Lateral dust-displaying cleaning method and system for a cleaning device

Abstract

The embodiment of the invention provides a lateral dust display cleaning method and system of cleaning equipment, and belongs to the technical field of dust display of the cleaning equipment. The lateral dust display cleaning method comprises the steps that whether stains exist in the lateral direction of the cleaning equipment or not is detected; under the condition that it is detected that stains exist in the side direction of the cleaning equipment, the types of the stains are determined; driving a lateral auxiliary light source of the cleaning equipment to irradiate the dirty area, and acquiring a lateral image; identifying the type of the stain according to the lateral image; performing dust display on the stains by adopting corresponding colored light; and a mechanical arm is driven to clean the stains. According to the cleaning equipment, a user can conveniently and visually see the state of stains, meanwhile, the mechanical arm is started to clean the lateral stains, and then the cleaning range and efficiency of the cleaning equipment can be effectively improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511821620.6 (22) Application Date 2025.12.04 (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) Inventors: Bai Keqiang, Xu Shuai, Huo Jianghao (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney: Wang Xianbin (51) Int.Cl. A47L 11 / 24 (2006.01) A47L 11 / 28 (2006.01) A47L 11 / 40 (2006.01) A47L 9 / 00 (2006.01) A47L 9 / 28 (2006.01) G03B 15 / 03 (2021.01) G06V 10 / 14 (2022.01) G01N 21 / 94 (2006.01) G01N 21 / 47 (2006.01) (54) Invention Title: Lateral Dust Detection Cleaning Method and System for Cleaning Equipment (57) Abstract: This invention provides a lateral dust detection cleaning method and system for cleaning equipment, belonging to the field of dust detection technology for cleaning equipment. The lateral dust detection cleaning method includes: detecting whether there are stains on the side of the cleaning equipment; determining the type of stain when stains are detected on the side of the cleaning equipment; driving the lateral auxiliary light source of the cleaning equipment to illuminate the area of ​​the stain and acquiring a lateral image; identifying the type of stain based on the lateral image; using corresponding color light to detect the stain; and driving a robotic arm to clean the stain. This allows users to visually see the state of stains and simultaneously activates a robotic arm to clean lateral stains, thereby effectively improving the cleaning range and efficiency of the cleaning equipment. Claims: 2 pages; Description: 9 pages; Drawings: 4 pages; CN 121512383 A 2026.02.13 CN 1 21 51 23 83 A 1. A lateral dust-discovery cleaning method for a cleaning equipment, characterized in that it includes: detecting whether stains exist on the side of the cleaning equipment; determining the type of stain when stains are detected on the side of the cleaning equipment; driving a lateral auxiliary light source of the cleaning equipment to illuminate the area of ​​the stain and acquiring a lateral image; identifying the type of stain based on the lateral image; using corresponding color light to reveal the stain; and driving a robotic arm to clean the stain. 2. The lateral dust-discovery cleaning method according to claim 1, characterized in that detecting whether stains exist on the side of the cleaning equipment includes: driving a lateral detection light emitter of the cleaning equipment to emit detection light;3. The side-mounted dust cleaning method according to claim 2, wherein determining whether there are stains on the side of the cleaning device based on the reflected light received by the side-mounted light receiver includes: detecting whether the intensity of the reflected light received by the side-mounted light receiver is within a reflection intensity threshold range; and determining that there are stains on the side of the cleaning device if the intensity of the reflected light received by the side-mounted light receiver is not within the reflection intensity threshold range. 4. The side-mounted dust cleaning method according to claim 3, wherein determining the type of stain includes: detecting whether the intensity of the reflected light received by the side-mounted light receiver is lower than the lower limit of the reflection intensity threshold range or higher than the upper limit of the reflection intensity threshold range; determining that the stain is a solid stain if the intensity of the reflected light received by the side-mounted light receiver is lower than the lower limit of the reflection intensity threshold range; and determining that the stain is a liquid stain if the intensity of the reflected light received by the side-mounted light receiver is higher than the upper limit of the reflection intensity threshold range. 5. The side-viewing dust cleaning method according to claim 4, characterized in that, driving the side-assisted light source of the cleaning device to irradiate the area of ​​the stain and acquire a side image includes: if the stain is detected as a solid stain, irradiating the area of ​​the stain with a first-wavelength auxiliary light and acquiring a first side image; if the stain is detected as a liquid stain, irradiating the area of ​​the stain with a second-wavelength auxiliary light and acquiring a second side image. 6. The side-viewing dust cleaning method according to claim 5, characterized in that, the first-wavelength auxiliary light includes 1300nm infrared light. 7. The side-viewing dust cleaning method according to claim 5, characterized in that, the second-wavelength auxiliary light includes 1550nm infrared light. 8. The side-view dust-discovery cleaning method according to claim 1, characterized in that, identifying the type of stain based on the side image includes: acquiring images of different types of stains and type labels, and constructing a training set; constructing a stain type image recognition model, and training the stain type image recognition model using the training set; inputting the side image into the trained stain type image recognition model to obtain the type of stain corresponding to claim 1 / 2 page 2 CN 121512383 A. 9. The side-view dust-discovery cleaning method according to claim 1 or 8, characterized in that, using corresponding colored light to reveal the stain includes: using blue light to reveal the stain. 10. The side-view dust-discovery cleaning method according to claim 1 or 8, characterized in that, driving the robotic arm to clean the stain includes:The cleaning method involves: detecting whether the stain is an unremovable stain; if the stain is not an unremovable stain, driving the lateral robotic arm of the cleaning device to clean the stain; continuously driving the lateral detection light emitter to emit detection light; acquiring the reflected light received by the lateral detection light receiver; and determining whether the stain has been cleaned completely based on the reflected light received by the lateral detection light receiver. 11. The lateral dust removal cleaning method according to claim 10, wherein determining whether the stain has been cleaned completely based on the reflected light received by the lateral detection light receiver includes: detecting whether the intensity of the reflected light received by the lateral detection light receiver is within a reflection intensity threshold range; determining that cleaning is complete if the intensity of the reflected light received by the lateral detection light receiver is within a reflection intensity threshold range; driving the cleaning device to rotate towards the stain if the intensity of the reflected light received by the lateral detection light receiver is not within a reflection intensity threshold range; and driving the forward robotic arm of the cleaning device to clean the stain. 12. The side-displaying dust cleaning method according to claim 11, characterized in that, driving the robotic arm to clean the stain further includes: issuing a warning when the type of stain is detected to be an unremovable stain. 13. A side-displaying dust cleaning system for a cleaning device, characterized in that it includes: a cleaning device, wherein a robotic arm and an image acquisition module are provided laterally on the cleaning device; a control module, connected to the cleaning device, for executing the side-displaying dust cleaning method according to any one of claims 1-12. 14. A computer-readable storage medium, characterized in that, the computer-readable storage medium stores instructions, the instructions being read by a machine to cause the machine to execute the side-displaying dust cleaning method according to any one of claims 1-12. Claims 2 / 2 Page 3 CN 121512383 A Side-displaying dust cleaning method and system for cleaning devices Technical Field

