Control method for cleaning equipment, device and storage medium

Abstract

The invention relates to a control method and equipment of cleaning equipment and a storage medium, and belongs to the technical field of automatic control. The method comprises the steps of obtaining smudginess data of a target area where the cleaning equipment is currently located; determining a cleaning strategy matched with the target area based on the dirt data, wherein the cleaning strategy comprises a use strategy of a cleaning mechanism on the cleaning equipment and / or a cleaning track of the cleaning equipment; the problem that the cleaning effect is poor when the cleaning mechanism is controlled to work according to the preset working mode through a traditional cleaning equipment control method can be solved, the smudginess density is indicated through the smudginess data, so that the to-be-cleaned areas with different smudginess degrees can be cleaned through different cleaning strategies, and the cleaning effect of the cleaning equipment is improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511695163.0 (22) Application Date 2022.01.24 (62) Divisional Application Data 202210080723.1 2022.01.24 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventor: Request to Keep Name Unpublished Request to Keep Name Unpublished Request to Keep Name Unpublished (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney: Cheng Hongxia (51) Int.Cl. A47L 11 / 40 (2006.01) A47L 11 / 24 (2006.01) A47L 11 / 28 (2006.01) G06V 10 / 82 (2022.01) G06V 10 / 74 (2022.01) G06V 20 / 56 (2022.01) (54) Invention Title: Control Method, Device, and Storage Medium for Cleaning Equipment (57) Abstract: This application relates to a control method, device, and storage medium for cleaning equipment, belonging to the field of automatic control technology. The method includes: acquiring dirt data of the target area where the cleaning equipment is currently located; determining a cleaning strategy adapted to the target area based on the dirt data, the cleaning strategy including the usage strategy of the cleaning mechanism on the cleaning equipment and / or the cleaning trajectory of the cleaning equipment; it can solve the problem of poor cleaning effect when the traditional cleaning equipment control method controls the cleaning mechanism to work according to the preset working mode, by indicating the dirt density through dirt data, so that different cleaning strategies can be used to clean areas with different degrees of dirt, thereby improving the cleaning effect of the cleaning equipment. Claims 1 page, Description 14 pages, Drawings 3 pages, CN 121621858 A 2026.03.10 CN 1 21 62 18 58 A 1. A control method for a cleaning device, characterized in that the method comprises: acquiring dirt data of a target area where the cleaning device is currently located, the dirt data being used to indicate dirt density; determining a cleaning strategy adapted to the target area based on the dirt data, the cleaning strategy including a usage strategy of a cleaning mechanism on the cleaning device and / or a cleaning trajectory of the cleaning device. 2. The method according to claim 1, characterized in that the dirt density is determined based on the pixel value of the dirt location. 3. The method according to claim 2, characterized in that the dirt density is positively correlated with the average pixel value of each dirt location. 4. The method according to claim 2, characterized in that the dirt density is positively correlated with the maximum pixel value of each dirt location.5. The method according to any one of claims 1 to 4, wherein the usage strategy includes the mechanism type of the cleaning mechanism; correspondingly, determining the cleaning strategy adapted to the target area based on the dirt data includes: obtaining the mechanism type of the cleaning mechanism corresponding to the dirt data. 6. The method according to claim 5, wherein obtaining the mechanism type of the cleaning mechanism corresponding to the dirt data includes: determining the mechanism type as a hard material type when the dirt data indicates a dust density greater than a density threshold; determining the mechanism type as a soft material type when the dirt data indicates a dust density less than or equal to a density threshold. 7. The method according to any one of claims 1 to 4, wherein the cleaning strategy includes the cleaning trajectory of the cleaning equipment; correspondingly, determining the cleaning strategy adapted to the target area based on the dirt data includes: determining the distribution location of dirt within the target area based on the dirt data; generating the cleaning trajectory according to the distribution location. 8. The method according to claim 7, characterized in that generating the cleaning trajectory according to the distribution location includes: determining the minimum number of times the cleaning device passes through each distribution location during the cleaning process based on the dirt density corresponding to each distribution location; generating the cleaning trajectory based on the minimum number of times the cleaning device passes through each distribution location; wherein the dirt density is positively correlated with the minimum number of times. 9. An electronic device, characterized in that the device includes a processor and a memory; the memory stores a program, the program being loaded and executed by the processor to implement the control method of the cleaning device according to any one of claims 1 to 8. 10. A computer-readable storage medium, characterized in that the storage medium stores a program, the program being executed by a processor to implement the control method of the cleaning device according to any one of claims 1 to 8. Claims 1 / 1 Page 2 CN 121621858 A Control method, device and storage medium for cleaning device

[0001] This application is a divisional application of application number 202210080723.1, filed on January 24, 2022, entitled "Control method, device and storage medium for cleaning device". Technical Field

[0002] This application belongs to the field of automatic control technology, specifically relating to a control method, device, and storage medium for a cleaning device. Background Art

[0003] Currently, a cleaning device refers to a device that has the function of cleaning a surface to be cleaned. Generally, a cleaning mechanism is installed on the cleaning device. When the cleaning device performs cleaning work, the cleaning mechanism contacts the surface to be cleaned to clean it.

[0004] Traditional control methods for cleaning devices include: controlling the cleaning mechanism to work according to a preset working mode to clean the surface to be cleaned.

[0005] However, the preset working mode may not be effective in cleaning certain parts of the surface to be cleaned, which leads to poor cleaning effect of the cleaning equipment. Summary of the Invention

[0006] This application provides a control method, device and storage medium for cleaning equipment, which can solve the problem of poor cleaning effect when the traditional cleaning equipment control method controls the cleaning mechanism to work according to the preset working mode. This application provides the following technical solution: In a first aspect, a control method for cleaning equipment is provided, the method comprising: acquiring dirt data of the target area where the cleaning equipment is currently located; determining a cleaning strategy adapted to the target area based on the dirt data, the cleaning strategy including the usage strategy of the cleaning mechanism on the cleaning equipment and / or the cleaning trajectory of the cleaning equipment.

[0007] Optionally, the usage strategy includes the mechanism type of the cleaning mechanism; correspondingly, determining the cleaning strategy adapted to the target area based on the dirt data includes: acquiring the mechanism type of the cleaning mechanism corresponding to the dirt data.

[0008] Optionally, obtaining the mechanism type of the cleaning mechanism corresponding to the dirt data includes: determining the mechanism type as a hard material type when the dirt data indicates that the dust density is greater than a density threshold; determining the mechanism type as a soft material type when the dirt data indicates that the dust density is less than or equal to the density threshold.

