Cleaning device, control method, apparatus, computer program product, storage medium, and cleaning system

Abstract

A cleaning device (100), a control method, an apparatus, a computer program product, a storage medium, and a cleaning system (300). The cleaning device (100) comprises a contact image sensor module (110), the contact image sensor module (110) being used for collecting a surface image of a surface to be cleaned (114), and the surface image being used for analysis of surface information of said surface (114).

Description

Cleaning device and control method, apparatus, computer program product, storage medium, and cleaning system

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 202411161730X, filed on August 22, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure belongs to the technical field of cleaning device control, and particularly relates to a cleaning device and a control method, apparatus, computer program product, storage medium, and cleaning system. BACKGROUND

[0004] Cleaning devices (such as a sweeping machine, a mopping machine) have been widely used in family life today, which can replace users to complete floor cleaning and other housework, which brings great convenience to users. If the cleaning device can execute different cleaning schemes for different areas, such as focusing on cleaning areas with high dirt levels, better cleaning efficiency and cleaning effect can be achieved. However, the accuracy of surface information recognition of the cleaning device in the prior art is low, which makes it difficult to achieve targeted cleaning of different areas. Therefore, how to improve the accuracy of surface information recognition of the cleaning device on the cleaning surface during the execution of the cleaning task is a technical problem to be solved. SUMMARY

[0005] Embodiments of the present disclosure provide a cleaning device control method, apparatus, computer program product, computer-readable storage medium, and cleaning device, thereby at least to some extent improving the accuracy of surface information recognition of the cleaning device on the cleaning surface during the execution of the cleaning task.

[0006] Other characteristics and advantages of the present disclosure will become apparent from the following detailed description, or will be learned by practice of the present disclosure.

[0007] According to a first aspect of embodiments of the present disclosure, a cleaning device is provided, comprising a contact image sensor module; the contact image sensor module comprises a light source and an image sensor, the light source is configured to project light onto the cleaning surface, and the image sensor is configured to receive reflected light reflected by the cleaning surface and generate a surface image of the cleaning surface based on the reflected light; the surface image is used to analyze surface information of the cleaning surface.

[0008] According to a second aspect of the embodiments of the present disclosure, a cleaning device control method is provided, the cleaning device comprising a contact image sensor module, the method comprising: obtaining a target surface image of a surface to be cleaned collected by the contact image sensor module; determining surface information of the surface to be cleaned based on the target surface image; and controlling the cleaning device to perform a cleaning action adapted to the surface information.

[0009] According to a third aspect of the embodiments of the present disclosure, a cleaning device control apparatus is provided, the cleaning device comprising a contact image sensor module, the apparatus comprising: an obtaining unit configured to obtain a target surface image of a surface to be cleaned collected by the contact image sensor module; a determining unit configured to determine surface information of the surface to be cleaned based on the target surface image; and a control unit configured to control the cleaning device to perform a cleaning action adapted to the surface information.

[0010] According to a fourth aspect of the embodiments of the present disclosure, a computer program product is provided, the computer program product comprising computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform operations implemented by the method according to any one of the second aspect.

[0011] According to a fifth aspect of the embodiments of the present disclosure, a computer readable storage medium is provided, the computer readable storage medium storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by a processor to implement operations performed by the method according to any one of the second aspect.

[0012] According to a sixth aspect of the embodiments of the present disclosure, a cleaning device is provided, the cleaning device comprising one or more processors and one or more memories, the one or more memories storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by the one or more processors to implement operations performed by the method according to any one of the second aspect.

[0013] According to a seventh aspect of the embodiments of the present disclosure, a cleaning system is provided, the cleaning system comprising the cleaning device and the base station according to the first aspect and the sixth aspect. The cleaning device is detachably arranged on the base station. BRIEF DESCRIPTION OF DRAWINGS

[0014] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, further serve to explain the principles of the present disclosure. It is to be understood that the drawings are only schematic, and that they do not necessarily represent a limiting

[0015] FIG. 1 shows a structural schematic diagram of a cleaning device according to some embodiments of the present disclosure;

[0016] FIG. 2 shows a working principle diagram of a contact image sensor module according to some embodiments of the present disclosure;

[0017] FIG. 3 shows a flow chart of a cleaning device control method according to some embodiments of the present disclosure;

[0018] FIG. 4 shows a scene diagram of a cleaning task performed by a cleaning device according to some embodiments of the present disclosure;

[0019] FIG. 5 shows a block diagram of a cleaning device control apparatus according to some embodiments of the present disclosure;

[0020] FIG. 6 shows a structural schematic diagram of a cleaning device according to some embodiments of the present disclosure; and

[0021] FIG. 7 shows a structural schematic diagram of a cleaning system according to some embodiments of the present disclosure. Embodiments of the present disclosure

[0022] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present disclosure.

[0023] In addition, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a sufficient understanding of embodiments of the present disclosure. However, one of ordinary skill in the art will recognize that the technical solutions of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring the aspects of the present disclosure.

[0024] The block diagrams shown in the drawings are merely functional entities, and do not necessarily have to correspond to physically independent entities. That is, the functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices. It should also be noted that, in the drawings, in order to ensure the simplicity of the drawings, some components in the drawings that do not affect the explanation of the technical solutions of the present disclosure are omitted.

[0025] The flowcharts shown in the drawings are merely exemplary illustrations, and do not necessarily include all contents and operations / steps, nor necessarily executed in the order described. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to actual conditions.

