CN107807649A - A kind of sweeping robot and its cleaning method, device - Google Patents

Abstract

The invention discloses a cleaning method for a floor-sweeping robot, comprising: constructing an initial cleaning route of a target cleaning area; controlling the sweeping robot to clean along the initial cleaning route; obtaining a first cleanliness degree of the first route during the cleaning process, wherein, The first route is an initial cleaning route whose distance from the current position of the sweeping robot does not exceed the first distance threshold; when the first cleanliness is lower than the preset first cleanliness threshold, control the sweeping robot to the first The route is cleaned repeatedly until the first cleanliness exceeds the first cleanliness threshold, and the sweeping robot is controlled to continue cleaning along the initial cleaning route. The cleaning efficiency of the sweeping robot is improved by applying the technical solutions provided by the embodiments of the present invention. The invention also provides a sweeping robot and its cleaning device, which have corresponding technical effects.

Description

A sweeping robot and its cleaning method and device

technical field

The invention relates to the technical field of intelligent robots, in particular to a sweeping robot and its cleaning method and device.

Background technique

With the development of science and technology, smart home appliances are becoming more and more popular, and sweeping robots are one of them. The sweeping robot in the prior art adopts a random coverage method or a path planning method when determining a walking route.

The algorithm involved in the sweeping robot of the random coverage method is simple, but because there is no walking pattern, the cleaning efficiency is very low. If you want to use this kind of sweeping robot for cleaning, it will take a long time, which also makes the energy consumption very high. Moreover, even after cleaning for a long time, it is still impossible to ensure 100% coverage of the area to be cleaned.

The sweeping robot using the path planning method can cover the area that needs to be cleaned when cleaning, but it just blindly cleans according to the prescribed route. Because in life, the degree of garbage accumulation in different locations and the difficulty of garbage cleaning are usually different, when using this kind of sweeping robot to clean, it usually appears that some areas are clean, but there are still garbage in some areas. Users are naturally dissatisfied with such results, and will control the sweeping robot to clean again, or even multiple times. Every time it cleans, this sweeping robot still cleans the entire area to be cleaned according to the prescribed route. Therefore, the cleaning method using this sweeping robot is still very low in cleaning efficiency, which also causes high cleaning energy consumption. In addition, for some stubborn garbage, this cleaning method may still be difficult to deal with.

To sum up, how to control the cleaning robot to improve cleaning efficiency during cleaning is a technical problem urgently needed to be solved by those skilled in the art.

Contents of the invention

The object of the present invention is to provide a sweeping robot and its cleaning method and device, so as to improve cleaning efficiency.

In order to solve the above technical problems, the present invention provides the following technical solutions:

A cleaning method for a sweeping robot, the method comprising:

Build an initial cleaning route for the target cleaning area;

Control the sweeping robot to clean along the initial cleaning route;

Obtaining the first cleanliness of the first route during the cleaning process, wherein the first route is the initial cleaning route that has been cleaned and whose distance from the current position of the sweeping robot does not exceed a first distance threshold;

When the first cleanliness is lower than a preset first cleanliness threshold, the sweeping robot is controlled to repeatedly clean the first route until the first cleanliness exceeds the first cleanliness threshold, And control the sweeping robot to continue cleaning along the initial cleaning route.

Preferably, the cleaning method also includes:

Obtaining the second cleanliness of the second route during the cleaning process, wherein the second route is the initial cleaning route that has not been cleaned and whose distance from the current position of the sweeping robot does not exceed a second distance threshold;

determining the moving speed of the sweeping robot according to the second cleanliness;

The cleaning robot is controlled to clean along the initial cleaning route according to the moving speed.

Preferably, the determining the moving speed of the sweeping robot according to the second cleanliness includes:

When the second cleanliness is lower than the second cleanliness threshold, determine that the moving speed of the sweeping robot is the first speed;

When the second cleanliness is higher than the second cleanliness threshold, it is determined that the moving speed of the cleaning robot is a second speed; wherein the second speed is greater than the first speed.

Preferably, controlling the sweeping robot to clean along the initial cleaning route includes:

Using the navigation system and the gyroscope, the sweeping robot is controlled to clean along the initial cleaning route.

Preferably, the cleaning method also includes:

When the cleaning of the target cleaning area is completed along the initial cleaning route, a prompt message of cleaning completion is output.

