Healthy guinea pig pee and poop shouldn't have much smell and be very easy to clean up. I used to have a female and her daughter living loose in my bedroom when I had a bunk bed with a desk on the bottom as my only furniture. They mostly peed on a towel in the corner or the pet carrier that stayed open and contained their hay, food dish, and water bottle on the door. Their poop just dried into hard pieces that I vacuumed every other day and my mom owned a carpet shampooer so I got any pee accident by using that every week or 2. I think my room actually stayed cleaner than now with cages full of bedding that gets everywhere. At least there wasn't carefresh all over even on my bed. My carpet has no lasting stains or smell from the 2years they lived on it.
Now that they have floor time and live in large cages instead I just vacuum after I put them away and shampoo it twice a year. You can also just lay down something like an old shower curtain or cheap blanket and shake it out after floor time.