[0026] In the description of the present disclosure, it should be understood that the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present disclosure, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0027] In some embodiments, in order to enable the cleaning device to more efficiently and accurately perform the cleaning task on the surface to be cleaned, the present disclosure proposes a cleaning device which can accurately identify the surface information of the surface to be cleaned to support the cleaning device to perform targeted cleaning on the area with different surface information according to the identification result, thereby achieving better cleaning efficiency and cleaning effect.

[0028] Next, the cleaning device proposed by the present disclosure will be described in detail in combination with FIG. 1.

[0029] Referring to FIG. 1, a structural schematic diagram of a cleaning device according to some embodiments of the present disclosure is shown.

[0030] As shown in FIG. 1, the cleaning device 100 can include a contact image sensor module 110, which can be used to collect a surface image of a surface to be cleaned, and the surface image can be used to analyze the surface information of the surface to be cleaned.

[0031] In some embodiments, the surface information can include the dirt level and / or surface material of the surface to be cleaned.

[0032] In some embodiments, the cleaning device 100 can further include a walking wheel 140, which provides driving force for the cleaning device 100 during the advancing process. The cleaning device 100 can further include a guide wheel 120, which is used to control the advancing direction of the cleaning device 100 during the advancing process. The cleaning device 100 can further include a cleaning piece 130, such as a mop, which is mainly used to clean dirt on the surface to be cleaned during the cleaning task performed by the cleaning device. The cleaning device 100 can further include a suction port 150, which is mainly used to suck dirt on the surface to be cleaned during the cleaning task performed by the cleaning device.

[0033] In order for those skilled in the art to better understand the present disclosure, the process of the cleaning device 100 performing a cleaning task on the ground (i.e. the surface to be cleaned) will be described in combination with FIG. 1.

[0034] As shown in FIG. 1, in some embodiments, the guide wheel 120 and the walking wheel 140 make the cleaning device 100 advance along a set path. During the advancing process, the surface image of the ground can be acquired by the contact image sensor module 110, and the surface information of the ground, such as the dirtiness degree and / or the surface material of the ground, can be determined by analyzing the acquired surface image. The suction port 150 can suck dirt, such as paper scraps, hair, dust, etc., on the ground, and then the mop 130 can wipe the dirt, such as liquid dirt, shoe prints, etc., on the ground that cannot be sucked by the suction port 150. For the ground area with a high degree of dirtiness and / or the surface material area with a high dirt adhesion, the cleaning device can be controlled to perform intensive cleaning, so as to achieve better cleaning efficiency and cleaning effect.

[0035] Next, the present disclosure will be described in detail in combination with FIG. 2 for the contact image sensor module.

[0036] Referring to FIG. 2, a working principle diagram of a contact image sensor module according to some embodiments of the present disclosure is shown.

[0037] As shown in FIG. 2, the contact image sensor module 110 can include a light source 111 and an image sensor 113. In some embodiments, the light source 111 is used to project light onto the surface to be cleaned 114, and the image sensor 113 is used to receive reflected light reflected by the surface to be cleaned 114 and generate a surface image of the surface to be cleaned 114 based on the reflected light.

[0038] In some embodiments, the contact image sensor module has the characteristics of high integration, high resolution and high refresh rate, so that during the cleaning task performed by the cleaning device, the surface image of the surface to be cleaned with high clarity can be obtained by the contact image sensor module by scanning the surface to be cleaned in real time, and the surface information of the surface to be cleaned can be identified through the surface image.

[0039] In some embodiments, such as in the process of identifying the dirtiness degree of the surface to be cleaned, the surface to be cleaned can be scanned in real time. After obtaining the surface image of the surface to be cleaned, the surface image can be spliced to draw a pattern map of the surface to be cleaned, i.e., a target surface image, so as to identify the graphic area or color area with greater difference (which may contain liquid stains such as soy sauce, milk, coffee, soup, or solid stains such as shoe prints, dust adhesion) existing in the surface to be cleaned through the pattern map (such as by identifying the difference in color and pattern of the dirty area from the ground), and then these areas can be determined as areas with higher dirtiness degree.

[0040] In the process of identifying the surface material of the surface to be cleaned, the surface material of the surface to be cleaned can be determined based on the brightness of the surface image. The surface to be cleaned with higher brightness of the surface image can be determined as a high-reflectivity material surface, such as a ceramic tile floor or a metal floor. Such smooth and high-reflectivity material surface has lower adhesion, and thus has lower possibility of attaching stains. The surface to be cleaned with lower brightness of the surface image can be determined as a low-reflectivity material surface, such as a carpet or a rough floor. Such low-reflectivity material surface has higher adhesion, and thus has higher possibility of attaching stains.

[0041] In this way, the surface image of the surface to be cleaned generated by the contact image sensor module proposed by the present disclosure can achieve accurate identification of the surface information of the surface to be cleaned without complex image processing algorithms, so as to reduce the requirement of computing power for identifying the surface information of the surface to be cleaned, and improve the identification efficiency of the surface information of the surface to be cleaned. Of course, in other embodiments, the obtained surface image of the surface to be cleaned can also be identified for surface information based on a pre-trained machine learning algorithm.

[0042] As shown in FIG. 2, in some embodiments, the contact image sensor module 110 can further include a lens array 112 for refracting the reflected light rays reflected by the surface to be cleaned 114 to the image sensor 113.

[0043] In some embodiments, the lens array can enable the image sensor to obtain better depth of field, so as to improve the clarity of the collected surface image of the surface to be cleaned, and thus improve the accuracy of the identification of the surface information of the surface to be cleaned by the cleaning device during the execution of the cleaning task. In other embodiments, the contact image sensor module can also not include a lens array.