Preferably, said obtaining the first cleanliness of the first route during the cleaning process includes:

During the cleaning process, the first cleanliness of the first route is obtained in real time through the camera.

Preferably, the construction of the initial cleaning route of the target cleaning area includes:

Construct an environmental map of the target cleaning area based on the navigation system;

According to the environment map, the initial cleaning route is constructed by using the Z-shaped and bow-shaped mixed motion trajectory.

A cleaning device for a sweeping robot, the device comprising:

The initial route construction module is used to construct the initial cleaning route of the target cleaning area;

A cleaning control module, configured to control the sweeping robot to clean along the initial cleaning route;

The first cleanliness acquisition module is configured to acquire the first cleanliness of the first route during the cleaning process, wherein the first route is already cleaned with a distance from the current position of the sweeping robot that does not exceed a first distance threshold said initial cleaning route passed;

A repetitive cleaning module, configured to control the sweeping robot to repeatedly clean the first route when the first cleanliness level is lower than a preset first cleanliness threshold until the first cleanliness level exceeds the the first cleanliness threshold, and control the sweeping robot to continue cleaning along the initial cleaning route.

Preferably, the cleaning device also includes:

The second cleanliness acquisition module is configured to acquire the second cleanliness of the second route during the cleaning process, wherein the second route is an uncleaned route whose distance from the current position of the sweeping robot does not exceed a second distance threshold said initial cleaning route passed;

A moving speed determination module, configured to determine the moving speed of the sweeping robot according to the second degree of cleanliness;

The cleaning control submodule is used to control the sweeping robot to clean along the initial cleaning route according to the moving speed.

A sweeping robot comprising the cleaning device described in any one of the above.

Apply the technical solution provided by the embodiment of the present invention to construct the initial cleaning route of the target cleaning area. Since the cleaning route is constructed according to the target cleaning area, if the sweeping robot finishes traveling along the cleaning route, the target cleaning area has been cleaned at least once. Control the sweeping robot to clean along the initial cleaning route, and acquire the first cleanliness of the first route during the cleaning process. Since the first route is the route that the sweeping robot has already cleaned, and the first cleanliness of the first route is obtained, the areas where the garbage has not been cleaned can be found in time on the routes that the sweeping robot has passed. When the first cleanliness is lower than the preset first cleanliness threshold, the sweeping robot is controlled to repeatedly clean the first route until the first cleanliness exceeds the first cleanliness threshold. The cleanliness of the route that has been cleaned is lower than the first cleanliness threshold, which means that there are more garbage, or it is difficult to clean. The solution of the present invention adopts a repeated cleaning method for this situation until the first cleanliness exceeds the threshold After a cleanliness threshold, control the sweeping robot to continue cleaning along the initial cleaning route. That is to say, in the solution of the present invention, repeated cleaning is performed for some lines that are difficult to clean, and other lines that can be cleaned at one time do not repeat cleaning, that is, go along the initial cleaning route once, and the target cleaning area is cleaned. Greatly improved cleaning efficiency. Moreover, for some stubborn garbage, repeated cleaning is beneficial to clean it up.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the implementation flowchart of the cleaning method of a kind of sweeping robot in the present invention;

Fig. 2 is a structural schematic diagram of a cleaning device of a sweeping robot in the present invention.

Detailed ways

The core of the present invention is to provide a cleaning method for a floor-sweeping robot. After walking along the initial cleaning route, the target cleaning area is cleaned, which greatly improves the cleaning efficiency. Moreover, for some stubborn garbage, repeated cleaning is beneficial to clean it up.

In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Fig. 1, which is an implementation flowchart of a cleaning method for a sweeping robot provided in a specific embodiment of the present invention. The method includes the following steps:

S101: Construct an initial cleaning route for a target cleaning area.

The target cleaning area is the area that the sweeping robot needs to clean, such as the user's living room, bedroom, or school playground. It can be a regular area or an irregular area. To construct the initial cleaning route for the target cleaning area, it should be pointed out that in the scheme of the present application, the constructed initial cleaning route for the target cleaning area can be a route that completely covers the target cleaning area, that is, to achieve 100% coverage. Of course, It is also possible to select some routes with higher coverage according to actual needs, which does not affect the implementation of the present invention.

