CN116982882A - Carpet cleaning method, floor sweeping robot and computer readable storage medium - Google Patents

Abstract

The application discloses a carpet cleaning method, a sweeping robot and a computer readable storage medium, wherein the method comprises the following steps: controlling the sweeping robot to carry out sweeping work according to the sweeping task instruction; judging whether the sweeping robot is about to enter a carpet area or not; if yes, acquiring the latest cleaning time of the carpet area; judging whether the cleaning time is more than 12 hours from the current time; if not, controlling the sweeping robot to avoid the current carpet area. Under such circumstances, the sweeping robot can adjust the sweeping mode according to the specific sweeping condition of the carpet area, and the carpet cannot be swept again after the carpet area is swept within 12 hours, so that the situation that the carpet is polluted due to repeated sweeping is avoided, the experience of a user is improved, and the sweeping robot is beneficial to sweeping the carpet area.

Description

Carpet cleaning method, floor sweeping robot and computer readable storage medium

Technical Field

The present application relates to the field of floor sweeping robots, and more particularly, to a carpet cleaning method, a floor sweeping robot, and a computer readable storage medium.

Background

The floor sweeping robot, also called automatic sweeping machine, intelligent dust collector, robot dust collector, etc. is one kind of intelligent household appliance and can complete floor cleaning automatically inside and outside room with certain artificial intelligence. Generally, the brushing and vacuum modes are adopted, and the ground sundries are firstly absorbed into the garbage storage box of the ground, so that the function of cleaning the ground is completed. Generally, a robot for completing mopping, dust collection and mopping is also uniformly classified as a sweeping robot, the existing sweeping robot comprises a mop, and the mop can achieve the mopping effect in the sweeping process of the sweeping robot, that is, the sweeping robot has the function of sweeping, the function of mopping, the multifunction of the sweeping robot is improved, and the user experience is improved.

Generally, when the sweeping robot accepts a global sweeping task and needs to execute sweeping operations of different areas, because the carpet identification device identifies the carpet area in the sweeping process, the sweeping machine needs to execute the sweeping operations of different carpet areas at the moment, and usually the sweeping machine directly goes to the carpet area to execute the operations, because the carpets are of different types, and meanwhile, because the sweeping machine is provided with mops, the sweeping robot easily causes a certain pollution problem to the sweeping of the carpet area under the condition of cleaning the carpets of different types in the same way, so that the use of users is not facilitated, and the experience of the users is reduced.

Disclosure of Invention

Accordingly, there is a need for a carpet cleaning method, a cleaning robot and a computer readable storage medium, which solve the problem that the cleaning robot in the prior art is easy to pollute the carpet cleaning.

The embodiment of the application provides a carpet cleaning method for a sweeping robot, which comprises the following steps:

controlling the sweeping robot to conduct sweeping work according to the sweeping task instruction;

judging whether the sweeping robot is about to enter a carpet area or not;

if yes, acquiring the latest cleaning time of the carpet area;

judging whether the cleaning time is more than 12 hours away from the current time;

and if not, controlling the sweeping robot to avoid the current carpet area.

According to the carpet cleaning method, firstly, the sweeping robot is controlled to conduct sweeping work according to the sweeping task instruction, then whether the sweeping robot is about to enter a carpet area is judged in real time, if the sweeping robot is judged to enter the carpet area, the latest sweeping time of the carpet area, namely, the time point of the latest sweeping time which is closest to the current time, is obtained, then whether the carpet area is swept within 12 hours is judged according to the latest sweeping time of the carpet area and the current time, and if yes, the sweeping robot is controlled to avoid the current carpet area. Under such circumstances, the sweeping robot can adjust the sweeping mode according to the specific sweeping condition of the carpet area, and the carpet cannot be swept again after the carpet area is swept within 12 hours, so that the situation that the carpet is polluted due to repeated sweeping is avoided, the experience of a user is improved, and the sweeping robot is beneficial to sweeping the carpet area.