[0044] In some embodiments, the light source 111 can be a white light source. The advantage of a white light source is that it can reflect the color information of the surface to be cleaned more realistically, more accurately, and more comprehensively, thereby improving the authenticity of the surface image of the surface to be cleaned collected, and further improving the accuracy of the identification of the surface information of the surface to be cleaned during the execution of the cleaning task. In other embodiments, the light source can also be a monochromatic light source such as red, green, blue, etc.

[0045] In some embodiments, the image sensor 113 can be a complementary metal-oxide sensor.

[0046] A complementary metal-oxide sensor (CMOS sensor) is an image sensor made using CMOS technology, which can be used to capture light and convert it into an electrical signal. Compared with common image sensors such as CCD sensors, a complementary metal-oxide sensor has low power consumption, low cost, and fast reading speed, and is suitable for fast image capture. In some embodiments, a complementary metal-oxide sensor has high integration, and can be more easily integrated with other functional circuits such as analog-to-digital converters, signal processing circuits, etc.

[0047] As shown in FIG. 1, in some embodiments, the contact image sensor module 110 can be installed at the bottom of the cleaning device 100.

[0048] In some embodiments, the contact image sensor module is installed at the bottom of the cleaning device, and during the execution of the cleaning task by the cleaning device, the light source can project light onto the surface to be cleaned, the projected light is reflected by the surface to be cleaned to the lens, and then the light is refracted by the lens array to the image sensor, so that the image sensor can generate a surface image of the surface to be cleaned through the light captured by itself. Since the contact image sensor module is installed at the bottom of the cleaning device, the degree of interference of external ambient light in collecting the surface image of the surface to be cleaned is weak during the entire process of collecting the surface image of the surface to be cleaned, thereby ensuring the quality of the surface image of the surface to be cleaned, and further improving the accuracy of the identification of the surface information of the surface to be cleaned.

[0049] As shown in FIG. 1, in some embodiments, the contact image sensor module 110 can be installed at a position in front of the dust suction port 150 in a target direction, the target direction being the advancing direction of the cleaning device 100 during the execution of the cleaning task.

[0050] In some embodiments, by installing the contact image sensor module in front of the dust suction port in the target direction, the cleaning device can first collect the surface image of the ground during the cleaning process on the ground (i.e. the surface to be cleaned), and determine the surface information of the ground by analyzing the collected surface image. Then, the cleaning device can clean different areas of the ground according to the surface information of different areas of the ground, such as focusing on cleaning the ground with high dirt level (such as increasing the cleaning time on the ground, increasing the suction force of the dust suction on the ground, increasing the pressure of the mop, increasing the vibration intensity of the mop, increasing the rotation speed of the mop, etc.).

[0051] In some embodiments, the contact image sensor module 110 can also be installed in the rear position of the cleaning element 130 in the target direction, which is the forward direction of the cleaning device 100 during the cleaning process.

[0052] In some embodiments, by installing the contact image sensor module in the rear position of the cleaning element in the target direction, the cleaning effect on the surface to be cleaned can be checked. If the cleaning effect of a certain area of the surface to be cleaned is poor, the cleaning device can be controlled to return to the area for repeated cleaning to ensure better cleaning effect on the ground to be cleaned.

[0053] In some embodiments, the contact image sensor module 110 can also be installed between the dust suction port and the cleaning element.

[0054] In some embodiments, it can be understood that the contact image sensor module can be installed at any position on the bottom of the cleaning device according to actual needs, and is not limited to the positions listed above.

[0055] In some embodiments, the length of the contact image sensor module 110 is adapted to the size of the cleaning device 100.

[0056] In some embodiments, the length of the contact image sensor module 110 can satisfy a first preset size relationship with the diameter of the cleaning device 100.

[0057] In some embodiments, the first preset size relationship can be an equal relationship, so that the contact image sensor module can collect surface images of all areas passed by the cleaning device, ensuring the integrity of the information in the surface image to be cleaned. In some embodiments, the first preset size relationship can also be that the length of the contact image sensor module is less than the diameter of the cleaning device, and on this basis, in some embodiments, the length of the contact image sensor module can also be greater than a certain set threshold, such as greater than 1 / 2 of the diameter of the cleaning device.

[0058] In some embodiments, the length of the contact image sensor module 110 can also satisfy a second preset size relationship with the width of the cleaning coverage of the cleaning device 100 during the execution of the cleaning task.

[0059] It should be noted that the width of the cleaning coverage can refer to the width of the cleaning coverage of the cleaning member of the cleaning device during the execution of the cleaning task.

[0060] In some embodiments, the second preset size relationship can be that the length of the contact image sensor module is greater than or equal to the width of the cleaning coverage of the cleaning device during the execution of the cleaning task. It should be noted that for some models of cleaning devices, the cleaning member has a telescopic function, and in this case, the second preset size relationship can be that the length of the contact image sensor module is greater than or equal to the maximum width of the cleaning coverage of the cleaning device during the execution of the cleaning task. In this way, it can be ensured that the contact image sensor module can collect surface images of the entire cleaning area of the cleaning device, and ensure the integrity of the information in the surface image to be cleaned. Of course, in some other embodiments, the second preset size relationship can also be that the length of the contact image sensor module is less than the width of the cleaning coverage of the cleaning device during the execution of the cleaning task

[0061] In some embodiments, during the execution of the cleaning task by the cleaning device, the distance between the contact image sensor module 110 and the surface to be cleaned 114 can be less than or equal to a preset distance. For example, the preset distance can be less than or equal to 20 mm, such as specifically set to 5 mm to 20 mm, or less than or equal to 30 mm, such as specifically set to 0 mm to 30 mm, or less than or equal to 25 mm, such as specifically set to 1 mm to 25 mm. It can be understood that the preset distance can be set according to the actual situation of the cleaning device, such as according to the structural parameters of the cleaning device, and in some embodiments, no specific limitation is made.