After the initial cleaning route of the target cleaning area is constructed, the operation of step S102 may be performed.

S102: Control the sweeping robot to clean along the initial cleaning route.

After building the cleaning route, control the sweeping robot to clean along the cleaning route.

S103: Obtain the first cleanliness of the first route during the cleaning process, wherein the first route is an initial cleaning route whose distance from the current position of the cleaning robot does not exceed a first distance threshold.

The first route refers to an initial cleaning route whose distance from the current position of the cleaning robot does not exceed a first distance threshold. For the convenience of expression, it may be called that the sweeping robot sweeps along the initial cleaning route as the sweeping robot advances along the initial cleaning route, and the moving direction of the sweeping robot is called the front of the sweeping robot. The direction opposite to the initial cleaning route is called the rear of the robot vacuum. That is to say, the first route refers to the part of the initial cleaning route that is behind the sweeping robot and whose distance from the current position of the sweeping robot does not exceed the first distance threshold. The first distance threshold can be set and adjusted according to the actual situation. For example, if it is set to 3 meters, then the first route is: the initial cleaning route within 3 meters behind the sweeping robot. Of course, the first distance threshold can also be determined according to the detection equipment of the first cleanliness. For example, when the first cleanliness of the first route is obtained through the camera and related image processing devices, the detection distance of the camera is 4 meters, then the Setting the first distance threshold to 4 meters does not affect the implementation of the present invention.

The first degree of cleanliness of the first route is acquired during the cleaning process, the first degree of cleanliness indicates the degree of cleanliness of the first route, and the cleaner the ground of the first route, the higher the first degree of cleanliness. The camera can be used to collect images of the first route, and then process the collected images to determine the cleanliness of the first route. The camera can be set on the top of the sweeping robot, can be set as a fixed camera according to actual needs, or can be set as a rotatable camera.

S104: When the first cleanliness is lower than the preset first cleanliness threshold, control the sweeping robot to repeatedly clean the first route until the first cleanliness exceeds the first cleanliness threshold, and control the sweeping robot to continue along the initial Sweep the route to clean.

After determining the first cleanliness of the first route, the determined first cleanliness is compared with the first cleanliness threshold, and when the first cleanliness is lower than the preset first cleanliness threshold, the sweeping robot is controlled to Repeat sweeping for the first route. The first cleanliness threshold can be set and adjusted according to actual conditions, for example, adjusted according to different requirements of users on the cleanliness of the ground, adjusted according to different types of ground in the target cleaning area, and so on.

When the first cleanliness is lower than the preset first cleanliness threshold, it means that although the first route has been cleaned by the sweeping robot, the cleaning result does not meet the requirements. This may be because there is more garbage in the first route, or the second route If there are stubborn stains on the first route, etc., the sweeping robot is controlled to clean the first route repeatedly. When performing repeated cleaning for the first route, multiple ways of repeated cleaning can be adopted, all of which will not affect the implementation of the present invention. For example, the first route is a route from point A to B, and the sweeping robot can be controlled to move back and forth between point A and point B until the first route is cleaned. It can also specifically locate the location of stubborn stains between point A and point B, and control the sweeping robot to move repeatedly at this location. For example, when the position is moved repeatedly, the direction of the repeated movement can be constantly adjusted during the repeated movement, so as to deal with the garbage that is easy to clean from some angles but not easy to clean from some angles.

After repeated cleaning, until the first cleanliness exceeds the first cleanliness threshold, control the sweeping robot to continue cleaning along the initial cleaning route. For example, in the above example, when the first cleanliness level exceeds the first cleanliness threshold, the sweeping robot is controlled to return to point B and clean along the initial cleaning route.

