area includes a cleanable area and one or more unclean areas, at least part of the cleanable area is an unclean area; A checkpoint determination module for determining a first checkpoint in an intermediate area between the boundary of the unclean area and the boundary of a preset area; A target point determination module for determining a target point in an unclean area meeting a preset relationship with the first checkpoint; And A cleaning instruction execution module for controlling the cleaning robot to move to the target point and execute a preset cleaning instruction. 14.The control device of the cleaning robot according to claim 13, wherein The checkpoint determination module includes a checkpoint determination unit for determining a first checkpoint in a first intermediate area between the unclean area and the boundary of the working area and / or a second intermediate area between different unclean areas. 15.The control device of the cleaning robot according to claim 14, wherein The checkpoint determination unit includes: A second checkpoint determination unit for extending the boundary of the unclean area to the boundary of the working area to form a first extension line located in the first intermediate area, and determining a second checkpoint on the first extension line; and / or extending the boundary of the unclean area to the boundary of other unclean areas to form a second extension line located in the second intermediate area, and determining a second checkpoint on the second extension line; A first checkpoint determination unit for determining the first checkpoint according to the second checkpoint. 16.The control device of the cleaning robot according to claim 15, wherein The first checkpoint determination unit comprises a first checkpoint screening subunit configured to screen the second checkpoint satisfying a first preset condition as the first checkpoint; The first preset condition comprises one or more of the following: The second checkpoint is located at a distance from an obstacle not less than a first preset distance; The second checkpoint is located at a distance from the non-clean region not more than a second preset distance; The second checkpoint is located at an unclean region satisfying a first size condition; The second checkpoint is not a first checkpoint in a current cleaning process for the working region. 17.The control device of the cleaning robot according to claim 13, wherein The target point determination module comprises: A checkpoint cluster unit configured to cluster the first checkpoints to form one or more checkpoint clusters; A target point determination unit configured to determine a target point in an unclean region satisfying a second preset condition and a second size condition with the checkpoint cluster in a preset relationship. 18.The control device of the cleaning robot according to claim 17, wherein The preset relationship comprises a distance from the checkpoint cluster not more than a third preset distance. 19.The control device of the cleaning robot according to claim 17, wherein The second preset condition comprises a checkpoint region determined according to the checkpoint cluster satisfying a third size condition. 20.The control device of the cleaning robot according to claim 17, wherein The target point determination unit comprises a target point determination subunit configured to find a point satisfying a third preset condition in the unclean region as the target point; The third preset condition comprises one or more of the following: A distance from an obstacle not less than a fourth preset distance; A distance from the non-clean region not less than a fifth preset distance. 21.The control device of the cleaning robot according to claim 17, wherein The checkpoint cluster unit comprises a clustering subunit configured to divide a plurality of first checkpoints with a distance therebetween not more than a sixth preset distance into the same checkpoint cluster. 22.The control device of the cleaning robot according to claim 17, wherein The target point determination unit comprises: A finding processing subunit configured to sequentially perform the following target point finding processing on the checkpoint cluster in order of a distance from the checkpoint cluster to the cleaning robot from near to far: if the checkpoint cluster satisfies a second preset condition and an unclean region satisfying a second size condition in a preset relationship with the checkpoint cluster, a target point is determined in the unclean region; A response judgment subunit configured to end the target point finding processing in response to determining the target point. 23.The control device of the cleaning robot according to claim 13, wherein In the process of controlling the cleaning robot to move to the target point, the control device of the cleaning robot further comprises a current position judgment unit configured to, if the cleaning robot fails to move, detect whether a current position of the cleaning robot satisfies a fourth preset condition, and if so, control the cleaning robot to execute a preset cleaning instruction; The fourth preset condition comprises one or more of the following: Located at a target region where the target point is located; Located at an unclean region satisfying a fourth size condition. 24.The control device of the cleaning robot according to claim 13, wherein The checkpoint determination module comprises a first checkpoint determination unit configured to determine a first checkpoint in the first intermediate region and / or the second intermediate region in a case where a regular cleaning instruction for the working region has been completed; The cleaning instruction execution module comprises a supplementary cleaning instruction execution unit configured to control the cleaning robot to move to the target point and execute a supplementary cleaning instruction starting from the target point. 25.A cleaning robot, comprising: a body; and a controller disposed in the body; the controller is configured to perform the control method of the cleaning robot of any one of claims 1-12. 26.A cleaning system, comprising: a base station; and the cleaning robot of claim 25, wherein the base station is at least used to charge the cleaning robot. 27.A computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the method of any one of claims 1-12. 28.An electronic device, comprising: a processor; and a memory storing executable instructions of the processor; wherein the processor is configured to perform the method of any one of claims 1-12 via executing the executable instructions.

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