[0009] Optionally, after determining the cleaning strategy suitable for the target area based on the dirt data, the method further includes: determining whether the current mechanism type of the currently installed cleaning mechanism matches the usage strategy when the cleaning mechanism is already installed on the cleaning equipment; and outputting a mechanism update prompt when the current mechanism type does not match the usage strategy.

[0010] Optionally, if the current mechanism type does not match the usage strategy, the method further includes: responding to the mechanism replacement instruction of the cleaning equipment, determining whether the replaced cleaning mechanism matches the usage strategy; if the replaced cleaning mechanism does not match the usage strategy, triggering the step of executing the output mechanism update prompt.

[0011] Optionally, the usage strategy includes the working mode of the cleaning mechanism; correspondingly, determining the cleaning strategy adapted to the target area based on the dirt data includes: determining the target data range to which the dirt data belongs, different data ranges correspond to different mechanism operating parameters; determining the mechanism operating parameters corresponding to the target data range to obtain the working mode of the cleaning mechanism.

[0012] Optionally, the cleaning strategy includes the cleaning trajectory of the cleaning equipment; correspondingly, determining the cleaning strategy adapted to the target area based on the dirt data includes: determining the target data range to which the dirt data belongs, different data ranges correspond to different mechanism operating parameters; determining the mechanism operating parameters corresponding to the target data range to obtain the working mode of the cleaning mechanism.The data determines a cleaning strategy suitable for the target area, including: determining the distribution location of dirt in the target area based on the dirt data; generating the cleaning trajectory according to the distribution location.

[0013] Optionally, a vision sensor is installed on the cleaning device, the vision sensor is used to collect regional images of the target area, and the step of obtaining dirt data of the target area where the cleaning device is currently located includes: acquiring the regional image collected by the vision sensor; performing dirt recognition on the regional image to obtain the dirt data.

[0014] Optionally, a light projector is installed on the cleaning device, and the method further includes: controlling the light projector to project a light signal onto the target area so that the vision sensor collects a regional image after the light signal is added.

[0015] Optionally, the step of performing dirt recognition on the regional image to obtain the dirt data includes: inputting the regional image into a pre-trained dirt recognition model to obtain the dirt data; the dirt recognition model is obtained by training a neural network using training data, and each set of training data includes sample images and dirt label data in the sample images.

[0016] Optionally, the step of performing dirt identification on the region image to obtain the dirt data includes: determining the similarity between the region image and each template image, wherein the template images are collected under different dirt data conditions, and each template image includes corresponding template dirt data; determining the template dirt data of the template image corresponding to the maximum value of the similarity as the dirt data.

[0017] Optionally, the step of performing dirt identification on the region image to obtain the dirt data includes: obtaining the pixel range of the surface to be cleaned; determining the pixel position of the pixel value in the region image within the pixel range as a non-dirty position; determining the dirt data based on the non-dirty position.

[0018] Optionally, after obtaining the dirt data of the target area where the cleaning device is currently located, the step further includes: determining whether to clean the target area; if the target area is not cleaned, marking the dirt data of the target area on the map of the area to which the target area belongs.

[0019] Optionally, after determining a cleaning strategy suitable for the target area based on the dirt data, the method further includes: determining other areas whose cleaning strategy is the same as that of the target area; and continuously cleaning the target area and the other areas according to the cleaning strategy.

[0020] In a second aspect, an electronic device is provided, the device including a processor and a memory; the memory stores a program, the program being loaded and executed by the processor to implement the control method of the cleaning device provided in the first aspect.

[0021] Thirdly, a computer-readable storage medium is provided, wherein a program is stored in the storage medium, and the program, when executed by a processor, is used to implement the control method for the cleaning equipment provided in the first aspect.

[0022] The beneficial effects of this application include at least the following: by acquiring dirt data of the target area where the cleaning equipment is currently located; determining a cleaning strategy adapted to the target area based on the dirt data, the cleaning strategy including the usage strategy of the cleaning mechanism on the cleaning equipment and / or the cleaning trajectory of the cleaning equipment; the problem of poor cleaning effect when the traditional cleaning equipment control method controls the cleaning mechanism to work according to a preset working mode can be solved; since a cleaning strategy adapted to the target area can be determined based on the dirt data of the target area, different cleaning strategies can be used to clean areas with different dirt data, thus improving the cleaning effect of the cleaning equipment.

[0023] In addition, since the usage strategy includes the mechanism type of the cleaning mechanism, the mechanism type of the corresponding cleaning mechanism can be determined based on different dirt data, so that the mechanism type can be adapted to the dirt data, thus improving the cleaning effect of the cleaning equipment.

[0024] Furthermore, since selecting a hard material type for the cleaning mechanism when the dirt data indicates that the dust density is greater than the density threshold can avoid the problem of poor cleaning effect caused by using a soft material cleaning mechanism when the dust density is high, the cleaning effect of the cleaning equipment can be improved.

[0025] Furthermore, since a mechanism update prompt is output when the mechanism type of the currently installed cleaning mechanism does not match the usage strategy, prompting the user to replace the currently installed cleaning mechanism, the target area can be cleaned after the cleaning mechanism is replaced, which can improve the cleaning effect of the cleaning equipment.

[0026] Furthermore, since the cleaning mechanism is re-checked to see if it matches the usage strategy after receiving the mechanism replacement instruction, and a mechanism update prompt is output again when the mechanism type of the replaced cleaning mechanism does not match the usage strategy, the target area can be cleaned only when the replaced cleaning mechanism matches the usage strategy, which can improve the cleaning effect of the cleaning equipment.

[0027] Furthermore, since the strategy includes the working mode of the cleaning mechanism, the operating parameters of the cleaning mechanism can be determined based on the dirt data. By controlling the operation of the cleaning mechanism based on these operating parameters, the working mode of the cleaning mechanism can be adapted to the dirt data, thus improving the cleaning effect of the cleaning equipment.

[0028] Furthermore, since the cleaning strategy includes a cleaning trajectory, a cleaning trajectory adapted to the different dirt distribution in the target area can be determined, thus improving the cleaning effect of the cleaning equipment.

[0029] Furthermore, since controlling the light projector to project light signals onto the target area can improve the clarity of the area image acquired by the visual sensor, thereby improving the accuracy of the identified dirt data. Therefore, the dirt data related to the target area can be accurately determined.A domain-adaptive cleaning strategy improves the cleaning effect on the target area.

[0030] In addition, since the pre-trained dirt recognition model recognizes the area image and obtains dirt data, the accuracy of the determined dirt data can be improved. Therefore, a cleaning strategy adapted to the target area can be accurately determined, improving the cleaning effect on the target area. Specification 3 / 14 pages 5 CN 121621858 A

[0031] In addition, since the similarity between the area image and the template image is compared, and the template dirt data of the template image corresponding to the maximum similarity is determined as dirt data, the problem of requiring a large amount of computing resources when using neural networks to determine dirt data can be avoided. Therefore, the computing resources of the cleaning equipment can be saved.