[0001] The present invention relates to the field of dust detection technology for cleaning devices, specifically to a side-displaying dust cleaning method and system for cleaning devices. Background Technology

[0002] Many existing small cleaning appliances on the market, such as mops, vacuum cleaners, and sweepers, are equipped with green light dust detection functions. These utilize green lasers or LEDs to project light parallel to the ground, displaying the solid dust particles on the ground. The principle is that the human eye is most sensitive to green, and when ground particles are blocked by parallel light, the contrast of the resulting shadow is strongest. Moreover, green lasers are relatively mature and low in cost. Multispectral sensors and white light detection are also in the pre-research stage, but their resolution is not high, and the sensors are expensive.

[0003] In the existing technology, dust detection and cleaning are mostly performed in front of the cleaning equipment. This allows users to easily observe the state of dirt in front of the cleaning equipment and effectively clean the dirt. However, for dirt on the side of the cleaning equipment...If stains are present, they cannot be effectively identified and processed, thus affecting cleaning efficiency and effectiveness.

[0004] In the process of realizing this invention, the inventors of this application discovered that the above-mentioned solutions of the prior art have the defects of poor lateral cleaning efficiency and effect. Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide a lateral dust detection cleaning method and system for cleaning equipment, which has the functions of high lateral cleaning efficiency and good effect.

[0006] In order to achieve the above objective, the embodiments of the present invention provide a lateral dust detection cleaning method for cleaning equipment, including: detecting whether there are stains on the side of the cleaning equipment; when stains are detected on the side of the cleaning equipment, determining the type of stains; driving the lateral auxiliary light source of the cleaning equipment to illuminate the area of ​​the stains and acquiring a lateral image; identifying the type of stains according to the lateral image; using corresponding color light to detect the stains; driving a robotic arm to clean the stains.

[0007] Optionally, detecting whether there are stains on the side of the cleaning device includes: driving the side detection light emitter of the cleaning device to emit detection light; acquiring the reflected light received by the side detection light receiver of the cleaning device; and determining whether there are stains on the side of the cleaning device based on the reflected light received by the side detection light receiver.

[0008] Optionally, determining whether there are stains on the side of the cleaning device based on the reflected light received by the side detection light receiver includes: detecting whether the intensity of the reflected light received by the side detection light receiver is within the reflection intensity threshold range; and determining that there are stains on the side of the cleaning device if the intensity of the reflected light received by the side detection light receiver is not within the reflection intensity threshold range.

[0009] Optionally, determining the type of stain includes: detecting whether the intensity of reflected light received by the lateral probe light receiver is lower than the lower limit of the reflection intensity threshold range or higher than the upper limit of the reflection intensity threshold range; if the intensity of reflected light received by the lateral probe light receiver is lower than the lower limit of the reflection intensity threshold range, determining that the stain is a solid stain; if the intensity of reflected light received by the lateral probe light receiver is higher than the upper limit of the reflection intensity threshold range, determining that the stain is a liquid stain.

[0010] Optionally, driving the lateral auxiliary light source of the cleaning device to illuminate the area of ​​the stain and acquiring a lateral image includes: if the stain is detected as a solid stain, illuminating the area of ​​the stain with auxiliary light of a first wavelength band and acquiring a first lateral image; if the stain is detected as a liquid stain, illuminating the area of ​​the stain with auxiliary light of a second wavelength band and acquiring a second lateral image.

[0011] Optionally, the auxiliary light of the first wavelength band includes infrared light of 1300nm.

[0012] Optionally, the auxiliary light in the second band includes infrared light at 1550 nm.

[0013] Optionally, identifying the type of stain based on the lateral image includes: acquiring images of different types of stains and type labels, and constructing a training set; constructing a stain type image recognition model, and training the stain type image recognition model using the training set; inputting the lateral image into the trained stain type image recognition model to obtain the type of stain.

[0014] Optionally, revealing the stain using corresponding colored light includes: revealing the stain using blue light.

[0015] Optionally, driving the robotic arm to clean the stain includes: detecting whether the stain is an unremovable stain; if the stain is not an unremovable stain, driving the lateral robotic arm of the cleaning device to clean the stain; continuously driving the lateral probe light emitter to emit probe light; acquiring the reflected light received by the lateral probe light receiver; determining whether the stain has been cleaned based on the reflected light received by the lateral probe light receiver.

[0016] Optionally, determining whether the stain has been cleaned based on the reflected light received by the lateral probe light receiver includes: detecting whether the intensity of the reflected light received by the lateral probe light receiver is within a reflection intensity threshold range; if the intensity of the reflected light received by the lateral probe light receiver is within a reflection intensity threshold range, determining that cleaning is complete; if the intensity of the reflected light received by the lateral probe light receiver is not within a reflection intensity threshold range, driving the cleaning device to rotate toward the stain; driving the forward robotic arm of the cleaning device to clean the stain.

[0017] Optionally, driving the robotic arm to clean the stain further includes: (See page 2 / 9 of specification, CN 121512383 A) Issuing a warning when the type of stain detected is an unremovable stain.

[0018] On the other hand, the present invention also provides a side-viewing dust cleaning system for a cleaning device, comprising: a cleaning device, wherein a robotic arm and an image acquisition module are provided on the side of the cleaning device; and a control module connected to the cleaning device for executing any of the side-viewing dust cleaning methods described above.

[0019] In another aspect, the present invention also provides a computer-readable storage medium storing instructions for being read by a machine to cause the machine to execute any of the side-viewing dust cleaning methods described above.

[0020] Through the above technical solutions, the side-viewing dust cleaning method and system for a cleaning device provided by the present invention detects stains on the side of the cleaning device and determines the type of stain, thereby driving a side auxiliary light source to illuminate the area of ​​the stain to obtain a side image; based on the side image, the type of stain can be further identified and determined, enabling targeted cleaning.Different wavelengths of auxiliary light and colored light are used to reveal dust, improving the accuracy of stain visualization; based on the type of stain, corresponding colored light can be used to reveal the stain, so that users can intuitively see the state of the stain, and at the same time, the robotic arm is activated to clean the lateral stains, thereby effectively improving the cleaning range and efficiency of the cleaning equipment.

[0021] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Brief Description of the Drawings

[0022] The drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings: Figure 1 is a flowchart of a side-display dust cleaning method for a cleaning device according to an embodiment of the present invention; Figure 2 is a flowchart of detecting side stains in a side-display dust cleaning method for a cleaning device according to an embodiment of the present invention; Figure 3 is a flowchart of stain detection in a side-display dust cleaning method for a cleaning device according to an embodiment of the present invention; Figure 4 is a flowchart of confirming the stain type in a side-display dust cleaning method for a cleaning device according to an embodiment of the present invention; Figure 5 is a flowchart of confirming the stain type in a side-display dust cleaning method for a cleaning device according to an embodiment of the present invention; Figure 6 is a flowchart of identifying the stain type in a side-display dust cleaning method for a cleaning device according to an embodiment of the present invention; Figure 7 is a flowchart of stain cleaning in a side-display dust cleaning method for a cleaning device according to an embodiment of the present invention; Figure 8 is a flowchart of determining the stain cleaning status in a side-display dust cleaning method for a cleaning device according to an embodiment of the present invention. Detailed Description

[0023] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustrating and explaining the embodiments of the present invention and are not intended to limit the embodiments of the present invention.

[0024] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with the relevant provisions of laws and regulations on pages 3 / 9 of the specification, CN 121512383 A. In the embodiments of this application, certain software, components, models, and other existing solutions in the industry may be mentioned. These should be considered as exemplary, and their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or necessarily used the solution.

[0025] Figure 1 is a flowchart of a side-discovery dust cleaning method for a cleaning device according to an embodiment of the present invention. In Figure 1, the side-discovery dust cleaning method may include: In step S1, detecting whether there are stains on the side of the cleaning device. Specifically, for the side of the cleaning device, a detection light can be used to detect stains. Specifically, a detection light emitter can be set on the side wall of the cleaning device to...and a detection light receiver. The detection light emitter and the detection light receiver are based on the principle of reflected light. Different stains reflect light with different intensities, which can effectively detect stains. Specifically, the side of the cleaning device is the relative direction, referring to the side area of ​​the main body of the cleaning device, that is, the direction perpendicular to or at an angle to the forward direction of the main body of the cleaning device. Generally speaking, the front of the cleaning device is the surface located in the forward direction and close to the front side. Then the two surfaces adjacent to the front are the side. If the cleaning device is a sweeping machine with a cylindrical main body, the front of the sweeping machine can include a range of 45° to the left and right with the midpoint of the main body as the center and the forward direction as the baseline. Similarly, the side of the sweeping machine can be defined as the range of 90° adjacent to the front.

[0026] The detection of stains can also be achieved by using a camera, or by thermal imaging, image recognition, etc., but the structure is complex and the cost is high. Therefore, the detection light emitter and detection light receiver adopted in this invention can effectively reduce the structural convenience and cost.

[0027] In step S2, if stains are detected on the side of the cleaning device, the type of stain is determined. If stains are present on the side of the cleaning device, the type of stain needs further confirmation. Specifically, stains can be classified into solid stains and liquid stains, each further subdivided into multiple categories. That is, the type of stain is classified by broad category, and the subcategories by smaller category.

[0028] Common household solid stains include, but are not limited to, dust, rice grains, bread, tea leaves, and paper scraps. Common household liquid stains include, but are not limited to, water, juice, soy sauce, milk, and cola. The specific types of solid and liquid stains are not listed here but can be further classified according to actual needs.

[0029] In step S3, the side auxiliary light source of the cleaning device is driven to illuminate the area of ​​the stain, and a side image is acquired. A camera module and a supplementary lighting module can be installed on the side wall of the cleaning device. The supplementary lighting module emits an auxiliary light source to cooperate with the camera module in capturing a clearer and more effective side image.

[0030] The auxiliary light source may include visible light and infrared light. Infrared light, compared to visible light, can create a better substrate difference, making the stains more clearly visible.

[0031] In step S4, the type of stain is identified based on the lateral image. The detailed types of stains have been described above, and the identification of stain types can be achieved using image recognition algorithms such as convolutional neural networks. Specifically, images and labels of different stain types can be used to train the convolutional neural network model to improve the accuracy and convenience of stain identification.

[0032] In step S5, the stain is revealed using corresponding color light. The stain revealing process may include using...Blue and white light are used to illuminate stains to make them visible. If the stain is dust, it is also called "dust-revealing" the stain. Here, stains can be uniformly understood as dust, and "dust-revealing" means displaying the stain.

[0033] Further, different colors can be used to classify stains according to their type. After determining the type of stain, the corresponding color can be displayed according to the type of stain so that the user can intuitively confirm the current type of stain.

[0034] In step S6, the robotic arm is driven to clean the stain. The side wall of the cleaning equipment is equipped with a robotic arm, which is used to clean stains on the side. Specifically, the lateral robotic arm may include, but is not limited to, a wiping tray.

[0035] While the stain is being colored / dusted according to its type, the cleaning equipment controls the robotic arm to clean stains on the side, so as to achieve the purpose of simultaneous forward and lateral cleaning of the cleaning equipment, thereby improving cleaning efficiency and cleaning effect.

[0036] In steps S1 to S6, the side stains of the cleaning equipment are first detected. If stains are detected on the side of the cleaning equipment, the type of stain can be further determined. At the same time, the auxiliary light source is activated and illuminates the area of ​​the side stain. The imaging module can then take a picture of the side stain area after supplemental lighting to obtain a side image. Based on this side image, the specific type of stain can be determined by an image recognition algorithm. Then, the corresponding colored light is used to illuminate the stain area to display the stain and its type. After the type of stain is displayed, the cleaning equipment can drive the lateral robotic arm to clean the stain.

[0037] In one embodiment of the present invention, the use of corresponding colored light to display the stain means selecting the colored light with the highest contrast to the identified stain type for illumination to enhance human visual perception. For example, for common solid stains such as dust and hair, blue light can be used for displaying the stain; for liquid stains such as water stains and oil stains, white or colored light of a specific wavelength can be used for displaying the stain. Those skilled in the art will understand that the "corresponding color light" can be determined through a limited number of experiments based on the actual type of stain and the dust-discovering effect.