Apply the technical solution provided by the embodiment of the present invention to construct the initial cleaning route of the target cleaning area. Since the cleaning route is constructed according to the target cleaning area, if the sweeping robot finishes traveling along the cleaning route, the target cleaning area has been cleaned at least once. Control the sweeping robot to clean along the initial cleaning route, and acquire the first cleanliness of the first route during the cleaning process. Since the first route is the route that the sweeping robot has already cleaned, and the first cleanliness of the first route is obtained, the areas where the garbage has not been cleaned can be found in time on the routes that the sweeping robot has passed. When the first cleanliness is lower than the preset first cleanliness threshold, the sweeping robot is controlled to repeatedly clean the first route until the first cleanliness exceeds the first cleanliness threshold. The cleanliness of the route that has been cleaned is lower than the first cleanliness threshold, which means that there are more garbage, or it is difficult to clean. The solution of the present invention adopts a repeated cleaning method for this situation until the first cleanliness exceeds the threshold After a cleanliness threshold, control the sweeping robot to continue cleaning along the initial cleaning route. That is to say, in the solution of the present invention, repeated cleaning is performed for some lines that are difficult to clean, and other lines that can be cleaned at one time do not repeat cleaning, that is, go along the initial cleaning route once, and the target cleaning area is cleaned. Greatly improved cleaning efficiency. Moreover, for some stubborn garbage, repeated cleaning is beneficial to clean it up.

In a specific embodiment of the present invention, cleaning method also comprises the following steps:

Step 1: Obtain the second cleanliness of the second route during the cleaning process, wherein the second route is an unswept initial cleaning route whose distance from the current position of the sweeping robot does not exceed the second distance threshold;

Step 2: Determine the moving speed of the sweeping robot according to the second cleanliness;

Step 3: Control the sweeping robot to clean along the initial cleaning route according to the moving speed.

For ease of description, the above three steps are combined for description.

The second route is: an initial cleaning route that has not been cleaned and whose distance from the current position of the sweeping robot does not exceed a second distance threshold. The definition of the second route is similar to the first route, which can be understood as the route in front of the sweeping robot. The second distance threshold can also be set and adjusted according to the actual situation. For example, if it is set to 5 meters, the second route is the initial cleaning route that has not been cleaned within 5 meters in front of the sweeping robot. Obtain the second cleanliness of the second route during the cleaning process. After obtaining the second cleanliness, determine the moving speed of the sweeping robot according to the second cleanliness, and control the sweeping robot to clean along the initial cleaning route according to the moving speed . That is to say, different moving speeds of the sweeping robot can be determined according to the difference in the second cleanliness in front of the sweeping robot. Depending on the degree of cleanliness, determining different moving speeds can make the sweeping robot more efficient during cleaning.

In specific implementation, the above-mentioned step 2 can be specifically as follows:

When the second cleanliness is lower than the second cleanliness threshold, it is determined that the moving speed of the sweeping robot is the first speed;

When the second cleanliness is higher than the second cleanliness threshold, it is determined that the moving speed of the cleaning robot is the second speed; wherein, the second speed is greater than the first speed.

The second cleanliness threshold can be set and adjusted according to actual conditions. When the second cleanliness is lower than the second cleanliness threshold, it means that there is more garbage on the initial cleaning route in front of the sweeping robot, and it can be determined that the moving speed of the sweeping robot is the first speed, that is, a slower moving speed, so that When the sweeping robot travels to the route ahead, it has enough time to clean up the garbage. When the second cleanliness is higher than the second cleanliness threshold, it means that there is less garbage on the initial cleaning route in front of the sweeping robot, and it can be determined that the moving speed of the sweeping robot is the second speed, that is, a faster moving speed, so that The sweeping robot does not have to stay on a cleaner route, which improves the cleaning efficiency.

It should be pointed out that in this specific implementation, according to the difference in the second cleanliness, it can be determined whether the sweeping robot is at the first speed or the second speed. In other implementations of the present invention, three or three speeds can be set. above speed gear. Let’s take 3 speed gears and the value of the second cleanliness from 0 to 100 as an example. When the second cleanliness is 80 to 100, the moving speed of the sweeping robot can be controlled to be the fastest gear. When the second cleanliness degree is 50 to 80, the moving speed of the sweeping robot can be controlled to be in the middle gear, and when the second cleanliness degree is 0 to 50, the moving speed of the sweeping robot can be controlled to be the slowest gear.

In a specific implementation manner of the present invention, step S102 includes:

Use the navigation system and the gyroscope to control the sweeping robot to clean along the initial cleaning route.

The navigation system and the gyroscope can be used to control the moving direction of the sweeping robot to avoid deviation of the sweeping robot and control the sweeping robot to move in the correct direction.

In a specific embodiment of the present invention, cleaning method also includes:

When the cleaning of the target cleaning area is completed along the initial cleaning route, a prompt message of cleaning completion is output.