[0062] In some embodiments, by setting the distance between the contact image sensor module and the surface to be cleaned to be less than or equal to the preset distance, the contact image sensor module can be as close as possible to the surface to be cleaned, so that during the collection of the surface image of the surface to be cleaned by the contact image sensor module, the degree of interference of external environmental light on the collection of the surface image of the surface to be cleaned can be reduced, thereby ensuring the quality of the surface image of the surface to be cleaned, and further improving the accuracy of the identification of the surface information of the surface to be cleaned.

[0063] Based on the same inventive concept, the present disclosure further provides a cleaning device control method, the cleaning device being the cleaning device as described above, the cleaning device comprising a contact image sensor module, and the cleaning device control method will be described in detail in combination with FIG. 3.

[0064] Referring to FIG. 3, a flowchart of a cleaning device control method according to some embodiments of the present disclosure is shown, which can be executed by a device with computing processing function. As shown in FIG. 3, the cleaning device control method comprises at least steps 310 to 330.

[0065] In step 310, a target surface image of a surface to be cleaned acquired by a contact image sensor module is obtained.

[0066] In some embodiments, the target surface image of the surface to be cleaned acquired by the contact image sensor module can be obtained according to steps 311 to 312 as follows:

[0067] In step 311, at least one surface image of the surface to be cleaned acquired by the contact image sensor module is obtained during execution of a cleaning task by the cleaning device.

[0068] In step 312, the at least one surface image is stitched to obtain the target surface image of the surface to be cleaned.

[0069] In some embodiments, during execution of the cleaning task by the cleaning device, the surface to be cleaned can be scanned in real time by the contact image sensor module located at the bottom of the cleaning device to obtain at least one surface image of the surface to be cleaned with high definition. In some embodiments, the contact image sensor module can be in a long strip shape, and thus each surface image acquired can also be in a long strip shape. By stitching the at least one surface image, the target surface image of the surface to be cleaned can be obtained.

[0070] In some embodiments, during execution of the cleaning task by the cleaning device, if the length of the contact image sensor module is less than the width of the cleaning coverage of the cleaning device during execution of the cleaning task, the cleaning density of the cleaning device during execution of the cleaning task can be increased.

[0071] In order for those skilled in the art to better understand the present disclosure, an embodiment will be described in combination with FIG. 4.

[0072] Referring to FIG. 4, a scenario diagram of a cleaning task executed by a cleaning device according to some embodiments of the present disclosure is shown.

[0073] As shown in subgraph (a) of FIG. 4, the length of the contact image sensor module in the cleaning device is A. The length A is equal to the width of the cleaning coverage of the cleaning device in the process of performing the cleaning task. In the surface to be cleaned with a width of D, the cleaning density of the cleaning device in the process of performing the cleaning task is 3 (i.e. including a1, a2, a3, a total of 3 times).

[0074] As shown in subgraph (b) of FIG. 4, the length of the contact image sensor module in the cleaning device is B. The length B is less than the width of the cleaning coverage of the cleaning device in the process of performing the cleaning task. In the surface to be cleaned with a width of D, the cleaning density of the cleaning device in the process of performing the cleaning task is 5 (i.e. including b1, b2, b3, b4, b5, a total of 5 times).

[0075] It can be seen that if the length of the contact image sensor module is less than the width of the cleaning coverage of the cleaning device in the process of performing the cleaning task, by increasing the cleaning density of the cleaning device in the process of performing the cleaning task, the contact image sensor module can collect surface images of all cleaning areas of the cleaning device, so as to ensure the integrity of the information in the surface image to be cleaned, and further improve the accuracy of identifying the surface information of the surface to be cleaned.

[0076] In step 320, based on the target surface image, the surface information of the surface to be cleaned is determined; the surface information includes the dirt degree and / or the surface material of the surface to be cleaned.

[0077] In some embodiments, in the process of identifying the dirt degree of the surface to be cleaned, the target surface image can be used to identify the graphic area or color area with large difference existing in the surface to be cleaned (these areas may contain liquid stains such as soy sauce, milk, coffee, soup, etc., or solid stains such as shoe prints, dust adhesion, etc.), and then these areas can be determined as areas with high dirt degree.

[0078] In the process of identifying the surface material of the surface to be cleaned, the surface material of the surface to be cleaned can be determined based on the brightness (or reflectivity) of the target surface image. The surface to be cleaned with high brightness of the surface image can be determined as a high reflectivity material surface, such as a ceramic tile floor, a metal floor, and the like. The adhesion of such smooth and high reflectivity material surface is low, so the possibility of adhering stains is low. The surface to be cleaned with low brightness of the surface image can be determined as a low reflectivity material surface, such as a carpet, a rough floor, and the like. The adhesion of such low reflectivity material surface is high, so the possibility of adhering stains is high.

[0079] In this way, the surface image of the to-be-cleaned surface generated by the contact image sensor module provided in the present disclosure can realize accurate identification of the surface information of the to-be-cleaned surface without complex image processing algorithms, thereby reducing the algorithm requirement for identifying the surface information of the to-be-cleaned surface and improving the identification efficiency of the surface information of the to-be-cleaned surface. Of course, in other embodiments, the obtained surface image of the to-be-cleaned surface can also be identified based on a pre-trained machine learning algorithm.