[0032] In addition, since the dirt data in the area image is determined based on the pixel range of the surface to be cleaned, the problem of needing to collect image data of different dirt data in advance can be avoided. Since only the image data of the surface to be cleaned when there is no dirt is needed to determine the pixel range of the surface to be cleaned, the difficulty of determining dirt data based on the area image can be reduced.

[0033] Furthermore, since the dirt data of the target area is marked on the map of the area to which the target area belongs without cleaning the target area, the dirt data of the uncleaned target area can be recorded, which makes it convenient for the cleaning equipment to clean the target area after adjusting the cleaning strategy. Therefore, the cleaning efficiency of the surface to be cleaned can be improved.

[0034] In addition, since the target area with the same cleaning strategy is cleaned continuously, the problem of frequently switching cleaning strategies during the cleaning process can be avoided. Therefore, the cleaning efficiency of the surface to be cleaned can be improved. Brief Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the specific embodiments of the present invention or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0036] Figure 1 is a structural schematic diagram of a cleaning device provided in one embodiment of this application; Figure 2 is a flowchart of a control method for a cleaning device provided in one embodiment of this application; Figure 3 is a flowchart of a control method for a cleaning device provided in another embodiment of this application; Figure 4 is a block diagram of a control device for a cleaning device provided in one embodiment of this application; Figure 5 is a block diagram of an electronic device provided in one embodiment of this application. Detailed Description

[0037] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The following will describe in detail with reference to the accompanying drawings and embodiments.This application is described below. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0038] It should be noted that the terms "first", "second", etc. in the specification, claims and above drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0039] In this application, unless otherwise stated, the directional terms such as "upper", "lower", "top", and "bottom" are generally used in relation to the direction shown in the drawings, or in relation to the vertical, perpendicular or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this application.

[0040] Figure 1 is a structural schematic diagram of a cleaning device provided in an embodiment of this application. The cleaning device includes, but is not limited to, devices with cleaning functions such as sweepers, floor scrubbers, and sweeping and mopping machines. This embodiment does not limit the type of cleaning device. As shown in Figure 1, the cleaning device includes at least a housing 110, an environmental sensor 120, a cleaning mechanism 130, and a controller (not shown in the figure).

[0041] The housing 110 is the outer shell of the cleaning device. The shape of the housing 110 can be a regular geometric shape, such as a circle or a square; or, it can be set to other shapes according to the actual application scenario, such as a D-shape. This embodiment does not limit the shape of the housing 110.

[0042] The housing 110 mainly serves a protective and supporting function. The housing 110 can be integrally formed or a detachable structure. This embodiment does not limit the implementation method of the housing 110.

[0043] The structure of the housing 110 is generally flat, such as a disc shape. This embodiment does not limit the shape of the housing 110.

[0044] The environmental sensor 120 is used to collect environmental information of the target area. The environmental sensor 120 can be a vision sensor or a laser sensor. The vision sensor includes, but is not limited to, charge-coupled devices (CCDs) and complementary metal-oxide-semiconductor (CMOS) devices. This embodiment does not limit the type of environmental sensor 120.

[0045] In one example, the environmental sensor 120 includes a vision sensor. Accordingly, the environmental information is a region image of the target area.

[0046] Optionally, the environmental sensor 120 can be one, or at least two. This embodiment does not limit the number of environmental sensors 120.

[0047] Optionally, the environmental sensor 120 can be located on the top and / or side of the housing 110. This embodiment does not limit the number of environmental sensors 120.The specific installation location of sensor 120 is limited.

[0048] Optionally, in order to acquire a clearer area image, a light projector is installed on the cleaning device to project light signals onto the target area so that the environmental sensor 120 can acquire an area image with added light signals.

[0049] Optionally, the light projector can be a light-emitting diode (LED) lamp, or it can be an infrared emitter. This embodiment does not limit the type of light projector.

[0050] In another example, the environmental sensor 120 includes a laser sensor. Accordingly, the environmental information is the signal acquired by the laser sensor.

[0051] The cleaning mechanism 130 is installed at the bottom of the housing 110 and connected to the mechanism drive assembly to clean the target area under the drive of the mechanism drive assembly. Optionally, in order to replace the cleaning mechanism, the cleaning mechanism is detachably installed on the mechanism drive assembly.

[0052] The cleaning mechanism 130 can be a roller brush, a rag, etc. This embodiment does not limit the implementation of the cleaning mechanism 130.

[0053] Optionally, the cleaning mechanism 130 can be divided into different mechanism types according to different materials. For example, the cleaning mechanism 130 can be divided into soft material type and hard material type. Alternatively, the cleaning mechanism 130 can also be divided into different mechanism types according to different mechanism sizes. For example, the cleaning mechanism 130 can be divided into large size type and small size type. This embodiment does not limit the way the mechanism types are divided.

[0054] In this embodiment, the cleaning equipment also has a moving mechanism for driving the cleaning equipment to move. The moving mechanism can be wheeled or tracked. This embodiment does not limit the type of moving mechanism.

[0055] The controller is connected to the environmental sensor 120, the cleaning mechanism 130 and the moving mechanism respectively. The controller can be a microcontroller unit installed inside the cleaning equipment or any component with control function. This embodiment does not limit the type of controller.

[0056] In this embodiment, the controller is used to obtain dirt data of the target area where the cleaning equipment is currently located; and to determine a cleaning strategy adapted to the target area based on the dirt data.

[0057] The cleaning strategy includes the usage strategy of the cleaning mechanism 130 on the cleaning equipment, and / or the cleaning instructions for the cleaning equipment (page 5 / 14, CN 121621858 A).

[0058] Optionally, the controller is also connected to a light projector to control the light projector to project light signals onto the target area.

[0059] When the cleaning mechanism 130 is detachably mounted on the mechanism drive assembly, in order to determine whether the cleaning equipment currently has the cleaning mechanism 130 installed, and / or to determine the mechanism type of the currently installed cleaning mechanism 130, it is necessary to...130 is inspected. The methods for inspecting the cleaning mechanism 130 include, but are not limited to, the following two: First, the cleaning mechanism 130 is equipped with a mechanism marker. Different types of cleaning mechanisms 130 have different mechanism markers. A detection component is provided on the mechanism mounting part of the cleaning equipment. The mechanism mounting part is used to install the cleaning mechanism 130, and the detection component is connected to the controller. Accordingly, the controller is used to inspect the cleaning mechanism 130 based on the inspection results of the detection component.