When the cleaning of the target cleaning area is completed along the initial cleaning route, the prompt information of cleaning completion can be output to the user through the indicator light or voice prompt, or the mobile data network can be used, such as sending a text message, to prompt the target to clean The area has been cleaned.

In a specific implementation manner of the present invention, obtaining the first cleanliness of the first route during the cleaning process in step S103 includes:

During the cleaning process, the first cleanliness of the first route is obtained in real time through the camera.

The first cleanliness of the first route can be obtained in real time through the camera, and of course, the first cleanliness can also be obtained through other detection means, such as infrared detection. In this implementation manner, the method of acquiring the first cleanliness in real time is conducive to timely feedback and processing of the areas that have not been cleaned. Of course, other ways of obtaining the first cleanliness degree may also be used according to actual conditions, for example, periodically obtain the first cleanliness degree, for example, obtain the first cleanliness degree once every second.

In a specific implementation manner of the present invention, step S101 includes the following two steps:

Step 1: Construct an environmental map of the target cleaning area based on the navigation system;

Step 2: According to the environmental map, use the Z-shaped and bow-shaped mixed motion trajectory to construct the initial cleaning route.

The environmental map of the target cleaning area can be constructed based on the navigation system, and then the initial cleaning route can be constructed by using the movement trajectory of Z and bow mixed according to the environmental map. Of course, constructing the initial cleaning route by using the Z-shaped and bow-shaped mixed motion trajectory is a path with a relatively high coverage rate. In specific implementation, other path methods can also be used according to actual needs, which does not affect the present invention. implementation.

Corresponding to the above method embodiments, embodiments of the present invention also provide a cleaning device for a sweeping robot. The cleaning device for a sweeping robot described below and the cleaning method for a sweeping robot described above can be referred to in correspondence.

Referring to Figure 2, it is a schematic structural diagram of a cleaning device of a sweeping robot in the present invention, which includes the following modules:

Initial route construction module 201, for constructing the initial cleaning route of target cleaning area;

The cleaning control module 202 is used to control the sweeping robot to clean along the initial cleaning route;

The first cleanliness acquisition module 203 is configured to acquire the first cleanliness of the first route during the cleaning process, wherein the first route is an initial cleanliness whose distance from the current position of the sweeping robot does not exceed the first distance threshold. cleaning route;

The repeated cleaning module 204 is used to control the sweeping robot to repeatedly clean the first route when the first cleanliness is lower than the preset first cleanliness threshold until the first cleanliness exceeds the first cleanliness threshold, and control the cleaning The robot continues to clean along the initial cleaning route.

In a specific embodiment of the present invention, the cleaning device also includes:

The second cleanliness acquisition module is configured to acquire the second cleanliness of the second route during the cleaning process, wherein the second route is an unswept initial cleaning whose distance from the current position of the sweeping robot does not exceed the second distance threshold route;

A moving speed determination module, configured to determine the moving speed of the sweeping robot according to the second degree of cleanliness;

The cleaning control sub-module is used to control the sweeping robot to clean along the initial cleaning route according to the moving speed.

In a specific implementation manner of the present invention, the moving speed determination module is specifically used for:

When the second cleanliness is lower than the second cleanliness threshold, it is determined that the moving speed of the sweeping robot is the first speed;

When the second cleanliness is higher than the second cleanliness threshold, it is determined that the moving speed of the cleaning robot is the second speed; wherein, the second speed is greater than the first speed.

In a specific implementation manner of the present invention, the cleaning control module 202 is specifically used for:

Use the navigation system and the gyroscope to control the sweeping robot to clean along the initial cleaning route.

In a specific embodiment of the present invention, the cleaning device also includes:

The prompt information output module is used to output the prompt information that the cleaning is completed when the cleaning of the target cleaning area is completed along the initial cleaning route.

In a specific implementation manner of the present invention, the first cleanliness acquisition module 203 is specifically used for:

During the cleaning process, the first cleanliness of the first route is obtained in real time through the camera.

In a specific implementation manner of the present invention, the initial route construction module 201 is specifically used for:

Construct an environmental map of the target cleaning area based on the navigation system;

According to the environmental map, the initial cleaning route is constructed by using the Z-shaped and bow-shaped mixed motion trajectory.