[0080] It should be noted that the technical solutions provided by the present disclosure can also determine the dirt type of the to-be-cleaned surface, such as liquid dirt, solid dirt, etc.

[0081] In other embodiments of the present disclosure, the determination of the surface information of the to-be-cleaned surface based on the target surface image can also be performed according to the following steps 411 to 413:

[0082] Step 411: obtaining a reference surface image of the to-be-cleaned surface collected by a camera device installed on the cleaning device;

[0083] Step 412: obtaining sewage data of the cleaning device during the execution of the cleaning task;

[0084] Step 413: determining the dirt degree of the to-be-cleaned surface based on the target surface image, and / or the reference surface image, and / or the sewage data.

[0085] In the present embodiment, the dirt degree of the to-be-cleaned surface is determined by combining the target surface image determined by the contact image sensor module, the reference surface image collected by the camera device, and the sewage data of the cleaning device during the execution of the cleaning task (the reference surface image obtained by photographing can be analyzed by the camera device, and the algorithm can be used to determine the area with dirt to identify the dirt degree of the to-be-cleaned surface in advance based on the target surface image of the to-be-cleaned surface collected by the contact image sensor module. In some embodiments, the sewage data of the cleaning device during the execution of the cleaning task can also reflect the dirt degree of the to-be-cleaned surface to some extent, and thus the dirt degree of the to-be-cleaned surface can also be determined based on the sewage data), which can enhance the accuracy of the determination of the dirt degree of the to-be-cleaned surface to some extent.

[0086] In step 330, the cleaning device is controlled to perform a cleaning action adapted to the surface information.

[0087] In some embodiments, the controlling the cleaning device to perform a cleaning action adapted to the surface information can be performed according to the following step 331:

[0088] Step 331, if the dirtiness is greater, the controlling the cleaning device to perform a cleaning action with a longer cleaning time and / or a greater cleaning intensity.

[0089] In some embodiments, if the dirtiness of the surface to be cleaned is greater, such as the presence of liquid dirt including soy sauce, milk, coffee, soup, or solid dirt including shoe prints, dust, the cleaning time of the cleaning device can be increased, and / or the cleaning intensity of the cleaning device can be increased (such as increasing the cleaning time on the surface to be cleaned, increasing the suction force of the dust suction on the surface to be cleaned, increasing the pressure of the mop, increasing the vibration intensity of the mop, increasing the rotation speed of the mop, etc.), so as to ensure better cleaning effect on the surface to be cleaned.

[0090] In some embodiments, the controlling the cleaning device to perform a cleaning action adapted to the surface information can also be performed according to the following step 332:

[0091] Step 332, if the dirt adhesion of the surface material is higher, the controlling the cleaning device to perform a cleaning action with a longer cleaning time and / or a greater cleaning intensity.

[0092] In some embodiments, if the dirt adhesion of the surface material is higher, such as the surface to be cleaned is rough ground such as wooden floor, the cleaning time of the cleaning device can be increased, and / or the cleaning intensity of the cleaning device can be increased, so as to ensure better cleaning effect on the surface to be cleaned.

[0093] In some embodiments, the controlling the cleaning device to perform a cleaning action adapted to the surface information can also be performed according to the following step 333:

[0094] Step 333, if the surface material is a carpet material, the controlling the cleaning device to lift the cleaning element.

[0095] In some embodiments, if the surface material is a carpet material, such as the surface material of the carpet (such as the surface image showing hairy lines), the cleaning device can be controlled to lift the cleaning element, such as lifting the mop, so as to avoid wetting the carpet.

[0096] In practical applications, the technical solution provided by the present disclosure can be applied to ground cleaning in a household scenario. The ground pattern in a household scenario is often regular and repetitive. A contact image sensor module installed in a cleaning device can be composed of a white light source, a complementary metal oxide sensor (CMOS sensor), and a lens array, and can scan and record a close-range pattern. Specifically, the white light source irradiates the ground, the reflected light is refracted by the lens array onto the CMOS sensor, generating a strip-shaped surface image. During the advancement of the cleaning device, the continuously scanned strip-shaped images are spliced together to obtain complete image information of the ground. By identifying the areas in the drawn ground image that are different from the regular and repetitive images in terms of pattern and color, the dirty areas can be identified in real time, and these areas can be cleaned in priority.

[0097] The following describes a device embodiment of the present disclosure, which can be used to perform the cleaning device control method in the above-described embodiments of the present disclosure. For details not disclosed in the device embodiment of the present disclosure, refer to the above-described embodiments of the cleaning device control method of the present disclosure.

[0098] Referring to FIG. 5, a block diagram of a cleaning device control device according to some embodiments of the present disclosure is shown, and the cleaning device is as described in the above-described embodiments.

[0099] As shown in FIG. 5, the cleaning device control device 500 according to an embodiment of the present disclosure includes an acquisition unit 501, a determination unit 502, and a control unit 503.

[0100] In some embodiments, the acquisition unit 501 is configured to acquire a target surface image of a to-be-cleaned surface collected by a contact image sensor module; the determination unit 502 is configured to determine surface information of the to-be-cleaned surface based on the target surface image; and the control unit 503 is configured to control the cleaning device to perform a cleaning action adapted to the surface information.

