Cleaning methods, devices and maintenance stations

Abstract

The present invention provides a cleaning method, which is applied to a maintenance station, and comprises: obtaining cleaning trigger information, which is information for triggering a mopping and wiping member of a cleaning robot of the maintenance station; obtaining cleaning work data according to dirt contamination data corresponding to the mopping and wiping member; and cleaning the mopping and wiping member according to the cleaning work data. The cleaning method can improve the cleaning effect of the mopping and wiping member and the efficiency of cleaning the mopping and wiping member.

Description

Technical Field

[0001] The present invention relates to the field of cleaning technology, and in particular to a cleaning method, a cleaning device, a maintenance station and a computer-readable storage medium. Background Art

[0002] Nowadays, with the continuous development of science and technology, the functions of robots are becoming more and more abundant. For example, some robots are provided with mopping and wiping parts, and the robots clean the surface of objects through the mopping and wiping parts.

[0003] After the mop has cleaned the surface of the object, the mop will carry dirt with it. In order to enable the mop to continue to clean the surface of the object efficiently, the mop usually needs to be cleaned. Currently, the process of cleaning the mop is mainly: the user first disassembles the mop and then washes the mop by hand. This easily leads to low efficiency in cleaning the mop and poor cleaning effect. Summary of the invention

[0004] In view of this, the embodiments of the present invention provide a cleaning method, a device, a maintenance station and a computer-readable storage medium to solve the problem that the current cleaning efficiency of the mop is relatively low and the cleaning effect is poor.

[0005] A first aspect of the present invention provides a cleaning method, which is applied to a maintenance station and comprises:

[0006] Acquire cleaning trigger information, where the cleaning trigger information is information for triggering a mopping member of the maintenance station cleaning robot;

[0007] Acquiring cleaning work data according to the dirt contamination data corresponding to the mopping and wiping member;

[0008] The mopping member is cleaned according to the cleaning operation data.

[0009] In a first possible implementation manner of the first aspect, before acquiring the cleaning work data according to the dirt contamination data corresponding to the mopping member, the steps include: acquiring a target image corresponding to the mopping member; and acquiring the dirt contamination data corresponding to the mopping member according to the target image.

[0010] Based on the first possible implementation manner of the first aspect, in a second possible implementation manner, obtaining the dirt contamination data corresponding to the mopping and wiping piece according to the target image includes: obtaining the grayscale value corresponding to each pixel in the target image; and obtaining the dirt contamination data corresponding to the mopping and wiping piece according to the grayscale value corresponding to each pixel.

[0011] In a third possible implementation of the first aspect, before acquiring the cleaning work data according to the dirt contamination data, the method includes: acquiring product parameters of the mopping component; correspondingly, acquiring the cleaning work data according to the dirt contamination data includes: acquiring the cleaning work data according to the product parameters and the dirt contamination data.

[0012] In a fourth possible implementation manner of the first aspect, the cleaning operation data includes a cleaning structure identifier, and correspondingly, cleaning the mopping member according to the cleaning operation data includes:

[0013] The cleaning structure corresponding to the cleaning structure identifier is controlled to work so as to clean the mopping member.

[0014] In a fifth possible implementation manner of the first aspect, the cleaning the mopping member according to the cleaning work data includes:

[0015] outputting the cleaning work data;

[0016] Obtaining modification information corresponding to the cleaning work data;

[0017] The mopping member is cleaned according to the modification information.

[0018] In a sixth possible implementation manner of the first aspect, the cleaning of the mop and wiping member according to the cleaning work data includes: washing the mop and wiping member according to the cleaning work data; correspondingly, after washing the mop and wiping member according to the cleaning work data, the step includes: drying the mop and wiping member according to the cleaning work data.

[0019] In the embodiment of the present invention, the maintenance station can obtain cleaning trigger information, which is information for triggering the mopping and wiping parts of the cleaning robot of the maintenance station, and then obtain cleaning work data according to the dirt pollution data corresponding to the mopping and wiping parts, and the dirt pollution data can reflect the pollution of the dirt on the mopping and wiping parts, and then clean the mopping and wiping parts according to the cleaning work data, that is, the maintenance station can clean the mopping and wiping parts in a targeted manner according to the pollution of the dirt on the mopping and wiping parts, thereby greatly improving the cleaning effect of the mopping and wiping parts. In addition, since the maintenance station can clean the mopping and wiping parts without the participation of manual labor, the efficiency of cleaning the mopping and wiping parts can be greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0021] Figure 1 is a schematic flow chart of a cleaning method according to an embodiment of the present invention;

[0022] Figure 2 is a schematic flow chart of a cleaning method according to another embodiment of the present invention;

[0023] Figure 3 is a schematic diagram of a cleaning device according to an embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of a maintenance station according to an embodiment of the present invention.

[0025] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0028] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0029] Embodiment 1

[0030] Figure 1 The flowchart of the first cleaning method provided by the embodiment of the present application is shown. The first cleaning method is applied to a maintenance station, which is a device for maintaining a robot. The robot is provided with a mopping member, and the robot can clean the environment through the mopping member. However, this will cause the mopping member to be contaminated by dirt, so the mopping member needs to be cleaned. The maintenance station can be specifically used to clean the mopping member of the robot. As an example but not a limitation, the maintenance station can also realize at least one of the following functions: providing power to the robot, emptying dirt in the dust box of the robot, and adding water to the water tank of the robot.