[0060] Second, a mechanism image sensor is installed on the cleaning equipment, and the mechanism image sensor is connected to the controller. Accordingly, the controller is used to inspect the cleaning mechanism 130 based on the mechanism image of the cleaning mechanism 130 acquired by the mechanism image sensor.

[0061] In this embodiment, by acquiring the dirt data of the target area where the cleaning equipment is currently located; and determining a cleaning strategy adapted to the target area based on the dirt data, the cleaning strategy includes the usage strategy of the cleaning mechanism on the cleaning equipment and / or the cleaning trajectory of the cleaning equipment; this can solve the problem of poor cleaning effect when the traditional cleaning equipment control method controls the cleaning mechanism to work according to the preset working mode; since a cleaning strategy adapted to the target area can be determined based on the dirt data of the target area, different cleaning strategies can be used to clean areas with different dirt data, thus improving the cleaning effect of the cleaning equipment.

[0062] The control method of the cleaning equipment provided in this application will be described in detail below.

[0063] Figure 2 is a flowchart of the control method of the cleaning equipment provided in an embodiment of this application. This embodiment uses the method applied to the controller of the cleaning equipment shown in Figure 1 as an example for explanation. The method includes at least the following steps: Step 201, acquiring the dirt data of the target area where the cleaning equipment is currently located.

[0064] The dirt data is used to indicate dirt density, such as dust density; or it can indicate dirt area, such as the area of ​​water stains. This embodiment does not limit the information indicated by the dirt data.

[0065] In one example, the dirt data is obtained by the cleaning device recognizing the area image collected by the visual sensor. At this time, obtaining the dirt data of the target area where the cleaning device is currently located includes: obtaining the area image collected by the visual sensor; and performing dirt recognition on the area image to obtain the dirt data.

[0066] In other embodiments, the dirt data may also be collected by other devices and sent to the cleaning device. This embodiment does not limit the method of obtaining the dirt data.

[0067] In this embodiment, the example of obtaining the dirt data by recognizing the area image is used for explanation. The area image may be a color image or a black and white image. This embodiment does not limit the type of area image.

[0068] Optionally, in order to obtain a clearer area image, before obtaining the area image collected by the visual sensor, it is alsoThis includes controlling a light projector to project light signals onto a target area, so that a visual sensor can acquire an image of the area after the light signal has been added. Since the clarity of the area image after the light signal has been added is higher than that of the area image acquired without the light signal, the accuracy of the dirt data obtained by identifying the area image can be improved, thereby more accurately determining the cleaning strategy suitable for the target area and improving the cleaning effect of the target area.

[0069] In this embodiment, the methods for dirt identification of the area image include, but are not limited to, the following: The first method: inputting the area image into a pre-trained dirt identification model to obtain dirt data.

[0070] Wherein, the dirt identification model is obtained by training a neural network using training data. Each set of training data includes sample images and dirt label data in the sample images.

[0071] In one example, the training process of the dirt recognition model includes: creating an initial network model; inputting sample images and dirt label data in the sample images into the initial network model to obtain model results; iteratively updating the parameters of the initial network model based on the model results and the corresponding dirt label data; obtaining the dirt recognition model when the number of iterations reaches a preset number or the updated model converges.

[0072] The initial network model can be a BP neural network (Back Propagation Neural Network), an ART neural network (Adaptive Resonance Theory), or a radial basis function (RBF) neural network. This embodiment does not limit the type of the initial network model.

[0073] The second method: determine the similarity between the region image and each template image, and determine the template dirt data of the template image corresponding to the maximum similarity as the dirt data.

[0074] The template images are collected under different dirt data conditions, and each template image includes corresponding template dirt data.

[0075] In one example, determining the similarity between a region image and each template image includes: determining the similarity between the pixel value distribution of the region image and the pixel value distribution of each template image, and identifying the template dirt data of the template image corresponding to the maximum similarity as dirt data.

[0076] Taking dust density as an example, multiple template images with different dust densities (which can be images of the ground or other surfaces to be cleaned) are pre-stored in the cleaning equipment. Then, the pixel information of the template images is extracted, and the pixel information is associated with the dust density and stored. When performing dirt identification on the region image, the pixel information of the region image is extracted, and the similarity between the pixel information of the region image and the pixel information of each pre-stored template image is determined.The dust density corresponding to the pixel information with the highest similarity is determined as the dust density of the region image.

[0077] In another example, determining the similarity between the region image and each template image includes: determining the similarity between the hash value of the region image and the hash value of each template image, and determining the dust density corresponding to the template image with the highest similarity as the dust density of the region image.

[0078] Optionally, the hash value of the region image and the hash value of the template image are calculated in the same way. Specifically, the hash value can be calculated using an average hash algorithm, a perceptual hash algorithm, or a difference hash algorithm. This embodiment does not limit the type of hash value calculation method.

[0079] Third method: Obtain the pixel range of the surface to be cleaned; determine the pixel position of the pixel value in the region image within the pixel range as the non-dirty position; determine the dirt data based on the non-dirty position.

[0080] Obtaining the pixel range of the surface to be cleaned includes: obtaining a standard image of the surface to be cleaned when it is free of dirt, and determining the pixel range in the standard image as the pixel range of the surface to be cleaned.

[0081] Determining the pixel positions in the region image whose pixel values ​​fall within a pixel range as non-dirty positions includes: traversing the pixel positions in the region image, connecting the pixel positions whose pixel values ​​fall within a pixel range to obtain at least one connected region; determining the connected regions whose area is greater than an area threshold as non-dirty regions, and the pixel positions in the non-dirty regions are non-dirty positions.

[0082] Determining dirt data based on non-dirty positions includes: determining dirt positions based on non-dirty positions; determining the dirt area based on the dirt region formed by the dirt positions; and / or, determining the dirt density based on the pixel values ​​of the dirt positions. Wherein, the dirt density is positively correlated with the average pixel value of each dirt position or positively correlated with the maximum pixel value of each dirt position.

[0083] Optionally, after obtaining the dirt data of the target area where the cleaning equipment is currently located, the method further includes: determining whether to clean the target area; if it is determined that the target area will not be cleaned, marking the dirt data of the target area on the map of the area to which the target area belongs. If it is determined that the target area will be cleaned, controlling the cleaning equipment to clean the target area with a cleaning strategy adapted to the target area.

[0084] Optionally, whether to clean the target area can be determined based on whether a cleaning mechanism is installed, for example: if no cleaning mechanism is installed, it is determined that the target area will not be cleaned. Or, it can be determined based on the type of the currently installed cleaning mechanism, for example: if the type of the currently installed cleaning mechanism does not match the usage strategy, it is determined that the target area will not be cleaned. Or, it can be determined based on the current time period, for example: if the current time period is nighttime, it is determined that the target area will not be cleaned.The target area is cleaned. This embodiment does not limit the method of determining whether to clean the target area.

[0085] Step 202: Determine a cleaning strategy suitable for the target area based on the dirt data.

[0086] The cleaning strategy includes the usage strategy of the cleaning mechanism on the cleaning equipment and / or the cleaning trajectory of the cleaning equipment.

[0087] The usage strategy of the cleaning mechanism includes at least the following situations: The first situation is that the usage strategy includes the mechanism type of the cleaning mechanism; accordingly, determining a cleaning strategy suitable for the target area based on the dirt data includes: obtaining the mechanism type of the cleaning mechanism corresponding to the dirt data.

[0088] The mechanism type can be based on the material of the cleaning mechanism, for example: dividing the cleaning mechanism into soft material type and hard material type; or, it can also be based on the size of the cleaning mechanism, for example: dividing the cleaning mechanism into large size type and small size type. This embodiment does not limit the method of dividing the mechanism type.

[0089] Taking the mechanism type as divided into soft material type and hard material type as an example, since the cleaning mechanism of soft material type is not suitable for the surface to be cleaned with high dust density, that is, it cannot clean the surface to be cleaned with high dust density. Based on this, the mechanism type of the cleaning mechanism corresponding to the dirt data is obtained, including: when the dirt data indicates that the dust density is greater than the density threshold, the mechanism type is determined to be hard material type; when the dirt data indicates that the dust density is less than or equal to the density threshold, the mechanism type is determined to be soft material type. In this way, when the dust density is greater than the density threshold, the cleaning mechanism of hard material type is used to clean the target area, which can avoid the problem of poor cleaning effect caused by using soft material cleaning mechanism, and can improve the cleaning effect of cleaning equipment.

[0090] Wherein, the density threshold is pre-stored in the cleaning equipment.

[0091] Optionally, the mechanism type corresponding to the dirt data can be one or at least two, for example: the mechanism type corresponding to high dust density is hard material type and / or large size type. This embodiment does not limit the mechanism type corresponding to the dirt data.

[0092] Optionally, the methods for obtaining the type of cleaning organization corresponding to the dirt data include, but are not limited to, the following: The first method involves determining the dirt value range to which the dirt data belongs; and determining the organization type corresponding to this dirt value range as the organization type of the cleaning organization corresponding to the dirt data.

[0093] Wherein, the dirt value range is obtained by dividing the range of values ​​from the minimum to the maximum dirt value. The correspondence between each dirt value range and the cleaning organization is stored in the cleaning equipment. Different organization types correspond to different dirt value ranges. The method of dividing the value range can be set according to actual usage requirements; this embodiment does not limit the method of dividing the value range.

[0094] The second method involves obtaining the cleaning capabilities of different types of cleaning organizations; obtaining the cleaning capabilities and matching them with the dirt data.

[0095] The correspondence between cleaning ability and mechanism type is pre-stored in the cleaning equipment. Specification 8 / 14 pages 10 CN 121621858 A

[0096] Optionally, the cleaning ability is represented by the maximum dirt data that the cleaning mechanism can clean. At this time, obtaining the mechanism type that matches the cleaning ability and dirt data includes: if the maximum dirt data indicated by the cleaning ability is greater than or equal to the dirt data, determining that the mechanism type corresponding to the cleaning ability is the mechanism type that matches the dirt data.

[0097] Optionally, after determining the cleaning strategy suitable for the target area based on the dirt data, it further includes: determining whether the cleaning equipment has a cleaning mechanism installed.

[0098] If a cleaning mechanism has been installed on the cleaning equipment, determining whether the current mechanism type of the currently installed cleaning mechanism matches the usage strategy; if the current mechanism type does not match the usage strategy, outputting a mechanism update prompt; if the current mechanism type matches the usage strategy, cleaning the target area. Wherein, the mechanism update prompt is used to prompt the replacement of the currently installed cleaning mechanism.

[0099] Optionally, the mechanism update prompt can be an audio prompt, and correspondingly, the mechanism update prompt is output through an audio playback component installed on the cleaning device. Alternatively, the mechanism update prompt can be a light prompt, and correspondingly, the mechanism update prompt is output through an indicator light on the cleaning device. Alternatively, the mechanism update prompt can be a prompt message sent to a user device or server, and correspondingly, the mechanism update prompt is output through a communication component on the cleaning device. This embodiment does not limit the way the cleaning device outputs the mechanism update prompt.

[0100] In one example, the mechanism update prompt includes the mechanism type indicated by the strategy. In this case, the user can replace the cleaning mechanism based on the mechanism type indicated by the mechanism update prompt. For example, the mechanism update prompt outputs a voice prompt "The cleaning mechanism of hard material type needs to be replaced". In this case, the user can replace the cleaning mechanism currently installed on the cleaning device with a cleaning mechanism of hard material type based on the mechanism update prompt.

[0101] When no cleaning mechanism is installed on the cleaning device, a mechanism installation prompt is output.

[0102] Wherein, the mechanism installation prompt is used to prompt the installation of the cleaning mechanism. The mechanism installation prompt differs from the mechanism update prompt. The mechanism installation prompt can be an audio prompt, output through an audio playback component installed on the cleaning device. Alternatively, the mechanism installation prompt can be a light prompt, output through an indicator light on the cleaning device. Alternatively, the mechanism installation prompt can be a prompt message sent to the user device or server, output through a communication component on the cleaning device. This embodiment does not limit the method by which the cleaning device outputs the mechanism installation prompt.

[0103] The methods for determining whether the cleaning device has a cleaning mechanism installed include, but are not limited to, the following:In the first method, a mechanism marker is provided on the cleaning mechanism, and a detection component is provided on the mechanism mounting part of the cleaning equipment. The mechanism mounting part is used to install the cleaning mechanism, and the detection component is used to detect the mechanism marker. In this case, determining whether the cleaning equipment has a cleaning mechanism installed includes: obtaining the mechanism detection result of the detection component; and determining whether the cleaning equipment has a cleaning mechanism installed based on the mechanism detection result.

[0104] Optionally, the mechanism markers provided on cleaning mechanisms of different mechanism types are different, and the mechanism detection results corresponding to cleaning mechanisms of different mechanism types are different. When it is determined that the cleaning equipment has a cleaning mechanism installed based on the mechanism detection result, before determining whether the mechanism type of the currently installed cleaning mechanism matches the usage strategy, the method further includes: determining the mechanism type of the currently installed cleaning mechanism based on the mechanism detection result.

[0105] Indicatively, the mechanism marker is a magnetic component, and correspondingly, the detection component is a Hall sensor. The number of magnetic components corresponding to different mechanism types is different. In this case, determining whether the cleaning equipment has a cleaning mechanism installed includes: obtaining the mechanism detection result of the Hall sensor; determining that the cleaning equipment has a cleaning mechanism installed when the mechanism detection result indicates that a magnetic component is detected; and determining that the cleaning equipment has not a cleaning mechanism installed when the mechanism detection result indicates that no magnetic component is detected.