[0101] In some embodiments of the present disclosure, based on the foregoing scheme, the acquisition unit 501 is configured to acquire at least one frame of surface image of a to-be-cleaned surface collected by a contact image sensor module during the execution of a cleaning task by the cleaning device; and splice the at least one frame of surface image to obtain a target surface image of the to-be-cleaned surface.

[0102] In some embodiments of the present disclosure, based on the foregoing scheme, during the execution of a cleaning task by the cleaning device, if the length of the contact image sensor module is less than the width of the cleaning coverage of the cleaning device during the execution of the cleaning task, the cleaning density of the cleaning device during the execution of the cleaning task is increased.

[0103] In some embodiments of the present disclosure, based on the foregoing scheme, the surface information comprises a dirtiness degree and / or a surface material of the surface to be cleaned.

[0104] In some embodiments of the present disclosure, based on the foregoing scheme, the determining unit 502 is configured to: acquire a reference surface image of the surface to be cleaned collected by a camera installed on the cleaning device; acquire sewage data of the cleaning device during execution of a cleaning task; and determine the dirtiness degree of the surface to be cleaned based on the target surface image, and / or the reference surface image, and / or the sewage data.

[0105] In some embodiments of the present disclosure, based on the foregoing scheme, the control unit 503 is configured to: if the dirtiness degree is greater, control a longer cleaning time of the cleaning device, and / or control a greater cleaning intensity of the cleaning device.

[0106] In some embodiments of the present disclosure, based on the foregoing scheme, the control unit 503 is configured to: if the dirtiness adhesion of the surface material is higher, control a longer cleaning time of the cleaning device, and / or control a greater cleaning intensity of the cleaning device.

[0107] In some embodiments of the present disclosure, based on the foregoing scheme, the control unit 503 is configured to: if the surface material is a woolen material, control the cleaning device to lift a cleaning element.

[0108] Based on the same inventive concept, the embodiments of the present disclosure provide a computer program product, which comprises computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform operations implemented by the cleaning device control method as described above.

[0109] Based on the same inventive concept, the embodiments of the present disclosure provide a computer readable storage medium, which stores at least one computer program instruction, the at least one computer program instruction is loaded and executed by a processor to implement operations implemented by the cleaning device control method as described above.

[0110] Based on the same inventive concept, the embodiments of the present disclosure also provide a cleaning device, referring to FIG. 6, which shows a structural schematic diagram of a cleaning device according to some embodiments of the present disclosure, the cleaning device comprises one or more memories 604, one or more processors 602, and at least one computer program (computer program instructions) stored in the memory 604 and executable on the processor 602, and the processor 602 implements the cleaning device control method as described above when executing the computer program.

[0111] In some embodiments, as shown in FIG. 6, a bus architecture (represented by bus 600) can include any number of interconnecting buses and bridges, the bus 600 linking together various circuits such as one or more processors represented by processor 602, and memory represented by memory 604. The bus 600 can also link together various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be further described herein. Bus interface 605 provides an interface between the bus 600 and receiver 601 and transmitter 603. Receiver 601 and transmitter 603 can be the same device, i.e., a transceiver, providing a unit for communicating with various other apparatus over a transmission medium. Processor 602 is responsible for managing the bus 600 and general processing, while the memory 604 can be used for storing data used by the processor 602 in executing operational programs.

[0112] Based on the same inventive concept, the embodiments of the present disclosure provide a cleaning system 300. As shown in FIG. 7, the cleaning system 300 comprises the cleaning device 100 and the base station 200 as described above, and the cleaning device is detachably arranged on the base station 200.

[0113] The embodiments of the present disclosure provide a cleaning device control method, apparatus, computer program product, computer readable storage medium and cleaning device, thereby at least to some extent improving the accuracy of surface information identification of a cleaning surface during the execution of a cleaning task by the cleaning device.

[0114] Other features and advantages of the present disclosure will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, or some aspects of the present disclosure.

[0115] According to a first aspect of the embodiments of the present disclosure, a cleaning device is provided, comprising a contact image sensor module; the contact image sensor module comprises a light source and an image sensor, the light source is configured to project light onto a cleaning surface, and the image sensor is configured to receive reflected light reflected by the cleaning surface, and generate a surface image of the cleaning surface based on the reflected light; the surface image is configured to analyze surface information of the cleaning surface.

[0116] In some embodiments of the present disclosure, based on the foregoing scheme, the contact image sensor module further comprises a lens array, the lens array is configured to refract the reflected light reflected by the cleaning surface to the image sensor.

[0117] In some embodiments of the present disclosure, based on the foregoing scheme, the light source is a white light source.

[0118] In some embodiments of the present application, based on the foregoing scheme, the image sensor is a complementary metal oxide sensor.

[0119] In some embodiments of the present application, based on the foregoing scheme, the contact image sensor module is mounted on the bottom of the cleaning device.

[0120] In some embodiments of the present application, based on the foregoing scheme, the bottom of the cleaning device is provided with a dust suction port, and the contact image sensor module is mounted at a position in front of the dust suction port in a target direction, the target direction being the advancing direction of the cleaning device during the execution of the cleaning task.

[0121] In some embodiments of the present application, based on the foregoing scheme, the bottom of the cleaning device is provided with a cleaning member, and the contact image sensor module is mounted at a position behind the cleaning member in a target direction, the target direction being the advancing direction of the cleaning device during the execution of the cleaning task.

[0122] In some embodiments of the present application, based on the foregoing scheme, the bottom of the cleaning device is provided with a dust suction port and a cleaning member, and the contact image sensor module is mounted at a position between the dust suction port and the cleaning member.