[0038] Traditional cleaning equipment often uses the method of discovering and cleaning dust in front of the cleaning equipment, which allows users to easily observe the state of stains in front of the cleaning equipment and effectively cleans the stains. However, it is impossible to effectively identify and process stains on the side of the cleaning equipment, thus affecting the cleaning efficiency and effect. In this embodiment of the present invention, the method of detecting the type of stains on the side and discovering and cleaning stains can effectively improve the cleaning range and efficiency of the cleaning equipment.

[0039] In this embodiment of the present invention, the detection of stains on the side of the cleaning equipment can be achieved by using lateral detection light.The transmitter and the detection light receiver work together, and the specific steps are shown in Figure 2. Specifically, in Figure 2, the detection step of the lateral stain may include: In step S10, the lateral detection light transmitter of the cleaning device is driven to emit detection light. The lateral detection light transmitter emits light and the lateral detection light receiver receives the reflected light.

[0040] In step S11, the reflected light received by the lateral detection light receiver of the cleaning device is acquired. After the lateral detection light transmitter emits detection light towards the lateral area, considering that the reflected light of different stains will be enhanced or weakened relative to the tile / floor, the presence of stains can be determined based on the intensity of the reflected light received by the lateral detection light receiver in real time.

[0041] In step S12, the presence of stains on the side of the cleaning device is determined based on the reflected light received by the lateral detection light receiver. The intensity of the reflected light received by the lateral detection light receiver can be compared with the intensity of the reflected light from the tile / floor received by the lateral detection light receiver, and the presence of stains on the side can be determined based on the change in the intensity of the reflected light.

[0042] In this embodiment of the present invention, after obtaining the reflected light intensity of the lateral detection light receiver, the reflected light intensity can be further compared with the reflection intensity threshold to achieve stain detection. The specific steps are shown in Figure 3. Specifically, in Figure 3, the detection method for reflected light intensity and stains may include: In step S120, detecting whether the reflected light intensity received by the lateral detection light receiver is within the reflection intensity threshold range. The reflection intensity threshold range can be determined based on the reflected light intensity reflected by the tile / floor when the lateral detection light emitter emits the detection light. Specifically, there is a difference in the reflected light intensity of the tile or floor, so the reflection intensity thresholds of the two are also different. The reflection intensity threshold range may include average value or range data, which is determined according to the actual detection accuracy. Specification 5 / 9 pages 8 CN 121512383 A

[0043] Further, the reflection intensity threshold range can be obtained by pre-calibrating the reflected light intensity of the cleaning device on a clean tile or floor, such as setting it to ±10% of the average reflected light intensity.

[0044] In addition, the reflection intensity threshold range can be determined based on the reflected light intensity of common solid stains and liquid stains. Specifically, common solid stains and liquid stains are placed on clean tiles or floors. Based on the characteristics that solid stains absorb light to reduce the reflected light intensity and liquid stains enhance the reflected light intensity, the reflected light intensity of each solid stain and liquid stain is obtained. At the same time, the maximum reflected light intensity of solid stains and the minimum reflected light intensity of liquid stains are obtained, and the reflection intensity threshold range is determined based on the median value and the difference between the two.

[0045] Specifically, the reflection intensity threshold range can be obtained according to formula (1), , (1)Wherein, and are the upper and lower limits of the reflection intensity threshold range, respectively, is the minimum reflected light intensity in liquid stains, is the maximum reflected light intensity in solid stains, and is an adjustment factor. Preferably, the adjustment factor may include 10. By determining the reflection intensity threshold range based on the maximum reflected light intensity in solid stains and the minimum reflected light intensity in liquid stains, the accuracy and effect of stain identification can be effectively improved.

[0046] In step S121, if the reflected light intensity received by the lateral detection light receiver is not within the reflection intensity threshold range, it is determined that there is a stain on the side of the cleaning device. Wherein, if the reflected light intensity received by the current lateral detection light receiver is not within the reflection intensity threshold range, it means that the reflected light is not directly reflected from the tile / floor, but is obtained through reflection from stains, etc. Therefore, it can be determined that there is a stain on the side of the cleaning device. Conversely, if the reflected light intensity received by the current lateral detection light receiver is within the reflection intensity threshold range, it means that the reflected light is directly reflected from the tile / floor, and there is no stain on the side.

[0047] In this embodiment of the present invention, after determining that there is a stain on the side of the cleaning device, the type of the stain can be further diagnosed. The specific diagnosis steps are shown in FIG4. Specifically, in FIG4, the stain type diagnosis steps may include: In step S20, detecting whether the intensity of the reflected light received by the lateral probe light receiver is lower than the lower limit of the reflection intensity threshold range or higher than the upper limit of the reflection intensity threshold range. Wherein, after determining that the current reflected light intensity is not within the reflection intensity threshold range, it can be further determined whether the reflected light intensity is stronger than the reflection intensity threshold range or weaker than the reflection intensity threshold range.