[0106] When it is determined that the cleaning equipment has a cleaning mechanism installed based on the mechanism detection results, the mechanism type of the currently installed cleaning mechanism is determined based on the mechanism detection results (page 9 / 14, CN 121621858 A), including: determining the number of magnetic components based on the mechanism detection results; and determining the mechanism type of the currently installed cleaning mechanism based on the number of magnetic components.

[0107] In a second method, a mechanism image sensor is installed on the cleaning equipment, which is used to collect mechanism images of the cleaning mechanism. In this case, determining whether the cleaning equipment has a cleaning mechanism installed includes: acquiring a target image collected by the mechanism image sensor; performing image recognition on the target image; and determining whether the cleaning equipment has a cleaning mechanism installed based on the recognition results.

[0108] The mechanism images of cleaning mechanisms of different mechanism types are different.

[0109] Optionally, when it is determined that the cleaning equipment has a cleaning mechanism installed based on the recognition results, before determining whether the mechanism type of the currently installed cleaning mechanism matches the usage strategy, the method further includes: determining the mechanism type of the currently installed cleaning mechanism based on the recognition results.

[0110] Optionally, determining whether the type of the currently installed cleaning unit matches the usage strategy includes: if the type of the currently installed cleaning unit is the same as the type indicated by the usage strategy, determining that the type of the currently installed cleaning unit matches the usage strategy.

[0111] If the type of the currently installed cleaning unit is different from the type indicated by the usage strategy, determining that the type of the currently installed cleaning unit does not match the usage strategy.

[0112] To ensure that the replaced cleaning mechanism matches the usage strategy, in the case where the current mechanism type does not match the usage strategy, or the cleaning equipment does not have a cleaning mechanism installed, the control method for the cleaning equipment provided in this embodiment further includes: in response to the cleaning equipment's mechanism replacement instruction, determining whether the replaced cleaning mechanism matches the usage strategy; in the case where the replaced cleaning mechanism does not match the usage strategy, triggering the step of outputting a mechanism update prompt.

[0113] Wherein, the mechanism replacement instruction may be automatically generated by the cleaning equipment when it detects that the cleaning mechanism has been replaced, or it may be generated when the replacement indicator control set on the cleaning equipment is triggered, or it may be sent to the cleaning equipment by other devices. This embodiment does not limit the way the mechanism replacement instruction is generated.

[0114] In one example, the mechanism replacement instruction is generated when the replacement indicator control set on the cleaning equipment is triggered. At this time, the cleaning equipment is equipped with a replacement indicator control. Accordingly, in response to the cleaning equipment's mechanism replacement instruction, determining whether the replaced cleaning mechanism matches the usage strategy includes: in the case of receiving a trigger operation acting on the replacement indicator control, determining whether the replaced cleaning mechanism matches the usage strategy.

[0115] Optionally, the replacement indicator control can be a physical button, or it can be a virtual touch button displayed on the touch screen of the cleaning device. This embodiment does not limit the type of replacement indicator control.

[0116] For example: after the user replaces the cleaning mechanism of the cleaning device, he / she presses the replacement indicator control on the cleaning device to trigger the cleaning device to generate a mechanism replacement instruction.

[0117] In another example, the mechanism replacement instruction is automatically generated by the cleaning device when it detects that the cleaning device has been replaced. At this time, in response to the mechanism replacement instruction of the cleaning device, determining whether the replaced cleaning mechanism matches the usage strategy includes: when the cleaning mechanism is detected to have been replaced, determining whether the replaced cleaning mechanism matches the usage strategy.

[0118] In the second case, the usage strategy includes the working mode of the cleaning mechanism; accordingly, a cleaning strategy adapted to the target area is determined based on the dirt data, including: determining the target data range to which the dirt data belongs, different data ranges correspond to different mechanism operating parameters; determining the mechanism operating parameters corresponding to the target data range to obtain the working mode of the cleaning mechanism.

[0119] Optionally, the mechanism operating parameters include: operating speed, operating power, and / or operating time. This embodiment does not limit the type of mechanism parameters. Among them, the operating speed is positively correlated with the dirt density, that is, the higher the dirt density, the higher the operating speed. The operating time is positively correlated with the dirt area, that is, the larger the dirt area, the longer the operating time.

[0120] Optionally, the mechanism operating parameters corresponding to the data range are pre-stored in the cleaning equipment.

[0121] In this embodiment, the cleaning strategy includes the cleaning trajectory of the cleaning equipment; correspondingly, determining a cleaning strategy adapted to the target area based on dirt data includes: determining the distribution location of dirt within the target area based on dirt data; generating a cleaning trajectory according to the distribution location.

[0122] Optionally, generating a cleaning trajectory according to the distribution location includes: determining the minimum number of times the cleaning equipment passes through the distribution location during the cleaning process based on the dirt density corresponding to each distribution location; generating a cleaning trajectory based on the minimum number of times the cleaning equipment passes through each distribution location. The dirt density is positively correlated with the minimum number of times, i.e., the greater the dirt density at a distribution location, the greater the minimum number of times it passes through that distribution location during the cleaning process.

[0123] To improve the cleaning efficiency of the cleaning equipment, after determining a cleaning strategy adapted to the target area based on dirt data, the method further includes: determining other areas where the cleaning strategy is the same as the cleaning strategy for the target area; and continuously cleaning the target area and other areas according to the cleaning strategy.

[0124] Continuous cleaning means: not cleaning areas outside the target area and other areas until all areas have been cleaned. This avoids the problem of frequently switching cleaning strategies during the cleaning process, thus improving the efficiency of cleaning the surface to be cleaned.

[0125] Optionally, determining other areas with the same cleaning strategy as the target area includes: determining other areas in the working map with the same dirt data as the target area as other areas with the same cleaning strategy as the target area.

[0126] In order to reduce the distance the cleaning equipment moves during the cleaning process, the target area and other areas are continuously cleaned according to the cleaning strategy, including: determining the target area and other areas as areas to be cleaned; calculating the distance between each area to be cleaned, connecting each area to be cleaned using the shortest path search method to generate a movement trajectory; controlling the cleaning equipment to move according to the movement trajectory to continuously clean the target area and other areas.

[0127] Yes, the shortest path search method can be the Floyd-Warshall method, or it can be the depth-first search (DFS) method. This embodiment does not limit the type of shortest path search method.