[0123] In some embodiments of the present application, based on the foregoing scheme, the surface information includes the dirtiness and / or surface material of the surface to be cleaned.

[0124] In some embodiments of the present application, based on the foregoing scheme, the length of the contact image sensor module is less than or equal to the diameter of the cleaning device.

[0125] In some embodiments of the present application, based on the foregoing scheme, the length of the contact image sensor module is greater than or equal to the width of the cleaning coverage of the cleaning device during the execution of the cleaning task.

[0126] In some embodiments of the present application, based on the foregoing scheme, the distance between the contact image sensor module and the surface to be cleaned is 0-30 mm during the execution of the cleaning task by the cleaning device.

[0127] According to a second aspect of the embodiments of the present application, a cleaning device control method is provided, the cleaning device comprising a contact image sensor module, the method comprising: acquiring a target surface image of a surface to be cleaned collected by the contact image sensor module; determining surface information of the surface to be cleaned based on the target surface image; and controlling the cleaning device to perform a cleaning action adapted to the surface information.

[0128] In some embodiments of the present application, based on the foregoing scheme, the acquiring the target surface image of the surface to be cleaned by the contact image sensor module comprises: acquiring at least one frame of surface image of the surface to be cleaned by the contact image sensor module in the process of the cleaning device performing the cleaning task; and splicing the at least one frame of surface image to obtain the target surface image of the surface to be cleaned.

[0129] In some embodiments of the present application, based on the foregoing scheme, in the process of the cleaning device performing the cleaning task, if the length of the contact image sensor module is less than the width of the cleaning coverage of the cleaning device in the process of performing the cleaning task, the cleaning density of the cleaning device in the process of performing the cleaning task is increased.

[0130] In some embodiments of the present application, based on the foregoing scheme, the surface information comprises a dirt degree and / or a surface material of the surface to be cleaned.

[0131] In some embodiments of the present application, based on the foregoing scheme, the determining the surface information of the surface to be cleaned based on the target surface image comprises: acquiring a reference surface image of the surface to be cleaned collected by a camera installed on the cleaning device; acquiring sewage data of the cleaning device in the process of performing the cleaning task; and determining the dirt degree of the surface to be cleaned based on the target surface image, and / or the reference surface image, and / or the sewage data.

[0132] In some embodiments of the present application, based on the foregoing scheme, the controlling the cleaning device to perform a cleaning action adapted to the surface information comprises: if the dirt degree is greater, the cleaning time of the cleaning device is longer, and / or the cleaning intensity of the cleaning device is greater.

[0133] In some embodiments of the present application, based on the foregoing scheme, the controlling the cleaning device to perform a cleaning action adapted to the surface information comprises: if the dirt adhesion of the surface material is higher, the cleaning time of the cleaning device is longer, and / or the cleaning intensity of the cleaning device is greater.

[0134] In some embodiments of the present application, based on the foregoing scheme, the controlling the cleaning device to perform a cleaning action adapted to the surface information comprises: if the surface material is a material of a blanket, the cleaning device is controlled to lift the cleaning member.

[0135] According to a third aspect of the embodiments of the present application, a cleaning device control apparatus is provided, the cleaning device comprising a contact image sensor module, the apparatus comprising: an acquisition unit configured to acquire a target surface image of a surface to be cleaned collected by the contact image sensor module; a determination unit configured to determine surface information of the surface to be cleaned based on the target surface image; and a control unit configured to control the cleaning device to perform a cleaning action adapted to the surface information.

[0136] According to a fourth aspect of the embodiments of the present application, a computer program product is provided, the computer program product comprising computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform operations implemented by the method according to any one of the second aspect.

[0137] According to a fifth aspect of the embodiments of the present application, a computer readable storage medium is provided, the computer readable storage medium storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by a processor to implement operations performed by the method according to any one of the second aspect.

[0138] According to a sixth aspect of the embodiments of the present application, a cleaning device is provided, the cleaning device comprising one or more processors and one or more memories, the one or more memories storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by the one or more processors to implement operations performed by the method according to any one of the second aspect.

[0139] According to a seventh aspect of the embodiments of the present application, a cleaning system is provided, the cleaning system comprising the cleaning device and the base station according to the first aspect and the sixth aspect. The cleaning device is detachably arranged on the base station.

[0140] Based on the technical solutions provided in the present application, by installing a contact image sensor module in the cleaning device, a surface image with high resolution of the surface to be cleaned can be collected in real time at a close distance during the execution of the cleaning task by the cleaning device, and thus the accuracy of the identification of the surface information of the surface to be cleaned by the cleaning device during the execution of the cleaning task can be improved.

[0141] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application.

[0142] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored on or transferred over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the disclosure and appended claims. For example, due to the nature of software, functions described above can be implemented using software executed by a processor, hardware, firmware, hardwiring, or combinations of any of these. Features implementing functions can also be physically located at various positions, including being distributed such that portions of functions are implemented at different physical locations. Also, as used herein, including in the claims, "or" as used in a list of items prefaced by "comprising" to indicate a disjunctive list means each single item in the list has been recited before "or" one or more additional disjunctive items also have been recited. However, "or" in such a phrase does not mean that the list is inclusive of at least one of the items. Further, as used herein, "comprising" is to be interpreted as including the more restrictive terms "consisting of" and "consisting essentially of."

[0143] In several embodiments provided in the present disclosure, it should be understood that the disclosed technical contents can be implemented in other ways. Among them, the above-described device embodiments are only schematic, for example, the division of the units can be a logical function division, and in actual implementation, another division mode can be adopted, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interface, unit or module, and can be electrical or other forms.

