Cleaning device control method and related device

Abstract

The present application disclose a control method for a cleaning device and related devices. After receiving a first cleaning instruction, the cleaning device is controlled to first clean a target carpet region, and then to clean a non-target region in an operation region other than the target carpet region, and a cleaning component of the cleaning device is unwetted while the target carpet region is cleaned.

1 . A control method for a cleaning device, comprising: 
 controlling, in response to a first cleaning instruction, the cleaning device to first clean a target carpet region; and   controlling, after the target carpet region has been cleaned, the cleaning device to clean a non-target region other than the target carpet region,   wherein after responding to the first cleaning instruction, a cleaning component of the cleaning device maintains unwetted during cleaning of the target carpet region by the cleaning device.   
     
     
         2 . The control method for the cleaning device according to  claim 1 , wherein the cleaning device comprises a mopping operation mode and a sweeping operation mode; 
       in a case where an operation mode for the target carpet region comprises the sweeping operation mode but does not comprise the mopping operation mode, responding to the first cleaning instruction is allowed; and 
       in a case where a cleaning region does not comprise the target carpet region or a cleaning mode for the target carpet region comprises the mopping operation mode, responding to a second cleaning instruction is allowed, 
       wherein the second cleaning instruction is different from the first cleaning instruction. 
     
     
         3 . The control method for the cleaning device according to  claim 1 , wherein before the step of controlling the cleaning device to clean the non-target region other than the target carpet region, the control method further comprises: 
 determining, based on a target operation mode for the non-target region, whether to wet the cleaning component.   
     
     
         4 . The control method for the cleaning device according to  claim 3 , wherein the step of determining, based on the target operation mode for the non-target region, whether to wet the cleaning component comprises: 
 wetting the cleaning component in a case where the target operation mode for the non-target region comprises the mopping operation mode;   not wetting the cleaning component in a case where the target operation mode for the non-target region comprises the sweeping operation mode; and/or   determining whether a cleaning region that needs to execute the sweeping operation mode and not execute the mopping operation mode exists in the non-target region; and   in response to determining that a cleaning region that needs to execute the sweeping operation mode and not execute the mopping operation mode exists in the non-target region, not wetting the cleaning component, and controlling the cleaning device to first clean the cleaning region.   
     
     
         5 . The control method for the cleaning device according to  claim 4 , wherein 
       the cleaning component is wetted by at least one of a base cloth washing apparatus, a spraying apparatus, and a liquid seepage apparatus of the cleaning device. 
     
     
         6 . The control method for the cleaning device according to  claim 1 , further comprising: 
 setting the target carpet region as a low-frequency passage region in a case where the cleaning component is wetted; and   controlling the cleaning device to preferentially move through a region other than the low-frequency passage region.   
     
     
         7 . The control method for the cleaning device according to  claim 6 , wherein the step of controlling the cleaning device to preferentially move through the region other than the low-frequency passage region comprises: 
 determining a target traveling region, and determining a plurality of target traveling paths based on the target traveling region and the low-frequency passage region;   designating, in a case where one or more first target traveling paths capable of bypassing the low-frequency passage region exist among the plurality of target traveling paths, the first target traveling path or one of the first target traveling paths as a traveling path; and   determining, in a case where no first target path capable of bypassing the low-frequency passage region exists among the plurality of target traveling paths, a traveling distance of each of the target traveling paths over the low-frequency passage region, and designating one of the plurality of target traveling paths with a shortest traveling distance as the traveling path.   
     
     
         8 . The control method for the cleaning device according to  claim 7 , wherein 
       in a case where the cleaning device first cleans the target carpet region, the operation mode for the cleaning device comprises at least one of a pressurized cleaning mode and/or a secondary cleaning mode; and in a case where the cleaning device passes through the low-frequency passage region via the traveling path, the operation mode for the cleaning device does not comprise the pressurized cleaning mode and the secondary cleaning mode, 
       wherein in a case where the cleaning device passes through the low-frequency passage region via the traveling path, the cleaning component is in an elevated state; and 
       wherein the target traveling region comprises a region to be cleaned or a region where a base station is located. 
     
     
         9 . The control method for the cleaning device according to  claim 1 , further comprising: 
 determining a type of a carpet region in an operation region based on historical operation information of the cleaning device,   wherein the historical operation information comprises at least one of a historically accessible map, a persistent obstacle map, and simultaneous localization and mapping; and   wherein the type of carpet region comprises a target carpet region and a non-target carpet region.   
     
     
         10 . The control method for the cleaning device according to  claim 9 , wherein the step of determining the type of the carpet region in the operation region based on the historical operation information of the cleaning device comprises: 
 determining an area of the carpet region based on the historical operation information, and designating the carpet region as a non-target carpet region in a case where the area of the carpet region is less than or equal to a preset value; and/or   designating a carpet region as a non-target carpet region in a case where said carpet region is a region visible to a laser distance sensor, and a periphery of the carpet region is not blocked by an obstacle but has not been reached; and/or   designating a carpet region as a non-target carpet region when said carpet region not recorded in the historical operation information is identified during traveling of the cleaning device;   setting a type of the carpet region or of a partial region in the carpet region as a target carpet region, in response to a first setting instruction from a user; and/or   setting a partial region of the operation region where the cleaning device is located as a target carpet region, in response to a second setting instruction from the user.   
     
     
         11 . The control method for the cleaning device according to  claim 10 , wherein 
       the step of controlling the cleaning device to first clean the target carpet region comprises: 
 controlling, during cleaning of the target carpet region and when a traveling route passes through the non-target carpet region, the cleaning device to pass through the non-target carpet region; and 
 the step of controlling the cleaning device to clean the non-target region other than the target carpet region comprises: 
 controlling, during cleaning of a non-target region, the cleaning component of the cleaning device to be elevated, to clean a carpet in the non-target carpet region. 
 
 
     
     
         12 . The control method for the cleaning device according to  claim 1 , further comprising: 
 designating, in response to a start instruction, a map filled after previous cleaning as a map to be cleaned, in a case where the cleaning device is still in an operation space for a previous operation;   allowing responding to the first cleaning instruction in a case where the map to be cleaned comprises the target carpet region; and   disallowing responding to the first cleaning instruction in a case where the map to be cleaned does not comprise the target carpet region.   
     
     
         13 . The control method for the cleaning device according to  claim 12 , further comprising: 
 determining, in response to the start instruction, simultaneous localization and mapping information of the cleaning device in a case where the cleaning device is not in the operation space for the previous operation;   allowing responding to the first cleaning instruction in a case where the simultaneous localization and mapping information comprises the target carpet region;   disallowing responding to the first cleaning instruction in a case where the simultaneous localization and mapping information does not comprise the target carpet region; and   controlling the cleaning device to construct new simultaneous localization and mapping in a case where the simultaneous localization and mapping information is not acquired.   
     
     
         14 . The control method for the cleaning device according to  claim 13 , further comprising: 
 determining whether the cleaning device is in the operation space for the previous operation, based on a movement state of the cleaning device and power-off information.   
     
     
         15 . A non-transitory computer-readable storage medium, wherein 
       the computer-readable storage medium has a computer program stored thereon for implementing a control method for a cleaning device, the method comprising: 
 controlling, in response to a first cleaning instruction, the cleaning device to first clean a target carpet region; and 
 controlling, after the target carpet region has been cleaned, the cleaning device to clean a non-target region other than the target carpet region, 
 wherein after responding to the first cleaning instruction, a cleaning component of the cleaning device maintains unwetted during cleaning of the target carpet region by the cleaning device. 
 
     
     
         16 . An electronic device, comprising: 
 a memory, having a computer program stored thereon; and   a processor, configured to execute the computer program,   wherein the processor, when executing the computer program, further configured to: 
 control, in response to a first cleaning instruction, a cleaning device to first clean a target carpet region; and 
 control, after the target carpet region has been cleaned, the cleaning device to clean a non-target region other than the target carpet region, 
 wherein after responding to the first cleaning instruction, a cleaning component of the cleaning device maintains unwetted during cleaning of the target carpet region by the cleaning device.