[0128] Optionally, the methods for continuously cleaning the target area and other areas according to the same cleaning strategy include, but are not limited to, the following: First method: Clean the target area according to the cleaning strategy, and after identifying another area with the same cleaning strategy as the target area, clean the other area according to that cleaning strategy.

[0129] Second method: After identifying all other areas in the area to be cleaned that have the same cleaning strategy as the target area, continuously clean the target area and other areas according to the same cleaning strategy.

[0130] In summary, the cleaning equipment control method of this embodiment obtains the dirt data of the target area where the cleaning equipment is currently located; determines a cleaning strategy adapted to the target area based on the dirt data, the cleaning strategy including the usage strategy of the cleaning mechanism on the cleaning equipment and / or the cleaning trajectory of the cleaning equipment; it can solve the problem of poor cleaning effect when the traditional cleaning equipment control method controls the cleaning mechanism to work according to the preset working mode; since a cleaning strategy adapted to the target area can be determined based on the dirt data of the target area, different cleaning strategies can be used to clean areas with different dirt data, thus improving the cleaning effect of the cleaning equipment.

[0131] In addition, since the usage strategy includes the mechanism type of the cleaning mechanism, the corresponding mechanism type of the cleaning mechanism can be determined based on different dirt data, so that the mechanism type can be adapted to the dirt data, thus improving the cleaning effect of the cleaning equipment.

[0132] In addition, since the dirt data indicates that the dust density is greater than the density threshold, selecting a hard material type for the mechanism type can avoid the problem of poor cleaning effect caused by using a soft material cleaning mechanism when the dust density is high. Therefore, the cleaning effect of the cleaning equipment can be improved.

[0133] In addition, since the mechanism type of the cleaning mechanism currently installed in the cleaning equipment does not match the usage strategy, a mechanism update prompt is output to prompt the replacement of the currently installed cleaning mechanism. Therefore, the target area can be cleaned after the cleaning mechanism is replaced, which can improve the cleaning effect of the cleaning equipment.

[0134] In addition, since after receiving the mechanism replacement instruction, it is determined again whether the replaced cleaning mechanism matches the usage strategy. If the mechanism type of the replaced cleaning mechanism does not match the usage strategy, a mechanism update prompt is output again. Therefore, the target area can be cleaned only when the replaced cleaning mechanism matches the usage strategy, which can improve the cleaning effect of the cleaning equipment.

[0135] Furthermore, since the strategy includes the working mode of the cleaning mechanism, the operating parameters of the cleaning mechanism can be determined based on the dirt data. By controlling the operation of the cleaning mechanism based on these operating parameters, the working mode of the cleaning mechanism can be adapted to the dirt data, thus improving the cleaning effect of the cleaning equipment.

[0136] Furthermore, since the cleaning strategy includes a cleaning trajectory, a cleaning trajectory adapted to the different dirt distribution in the target area can be determined, thus improving the cleaning effect of the cleaning equipment.

[0137] Furthermore, since controlling the light projector to project light signals onto the target area improves the clarity of the area image acquired by the visual sensor, thereby improving the accuracy of the identified dirt data. Therefore, a cleaning strategy adapted to the target area can be accurately determined, improving the cleaning effect on the target area.

[0138] In addition, since the pre-trained dirt recognition model identifies the region image and obtains dirt data, the accuracy of the determined dirt data can be improved. Therefore, a cleaning strategy suitable for the target region can be accurately determined, improving the cleaning effect on the target region.

[0139] In addition, since the similarity between the region image and the template image is compared, and the template dirt data of the template image corresponding to the maximum similarity is determined as the dirt data, the problem of consuming a lot of computing resources when using neural networks to determine dirt data can be avoided. Therefore, the computing resources of the cleaning equipment can be saved.

[0140] In addition, since the dirt data in the region image is determined based on the pixel range of the surface to be cleaned, the problem of needing to collect image data of different dirt data in advance can be avoided. Since only the image data of the surface to be cleaned when there is no dirt is needed to determine the pixel range of the surface to be cleaned, the difficulty of determining dirt data based on the region image can be reduced.

[0141] Furthermore, since the dirt data of the target area is marked on the map of the area to which the target area belongs without cleaning the target area, the dirt data of the uncleaned target area can be recorded, which makes it convenient for the cleaning equipment to clean the target area after adjusting the cleaning strategy. Therefore, the cleaning efficiency of the surface to be cleaned can be improved.

[0142] In addition, since the target area with the same cleaning strategy is cleaned continuously, the problem of frequently switching cleaning strategies during the cleaning process can be avoided. Therefore, the cleaning efficiency of the surface to be cleaned can be improved.

[0143] The control method of the cleaning equipment provided in this application will be described in detail below.

[0144] FIG3 is a flowchart of the control method of the cleaning equipment provided in an embodiment of this application. This embodiment uses the method applied to the controller of the cleaning equipment shown in FIG1 as an example for explanation. In this example, the cleaning strategy is the usage strategy of the cleaning mechanism, and the usage strategy is the mechanism type of the cleaning mechanism. The method includes at least the following steps: Step 301, acquiring a region image of the target area collected by a visual sensor; Step 302, performing dirt identification on the region image to obtain dirt data; Step 303, acquiring the type of the cleaning mechanism corresponding to the dirt data; Step 304, determining whether the current type of the currently installed cleaning mechanism matches the usage strategy; if the current type does not match the usage strategy, proceed to step 305; if the current type matches the usage strategy, proceed to step 306; Step 305, marking the dirt data of the target area on the region map of the target area, and proceeding to step 307; Step 306, controlling the cleaning equipment to clean the target area using a cleaning strategy adapted to the target area, and proceeding to step 307;Step 307: Determine whether the surface to be cleaned has been traversed completely; if the surface to be cleaned has not been traversed completely, proceed to step 308; if the surface to be cleaned has been traversed completely, proceed to step 309; Step 308: Control the cleaning equipment to enter the next target area and proceed to step 301; Step 309: Determine whether the map marks dirty data; if the map marks dirty data, proceed to step 310; if the map does not mark dirty data, end the cleaning process.

[0145] Step 310: Re-determine the cleaning strategy based on one type of dirty data among all the dirty data marked on the map, and output an organization update prompt; Step 311: In response to the organization replacement command of the cleaning equipment, determine whether the replaced cleaning organization matches the usage strategy; if the replaced cleaning organization does not match the usage strategy, proceed to step 310; if the replaced cleaning organization matches the usage strategy, proceed to step 312; Step 312: Control the cleaning equipment to move to the target area corresponding to the dirty data marked on the map and proceed to step 306.

[0146] As can be seen from the above embodiments, the control method for the cleaning equipment provided in this application, after receiving the mechanism replacement instruction, re-determines whether the replaced cleaning mechanism matches the usage strategy. If the mechanism type of the replaced cleaning mechanism does not match the usage strategy, it outputs a mechanism update prompt again. Therefore, the target area can be cleaned only when the replaced cleaning mechanism matches the usage strategy, which can improve the cleaning effect of the cleaning equipment.