Further, the determining whether the cleaning time is more than 12 hours from the current time includes:

if yes, controlling the floor sweeping robot to start a carpet cleaning mode;

and controlling the floor sweeping robot to sweep the carpet area according to the carpet cleaning mode.

Further, if not, controlling the floor sweeping robot to start a carpet cleaning mode, including:

judging whether the current carpet is a wool carpet or not;

if yes, acquiring the length of the fluff of the current wool carpet;

judging whether the current water quantity and the current suction force of the sweeping robot meet the sweeping requirement or not;

and if so, controlling the floor sweeping robot to sweep the carpet area.

Further, the determining whether the current residual water quantity and the current residual electric quantity of the sweeping robot meet the sweeping requirement includes:

judging whether the length of the current fluff is less than 1.5 cm or not;

if yes, judging whether the current suction force and the current water quantity of the sweeping robot are 2 grades;

and if so, controlling the floor sweeping robot to sweep the carpet area according to the current state.

Further, if so, judging whether the current suction force and the current water quantity of the sweeping robot are 2 grades, including:

if not, controlling the sweeping robot to adjust the current suction force and the current water quantity to 2 grades.

Further, the determining whether the length of the current fluff is less than 1.5 cm includes:

if not, judging whether the mop is in an in-place state;

and if so, controlling the sweeping robot to avoid the carpet area.

Further, if not, judging whether the mop is in-place or not, including:

and if not, controlling the floor sweeping robot to sweep the carpet area.

The embodiment of the application provides a sweeping robot, which comprises:

the first control module is used for controlling the sweeping robot to conduct sweeping work according to the sweeping task instruction;

the first judging module is used for judging whether the sweeping robot is about to enter a carpet area or not;

the first acquisition module is used for acquiring the latest cleaning time of the carpet area under the condition that the first judgment module judges that the sweeping robot is about to enter the carpet area;

the second judging module is used for judging whether the cleaning time is more than 12 hours away from the current time;

the second control module is used for controlling the sweeping robot to avoid the current carpet area under the condition that the second judging module judges that the sweeping time is more than 12 hours away from the current time.

The floor sweeping robot is controlled to perform sweeping work according to the sweeping task instruction, whether the floor sweeping robot is about to enter a carpet area or not is judged in real time, if the floor sweeping robot is about to enter the carpet area is judged, the latest sweeping time of the carpet area, namely, the time point of the latest sweeping time which is closest to the current time, is obtained, whether the carpet area is swept within 12 hours is judged according to the latest sweeping time of the carpet area and the current time, and if yes, the floor sweeping robot is controlled to avoid the current carpet area. Under such circumstances, the sweeping robot can adjust the sweeping mode according to the specific sweeping condition of the carpet area, and the carpet cannot be swept again after the carpet area is swept within 12 hours, so that the situation that the carpet is polluted due to repeated sweeping is avoided, the experience of a user is improved, and the sweeping robot is beneficial to sweeping the carpet area.

Further, the robot for sweeping floor includes:

the third judging module is used for judging whether the type of the current carpet is a wool carpet or not;

the second acquisition module is used for acquiring the length of the fluff of the current carpet under the condition that the third judgment module judges that the type of the current carpet is a wool carpet;

the fourth judging module is used for judging whether the current water quantity and the current suction force of the sweeping robot meet the sweeping requirement or not;

and the third control module is used for controlling the sweeping robot to sweep the carpet area under the condition that the fourth judgment module judges that the current water quantity and the current suction of the sweeping robot meet the sweeping requirement.

A computer readable storage medium storing a computer program which when executed by a processor implements the carpet cleaning method described above.