[0031] For the first cleaning method, the details are as follows:

[0032] Step S101, obtaining cleaning trigger information, where the cleaning trigger information is information for triggering the mopping component of the cleaning robot of the maintenance station.

[0033] As an example but not limitation, the cleaning trigger information may include at least one of the following: a cleaning instruction, and designated time information.

[0034] The cleaning instruction is an instruction for instructing the maintenance station to clean the mop and wipe part, and the specified time information may be information for indicating that the current time is equal to the preset cleaning time. The preset cleaning time is the start time of the cleaning mop and wipe part set in advance. The specified time information may trigger the cleaning mop and wipe part of the maintenance station, that is, the maintenance station may realize the function of the scheduled cleaning mop and wipe part. As an example but not a limitation, the preset cleaning time is 10:30, the current time is 10:30, and the specified time information is specifically used to indicate that the current time 10:30 is equal to the preset cleaning time 10:30.

[0035] Step S102, obtaining cleaning work data according to the dirt pollution data corresponding to the mopping and wiping part.

[0036] The dirt contamination data can reflect the contamination of the mopping and wiping parts by dirt, and the cleaning work data is data used to guide the maintenance station to clean the mopping and wiping parts.

[0037] As an example but not a limitation, the dirt pollution data may include at least one of the following: dirt content data, pollution degree data, dirt distribution data, and water quality data corresponding to the water flowing through the mopping and wiping parts. The dirt content data can indicate the content of dirt on the mopping and wiping parts, the pollution degree data is used to reflect the pollution degree of dirt on the mopping and wiping parts, the dirt distribution data is used to indicate the distribution position of dirt on the mopping and wiping parts, and the water quality data is data used to reflect the quality of water. The water quality data includes but is not limited to at least one of the following: water chromaticity, water turbidity, and biological data. The biological data is data used to reflect the existence of organisms in water, and the organisms may include but are not limited to at least one of the following: bacteria, fungi, and viruses.

[0038] As an example but not a limitation, the cleaning work data includes at least one of the following: cleaning work duration, type of cleaning liquid, order of use of cleaning liquid, and amount of cleaning liquid used. The cleaning work duration is the length of time required to clean the mop and wipe, and the cleaning liquid is the liquid used to clean the mop and wipe. The type of cleaning liquid may include at least one of the following: purified water, clean water, disinfectant, and bleach. Purified water is water obtained after purifying sewage, and the cleanliness of clean water is greater than that of purified water.

[0039] In some embodiments, before step S102, the process includes: obtaining product parameters of the mop; correspondingly, step S102 includes: obtaining cleaning work data according to the product parameters and the dirt pollution data. In this way, the mop can be cleaned more specifically, thereby optimizing the cleaning effect.

[0040] As an example but not limitation, the product parameters of the mop include at least one of the following: the material of the mop, the shape of the mop, and the size of the mop.

[0041] Step S103, cleaning the mopping member according to the cleaning work data.

[0042] Specifically, according to the cleaning work data, the cleaning structure is controlled to clean the mopping and wiping member, and the cleaning structure is a mechanical structure provided in the maintenance station for cleaning the mopping and wiping member.

[0043] As an example but not a limitation, the method of cleaning the mop and wiper may include at least one of the following: water washing, ultrasonic cleaning, and the cleaning structure includes at least one of the following: a liquid outlet structure, a scraping brush structure, and an ultrasonic cleaning structure. The liquid outlet structure is a structure for discharging cleaning liquid, for example, the liquid outlet structure may include at least one liquid outlet nozzle; the scraping brush structure is a structure for scraping the mop and wiper, for example, the scraping brush structure may include at least one brush; the ultrasonic cleaning structure is a structure that can use ultrasonic waves to clean the mop and wiper.

[0044] Optionally, the maintenance station may be provided with different cleaning structures, and the functions of different cleaning structures are not the same. For example, assuming that the cleaning structure includes two liquid outlet nozzles, namely liquid outlet nozzle A and liquid outlet nozzle B, the diameter of the liquid outlet of liquid outlet nozzle A is smaller than the diameter of the liquid outlet of liquid outlet nozzle B. When the water output per unit time is the same, the impulse of the water sprayed by liquid outlet nozzle A is greater than the impulse of the water sprayed by liquid outlet nozzle B. Different impulses have different cleaning effects on the mopping and wiping parts. In order to facilitate the maintenance station to control the cleaning structure to improve the cleaning efficiency of the mopping and wiping parts, the cleaning work data may include a cleaning structure identifier. Correspondingly, step S103 includes: controlling the cleaning structure corresponding to the cleaning structure identifier to work to clean the mopping and wiping parts.

[0045] As an example but not limitation, assume that two cleaning structures are provided on the maintenance station, namely, liquid outlet nozzle A and liquid outlet nozzle B. If the cleaning work data acquired in step S102 is: the identifier corresponding to liquid outlet nozzle B, then correspondingly, step S103 specifically includes: controlling liquid outlet nozzle B to work to clean the mopping part.

[0046] In some embodiments, the cleaning structure includes a scraping and brushing structure, and correspondingly, the cleaning work data also includes scraping and brushing action data. That is, this embodiment can determine the scraping and brushing action data according to the dirt pollution data corresponding to the mopping and wiping member to improve the cleaning efficiency of the mopping and wiping member.

[0047] As an example but not limitation, the scraping action data includes but is not limited to any of the following: used to indicate the scraping action to be performed by the scraping structure, the duration of the scraping action, and the execution order of the scraping action.

[0048] