Cleaning device and dirt detection method

Abstract

The present invention provides a cleaning device and a dirt detection method for the cleaning device. The cleaning device includes: a cleaning unit for cleaning a surface to be cleaned; a detection device for detecting a physical property value of the cleaning unit; and a processor electrically connected to the detection device, configured to obtain the physical property value detected by the detection device, determine the degree of dirtiness of the surface to be cleaned based on the physical property value, and adjust the cleaning mode of the cleaning device based on the degree of dirtiness. Based on the cleaning device provided by the present invention, the detection device detects the physical property value of the cleaning unit of the cleaning device, and the processor determines the degree of dirtiness of the surface to be cleaned based on the detected physical property value. This can provide information about the surface to be cleaned for the cleaning operation of the cleaning device, thereby enabling intelligent cleaning of the surface to be cleaned.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent devices, and in particular to a cleaning device and a dirt detection method for the cleaning device. Background Art

[0002] Cleaning equipment typically has a floor cleaning function, for example, by spraying clean cleaning liquid and then recovering the dirty liquid. However, in actual use, due to the varying levels of dirtiness on the surfaces being cleaned, using the same operating power for cleaning surfaces of varying degrees of dirtiness may result in incomplete cleaning of the dirtiest surfaces, while wasteful use of cleaner surfaces may result in a negative user experience. Summary of the Invention

[0003] In view of the above problems, the present invention is proposed to provide a cleaning device and a dirt detection method for a cleaning device that overcomes the above problems or at least partially solves the above problems.

[0004] According to a first aspect of the present invention, there is provided a cleaning device comprising:

[0005] A cleaning part, used for cleaning the surface to be cleaned;

[0006] a detection device for detecting a physical property value of the cleaning portion;

[0007] A processor is used to obtain the physical property value detected by the detection device, and use the comparison result of the physical property value and the dynamically set standard property value to determine the dirtiness of the surface to be cleaned, and adjust the cleaning mode of the cleaning equipment based on the dirtiness.

[0008] Optionally, the detection device is arranged on the cleaning portion, or arranged opposite to the cleaning portion.

[0009] Optionally, the detection device comprises an optical detection device for detecting an optical property value of the cleaning portion.

[0010] Optionally, the detection device includes a light transmitter and a light receiver;

[0011] The light emitter is used to emit a light signal to the cleaning part;

[0012] The optical receiver is configured to receive a light reflection signal formed after being reflected by the cleaning portion, convert the light reflection signal into a first electrical signal representing an optical property value of the cleaning portion, and output the first electrical signal to the processor;

[0013] The processor is configured to calculate the degree of dirtiness of the surface to be cleaned using the optical property value.

[0014] Optionally, the first electrical signal includes a voltage; the processor is used to compare the voltage with a standard voltage and determine the degree of dirtiness of the surface to be cleaned based on the comparison result; the standard voltage is the voltage of the cleaning part detected in advance when it is in a clean state; or, the voltage of the cleaning part detected by the cleaning device before performing the cleaning work.

[0015] Optionally, the optical receiver and the optical transmitter are arranged on the same side.

[0016] Optionally, the detection device includes an electrical detection device for detecting an electrical property value of the cleaning portion.

[0017] Optionally, the cleaning portion is provided with an electrode;

[0018] The detection device is connected to the electrodes on the cleaning portion, and is used to detect a second electrical signal representing an electrical property value of the cleaning portion, and output the second electrical signal to the processor;

[0019] The processor is used to calculate the dirtiness of the surface to be cleaned using the electrical property value.

[0020] Optionally, the detection device is a capacitance sensor, which is used to detect the capacitance of the cleaning portion and output it to the processor as the second electrical signal;

[0021] It is used to calculate the capacitance change parameter of the cleaning part according to the capacitance and the standard capacitance, and use the capacitance change parameter to determine the dirtiness of the surface to be cleaned.

[0022] Optionally, the detection device is used to detect the conductivity of the cleaning portion and output it to the processor as the second electrical signal;

[0023] The processor is used to calculate the conductivity change parameter of the cleaning portion according to the conductivity and the standard conductivity, and determine the dirtiness of the surface to be cleaned according to the conductivity change parameter.

[0024] According to a second aspect of the present invention, there is provided a dirt detection method for a cleaning device, comprising:

[0025] Detecting physical property values ​​of a cleaning portion of a cleaning device; the cleaning portion is used to clean the surface to be cleaned;

[0026] Determining the degree of dirtiness of the surface to be cleaned by comparing the physical property value with the dynamically set standard property value;

[0027] A cleaning mode of the cleaning device is adjusted based on the degree of soiling.

[0028] Optionally, the physical property value includes an optical property value;

[0029] The detecting the physical property value of the cleaning portion of the cleaning device comprises: transmitting a light signal by a light transmitter, receiving a light reflection signal formed after being reflected by the cleaning portion by a light receiver, and converting the light reflection signal into a first electrical signal for representing the optical property value of the cleaning portion;

[0030] Determining the degree of dirtiness of the surface to be cleaned by using the comparison result of the physical property value and the dynamically set standard property value includes: calculating the degree of dirtiness of the surface to be cleaned by using the difference between the optical property value and the standard optical property value;

[0031] The standard optical property value includes a pre-detected optical property value of the cleaning portion when the cleaning portion is in a clean state, or an optical property value of the cleaning portion detected when the cleaning device is powered on.

[0032] Optionally, the physical property value includes an electrical property value;

[0033] The detecting of the physical property value of the cleaning portion of the cleaning device comprises: detecting a second electrical signal for representing the electrical property value of the cleaning portion; the second electrical signal comprises: at least one of conductivity, capacitance, and resistance;

[0034] Determining the degree of dirtiness of the surface to be cleaned by comparing the physical property value with the dynamically set standard electrical property value includes: calculating an electrical signal change parameter of the cleaning unit according to the electrical property value and the standard electrical property value, and calculating the degree of dirtiness of the surface to be cleaned by using the electrical signal change parameter;

[0035] The standard electrical property value includes a pre-detected electrical property value of the cleaning portion when the cleaning portion is in a clean state, or an electrical property value of the cleaning portion detected when the cleaning device is powered on.

[0036] Optionally, adjusting the cleaning mode of the cleaning device based on the degree of dirtiness includes:

[0037] Obtaining a plurality of pre-classified soiling levels corresponding to different soiling degrees;

[0038] determining a target dirtiness level corresponding to the surface to be cleaned based on the dirtiness of the surface to be cleaned;

[0039] A cleaning mode of the cleaning device that matches the target dirt level is obtained, and the operation of the cleaning device is controlled according to cleaning parameters corresponding to the cleaning mode; the cleaning parameters include the operating power of the fan and / or the motor driving the cleaning part.

[0040] The present invention provides a cleaning device and a dirt detection method for the cleaning device. Based on the cleaning device provided by the present invention, the physical property values ​​of the cleaning part of the cleaning device are detected by a detection device, and the processor judges the degree of dirtiness of the surface to be cleaned according to the detected physical property values. This can provide information about the surface to be cleaned for the cleaning work of the cleaning device, and then the surface to be cleaned can be intelligently cleaned in a targeted manner.

[0041] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below.

[0042] Based on the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will become more aware of the above and other objects, advantages and features of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0044] Figure 1 A schematic diagram of a portion of the structure of a cleaning device according to an embodiment of the present invention is shown;

[0045] Figure 2 Shown is a schematic structural diagram of a cleaning device according to an embodiment of the present invention;

[0046] Figure 3 A schematic structural diagram of a cleaning device according to another embodiment of the present invention is shown;

[0047] Figure 4 A schematic diagram of a portion of the structure of a cleaning device according to another embodiment of the present invention is shown;

[0048] Figure 5 A schematic diagram showing a change in the voltage of a cleaning portion as the color of the cleaning portion changes according to an embodiment of the present invention is shown;

[0049] Figure 6 A schematic structural diagram of a cleaning device according to another embodiment of the present invention is shown;

[0050] Figure 7 A schematic flow chart of a dirt detection method for cleaning equipment according to another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0051] In the following description, numerous specific details are provided to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without one or more of these details. In other instances, certain technical features well known in the art are not described to avoid confusion with the present invention.

[0052] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0053] Exemplary embodiments of the present invention will now be described in greater detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0054] The embodiment of the present invention provides a cleaning device, see Figure 1 It can be seen that the cleaning device provided by the embodiment of the present invention may include a cleaning unit 10, a detection device 20 and a processor 30. The cleaning unit 10 is used to clean the surface to be cleaned. The detection device 20 is used to detect the physical property value of the cleaning unit 10. Optionally, the detection device 20 can be set on the cleaning unit 10 (such as Figure 2 ), or arranged opposite to the cleaning portion 10 (as shown Figure 3 The processor 30 is electrically connected to the detection device 20 and is configured to obtain the physical property value detected by the detection device 20, determine the degree of dirtiness of the surface to be cleaned by comparing the physical property value with the dynamically set standard property value, and adjust the cleaning mode of the cleaning device based on the degree of dirtiness.

[0055] In some preferred embodiments, the cleaning portion can be, for example, one or more roller brushes, which generally refers to a brush whose rotating axis is approximately horizontal, or one or more disc brushes, which generally refers to a brush whose rotating axis is approximately vertical. Of course, it can also be various other components that can achieve a cleaning function.

[0056] The cleaning equipment provided by the embodiment of the present invention detects the physical property values ​​of the cleaning part 10 of the cleaning equipment by arranging a detection device 20 on the cleaning equipment. The processor 30 can be used to intelligently determine the degree of dirtiness of the surface to be cleaned based on the physical property values ​​without manual judgment, and can provide information about the surface to be cleaned for the cleaning work of the cleaning equipment, thereby improving the user experience while improving the intelligence of the cleaning equipment.

[0057] In specific applications, the cleaning device can be a sweeping robot, a mopping robot, a floor polishing robot, a weeding robot or a handheld cleaning device for cleaning floors, walls, desktops, carpets, walls or glass, but is not limited thereto. The cleaning unit 10 in the cleaning device can be provided with cleaning parts such as a mopping rag, a mopping sponge or a mopping roller brush to clean the surface to be cleaned. Among them, the processor 30 can be implemented using various application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), micro-control components, microprocessors or other electronic components.

[0058] In addition, as the number of times the cleaning device is used and the time it is used increases, the cleaning parts on the cleaning unit 10 will change when they are in a clean state. Therefore, in this embodiment, the processor 30 can use the comparison result of the physical property value and the dynamically set standard property value to determine the degree of dirtiness of the surface to be cleaned. In other words, the standard property value is variable. When the cleaning unit 10 on the cleaning device is used for the first time, the standard property value can be the default standard property value set at the factory. As the number of times the cleaning unit 10 is used and the time it is used increases, the surface of the cleaning unit 10 may change color, etc. Therefore, the standard property value corresponding to the cleaning unit 10 can be adjusted at any time. For example, the physical property value detected by the cleaning device when it is powered on can be used as the standard property value. In addition, the physical property value of the cleaning unit 10 detected when it is in a clean state after completing self-cleaning can also be recorded as the standard property value. In this embodiment, the degree of dirtiness of the surface to be cleaned can be accurately determined by comparing the physical property value with the dynamically set standard property value, thereby improving cleaning efficiency.

[0059] Furthermore, the processor 30 in the cleaning device can intelligently adjust the cleaning mode of the cleaning device based on the obtained degree of dirtiness of the surface to be cleaned, so as to ensure that the surface to be cleaned is effectively cleaned while making rational use of cleaning resources. Optionally, the cleaning device may be provided with a plurality of cleaning modes, and the working parameters of the cleaning devices corresponding to different cleaning modes may also be different. For example, in the deep cleaning mode, the operating power of the blower and / or the motor driving the cleaning part will be relatively large, and the water output and the frequency of water output will also be relatively high, while in the simple cleaning mode, the operating power of the blower and / or the motor driving the cleaning part will be relatively small, and the water output and the frequency of water output will also be relatively low. Therefore, for surfaces to be cleaned with different degrees of dirtiness, by adjusting the cleaning mode of the cleaning device to adapt, it is possible to reasonably utilize cleaning resources while completing the cleaning work. In actual applications, the type of cleaning mode of the cleaning device and the working parameters of the cleaning device corresponding to each cleaning mode can be set according to different needs, which is not determined in the embodiment of the present invention.

[0060] In an embodiment of the present invention, the detection device 20 can be an optical detection device or an electrical detection device. For different types of detection devices 20, the physical property values ​​of the cleaning part 10 in the cleaning equipment detected by them are also different. The different types of detection devices 20 are described in detail below.

[0061] Figure 4 A schematic diagram of a cleaning device according to another embodiment of the present invention is shown. Figure 4 In the cleaning device shown, the detection device 20 may be an optical detection device 20 for detecting the optical property value of the cleaning portion 10. Figure 4 It can be seen that the detection device 20 may include a light emitter 21 and a light receiver 22 ; the light receiver 22 is arranged on the same side as the light emitter 21 . Figure 4 The relative positions of the light emitter 21 and the light receiver 22 are only schematically shown. In actual applications, the arrangement positions of the light emitter 21 and the light receiver 22 can be adjusted according to different requirements, and this embodiment does not limit this.

[0062] Among them, the light transmitter 21 is used to transmit a light signal to the cleaning part 10; the light receiver 22 is used to form a light reflection signal after reflection by the cleaning part 10, and convert the light reflection signal into a first electrical signal used to represent the optical property value of the cleaning part 10, and output the first electrical signal to the processor 30; the processor 30 is used to calculate the degree of dirtiness of the surface to be cleaned using the optical property value.

[0063] For example, the detection device 20 in this embodiment may include a pair of infrared tubes, one of which serves as a light emitter 21 and the other as a light receiver 22, that is, the light emitter 21 is an infrared receiver and the light receiver 22 is an infrared receiver. Figure 4 It can be seen that the light emitter 21 can emit infrared rays to the cleaning part 10, and the light receiver 22 is used to receive the infrared rays (reflected signals) reflected by the cleaning part 10. Figure 4 As shown, the infrared tubes need to be arranged on the same side, that is, the infrared tubes are arranged on the same side relative to the cleaning section 10 and are both arranged opposite to the cleaning section 10, so as to ensure that the infrared rays reflected by the cleaning section 10 can be received by the light receiver 22. Furthermore, after receiving the reflected signal reflected by the cleaning section 10, the light receiver 22 can convert it into a first electrical signal and output it to the processor 30.

[0064] For example, if the surface of the cleaning portion 10 is covered with a light-colored velvet fabric, when the cleaning portion 10 is clean, the color is lighter, so relatively speaking, the light intensity of the reflected signal reflected by the cleaning portion 10 is stronger. When the brush head is dirty, the color of the brush head becomes darker, and the light intensity of the reflected signal reflected by the cleaning portion 10 is weaker. Furthermore, the light receiver 22 can convert the received reflected signals of different intensities into different voltages, and then transmit the different voltages as the first electrical signals to the processor 30. Figure 5 As shown, the lighter the color of the cleaning portion 10, the stronger the light intensity reflected by the cleaning portion 10, and the higher the voltage; the darker the color of the cleaning portion 10, the weaker the light intensity, and the relatively low voltage.

[0065] As described above, the first electrical signal may include a voltage representing an optical property value, which can be directly detected by the detection device 20 and transmitted to the processor 30. Further, after the processor 30 receives the voltage transmitted by the light reflector, it compares the voltage with the standard voltage and determines the degree of dirtiness of the surface to be cleaned based on the comparison result. In an embodiment of the present invention, the standard electrical property value is the electrical signal of the cleaning unit that has been pre-detected to be in a clean state. For example, the standard voltage can be the voltage detected when the cleaning unit 10 is not in use and is in a clean state. In actual application, the color of the cleaning elements on the cleaning unit 10 may change with the number of uses or the length of time used. In an embodiment of the present invention, the standard voltage can also be set as the voltage of the cleaning unit detected when the cleaning device is powered on. This can solve the problem of differences between cleaning elements of different colors and materials, thereby making the detection result of the degree of dirtiness of the surface to be cleaned more accurate. In other words, when the cleaning device is used this time, the electrical signal of the cleaning unit 10 can be detected as the standard voltage when the cleaning device is powered on, for subsequent judgment and comparison. Optionally, after the cleaning device is used, the standard voltage can be initialized, and when it is turned on next time, the standard voltage of the cleaning unit 10 in a clean state can be detected first. Among them, the first electrical signal is compared with the standard voltage. When determining the degree of dirtiness of the surface to be cleaned according to the comparison result, the degree of dirtiness of the surface to be cleaned can be determined according to the difference between the first electrical signal and the standard voltage. When the difference is smaller, the lower the degree of dirtiness is, and the surface to be cleaned is relatively clean. Conversely, the higher the degree of dirtiness is, the surface to be cleaned is relatively dirty.

[0066] For example, assuming that the standard voltage of a light-colored cleaning unit 10 is set to a, when the processor 30 receives a higher voltage transmitted by the light reflector, it indicates that the color of the cleaning unit 10 is lighter. At this time, the closer the voltage is to a and the smaller the difference is, the less dirty the surface to be cleaned is (i.e., the surface to be cleaned is relatively clean). When the voltage is lower, it indicates that the color of the cleaning unit 10 is darker, and the difference between the voltage and the standard voltage a is greater. At this time, the dirtiness of the surface to be cleaned is higher (i.e., the surface to be cleaned is relatively dirty). The color application in this embodiment can be for the depth of the same color. For example, when the cleaning element used in the cleaning unit 10 is blue, it can be determined by the dark blue, light blue, and intermediate transition colors of the cleaning element.

[0067] Of course, the light emitter 21 can also emit light of other wavelengths, and correspondingly, the light receiver 22 is a receiver that can receive light waves of corresponding lengths, and this is not limited in the embodiments of the present invention. In addition, when the color of the cleaning portion 10 is different, the corresponding reflectivity is also different. Therefore, the processor 30 can also automatically calculate the color of the cleaning portion 10 based on the reflectivity curve data, and then compare the voltage value corresponding to the detected color of the cleaning portion 10 with the standard color voltage value of the cleaning portion 10 to determine the degree of dirtiness of the surface to be cleaned.

[0068] In an embodiment of the present invention, different dirt levels can be set in advance for different degrees of dirt on the surface to be cleaned. For example, four levels, namely, level 1, level 2, level 3, and level 4, can be set in ascending order of dirtiness. In addition, different threshold ranges can be divided according to different physical property values ​​of the cleaning unit 10, such as threshold range 1, threshold range 2, threshold range 3, and threshold range 4. A correspondence is established between each threshold range and the dirt level. For example, the difference between the voltage received by the processor and the standard voltage corresponds to threshold range 1, and the corresponding dirt level of the surface to be cleaned is level 1. The difference between the voltage and the standard voltage corresponds to threshold range 2, and the corresponding dirt level is level 2, and so on. Then, after the processor 30 calculates the physical property value (such as voltage) of the cleaning unit 10, it can further determine the target threshold range in which the physical property value is located, and then determine the dirt level corresponding to the target threshold range as the dirt level of the surface to be cleaned. In actual applications, since cleaning parts made of different materials or of different types may have different cleaning capabilities, different threshold ranges and dirt levels corresponding to each threshold range can be divided and set for different types of cleaning parts. The specific settings can be based on different needs, and the embodiments of the present invention are not limited to this. In actual applications, multiple sets of standard attribute values ​​and multiple sets of dirt level threshold ranges may be stored on the cleaning device or in the cloud. Optionally, when the cleaning device is powered on, the corresponding standard attribute values ​​and the matching dirt level threshold ranges can be determined based on characteristic parameters such as the type of cleaning parts on the cleaning unit, so as to provide a basis for subsequent judgment of the degree of dirtiness of the surface to be cleaned.

[0069] In an optional embodiment of the present invention, the detection device 20 can also be used to detect a first physical property value of the cleaning section 10 when the light emitter 21 is in an off state, and a second physical property value of the cleaning section 10 when the light emitter 21 emits a white light environment. The processor 30 is used to determine the color of the cleaning section 10 based on the first physical property value and the second physical property value. Specifically, the first physical property value and the second physical property value can represent the RGB signals of the cleaning section 10 in a natural environment and a white light environment, respectively. The processor 30 can use the difference between the first physical property value and the second physical property value as the RGB signal value of the cleaning section 10, and determine the color of the cleaning section 10 after performing white balance correction, thereby using the color of the cleaning section 10 to determine the degree of dirtiness of the surface to be cleaned.

[0070] In another optional embodiment of the present invention, the detection device 20 may be an electrical detection device 20 for detecting an electrical property value of the cleaning unit 10. Optionally, the cleaning unit 10 is provided with electrodes; the detection device 20 is connected to the electrodes on the cleaning unit 10 and is configured to detect a second electrical signal representing the electrical property value of the cleaning unit 10 and output the second electrical signal to the processor 30; the processor 30 is configured to determine the degree of dirtiness of the surface to be cleaned based on the electrical property value.

[0071] In an embodiment of the present invention, a group of electrodes can be provided on the cleaning part 10, serving as a positive electrode and a negative electrode respectively. In practical applications, the electrodes can be provided on the cleaning part 10 in the form of patches. The detection device 20 is a capacitance sensor, which can be connected to the two electrodes on the cleaning part 10 to detect the capacitance of the cleaning part 10, and the detected capacitance of the cleaning part 10 is output to the processor 30 as a second electrical signal. The processor 30 is used to calculate the capacitance change parameter of the cleaning part 10 based on the capacitance and the standard capacitance, and determine the degree of dirtiness of the surface to be cleaned based on the capacitance change parameter. The standard capacitance can be the capacitance of the cleaning part 10 detected in advance when it is in a clean state, or the capacitance of the cleaning part 10 detected when the cleaning device is powered on.

[0072] In actual application, during the use of the cleaning device, assuming that the surface to be cleaned is clean, the medium carried on the cleaning part 10 of the cleaning device will be less than the situation where the surface to be cleaned is dirty. For the capacitive sensor, the size of the capacitance detected is related to the area of ​​the electrodes, the distance between the electrodes, and the medium between the electrodes. In an embodiment of the present invention, the size of the electrodes and the distance between the electrodes are guaranteed to remain unchanged, so the only factor affecting the detection result of the capacitive sensor is the medium between the electrodes. Therefore, the solution provided by the embodiment of the present invention can effectively and quickly determine the degree of dirtiness of the surface to be cleaned by using a capacitive sensor to detect the capacitance of the cleaning part 10 and using a processor 30 to calculate the capacitance change parameter of the cleaning part 10 before and after the cleaning work. The capacitance change parameter in this embodiment can be the difference between the capacitance value currently detected by the capacitance sensor and the capacitance value of the cleaning part 10 when it is in a clean state detected in advance. It can also be the difference between the capacitance value currently detected by the capacitance sensor and the initial capacitance value of the cleaning part 10 when the power on the cleaning device is just working, which can be set according to different needs. Taking the floor in the house as the surface to be cleaned as an example, the capacitance detected by the cleaning unit 10 when performing the cleaning action is used as the first capacitance, and the capacitance detected after performing the cleaning action is used as the second capacitance. The difference between the second capacitance and the first capacitance is used as the capacitance change parameter of the cleaning unit 10, and then the degree of dirtiness of the surface to be cleaned is determined based on the capacitance change parameter.

[0073] For different cleaning environments and cleaning component types, the medium between the two electrodes may also vary, and thus the dielectric constant of the medium will change accordingly. Therefore, based on the cleaning environment of the cleaning equipment and the type of cleaning component used, the dirt level of the surface to be cleaned corresponding to different capacitance change parameters is adaptively set and adjusted to calculate the dirtiness of the surface to be cleaned. In this embodiment, the dirtiness level is set in a manner similar to the setting logic of the optical detection device.

[0074] In an optional embodiment of the present invention, the electrodes are conductive electrodes; the detection device 20 is used to detect the conductivity of the cleaning unit 10 as a second electrical signal; and the processor 30 is used to calculate a conductivity change parameter of the cleaning unit 10 based on the conductivity and a standard conductivity, and to determine the degree of dirtiness of the surface to be cleaned based on the conductivity change parameter. The conductivity change parameter of this embodiment can be a conductivity change value, a change amplitude, a conductivity change pattern, etc. The standard conductivity can be a pre-detected capacitance of the cleaning unit 10 when it is in a clean state, or the standard conductivity of the cleaning unit 10 detected when the cleaning device is powered on.

[0075] Conductivity may vary for different cleaning environments and cleaning component types. For example, the more impurities attached to the cleaning unit 10, the greater the difference between the real-time detected conductivity and the standard conductivity. In other words, the greater the difference between the real-time detected conductivity and the standard conductivity, the dirtier the surface to be cleaned may be. The smaller the difference between the real-time detected conductivity and the standard conductivity, the cleaner the surface to be cleaned may be. Therefore, the embodiments of the present invention are based on adaptively setting and adjusting the dirtiness level of the surface to be cleaned corresponding to different conductivity variation parameters based on the cleaning environment of the cleaning equipment and the type of cleaning components used, thereby determining the degree of dirtiness of the surface to be cleaned.

[0076] The previous article introduced a solution in which the capacitance or conductivity of the cleaning part 10 is transmitted as a second signal to the processor 30, and the processor 30 calculates the electrical property value and determines the degree of dirtiness of the surface to be cleaned. In actual applications, the resistance of the cleaning part 10 can also be transmitted as a second electrical signal to the processor 30, and the processor 30 determines the degree of dirtiness of the surface to be cleaned according to the change law of the resistance signal. The degree of dirtiness of the surface to be cleaned can be intelligently detected without manual judgment.

[0077] The foregoing describes the specific implementation methods of the optical detection device and the electrical detection device for detecting the optical property values ​​and the electrical property values ​​respectively. In an optional embodiment of the present invention, the detection device 20 may include both the optical detection device and the electrical detection device, that is, the detection device 20 may also be used to detect the optical property values ​​and the electrical property values ​​of the cleaning section 10, and the processor 30 may use the optical property values ​​and the electrical property values ​​in combination to determine the degree of dirtiness of the surface to be cleaned. For example, different weights may be assigned to the optical property values ​​and the electrical property values. After the detection device 20 detects the optical property values ​​and the electrical property values, the optical property values ​​and the electrical property values ​​are combined with their respective weights to calculate the final physical property values, and then the physical property values ​​are used to determine the degree of dirtiness of the surface to be cleaned. Among them, when assigning weights to the optical property values ​​and the electrical property values, the assignment may be based on the material, color, and other characteristics of the cleaning parts on the cleaning section 10.

[0078] More specifically, the degree of dirtiness of the surface to be cleaned is determined by combining the reflection signal of the cleaning portion and the resistance change parameter.

[0079] In an optional embodiment of the present invention, the cleaning equipment may further include a fluid output device 40 and a fluid recovery device 50. The fluid output device 40 is a device that can control any one of the cleaning liquids such as clean water, detergent, and a mixture of clean water and detergent. The fluid output device 40 can spray the liquid onto the surface to be cleaned, and then use the cleaning parts to clean it. The fluid recovery device 50 is used to flow the dirty liquid on the surface to be cleaned or the cleaning part into the fluid recovery device 50 through the dirty liquid sewage pipe with the help of the suction force of the fan, thereby realizing the function of dirty liquid recovery, that is, the dirty liquid generated after the surface to be cleaned is cleaned is recovered. The fluid recovery device 50 can specifically realize the recovery of dirty liquid by using a fan to drive a suction nozzle to suck the dirty liquid.

[0080] Optionally, the fluid output device 40 may include a first container 41 and a fluid output pipeline 42, wherein the first container 41 is used to store fluid, and the fluid may be any one of clean water, a detergent, or a mixture of clean water and detergent. During use of the cleaning device, the fluid may be sprayed onto the surface to be cleaned, thereby cleaning the surface to be cleaned. In addition, the fluid output pipeline 42 may be connected to the first container 41, and the fluid in the first container 41 may be delivered to the cleaning unit or the surface to be cleaned via the fluid delivery pipeline. Optionally, the fluid output pipeline 42 may be a rigid tube extending along a path, or a flexible tube capable of changing its path, and the specific selection may be based on the type of cleaning device and the structural design of the cleaning device.

[0081] Furthermore, the fluid output device 40 may also include at least one nozzle 43. The fluid output device 40 is connected to the nozzle 43 via a fluid output pipeline 42, so that the fluid in the first container 41 is delivered to the nozzle through the fluid output pipeline, thereby spraying the fluid onto the cleaning portion 10 and / or the surface to be cleaned. During use of the cleaning device, the processor 30 can be used to control the amount of cleaning liquid sprayed by the fluid output device 40 in a single spray, the frequency of cleaning liquid spraying, and the frequency of dirty liquid recovery.

[0082] As mentioned above, the cleaning device may also be provided with a fan and a motor for the cleaning unit to perform cleaning work. Optionally, the processor 30 in the cleaning device provided in the embodiment of the present invention may also adjust the operating power of the fan and / or the motor driving the cleaning unit based on the degree of dirtiness of the surface to be cleaned. That is to say, after the processor 30 determines the degree of dirtiness of the surface to be cleaned, it may also adaptively adjust the operating power of the fan and / or the motor driving the cleaning unit in the cleaning device according to the degree of dirtiness of the surface to be cleaned. For example, for a relatively clean ground, the equipment may be cleaned normally, or the power of the fan and / or the motor may be reduced accordingly. However, for a relatively dirty ground, more clean liquid may need to be sprayed. In this case, the operating power of the fan and / or the motor needs to be increased to recover the dirty liquid on the ground in a timely manner, thereby effectively improving the user experience while achieving intelligent cleaning.

[0083] The above embodiment mentioned that different dirt levels can be set corresponding to different degrees of dirt. Optionally, when the processor 30 adjusts the working power of the fan and / or the motor driving the cleaning part, it can first obtain a plurality of pre-divided dirt levels corresponding to different degrees of dirt; then determine the target dirt level corresponding to the surface to be cleaned based on the dirt level of the surface to be cleaned; finally, obtain the working power of the fan and / or the motor driving the cleaning part that matches the target dirt level, and control the operation of the cleaning equipment with the working power of the fan and / or the motor driving the cleaning part.

[0084] For example, suppose there are four dirt levels: dirt level 1, dirt level 2, dirt level 3, and dirt level 4. Then, the operating power of the fan and / or the motor driving the cleaning part corresponding to dirt level 1, dirt level 2, dirt level 3, and dirt level 4, respectively, can be pre-set. For example, level 1 corresponds to a fan operating power of x1 and a motor operating power of y1; level 2 corresponds to a fan operating power of x2 and a motor operating power of y2; level 3 corresponds to a fan operating power of x3 and a motor operating power of y3; level 4 corresponds to a fan operating power of x4 and a motor operating power of y4. When determining the target dirt level corresponding to the surface to be cleaned among multiple dirt levels, the pre-set fan operating power and motor operating power that match the target dirt level can be obtained as the target fan operating power and target motor operating power required by the current cleaning equipment, and then the cleaning equipment can be controlled to perform cleaning work with the obtained fan operating power and / or motor operating power, which can ensure the effective cleaning of the surface to be cleaned while rationally utilizing cleaning resources.

[0085] In practical applications, such as Figure 6 As shown, the cleaning device may further include a device body 60. The device body 60 as a whole may be a slender cylinder with a cavity. The processor 30, the fluid output device 40, and the fluid recovery device 50 may all be disposed in the cavity of the device body 60, thereby rationally utilizing the space of the cleaning device and reducing the overall volume of the cleaning device. One end of the device body 60 may be connected to the cleaning unit 10. When the cleaning device is a handheld cleaning device, a handheld portion 61 is provided at the other end of the device body 60. When the cleaning device is in use, the handheld portion 61 and the device body 60 are formed as a whole and tilted relative to the cleaning unit 10. This utilizes the downward force generated by the gravity of the device body 60 to make the cleaning element fit more closely to the surface to be cleaned, and facilitates the user to use the handheld portion 61 to push the cleaning unit 10, which is more labor-saving. When the cleaning device is placed on a charging station, the handheld portion 61 and the device body 60 are formed as a whole and perpendicular to the cleaning unit 10, thereby reducing the space occupied by the handheld floor scrubber.

[0086] During use of the cleaning device, the fluid in the fluid output device 40 may decrease over time. Therefore, in embodiments of the present invention, a first sensor may be provided in the fluid output device 40, located in the first container 41 of the fluid output device 40, for detecting the fluid level in the first container 41. Alternatively, the first sensor may be provided in the fluid output pipeline 42 of the fluid output device 40, for detecting the presence of fluid in the fluid output pipeline 42. The first sensor may be connected to the processor 30, which may determine, based on the detection results of the first sensor, whether to control the cleaning device to spray fluid, whether to control the cleaning device to perform a cleaning operation, or whether to replenish fresh fluid in the fluid output device 40. For example, if the processor 30 determines, based on the detection results of the first sensor, that the fluid level in the first container is below a first set level or that there is no fluid in the fluid output pipeline, it may determine that fluid needs to be replenished in the fluid output device 40.

[0087] Optionally, the fluid recovery device 50 may include a second container 51 for storing dirty liquid, and the specific shape is not strictly limited. A second sensor may be provided in the second container 51 for detecting the fluid level in the second container. The second sensor may be connected to the processor 30, and the processor 30 may determine whether it is necessary to clean up the recovered dirty liquid stored in the fluid recovery device 50 in a timely manner based on the detection result of the second sensor (such as the fluid level in the second container), thereby ensuring that the cleaning work of the cleaning equipment proceeds smoothly. For example, when the processor 30 determines that the fluid level in the second container 51 is higher than the second set level based on the detection result of the second sensor, it is determined that it is necessary to clean up the dirty liquid in the second container in a timely manner. The first sensor and the second sensor in this embodiment may be non-contact sensors or contact sensors, and the non-contact sensor is a capacitive sensor.

[0088] Optionally, the fluid recovery device 50 may further include at least one suction nozzle 52 and a suction pipe 53 connecting the suction nozzle 52 and a second container, wherein the suction nozzle 52 may be provided on the cleaning portion 10 for sucking dirty liquid from the cleaning portion 10 and / or the surface to be cleaned, and the sucked dirty liquid is transported to the second container via the suction pipe 53. The suction pipe 53 may be a rigid tube extending along a path, or a flexible tube whose path can be changed, and the specific selection may be based on the type of cleaning equipment and the structural design of the cleaning equipment. Of course, in addition to the above, the fluid recovery device 50 may further include a fan to drive the suction nozzle 52 to suck the dirty liquid.

[0089] In an embodiment of the present invention, the cleaning device may also have a voice prompt device, connected to the processor 30, for issuing voice prompt information. For example, as described above, the processor 30 can determine whether it is necessary to add liquid to the first container, or whether it is necessary to clean the dirty liquid in the second container based on the detection results of the first sensor or the second sensor. Optionally, the voice prompt device can also be used to determine that the processor 30 needs to add fluid to the fluid output device 40 based on the detection results of the first sensor, and / or needs to clean the recovered dirty liquid stored in the fluid recovery device 50 in a timely manner, and can issue corresponding voice prompt information to prompt the user to maintain the cleaning device in a timely manner. Of course. The voice prompt module can also issue other prompt information related to the cleaning device, which is not limited to this embodiment of the present invention. In addition to providing voice prompts, the cleaning device in this embodiment can also be provided with a display device (such as a display screen), connected to the processor, which can be used to display the degree of dirtiness of the surface to be cleaned, the power level of the fan and other relevant parameters of the cleaning device.

[0090] In an optional embodiment of the present invention, after the processor 30 determines the degree of dirtiness of the surface to be cleaned and judges whether it is necessary to add liquid to the first container or whether it is necessary to clean the dirty liquid in the second container, it first displays voice, text, picture and / or animation prompt information through the voice prompt device and / or display device, and recommends the current executable operations to the user. For example, the user is prompted to add clean water, add detergent, clean dirty liquid, replace cleaning parts and switch cleaning modes. The user then executes or triggers different operation instructions according to the prompt information to further complete the cleaning work, so as to complete the cleaning work in combination with the actual degree of dirtiness and the user's cleaning needs by increasing the human-computer interaction function, so as to further enhance the user experience.

[0091] Based on the same inventive concept, the present invention also provides a dirt detection method for cleaning equipment, see Figure 7 It can be seen that the dirt detection method for a cleaning device provided by the embodiment of the present invention may at least include the following steps S701 to S703.

[0092] S701 , detecting the physical property values ​​of the cleaning part 10 of the cleaning device.

[0093] like Figure 6As shown, the cleaning device provided in this embodiment may include a detection device 20, which can be used to detect the physical property values ​​of the cleaning unit 10. The cleaning device can be a sweeping robot, a mopping robot, a floor polishing robot, a weeding robot, or a handheld cleaning device for cleaning areas such as floors, walls, desktops, carpets, walls, or glass, but is not limited thereto. The cleaning unit 10 in the cleaning device can be provided with cleaning components such as a mopping rag, a mopping sponge, or a mopping roller brush to clean the surface to be cleaned.

[0094] The detection device 20 may be an optical detection device 20 or an electrical detection device 20. Different types of detection devices 20 may detect and obtain different physical property values ​​of the cleaning portion 10 in the cleaning device.

[0095] S702: Determine the degree of dirtiness of the surface to be cleaned by comparing the physical property value with the dynamically set standard property value.

[0096] After the detection device 20 detects the physical property value of the cleaning portion 10 , the physical property value can be used to determine the degree of dirtiness of the surface to be cleaned.

[0097] Taking the detection device 20 as an optical detection device 20 as an example, the physical property value of the cleaning part 10 of the cleaning device detected in the above step S701 corresponds to the optical property value. Specifically, during the detection, the light transmitter 21 can be used to transmit a light signal, and the light receiver 22 can be used to receive the light reflection signal formed after reflection by the cleaning part 10, and the light reflection signal can be converted into a first electrical signal for representing the optical property value of the cleaning part 10. Furthermore, the above step S702 can use the difference between the optical property value and the standard optical property value to calculate the degree of dirtiness of the surface to be cleaned. The standard optical property value includes the optical property value of the cleaning part detected in advance when it is in a clean state, or the optical property value of the cleaning part detected when the cleaning device is powered on.

[0098] For example, if the surface of the cleaning portion 10 is covered with a light-colored velvet fabric, when the cleaning portion 10 is clean, the color is lighter, so relatively speaking, the light intensity of the reflected signal reflected by the cleaning portion 10 is stronger. However, when the brush head is dirty, the color of the brush head becomes darker, and the light intensity of the reflected signal reflected by the cleaning portion 10 is weaker. Furthermore, the light receiver 22 can convert the received reflected signals of different intensities into different voltages, and then transmit the different voltages as the first point signal to the processor 30.

[0099] Correspondingly, the lighter the color of the cleaning part 10, the stronger the light intensity reflected by the cleaning part 10, and the higher the voltage; the darker the color of the cleaning part 10, the weaker the light intensity, and the relatively low voltage. Furthermore, after the processor 30 receives the first electrical signal (such as voltage) transmitted by the light reflector, the comparison result after comparing with the standard electrical property value (such as the difference between the two) can be used to determine the degree of dirtiness of the cleaning part 10 based on the received voltage. Specifically, assuming that the standard electrical property value of a light-colored cleaning part 10 is set to a, when the processor 30 receives a higher first electrical signal transmitted by the light reflector, it means that the lighter the color of the cleaning part 10, at this time, the closer the first electrical signal is to a, the smaller the difference is, indicating that the degree of dirtiness of the surface to be cleaned is lower (i.e., the surface to be cleaned is relatively clean). When the first electrical signal is lower, it means that the darker the color of the cleaning part 10, the greater the difference between the first electrical signal and a, and the higher the degree of dirtiness of the surface to be cleaned (i.e., the surface to be cleaned is relatively dirty).

[0100] For example, if the detection device 20 is an electrical detection device 20, step S701 detects the physical property value of the cleaning portion 10 of the cleaning device, corresponding to the electrical property value. Specifically, during the detection, the second electrical signal representing the electrical property value of the cleaning portion 10 is detected, and the degree of dirtiness of the surface to be cleaned is determined based on the electrical property value.

[0101] Optionally, the second electrical signal can be a parameter such as conductivity, capacitance, resistance, etc. After obtaining the second electrical signal, the capacitance change parameter, conductivity change parameter, resistance change parameter, etc. of the cleaning unit 10 can be further calculated based on the second electrical signal, and then the electrical signal change parameter of the cleaning unit 10 is calculated according to the electrical property value and the standard electrical property value, and the degree of dirtiness of the surface to be cleaned is calculated using the electrical signal change parameter. Among them, the standard electrical property value includes the electrical property value of the cleaning unit detected in advance when it is in a clean state, or the electrical property value of the cleaning unit detected when the cleaning device is powered on. For example, the degree of dirtiness of the surface to be cleaned can be determined based on the size of the difference between the real-time detection capacitance of the cleaning unit and the standard capacitance, and the degree of dirtiness of the surface to be cleaned can be determined based on the size of the difference between the real-time detection conductivity of the cleaning unit and the standard conductivity. The method provided in the embodiment of the present invention can quickly and efficiently determine the degree of dirtiness of the surface to be cleaned according to the different physical states of the cleaning unit 10 during cleaning without manual judgment.

[0102] Step S703: adjusting the cleaning mode of the cleaning device based on the degree of dirtiness.

[0103] As mentioned above, the degree of dirtiness of the surface to be cleaned varies, and the corresponding operating parameters of the cleaning equipment are also different. For example, for a relatively clean floor, the equipment can be cleaned normally, but for a relatively dirty floor, more cleaning liquid may need to be sprayed. Therefore, in the method provided in the embodiment of the present invention, the operating power of the fan and / or the motor driving the cleaning unit can be adjusted based on the degree of dirtiness of the surface to be cleaned. In actual applications, in addition to the operating power of the fan and the motor, relevant operating parameters of the cleaning equipment such as the fluid output volume and fluid output frequency of the fluid output device in the cleaning equipment can also be adjusted simultaneously. The embodiment of the present invention does not limit this.

[0104] Optionally, when adjusting the operating power of the fan and / or the motor, the operating power of the fan and / or the motor may be increased or decreased.

[0105] In other words, if the surface to be cleaned is more contaminated, the fluid output of the fluid output device can be increased, the motor power of the cleaning unit can be increased, the fluid output frequency of the fluid output device can be increased, and / or the fan power of the fluid recovery device can be increased. That is, during use of the cleaning device, if the surface to be cleaned is relatively contaminated, the output of the fluid output device and the output frequency can be increased, the motor power of the cleaning unit can be increased, and the fan power of the fluid recovery device can also be increased.

[0106] Conversely, if the surface to be cleaned is less contaminated, the fluid output of the fluid output device will be reduced, the motor power of the cleaning unit will be lowered, the fluid output frequency of the fluid output device will be lowered, and / or the fan power of the fluid recovery device will be lowered. In other words, during use of the cleaning device, if the surface to be cleaned is relatively clean, the output of the fluid output device and its frequency can be reduced, the motor power of the cleaning unit can be lowered, and the fan power of the fluid recovery device can also be lowered. Throughout the operation of the cleaning device, operating parameters of the cleaning device, such as the operating power of the motor and fan, can be adjusted at any time based on the real-time detection of the contamination level of the surface to be cleaned, thereby ensuring the operating efficiency of the cleaning device while reducing energy consumption.

[0107] As can be seen from the above embodiments, the degree of dirtiness of the surface to be cleaned can be divided into different dirtiness levels. In the embodiments of the present invention, adjusting the operating power of the fan and / or the motor driving the cleaning unit based on the dirtiness level may include:

[0108] S1, obtaining a plurality of pre-classified dirt levels corresponding to different dirt levels. In practical applications, the number of dirt levels can be set according to different needs, or pre-classified according to the type of surface to be cleaned or the environment in which the surface to be cleaned is located. This embodiment of the present invention is not limited to this.

[0109] S2. Determine a target dirtiness level corresponding to the surface to be cleaned based on the degree of dirtiness of the surface to be cleaned. Referring to the above embodiment, when determining the target dirtiness level corresponding to the surface to be cleaned based on the degree of dirtiness of the surface to be cleaned, the determination can be made based on the determined physical property values ​​of the surface to be cleaned. For example, four levels can be set, namely Level 1, Level 2, Level 3, and Level 4, with increasing degrees of dirtiness. Furthermore, different threshold ranges can be defined based on the different physical property values ​​of the cleaning unit 10, such as Threshold Range 1, Threshold Range 2, Threshold Range 3, and Threshold Range 4, with each threshold range corresponding to a dirtiness level established.

[0110] S3, obtaining a cleaning mode of the cleaning device that matches the target dirt level, and controlling the operation of the cleaning device according to cleaning parameters corresponding to the cleaning mode.

[0111] In other words, when determining the degree of dirtiness of the surface to be cleaned, the dirtiness level corresponding to the surface to be cleaned can be determined. For different dirtiness levels, the cleaning modes and corresponding operating parameters of the corresponding cleaning equipment can be pre-set. For example, cleaning modes 1, 2, 3, and 4 corresponding to levels 1, 2, 3, and 4 in step S2 can be pre-set. Furthermore, in different cleaning modes, the cleaning parameters corresponding to the cleaning equipment are also different. Taking the operating power of the fan and / or the motor driving the cleaning unit as an example, level 1 corresponds to a fan operating power of x1 and a motor operating power of y1; level 2 corresponds to a fan operating power of x2 and a motor operating power of y2; level 3 corresponds to a fan operating power of x3 and a motor operating power of y3; and level 4 corresponds to a fan operating power of x4 and a motor operating power of y4. When determining the target dirtiness level corresponding to the surface to be cleaned among multiple dirtiness levels, the pre-set fan operating power and motor operating power that match the target dirtiness level can be obtained as the target fan operating power and target motor operating power required by the current cleaning equipment, and then the cleaning equipment can be controlled to perform cleaning work with the obtained fan operating power and / or motor operating power.

[0112] In an optional embodiment of the present invention, a corresponding cleaning mode and the operating parameters of the cleaning equipment corresponding to the cleaning mode can be set for different levels of dirtiness through machine learning or other methods. After determining the degree of dirtiness of the surface to be cleaned, a cleaning mode that is suitable for it can be selected to control the cleaning equipment to perform cleaning work using the operating parameters of the cleaning equipment corresponding to the selected cleaning mode. For example, if the dirtiness level of the surface to be cleaned is high, indicating that the surface to be cleaned is more dirty, the corresponding fan operating power and / or motor operating power will increase, and the amount of cleaning liquid will increase, the frequency of cleaning liquid spraying will increase, and the frequency of dirty liquid recovery will increase. Conversely, if the dirtiness level of the surface to be cleaned is low, indicating that the surface to be cleaned is relatively clean, the corresponding fan operating power and / or motor operating power will increase or decrease, the amount of cleaning liquid will decrease, the frequency of cleaning liquid spraying will decrease, and the frequency of dirty liquid recovery will decrease. The solution provided by the embodiment of the present invention, by intelligently adjusting the cleaning mode of the cleaning equipment according to the degree of dirtiness of the surface to be cleaned, can ensure that the surface to be cleaned is effectively cleaned while rationally allocating and saving cleaning resources.

[0113] In an optional embodiment of the present invention, a linear operating curve of the cleaning equipment can also be pre-set, wherein the degree of dirtiness serves as an independent variable and the operating parameters of the cleaning equipment serve as dependent variables. During the cleaning process of the cleaning equipment, the operating curve can be used to control the operation of the cleaning equipment to adaptively adjust the operating parameters of the cleaning equipment based on the detected degree of dirtiness of the surface to be cleaned. The operating parameters may include one or more parameters such as the operating power of the fan and / or the motor driving the cleaning part, the cleaning frequency, the cleaning force, the water output, etc.

[0114] An embodiment of the present invention provides a dirt detection method for a cleaning device. Based on the method provided by the embodiment of the present invention, the physical property value of the cleaning part 10 in the cleaning device can be detected by the cleaning device itself, and the degree of dirtiness of the surface to be cleaned can be intelligently determined based on the physical property value without manual judgment, which can provide a certain reference basis for the cleaning work of the cleaning device.

[0115] Furthermore, the method provided by the embodiment of the present invention can also perform targeted intelligent cleaning of the surface to be cleaned according to the degree of dirtiness of the surface to be cleaned, flexibly adjust the working parameters of the cleaning equipment, thereby improving the intelligence of the cleaning equipment while rationally utilizing cleaning resources, thereby improving the user experience.

[0116] An embodiment of the present invention provides a handheld cleaning device, which may include a cleaning unit, a detection device, a processor, and a device body. One end of the device body may be connected to the cleaning unit, and the detection device may be disposed on the cleaning unit or disposed on the device body opposite the cleaning unit. The device body may have a cavity, and the processor may be disposed within the cavity of the device body.

[0117] The cleaning unit is configured to clean the surface to be cleaned; the detection device is configured to detect physical property values ​​of the cleaning unit; and the processor is electrically connected to the detection device to obtain the physical property values ​​detected by the detection device and determine the degree of contamination of the surface to be cleaned based on the physical property values. Based on the degree of contamination, the operating power of the blower and / or the motor driving the cleaning unit is adjusted. The relative positions, connection relationships, and functions of the cleaning unit, detection device, and processor can be found in the description of the above-described embodiments and will not be further elaborated here.

[0118] Optionally, the device body can be an elongated cylinder with a cavity, and the processor is arranged in the cavity of the device body. A handheld portion is provided at the other end of the device body, and when the cleaning device is used, the handheld portion and the device body are tilted relative to the cleaning portion.

[0119] Optionally, the cleaning device includes a fluid output device for storing fluid, wherein the fluid can be any one of clean water, cleaning agent, or a mixture of clean water and cleaning agent.

[0120] The fluid output device includes: a first container and a fluid output pipeline, the first container is used to store fluid; the fluid output pipeline is connected to the first container, and the fluid in the first container is transported to the cleaning part or the surface to be cleaned through the fluid delivery pipeline. Optionally, the fluid output pipeline can be a hard pipe extending along a path, or a hose that can change the path, which can be selected according to the type of cleaning equipment and the structural design of the cleaning equipment.

[0121] The fluid output device may further include at least one nozzle, and the fluid storage device is connected to the nozzle through a fluid output pipeline to deliver the fluid in the fluid storage device to the nozzle through the fluid output pipeline, thereby spraying the fluid onto the cleaning portion and / or the surface to be cleaned.

[0122] The fluid output device is provided with a first sensor connected to the processor.

[0123] Optionally, the first sensor is disposed in a first container of the fluid output device to detect the fluid level in the first container. Alternatively, the first sensor is disposed in a fluid output pipeline of the fluid output device to detect the presence of fluid in the fluid output pipeline. The processor is further configured to determine whether fresh fluid needs to be replenished in the fluid output device based on the detection result of the first sensor.

[0124] Optionally, the handheld cleaning device may further include: a fluid recovery device for recovering dirty liquid on the surface to be cleaned.

[0125] The fluid recovery device includes a second container for storing dirty liquid.

[0126] The fluid recovery device also includes at least one suction nozzle and a suction pipe connecting the suction nozzle and a second container, wherein the suction nozzle can be set on the cleaning part to suck dirty liquid from the cleaning part and / or the surface to be cleaned, and the sucked dirty liquid is transported to the second container via the suction pipe.

[0127] The fluid recovery device further includes a second sensor disposed in the second container and connected to the processor for detecting a fluid level in the second container. The processor is further configured to determine whether to clean the contaminated liquid in the second container based on a detection result of the second sensor.

[0128] An embodiment of the present invention provides a cleaning device, which may include a cleaning unit, a detection device, a processor, a fluid output device, and a fluid recovery device. The cleaning unit is used to clean the surface to be cleaned; the detection device is used to detect the physical property values ​​of the cleaning unit; the processor is electrically connected to the detection device to obtain the physical property values ​​detected by the detection device and determine the degree of dirtiness of the surface to be cleaned based on the physical property values; and based on the degree of dirtiness, the operating power of the fan and / or the motor driving the cleaning unit is adjusted. In addition, the relative positions, connection relationships, and functions of the cleaning unit, the detection device, and the processor can be found in the description of the above embodiments and will not be repeated here.

[0129] The fluid output device is used to store fluid. The fluid can be any cleaning liquid such as clean water, detergent, or a mixture of clean water and detergent. The fluid recovery device is used to recover the dirty liquid on the surface to be cleaned.

[0130] The fluid output device includes a first container and a fluid output pipeline. The first container is used to store fluid; the fluid output pipeline is connected to the first container, and the fluid in the first container is transported to the cleaning part or the surface to be cleaned through the fluid delivery pipeline. Optionally, the fluid output pipeline can be a hard pipe extending along a path, or a hose that can change the path. The specific selection can be based on the type of cleaning equipment and the structural design of the cleaning equipment.

[0131] Optionally, the fluid output device may further include at least one nozzle, and the fluid storage device is connected to the nozzle through a fluid output pipeline to transport the fluid in the fluid storage device to the nozzle through the fluid output pipeline, thereby spraying the fluid onto the cleaning portion and / or the surface to be cleaned.

[0132] Optionally, the fluid output device is provided with a first sensor connected to the processor.

[0133] Optionally, the first sensor is disposed in a first container of the fluid output device to detect the fluid level in the first container. Alternatively, the first sensor is disposed in a fluid output pipeline of the fluid output device to detect the presence of fluid in the fluid output pipeline. The processor is further configured to determine whether fresh fluid needs to be replenished in the fluid output device based on the detection result of the first sensor.

[0134] Optionally, the cleaning device may further include: a fluid recovery device for recovering dirty liquid on the surface to be cleaned.

[0135] The fluid recovery device includes a second container for storing dirty liquid.

[0136] The fluid recovery device also includes at least one suction nozzle and a suction pipe connecting the suction nozzle and a second container, wherein the suction nozzle can be set on the cleaning part to suck dirty liquid from the cleaning part and / or the surface to be cleaned, and the sucked dirty liquid is transported to the second container via the suction pipe.

[0137] The fluid recovery device further includes a second sensor disposed in the second container and connected to the processor for detecting a fluid level in the second container. The processor is further configured to determine whether to clean the contaminated liquid in the second container based on a detection result of the second sensor.