The present invention also provides a sweeping robot, which includes the cleaning device in any one of the above embodiments, has corresponding technical effects, and can be referred to correspondingly with the cleaning method and device of the sweeping robot described above, and will not be repeated here illustrate.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same or similar parts of each embodiment can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for the related information, please refer to the description of the method part.

Professionals can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the possible For interchangeability, in the above description, the composition and steps of each example have been generally described according to their functions. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be directly implemented by hardware, software modules executed by a processor, or a combination of both. Software modules can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other Any other known storage medium.

In this paper, specific examples are used to illustrate the principles and implementation methods of the present invention, and the descriptions of the above embodiments are only used to help understand the technical solutions and core ideas of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (10)

1. A cleaning method for a floor-sweeping robot, comprising: Build an initial cleaning route for the target cleaning area; Control the sweeping robot to clean along the initial cleaning route; Obtaining the first cleanliness of the first route during the cleaning process, wherein the first route is the initial cleaning route that has been cleaned and whose distance from the current position of the sweeping robot does not exceed a first distance threshold; When the first cleanliness is lower than a preset first cleanliness threshold, the sweeping robot is controlled to repeatedly clean the first route until the first cleanliness exceeds the first cleanliness threshold, And control the sweeping robot to continue cleaning along the initial cleaning route. 2. The method according to claim 1, wherein the cleaning method further comprises: Obtaining the second cleanliness of the second route during the cleaning process, wherein the second route is the initial cleaning route that has not been cleaned and whose distance from the current position of the sweeping robot does not exceed a second distance threshold; determining the moving speed of the sweeping robot according to the second cleanliness; The cleaning robot is controlled to clean along the initial cleaning route according to the moving speed. 3. The method according to claim 2, wherein the determining the moving speed of the sweeping robot according to the second cleanliness comprises: When the second cleanliness is lower than the second cleanliness threshold, determine that the moving speed of the sweeping robot is the first speed; When the second cleanliness is higher than the second cleanliness threshold, it is determined that the moving speed of the cleaning robot is a second speed; wherein the second speed is greater than the first speed. 4. The method according to claim 1, wherein the controlling the sweeping robot to clean along the initial cleaning route comprises: Using the navigation system and the gyroscope, the sweeping robot is controlled to clean along the initial cleaning route. 5. The method according to claim 1, wherein the cleaning method further comprises: When the cleaning of the target cleaning area is completed along the initial cleaning route, a prompt message of cleaning completion is output. 6. The method according to claim 1, wherein said acquiring the first cleanliness of the first route during the cleaning process comprises: During the cleaning process, the first cleanliness of the first route is obtained in real time through the camera. 7. The method according to any one of claims 1 to 6, wherein said constructing the initial cleaning route of the target cleaning area comprises: Construct an environmental map of the target cleaning area based on the navigation system; According to the environment map, the initial cleaning route is constructed by using the Z-shaped and bow-shaped mixed motion trajectory. 8. A cleaning device for a sweeping robot, characterized in that it comprises: The initial route construction module is used to construct the initial cleaning route of the target cleaning area; A cleaning control module, configured to control the sweeping robot to clean along the initial cleaning route; The first cleanliness acquisition module is configured to acquire the first cleanliness of the first route during the cleaning process, wherein the first route is already cleaned with a distance from the current position of the sweeping robot that does not exceed a first distance threshold said initial cleaning route passed; A repetitive cleaning module, configured to control the sweeping robot to repeatedly clean the first route when the first cleanliness level is lower than a preset first cleanliness threshold until the first cleanliness level exceeds the the first cleanliness threshold, and control the sweeping robot to continue cleaning along the initial cleaning route. 9. The device according to claim 8, wherein the cleaning device further comprises: The second cleanliness acquisition module is configured to acquire the second cleanliness of the second route during the cleaning process, wherein the second route is an uncleaned route whose distance from the current position of the sweeping robot does not exceed a second distance threshold said initial cleaning route passed; A moving speed determination module, configured to determine the moving speed of the sweeping robot according to the second degree of cleanliness; The cleaning control submodule is used to control the sweeping robot to clean along the initial cleaning route according to the moving speed. 10. A sweeping robot, characterized in that the sweeping robot comprises the cleaning device according to any one of claims 8 or 9.