A timed cleaning method comprising: obtaining a topographic map of a cleaning region, wherein the topographic map identifies an obstacle in the cleaning region; based on the topographic map, determining an unclean region in the cleaning region, wherein the unclean region is occupied by the obstacle; characterised by : detecting the unclean region regularly according to a preset time interval to determine whether the obstacle placed on the unclean region is removed away; and if it is detected that the obstacle at the unclean region is removed, cleaning the unclean region, wherein the method, further comprising: determining whether the obstacle is temporary based on a bottom area of the obstacle; wherein the detecting of the unclean region according to the preset time interval to determine whether the obstacle placed on the unclean region is removed away comprises: if the obstacle is temporary, detecting the unclean region according to the preset time interval to determine whether the obstacle placed on the unclean region is removed away. obtaining a topographic map of a cleaning region, wherein the topographic map identifies an obstacle in the cleaning region; based on the topographic map, determining an unclean region in the cleaning region, wherein the unclean region is occupied by the obstacle; characterised by : detecting the unclean region regularly according to a preset time interval to determine whether the obstacle placed on the unclean region is removed away; and if it is detected that the obstacle at the unclean region is removed, cleaning the unclean region, wherein the method, further comprising: determining whether the obstacle is temporary based on a bottom area of the obstacle; wherein the detecting of the unclean region according to the preset time interval to determine whether the obstacle placed on the unclean region is removed away comprises: if the obstacle is temporary, detecting the unclean region according to the preset time interval to determine whether the obstacle placed on the unclean region is removed away. detecting the unclean region regularly according to a preset time interval to determine whether the obstacle placed on the unclean region is removed away; and if it is detected that the obstacle at the unclean region is removed, cleaning the unclean region, wherein the method, further comprising: determining whether the obstacle is temporary based on a bottom area of the obstacle; wherein the detecting of the unclean region according to the preset time interval to determine whether the obstacle placed on the unclean region is removed away comprises: if the obstacle is temporary, detecting the unclean region according to the preset time interval to determine whether the obstacle placed on the unclean region is removed away. determining whether the obstacle is temporary based on a bottom area of the obstacle; wherein the detecting of the unclean region according to the preset time interval to determine whether the obstacle placed on the unclean region is removed away comprises: if the obstacle is temporary, detecting the unclean region according to the preset time interval to determine whether the obstacle placed on the unclean region is removed away. <EOS>