[0138] Optionally, the cleaning device may further include a voice prompt device connected to the processor for issuing a voice prompt message. Specifically, the voice prompt device may be configured to issue a corresponding voice prompt message when the processor determines, based on the detection result of the first sensor, that fluid needs to be added to the fluid output device and / or that recovered contaminated liquid stored in the fluid recovery device needs to be cleaned.

[0139] Optionally, the cleaning device may further include a display device connected to the processor for displaying the degree of dirtiness of the surface to be cleaned, the detection results of the first sensor and / or the detection results of the second sensor. Of course, the display device may also display operating parameters such as the power of the fan of the cleaning device during operation, which is not limited in the present invention.

[0140] Optionally, the cleaning device may further include a device body, one end of which may be connected to the cleaning portion, and the detection device may be disposed on the cleaning portion, or disposed on the device body opposite to the cleaning portion.

[0141] The device body has a cavity, and the processor, the fluid output device and the fluid recovery device are arranged in the cavity of the device body.

[0142] Those skilled in the art can clearly understand that the dirt detection method for the cleaning device mentioned in this embodiment can refer to the corresponding working process of the cleaning device in the above embodiments. For the sake of brevity, it will not be further described here.

[0143] In an optional embodiment of the present invention, a computer-readable storage medium is further provided, on which computer program instructions are stored; when the computer program instructions are executed by a processor, the above-mentioned dirt detection method for cleaning equipment is implemented.

[0144] Those skilled in the art will clearly understand that the specific working processes of the systems, devices, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and for the sake of brevity, they will not be further described here.

[0145] In addition, the functional units in various embodiments of the present invention may be physically independent of each other, or two or more functional units may be integrated together, or all functional units may be integrated into a single processing unit. The above-mentioned integrated functional units may be implemented in the form of hardware, software, or firmware.

[0146] Those skilled in the art will understand that if the integrated functional unit is implemented in the form of software and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can essentially or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, which includes a number of instructions for enabling a computing device (such as a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention when running the instructions. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0147] Alternatively, all or part of the steps of implementing the aforementioned method embodiments may be accomplished by hardware associated with program instructions (such as a computing device such as a personal computer, a server, or a network device), and the program instructions may be stored in a computer-readable storage medium. When the program instructions are executed by a processor of a computing device, the computing device executes all or part of the steps of the method described in each embodiment of the present invention.

[0148] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that within the spirit and principles of the present invention, they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. However, these modifications or replacements do not deviate from the scope of protection of the present invention.

Claims

1. A cleaning device, characterized in that: include: A cleaning part, used for cleaning the surface to be cleaned; a detection device for detecting a physical property value of the cleaning portion; A processor is used to obtain the physical property value detected by the detection device, and use the comparison result of the physical property value and the dynamically set standard property value to determine the dirtiness of the surface to be cleaned, and adjust the cleaning mode of the cleaning equipment based on the dirtiness, wherein the standard property value corresponding to the cleaning part can be adjusted at any time.

2. The cleaning device according to claim 1, characterized in that The detection device is arranged on the cleaning portion, or arranged opposite to the cleaning portion.

3. The cleaning device according to claim 1, characterized in that The detection device includes an optical detection device for detecting an optical property value of the cleaning portion.

4. The cleaning device according to claim 3, characterized in that The detection device includes a light transmitter and a light receiver; The light transmitter is used to transmit a light signal to the cleaning part; The optical receiver is configured to receive a light reflection signal formed after being reflected by the cleaning portion, convert the light reflection signal into a first electrical signal representing an optical property value of the cleaning portion, and output the first electrical signal to the processor; The processor is configured to calculate the degree of dirtiness of the surface to be cleaned using the optical property value.

5. The cleaning device according to claim 4, characterized in that The first electrical signal includes a voltage representing the optical property value; The processor is used to compare the voltage with a standard voltage and determine the degree of dirtiness of the surface to be cleaned based on the comparison result; the standard voltage is the voltage of the cleaning part detected in advance when it is in a clean state, or the voltage of the cleaning part detected when the cleaning device is powered on.

6. The cleaning device according to claim 4, characterized in that The optical receiver is arranged on the same side as the optical transmitter.

7. The cleaning device according to claim 1, characterized in that The detection device includes an electrical detection device for detecting an electrical property value of the cleaning portion.

8. The cleaning device according to claim 7, characterized in that The cleaning portion is provided with an electrode; The detection device is connected to the electrodes on the cleaning portion, and is used to detect a second electrical signal representing an electrical property value of the cleaning portion, and output the second electrical signal to the processor; The processor is used to calculate the dirtiness of the surface to be cleaned using the electrical property value.

9. The cleaning device according to claim 8, characterized in that The detection device is a capacitance sensor, which is used to detect the capacitance of the cleaning portion and output it to the processor as the second electrical signal; The processor is used to calculate the capacitance change parameter of the cleaning portion according to the capacitance and the standard capacitance, and calculate the degree of dirtiness of the surface to be cleaned using the capacitance change parameter.

10. The cleaning device according to claim 8, characterized in that The detection device is used to detect the conductivity of the cleaning portion and output it to the processor as the second electrical signal; The processor is used to calculate the conductivity change parameter of the cleaning portion according to the conductivity and the standard conductivity, and calculate the dirtiness of the surface to be cleaned using the conductivity change parameter.

11. A method for detecting dirt on a cleaning device, characterized in that: include: Detecting physical property values ​​of the cleaning part of the cleaning equipment; Determining the degree of dirtiness of the surface to be cleaned by comparing the physical property value with the dynamically set standard property value, wherein the standard property value corresponding to the cleaning part can be adjusted at any time; adjusting a cleaning mode of a cleaning device based on the degree of soiling; The cleaning part is used to clean the surface to be cleaned.

12. The method according to claim 11, characterized in that The physical property values ​​include optical property values; The detecting the physical property value of the cleaning portion of the cleaning device comprises: transmitting a light signal by a light transmitter, receiving a light reflection signal formed after being reflected by the cleaning portion by a light receiver, and converting the light reflection signal into a first electrical signal for representing the optical property value of the cleaning portion; Determining the degree of dirtiness of the surface to be cleaned by using the comparison result of the physical property value and the dynamically set standard property value includes: calculating the degree of dirtiness of the surface to be cleaned by using the difference between the optical property value and the standard optical property value; The standard optical property value includes a pre-detected optical property value of the cleaning portion when the cleaning portion is in a clean state, or an optical property value of the cleaning portion detected when the cleaning device is powered on.

13. The method according to claim 11, characterized in that The physical property value includes an electrical property value; The detecting of the physical property value of the cleaning portion of the cleaning device comprises: detecting a second electrical signal for representing the electrical property value of the cleaning portion; the second electrical signal comprises: at least one of conductivity, capacitance, and resistance; Determining the degree of dirtiness of the surface to be cleaned by comparing the physical property value with the dynamically set standard electrical property value includes: calculating an electrical signal change parameter of the cleaning unit according to the electrical property value and the standard electrical property value, and calculating the degree of dirtiness of the surface to be cleaned by using the electrical signal change parameter; The standard electrical property value includes a pre-detected electrical property value of the cleaning portion when the cleaning portion is in a clean state, or an electrical property value of the cleaning portion detected when the cleaning device is powered on.

14. The method according to any one of claims 11 to 13, characterized in that: The adjusting the cleaning mode of the cleaning device based on the degree of dirtiness includes: Obtaining a plurality of pre-classified soiling levels corresponding to different soiling degrees; determining a target dirtiness level corresponding to the surface to be cleaned based on the dirtiness of the surface to be cleaned; A cleaning mode of the cleaning device that matches the target dirt level is obtained, and the operation of the cleaning device is controlled according to cleaning parameters corresponding to the cleaning mode; the cleaning parameters include the operating power of the fan and / or the motor driving the cleaning part.

Images