[0048] In step S21, if the intensity of the reflected light received by the lateral probe light receiver is lower than the lower limit of the reflection intensity threshold range, the stain is determined to be a solid stain. Wherein, if the intensity of the reflected light received by the lateral probe light receiver is lower than the lower limit of the reflection intensity threshold range, it indicates that the probe light is being absorbed, and the stain can be determined to be a solid stain.

[0049] In step S22, if the intensity of reflected light received by the lateral probe light receiver is higher than the reflection intensity threshold range, the stain is determined to be a liquid stain. Specifically, if the intensity of reflected light received by the lateral probe light receiver is higher than the upper limit of the reflection intensity threshold range, it indicates that the probe light exhibits enhanced reflection, and the stain can be determined to be a liquid stain.

[0050] In this embodiment of the present invention, after determining the type of stain on the side of the cleaning device, the type of stain can be further determined by acquiring a lateral image. The acquisition of the lateral image needs to be based on the type of stain, and the specific steps are shown in Figure 5. Specifically, in Figure 5, the step of acquiring the lateral image may include: (Pages 6 / 9 of the specification, CN 121512383 A)In step S30, if the stain is detected as a solid stain, the area of ​​the stain is illuminated with auxiliary light of the first wavelength, and a first lateral image is acquired. Generally, if the stain is solid, a smaller wavelength of auxiliary light can be used to illuminate the stain area, and the acquired first lateral image can accurately identify the solid stain.

[0051] The first wavelength of auxiliary light may include 1300nm infrared light.

[0052] In step S31, if the stain is detected as a liquid stain, the area of ​​the stain is illuminated with auxiliary light of the second wavelength, and a second lateral image is acquired. Generally, if the stain is liquid, a larger wavelength of auxiliary light is needed to illuminate the stain area, and the acquired second lateral image can accurately identify the liquid stain.

[0053] The second wavelength of auxiliary light may include 1550nm infrared light.

[0054] In steps S30 to S31, auxiliary light of different wavelengths is used to irradiate solid stains and liquid stains, which can reduce the energy consumption of auxiliary light irradiation and improve the utilization rate of auxiliary light irradiation while clearly identifying the stains.

[0055] In this embodiment of the present invention, after obtaining the side image, image recognition can be performed on the side image to determine the type of stain in the side image. The specific recognition steps are shown in Figure 6. Specifically, in Figure 6, the stain type recognition step may include: In step S40, images of different types of stains and type labels are obtained, and a training set is constructed. Among them, images of common stains can be collected from different channels, and the stain images are labeled and classified respectively, so as to construct a training set for training the model.

[0056] In step S41, a stain type image recognition model is constructed, and the stain type image recognition model is trained using the training set. Among them, the specific form of the stain type image recognition model may include, but is not limited to, convolutional neural network models known to those skilled in the art.

[0057] In step S42, the lateral image is input into the trained stain type image recognition model to obtain the type of the corresponding stain. After the stain type image recognition model is trained, the stain type can be identified and determined based on the current lateral image.

[0058] In this embodiment of the invention, after determining the stain type, to facilitate intuitive observation of the stain by the user, blue light can be emitted towards the stain area to display / reveal the stain.

[0059] In this embodiment of the invention, after determining the stain type, the stain also needs to be cleaned. The specific cleaning steps are shown in Figure 7. Specifically, in Figure 7, the cleaning steps for lateral stains may include: In step S60, detecting whether the stain type is an unremovable stain. For unremovable stains...This includes stains that cleaning equipment cannot handle, such as pet feces, large solid obstacles, and corrosive liquids. Specifically, sticky stains such as pet feces will adhere to the roller brush, wheels, and sensors, and will be spread to the entire floor of the house during cleaning, causing secondary pollution; large solid obstacles, such as Lego bricks, bones, and fruit pits, will jam the main brush and side brushes, affecting the normal operation of the cleaning equipment; corrosive liquids will corrode the main brush, side brushes, tires, etc. of the cleaning equipment, causing permanent and irreversible devastating damage.

[0060] In step S61, if the type of stain is not an unremovable stain, the lateral robotic arm of the cleaning equipment is driven to clean the stain. If the type of stain is not an unremovable stain, that is, a removable stain, the lateral robotic arm can be controlled to clean the stain.

[0061] In step S62, the lateral detection light emitter is continuously driven to emit detection light. During the cleaning of the lateral stain area, the lateral detection light emitter continuously emits detection light to detect the lateral stain condition in real time. (Pages 7 / 9, CN 121512383 A)

[0062] In step S63, the reflected light received by the lateral detection light receiver is acquired. The lateral detection light receiver continuously receives detection light to acquire the intensity of the reflected light in real time.