[0144] The units described as separate components can or can not be physically separate, and the components of the control device can or can not be physical units, that is, they can be located in one place or distributed on multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

[0145] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present disclosure essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present disclosure. The foregoing storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store computer program instructions.

[0146] The above merely provides an example of the present disclosure, and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure can have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present disclosure shall fall into the scope of claims of the present disclosure.

Claims

1. A cleaning device comprising a contact image sensor module; the contact image sensor module comprises a light source and an image sensor, the light source is used to project light to a surface to be cleaned, the image sensor is used to receive reflected light reflected by the surface to be cleaned, and generate a surface image of the surface to be cleaned based on the reflected light; the surface image is used to analyze surface information of the surface to be cleaned.

2. The cleaning apparatus of claim 1, wherein, The contact image sensor module further comprises a lens array, the lens array is used to refract the reflected light reflected by the surface to be cleaned to the image sensor.

3. The cleaning apparatus of claim 1, wherein, The light source is a white light source.

4. The cleaning apparatus of claim 1, wherein, The image sensor is a complementary metal oxide sensor.

5. The cleaning apparatus of claim 1, wherein, The contact image sensor module is installed at the bottom of the cleaning device.

6. The cleaning apparatus of claim 5, wherein, The bottom of the cleaning device is provided with a suction port, and the contact image sensor module is installed at a position in front of the suction port in a target direction, the target direction being a direction in which the cleaning device advances during a cleaning task.

7. The cleaning apparatus of claim 5, wherein, The bottom of the cleaning device is provided with a cleaning member, and the contact image sensor module is installed at a position behind the cleaning member in a target direction, the target direction being a direction in which the cleaning device advances during a cleaning task.

8. The cleaning apparatus of claim 5, wherein, The bottom of the cleaning device is provided with a suction port and a cleaning member, and the contact image sensor module is installed at a position between the suction port and the cleaning member.

9. The cleaning apparatus of claim 1, wherein, The surface information includes a degree of dirt and / or a surface material of the surface to be cleaned.

10. The cleaning apparatus of claim 1, wherein, The length of the contact image sensor module is less than or equal to the diameter of the cleaning device.

11. The cleaning apparatus of claim 1, wherein, The length of the contact image sensor module is greater than or equal to the width of a cleaning coverage of the cleaning device during a cleaning task.

12. The cleaning apparatus of claim 1, wherein, During the cleaning task of the cleaning device, the distance between the contact image sensor module and the surface to be cleaned is 0 mm-30 mm. 13.A cleaning device control method, the cleaning device comprising a contact image sensor module, the method comprising: obtaining a target surface image of a surface to be cleaned collected by the contact image sensor module; determining surface information of the surface to be cleaned based on the target surface image; and controlling the cleaning device to perform a cleaning action adapted to the surface information. The obtaining of the target surface image of the surface to be cleaned collected by the contact image sensor module comprises:

14. The method of claim 13, wherein, obtaining at least one frame of surface image of the surface to be cleaned collected by the contact image sensor module during a cleaning task of the cleaning device; and stitching the at least one frame of surface image to obtain the target surface image of the surface to be cleaned. During the cleaning task of the cleaning device, if the length of the contact image sensor module is less than the width of a cleaning coverage of the cleaning device during a cleaning task, the cleaning density of the cleaning device during the cleaning task is increased.

15. The method of claim 14, wherein, The surface information includes a degree of dirt and / or a surface material of the surface to be cleaned.

16. The method of claim 13, wherein, The determination of the surface information of the surface to be cleaned based on the target surface image comprises:

17. The method of claim 16, wherein, ​ acquire a reference surface image of the surface to be cleaned captured by a camera mounted on the cleaning device; acquire sewage data of the cleaning device during execution of a cleaning task; and determine a dirtiness level of the surface to be cleaned based on the target surface image, and / or the reference surface image, and / or the sewage data.

18. The method of claim 16, wherein, the control of the cleaning device to perform a cleaning action adapted to the surface information comprises: if the dirtiness level is higher, the control of the cleaning device to perform a longer cleaning time, and / or a higher cleaning intensity.

19. The method of claim 16, wherein, the control of the cleaning device to perform a cleaning action adapted to the surface information comprises: if the dirtiness adhesion of the surface material is higher, the control of the cleaning device to perform a longer cleaning time, and / or a higher cleaning intensity.

20. The method of claim 16, wherein, the control of the cleaning device to perform a cleaning action adapted to the surface information comprises: if the surface material is a carpet material, the control of the cleaning device to lift up a cleaning element. 21.A cleaning device control apparatus, the cleaning device comprising a contact image sensor module, the apparatus comprising: an acquisition unit configured to acquire a target surface image of a surface to be cleaned captured by the contact image sensor module; a determination unit configured to determine surface information of the surface to be cleaned based on the target surface image; and a control unit configured to control the cleaning device to perform a cleaning action adapted to the surface information. 22.A computer program product comprising computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the method of any one of claims 13 to 20. 23.A computer readable storage medium comprising at least one program code stored thereon, the at least one program code being loaded and executed by a processor to implement operations performed by the method of any one of claims 13 to 20. 24.A cleaning device comprising one or more processors and one or more memories, the one or more memories having stored therein at least one program code, the at least one program code being loaded and executed by the one or more processors to implement the method of any one of claims 13 to 20. the cleaning device is detachably arranged on the base station.

25. A cleaning system comprising the cleaning apparatus and the base station of any one of claims 1 to 12, and 24, wherein, ​

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