The computer readable storage medium of the application firstly controls the sweeping robot to sweep according to the sweeping task instruction, then judges whether the sweeping robot is about to enter the carpet area in real time, if the sweeping robot is about to enter the carpet area, the latest sweeping time of the carpet area, namely, the time point of the latest sweeping time which is closest to the current time, is obtained, then judges whether the carpet area is swept within 12 hours according to the latest sweeping time of the carpet area and the current time, and if yes, the sweeping robot is controlled to avoid the current carpet area. Under such circumstances, the sweeping robot can adjust the sweeping mode according to the specific sweeping condition of the carpet area, and the carpet cannot be swept again after the carpet area is swept within 12 hours, so that the situation that the carpet is polluted due to repeated sweeping is avoided, the experience of a user is improved, and the sweeping robot is beneficial to sweeping the carpet area.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments of the present application will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a method of cleaning carpets in an embodiment of the present application;

FIG. 2 is a schematic flow chart of another method of cleaning carpets in accordance with an embodiment of the present application;

FIG. 3 is a schematic flow chart of another method of cleaning carpets in accordance with an embodiment of the present application;

FIG. 4 is another flow chart of a method of cleaning carpets in an embodiment of the present application;

FIG. 5 is another flow chart of a method of cleaning carpets in an embodiment of the present application;

fig. 6 is a schematic structural view of a sweeping robot according to an embodiment of the present application;

fig. 7 is a schematic view of a structure of a sweeping robot in an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the present application. All other embodiments, based on the embodiments of the application, which a person of ordinary skill in the art would achieve without inventive faculty, are within the scope of the application.

Referring to fig. 1, an embodiment of the present application provides a carpet cleaning method for a robot for cleaning a floor, the carpet cleaning method including:

step S10, controlling the sweeping robot to conduct sweeping work according to a sweeping task instruction;

step S20, judging whether the sweeping robot is about to enter a carpet area;

if yes, step S30, the latest cleaning time of the carpet area is obtained;

step S40, judging whether the cleaning time is more than 12 hours away from the current time;

if not, in step S50, the sweeping robot is controlled to avoid the current carpet area.

According to the carpet cleaning method, firstly, the sweeping robot is controlled to conduct sweeping work according to the sweeping task instruction, then whether the sweeping robot is about to enter a carpet area is judged in real time, if the sweeping robot is judged to enter the carpet area, the latest sweeping time of the carpet area, namely, the time point of the latest sweeping time which is closest to the current time, is obtained, then whether the carpet area is swept within 12 hours is judged according to the latest sweeping time of the carpet area and the current time, and if yes, the sweeping robot is controlled to avoid the current carpet area. Under such circumstances, the sweeping robot can adjust the sweeping mode according to the specific sweeping condition of the carpet area, and the carpet cannot be swept again after the carpet area is swept within 12 hours, so that the situation that the carpet is polluted due to repeated sweeping is avoided, the experience of a user is improved, and the sweeping robot is beneficial to sweeping the carpet area.

In the embodiment of the application, the sweeping robot is provided with the image pickup device, the image in front of the sweeping robot can be acquired through the image pickup device, then whether a carpet exists in front of the sweeping robot is judged according to image recognition, if yes, the sweeping robot is judged to be about to enter a carpet area, and the operation is simple and easy to realize.

Wherein the image capturing apparatus includes a camera.

It can be appreciated that in other embodiments, the sweeping robot can also determine whether to enter the carpet area by means of map positioning, and the sweeping robot can be specifically designed according to practical situations, and is not limited herein.

In step S30, the latest cleaning time of the carpet area is acquired, which means the time of the last cleaning of the carpet area.

For example, the sweeping robot cleans the carpet area in 8 am 12, then, at 7 am 12, the sweeping robot performs the sweeping operation again and is about to enter the carpet area, at this time, the sweeping robot acquires that the 8 am 12 carpet area has been cleaned once, then, the interval between the 7 am 12 and 8 am 12 is 11 hours, and the 11 hours are less than 12 hours, at this time, the sweeping robot can avoid the carpet area and does not clean the carpet area, so that the carpet area is prevented from being polluted, and the working efficiency of the sweeping robot can be improved.

In other embodiments, when the sweeping robot performs the sweeping task, the user can control the sweeping robot to sweep the carpet area through the external mobile device, and when the user feels that the carpet area is dirty, the sweeping robot can be controlled to sweep even if the sweeping time is more than 12 hours away from the current time, so that individuation of the sweeping robot is improved, and experience of the user is improved.