[0063] In step S64, the completion of stain cleaning is determined based on the reflected light received by the lateral detection light receiver. By comparing the real-time intensity of the reflected light with a reflection intensity threshold range, the degree of cleaning of the lateral stain area can be detected in real time to determine whether the stain cleaning is complete.

[0064] In this embodiment of the invention, the detection of the completion of lateral stain cleaning can be based on the comparison conclusion between the real-time intensity of the reflected light and the reflection intensity threshold range. The specific determination steps are shown in Figure 8. Specifically, in Figure 8, the detection step may include: In step S640, detecting whether the intensity of reflected light received by the lateral detection light receiver is within the reflection intensity threshold range.

[0065] In step S641, if the intensity of reflected light received by the lateral detection light receiver is within the reflection intensity threshold range, it is determined that cleaning is complete. Wherein, if the current reflected light intensity is within the reflection intensity threshold range, it indicates that the current reflected light has not been enhanced or absorbed, but is reflected light from the tile / floor, and it can be determined that the stain has been cleaned.

[0066] In step S642, if the intensity of reflected light received by the lateral detection light receiver is not within the reflection intensity threshold range, the cleaning device is driven to rotate towards the stain. Wherein, if the reflected light intensity is not within the reflection intensity threshold range, it indicates that there is still stain on the side, the stain cleaning is not complete, and further cleaning is required. Specifically, this can be achieved by rotating the cleaning device...The cleaning device is positioned so that it faces the stained area, and the forward robotic arm of the cleaning device performs deep cleaning of the stain.

[0067] In step S643, the forward robotic arm of the cleaning device is driven to clean the stain.

[0068] In step S644, if the type of stain is detected as an unremovable stain, a warning is issued. Wherein, if the type of stain is an unremovable stain, the cleaning device issues a warning to prompt the user to use other methods for cleaning.

[0069] On the other hand, the present invention also provides a side-mounted dust-detecting cleaning system for a cleaning device. Specifically, the side-mounted dust-detecting cleaning system may include a cleaning device and a control module. Specifically, the cleaning device may include a robotic arm and an image acquisition module.

[0070] The cleaning device is provided with a robotic arm and an image acquisition module on its side. The control module is connected to the cleaning device and is used to execute any of the side-mounted dust-detecting cleaning methods described above.

[0071] In this embodiment of the present invention, the specific form of the cleaning device may include, but is not limited to, a sweeper, a floor scrubber, a vacuum cleaner, etc.

[0072] In another aspect, the present invention also provides a computer-readable storage medium storing instructions for being read by a machine to cause the machine to perform any of the above-described lateral dust-displaying cleaning methods.

[0073] Through the above technical solutions, the lateral dust-displaying cleaning method and system for cleaning equipment provided by the present invention detects stains on the side of the cleaning equipment and determines the type of stains, thereby driving a lateral auxiliary light source to illuminate the area of ​​the stains to obtain a lateral image; based on the lateral image, the type of stains can be further identified and determined, and different bands of auxiliary light and colored light can be used to selectively display the dust, thereby improving the accuracy of stain visualization; based on the type of stains, corresponding colored light can be used to display the stains, so that users can intuitively see the state of the stains, and at the same time start the robotic arm to clean the lateral stains, thereby effectively improving the cleaning range and efficiency of the cleaning equipment.

[0074] Those skilled in the art should understand that the embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application may take the form of a computer program product specification embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0075] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each flow in the flowchart illustrations and / or block diagrams can be implemented by computer program instructions.The instructions are combinations of flowcharts and / or blocks, and flowcharts and / or blocks in a block diagram. These computer program instructions may be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0076] These computer program instructions may also be stored in a computer-readable storage medium capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0077] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0078] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0079] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0080] Computer-readable media includes both permanent and non-persistent, removable and non-removable media. Information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transient media, such as modulated data signals and carrier waves.

[0081] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0082] The above are merely embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application. Instruction manual 9 / 9 pages 12 CN 121512383 A Figure 1 Figure 2 Instruction manual drawing 1 / 4 pages 13 CN 121512383 A Figure 3 Figure 4 Figure 5 Instruction manual drawing 2 / 4 pages 14 CN 121512383 A Figure 6 Figure 7 Instruction manual drawing 3 / 4 pages 15 CN 121512383 A Figure 8 Instruction manual drawing 4 / 4 pages 16 CN 121512383 A LATERAL DUST-DISPLAYING CLEANING METHOD AND SYSTEM FOR A CLEANING DEVICE Abstract Embodiments of the present invention provide a lateral dust-displaying cleaning method and system for a cleaning device, belonging to the technical field of dust displaying for cleaning devices. The lateral dust-displaying cleaning method includes: detecting whether stains exist on a lateral side of the cleaning device; determining a type of the stains if stains are detected on the lateral side of the cleaning device; driving alateral auxiliary light source of the cleaning device to irradiate an area of the stains and acquiring a lateral image; recognizing a category of the stains according to the lateral image; performing dust displaying on the stains by using corresponding colored light; and driving a robotic arm to clean the stains. The method enables a user to intuitively see a state of the stains, and simultaneously activates the robotic arm to clean the lateral stains, thereby effectively improving a cleaning range and efficiency of the cleaning device.