[0147] This embodiment provides a control device for a cleaning equipment, as shown in FIG4. This embodiment uses the method applied to the controller of the cleaning equipment shown in FIG1 as an example for explanation. The device includes at least the following modules: a data acquisition module 410 and a strategy determination module 420.

[0148] The data acquisition module 410 is used to acquire dirt data of the target area where the cleaning equipment is currently located; the strategy determination module 420 is used to determine a cleaning strategy adapted to the target area based on the dirt data. The cleaning strategy includes the usage strategy of the cleaning mechanism on the cleaning equipment and / or the cleaning trajectory of the cleaning equipment.

[0149] For related details, refer to the above-described device and method embodiments.

[0150] It should be noted that the control device for the cleaning equipment provided in the above embodiments is only illustrated by the division of the above functional modules when controlling the cleaning equipment. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the control device for the cleaning equipment can be divided into different functional modules to complete all or part of the functions described above. In addition, the control device for the cleaning equipment provided in the above embodiments and the control method embodiments for the cleaning equipment belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0151] This embodiment provides an electronic device, as shown in FIG5. This embodiment uses the method applied to the controller of the cleaning device shown in FIG1 as an example for illustration. The electronic device includes at least a processor 501 and a memory 502.

[0152] The processor 501 may include one or more processing cores, such as: a 4-core processor, an 8-core processor, etc. The processor 501 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), PLA (Programmable Logic Array). The processor 501 may also include a main processor and a coprocessor. The main processor is a processor used to process data in the wake-up state, also called a CPU (Central Processing Unit); the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 501 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content that the display screen needs to display. In some embodiments, processor 501 may further include an AI (Artificial Intelligence) processor for processing computational operations related to machine learning.

[0153] Memory 502 may include one or more computer-readable storage media, which may be non-transitory. Memory 502 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash storage devices. In some embodiments, the non-transitory computer-readable storage media in memory 502 is used to store at least one instruction for execution by processor 501 to implement the control method of the cleaning device provided in the method embodiments of this application.

[0154] In some embodiments, the electronic device may also optionally include: a peripheral device interface and at least one peripheral device. Processor 501, memory 502 and peripheral device interface may be connected via a bus or signal line. Each peripheral device may be connected to the peripheral device interface via a bus, signal line or circuit board. Indicatively, peripheral devices include, but are not limited to: radio frequency circuits, touch display screens, audio circuits, and power supplies.

[0155] Of course, the electronic device may also include fewer or more components, which is not limited in this embodiment.

[0156] Optionally, this application also provides a computer-readable storage medium storing...A program is provided, which is loaded and executed by a processor to implement the control method of the cleaning device in the above-described method embodiments.

[0157] Optionally, this application also provides a computer product, which includes a computer-readable storage medium storing a program, which is loaded and executed by a processor to implement the control method of the cleaning device in the above-described method embodiments.

[0158] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered to be within the scope of this specification.

[0159] The above embodiments only illustrate several implementation methods of this application. The descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims. Instruction Manual 14 / 14 Page 16 CN 121621858 A Figure 1 Figure 2 Instruction Manual Appendix 1 / 3 Page 17 CN 121621858 A Figure 3 Instruction Manual Appendix 2 / 3 Page 18 CN 121621858 A Figure 4 Figure 5 Instruction Manual Appendix 3 / 3 Page 19 CN 121621858 A CONTROL METHOD FOR CLEANING EQUIPMENT, DEVICE AND STORAGE MEDIUM Abstract The present application relates to a control method for cleaning equipment, an electronic device and a storage medium, and belongs to the technical field of automatic control. The method includes: acquiring dirt data of a target area where the cleaning equipment is currently located; determining a cleaning strategy adapted to the target area based on the dirt data, where the cleaningstrategy includes a usage strategy of a cleaning mechanism on the cleaning equipment and / or a cleaning trajectory of the cleaning equipment. This application can solve the problem of poor cleaning effect existing in conventional cleaning equipment control methods which control the cleaning mechanism to operate in a preset working mode. By indicating the dirt density through the dirt data, different cleaning strategies can be adopted for areas to be cleaned with different dirt levels, so as to significantly improve the overall cleaning performance of the cleaning equipment. 120 110 130

Claims

1. A control method of a cleaning apparatus, characterized by, The method comprises: obtaining dirt data of a target area currently located by the cleaning device, the dirt data being used to indicate dirt density; determining a cleaning strategy adapted to the target area based on the dirt data, the cleaning strategy comprising a usage strategy of a cleaning mechanism on the cleaning device and / or a cleaning trajectory of the cleaning device.

2. The method of claim 1, wherein, The dirt density is determined based on pixel values of dirt positions.

3. The method of claim 2, wherein, The dirt density is positively correlated with pixel average values of respective dirt positions.

4. The method of claim 2, wherein, The dirt density is positively correlated with pixel maximum values of respective dirt positions.

5. The method according to any one of claims 1 to 4, characterized in that, The usage strategy comprises a mechanism type of the cleaning mechanism; accordingly, the determining of the cleaning strategy adapted to the target area based on the dirt data comprises: obtaining the mechanism type of the cleaning mechanism corresponding to the dirt data.

6. The method of claim 5, wherein, The obtaining of the mechanism type of the cleaning mechanism corresponding to the dirt data comprises: in a case where the dirt data indicates that dust density is greater than a density threshold, determining that the mechanism type is a hard material type; in a case where the dirt data indicates that dust density is less than or equal to the density threshold, determining that the mechanism type is a soft material type.

7. The method according to any one of claims 1 to 4, characterized in that, The cleaning strategy comprises a cleaning trajectory of the cleaning device; accordingly, the determining of the cleaning strategy adapted to the target area based on the dirt data comprises: determining distribution positions of dirt in the target area based on the dirt data; generating the cleaning trajectory according to the distribution positions.

8. The method of claim 7, wherein, The generating of the cleaning trajectory according to the distribution positions comprises: determining a minimum number of times that the cleaning device passes through each distribution position in a cleaning process according to a dirt density corresponding to each distribution position; generating the cleaning trajectory according to the minimum number of times that the cleaning device passes through respective distribution positions; wherein the dirt density is positively correlated with the minimum number of times.

9. An electronic device, comprising: The device comprises a processor and a memory; the memory stores a program, the program is loaded and executed by the processor to implement the control method of the cleaning device as claimed in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The storage medium stores a program, the program is executed by the processor to implement the control method of the cleaning device as claimed in any one of claims 1 to 8.

Images