Specifically, the external mobile device may be an electronic mobile device such as a mobile phone, a computer, a tablet, etc., which may be specifically designed according to practical situations, and is not limited herein.

Referring to fig. 2, further, determining whether the cleaning time is more than 12 hours from the current time includes:

if yes, step S401, controlling the floor sweeping robot to start a carpet cleaning mode;

step S402, the floor sweeping robot is controlled to sweep the carpet area according to the carpet cleaning mode.

That is, in the embodiment of the application, the floor sweeping robot is provided with the carpet cleaning mode, and the floor sweeping robot is provided with the corresponding cleaning mode aiming at the carpet area, so that different carpet areas can not be cleaned by adopting the same mode, the intellectualization of the floor sweeping robot is improved, and the user experience is improved.

Referring to fig. 3, further, if not, controlling the floor sweeping robot to start the carpet cleaning mode includes:

step S403, judging whether the type of the current carpet is a wool carpet;

if yes, step S404, the length of the nap of the current nap carpet is obtained;

step S405, judging whether the current water quantity and the current suction force of the sweeping robot meet the sweeping requirement or not;

if yes, in step S406, the floor sweeping robot is controlled to sweep the carpet area.

That is, in the case that the carpet is a wool carpet, the length of the wool of the current wool carpet can be obtained, because the length of the wool can directly influence the work of the sweeping robot, in the embodiment of the application, the sweeping robot can adjust the water quantity and the suction requirement according to the length of the wool aiming at different types of carpets, thereby realizing targeted sweeping, avoiding the occurrence of the situation of polluting the carpets, improving the intellectualization of the sweeping robot and improving the practicability of the sweeping robot.

Referring to fig. 4, further, determining whether the current residual water amount and the current residual electric quantity of the sweeping robot meet the sweeping requirement includes:

step S407, judging whether the length of the current fluff is less than 1.5 cm;

if yes, step S408 judges whether the current suction force and the current water amount of the sweeping robot are 2 steps;

if yes, step S409, the floor sweeping robot is controlled to sweep the carpet area according to the current state.

In this embodiment, when the current pile is smaller than 1.5 cm, the length of the pile of the carpet is shorter, and in such a case, the mop of the sweeping robot cannot affect the interior of the carpet, that is, at this time, the mop of the sweeping robot only cleans around the upper end of the pile of the current carpet, and the middle part of the carpet cannot be wetted, so that the problem that the odor is emitted due to the humidity in the interior of the carpet is avoided, and the quick drying of the carpet is facilitated, and the subsequent use of the carpet by a user is facilitated.

Further, if yes, judging whether the current suction force and the current water quantity of the sweeping robot are 2 grades, including:

if not, controlling the sweeping robot to adjust the current suction force and the current water quantity to 2 grades.

That is, in the case where the sweeping robot cleans a non-carpet area, the suction force of the sweeping robot and the current water amount do not necessarily belong to the 2 th gear, and may be specifically set according to the cleaning strategy, for example, in one embodiment, the sweeping robot cleans the non-carpet area using the 1 st gear. For another example, in another embodiment, the sweeping robot uses 3 grades to clean the non-carpet area, and the sweeping robot can be specifically designed according to the actual situation, and is not limited herein.

Referring to fig. 5, further, determining whether the length of the current pile is less than 1.5 cm includes:

if not, step S410, judging whether the mop is in-place;

if yes, in step S411, the sweeping robot is controlled to avoid the carpet area.

In this embodiment, when the length of the current fluff is not less than 1.5 cm, it is indicated that the fluff length is longer at this time, and under such circumstances, the fluff may be entangled with the middle brush of the sweeping robot to cause inconvenient use of the sweeping robot, and under the condition that the fluff is longer, the mop directly wets the fluff to cause a large amount of water on the fluff to cause pollution of the fluff, under such circumstances, whether the mop is in an in-place state is firstly determined, if so, the sweeping robot is controlled to avoid a carpet area, and under the condition that the mop is in an out-of-place state, the sweeping robot is controlled to clean the carpet area, so that the occurrence of the above circumstances can be avoided, and the work of the sweeping robot is facilitated.