Claims

1. A method for cleaning lateral visible dust in a cleaning device, characterized in that, include: Check the sides of the cleaning equipment for stains; If stains are detected on the side of the cleaning device, the type of the stains is determined; The side auxiliary light source driving the cleaning device illuminates the area of ​​the stain and acquires a side image; Identify the type of stain based on the lateral image; The stain is revealed using the corresponding color light; The robotic arm is driven to clean the stains.

2. The side-mounted dust cleaning method according to claim 1, characterized in that, Checking for stains on the sides of cleaning equipment includes: The side-mounted probe light emitter of the cleaning equipment is driven to emit probe light; Acquire the reflected light received by the lateral detection light receiver of the cleaning equipment; The presence of stains on the side of the cleaning device is determined based on the reflected light received by the lateral detection light receiver.

3. The side-view dust cleaning method according to claim 2, characterized in that, Determining whether there are stains on the side of the cleaning device based on the reflected light received by the lateral detection light receiver includes: Detect whether the intensity of the reflected light received by the lateral probe light receiver is within the reflection intensity threshold range; If the intensity of the reflected light received by the lateral detection light receiver is not within the reflection intensity threshold range, it is determined that there is dirt on the side of the cleaning device.

4. The side-view dust cleaning method according to claim 3, characterized in that, Determining the type of the stain includes: Detect whether the intensity of the reflected light received by the lateral probe light receiver is lower than the lower limit of the reflection intensity threshold range or higher than the upper limit of the reflection intensity threshold range; If the intensity of reflected light received by the lateral probe light receiver is lower than the lower limit of the reflection intensity threshold range, the stain is determined to be a solid stain. If the intensity of reflected light received by the lateral probe light receiver is higher than the upper limit of the reflection intensity threshold range, the stain is determined to be a liquid stain.

5. The side-mounted dust cleaning method according to claim 4, characterized in that, The side auxiliary light source driving the cleaning device illuminates the area of ​​the stain and acquires a side image, including: If the stain is detected as a solid stain, the area of ​​the stain is illuminated with auxiliary light of the first wavelength, and a first lateral image is acquired; If the stain is detected as a liquid stain, the area of ​​the stain is illuminated with auxiliary light of the second band, and a second lateral image is acquired.

6. The side-mounted dust cleaning method according to claim 5, characterized in that, The auxiliary light in the first band includes infrared light at 1300 nm.

7. The side-view dust cleaning method according to claim 5, characterized in that, The auxiliary light in the second band includes infrared light at 1550 nm.

8. The side-mounted dust cleaning method according to claim 1, characterized in that, Identifying the type of stain based on the lateral image includes: Acquire images and type labels of different types of stains, and construct a training set; Construct a stain type image recognition model, and train the stain type image recognition model using the training set; The lateral image is input into the trained stain type image recognition model to obtain the corresponding stain type.

9. The lateral dust removal method according to claim 1 or 8, characterized in that, Developing the stain using a corresponding color of light includes developing the stain using blue light.

10. The lateral dust removal method according to claim 1 or 8, characterized in that, The process of driving the robotic arm to clean the stains includes: To determine whether the stain is an unremovable stain; If the type of stain is not determined to be an unremovable stain, the lateral robotic arm of the cleaning device is driven to clean the stain. The lateral probe light emitter is continuously driven to emit probe light; Acquire the reflected light received by the lateral probe light receiver; The determination of whether the stain has been cleaned is based on the reflected light received by the lateral detection light receiver.

11. The side-view dust cleaning method according to claim 10, characterized in that, Determining whether the stain has been cleaned based on the reflected light received by the lateral detection light receiver includes: Detect whether the intensity of the reflected light received by the lateral probe light receiver is within the reflection intensity threshold range; If the intensity of the reflected light received by the lateral probe light receiver is within the reflection intensity threshold range, the cleaning is determined to be complete. If the intensity of the reflected light received by the lateral probe light receiver is not within the reflection intensity threshold range, the cleaning device is driven to rotate toward the stain; The forward-facing robotic arm of the cleaning device is driven to clean the stains.

12. The lateral dust removal method according to claim 11, characterized in that, The process of using a robotic arm to clean the stains also includes: An alert is issued if the stain is detected as an unremovable stain.

13. A side-mounted dust-displaying cleaning system for a cleaning device, characterized in that, include: A cleaning device, wherein a robotic arm and an image acquisition module are arranged on the side of the cleaning device; A control module, connected to the cleaning equipment, is used to perform the lateral dust removal method as described in any one of claims 1-12.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that are read by a machine to cause the machine to perform the lateral dust cleaning method as described in any one of claims 1-12.

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