In the embodiment of the application, the mop of the sweeping robot is detachably connected with the sweeping robot, and the sweeping robot has the effect of mopping and sweeping under the condition that the mop of the sweeping robot is arranged on the sweeping robot.

Specifically, the sweeping robot is provided with a detection device for detecting the installation relation between the mop and the sweeping robot, so that the sweeping robot can judge whether the mop is installed on the body of the sweeping robot or not.

Wherein the detection means may be a hall sensor.

Further, if not, judging whether the mop is in place or not, including:

if not, controlling the floor sweeping robot to sweep the carpet area.

As known from the above, when the mop of the sweeping robot is out of position, it is stated that the mop of the sweeping robot and the sweeping robot are separated, and at this time, the cleaning of the carpet area by the sweeping robot is controlled to avoid the occurrence of the carpet pollution caused by the mop.

Referring to fig. 6, an embodiment of the present application provides a sweeping robot, including:

the first control module 100 is used for controlling the sweeping robot to perform sweeping work according to the sweeping task instruction;

the first judging module 200 is used for judging whether the sweeping robot is about to enter a carpet area or not;

the first acquisition module 300 is configured to acquire a latest cleaning time of the carpet area when the first judgment module judges that the sweeping robot is about to enter the carpet area;

the second judging module 400 is used for judging whether the cleaning time is more than 12 hours from the current time;

the second control module 500 is used for controlling the sweeping robot to avoid the current carpet area under the condition that the second judging module judges that the sweeping time is more than 12 hours away from the current time.

The floor sweeping robot is controlled to perform sweeping work according to the sweeping task instruction, whether the floor sweeping robot is about to enter a carpet area or not is judged in real time, if the floor sweeping robot is about to enter the carpet area is judged, the latest sweeping time of the carpet area, namely, the time point of the latest sweeping time which is closest to the current time, is obtained, whether the carpet area is swept within 12 hours is judged according to the latest sweeping time of the carpet area and the current time, and if yes, the floor sweeping robot is controlled to avoid the current carpet area. Under such circumstances, the sweeping robot can adjust the sweeping mode according to the specific sweeping condition of the carpet area, and the carpet cannot be swept again after the carpet area is swept within 12 hours, so that the situation that the carpet is polluted due to repeated sweeping is avoided, the experience of a user is improved, and the sweeping robot is beneficial to sweeping the carpet area.

Referring to fig. 7, further, the sweeping robot includes:

a third judging module 600, configured to judge whether the current carpet is a wool carpet;

the second obtaining module 700 is configured to obtain a length of a nap of the current carpet if the third judging module judges that the current carpet is a nap carpet;

a fourth judging module 800, configured to judge whether the current water amount and the current suction force of the sweeping robot meet the sweeping requirement;

and the third control module 900 is used for controlling the sweeping robot to sweep the carpet area under the condition that the fourth judging module judges that the current water quantity and the current suction force of the sweeping robot meet the sweeping requirement.

A computer readable storage medium storing a computer program which when executed by a processor implements the method of cleaning carpets described above.

The computer readable storage medium of the application firstly controls the sweeping robot to sweep according to the sweeping task instruction, then judges whether the sweeping robot is about to enter the carpet area in real time, if the sweeping robot is about to enter the carpet area, the latest sweeping time of the carpet area, namely, the time point of the latest sweeping time which is closest to the current time, is obtained, then judges whether the carpet area is swept within 12 hours according to the latest sweeping time of the carpet area and the current time, and if yes, the sweeping robot is controlled to avoid the current carpet area. Under such circumstances, the sweeping robot can adjust the sweeping mode according to the specific sweeping condition of the carpet area, and the carpet cannot be swept again after the carpet area is swept within 12 hours, so that the situation that the carpet is polluted due to repeated sweeping is avoided, the experience of a user is improved, and the sweeping robot is beneficial to sweeping the carpet area.

Those skilled in the art will appreciate that implementing all or part of the processes in the methods of the embodiments described above may be accomplished by way of computer readable instructions, which may be stored on a non-volatile readable storage medium or a volatile readable storage medium, that when executed may comprise processes in embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the system is divided into different functional units or modules to perform all or part of the above-described functions.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and they should be included in the protection scope of the present application.

Claims (10)

1. A method of cleaning a carpet for a sweeping robot, the method comprising:

controlling the sweeping robot to conduct sweeping work according to the sweeping task instruction;

judging whether the sweeping robot is about to enter a carpet area or not;

if yes, acquiring the latest cleaning time of the carpet area;

judging whether the cleaning time is more than 12 hours away from the current time;

and if not, controlling the sweeping robot to avoid the current carpet area.

2. The method of cleaning carpets of claim 1, wherein the determining whether the cleaning time is more than 12 hours from the current time comprises:

if yes, controlling the floor sweeping robot to start a carpet cleaning mode;

and controlling the floor sweeping robot to sweep the carpet area according to the carpet cleaning mode.

3. The method of cleaning carpets of claim 2, wherein if not, controlling the floor sweeping robot to turn on a carpet cleaning mode comprises:

judging whether the current carpet is a wool carpet or not;

if yes, acquiring the length of the fluff of the current wool carpet;

judging whether the current water quantity and the current suction force of the sweeping robot meet the sweeping requirement or not;

and if so, controlling the floor sweeping robot to sweep the carpet area.

4. The carpet cleaning method according to claim 3, wherein said determining whether the current remaining water amount and the current remaining power amount of the sweeping robot meet the sweeping requirement comprises:

judging whether the length of the current fluff is less than 1.5 cm or not;

if yes, judging whether the current suction force and the current water quantity of the sweeping robot are 2 grades;

and if so, controlling the floor sweeping robot to sweep the carpet area according to the current state.

5. The method of claim 4, wherein if yes, determining whether the current suction force and the current water amount of the sweeping robot are 2 steps comprises:

if not, controlling the sweeping robot to adjust the current suction force and the current water quantity to 2 grades.

6. The method of cleaning carpets of claim 4, wherein determining whether the length of the current pile is less than 1.5 cm comprises:

if not, judging whether the mop is in an in-place state;

and if so, controlling the sweeping robot to avoid the carpet area.

7. The method of cleaning carpets according to claim 6, wherein if not, determining whether the mop is in place comprises:

and if not, controlling the floor sweeping robot to sweep the carpet area.

8. A sweeping robot, characterized in that the sweeping robot comprises:

the first control module is used for controlling the sweeping robot to conduct sweeping work according to the sweeping task instruction;

the first judging module is used for judging whether the sweeping robot is about to enter a carpet area or not;

the first acquisition module is used for acquiring the latest cleaning time of the carpet area under the condition that the first judgment module judges that the sweeping robot is about to enter the carpet area;

the second judging module is used for judging whether the cleaning time is more than 12 hours away from the current time;

the second control module is used for controlling the sweeping robot to avoid the current carpet area under the condition that the second judging module judges that the sweeping time is more than 12 hours away from the current time.

9. The sweeping robot of claim 8, wherein the sweeping robot comprises:

the third judging module is used for judging whether the type of the current carpet is a wool carpet or not;

the second acquisition module is used for acquiring the length of the fluff of the current carpet under the condition that the third judgment module judges that the type of the current carpet is a wool carpet;

the fourth judging module is used for judging whether the current water quantity and the current suction force of the sweeping robot meet the sweeping requirement or not;

and the third control module is used for controlling the sweeping robot to sweep the carpet area under the condition that the fourth judgment module judges that the current water quantity and the current suction of the sweeping robot meet the sweeping requirement.

10. A computer-readable storage medium, which stores a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the carpet cleaning method according to any one of claims 1 to 8.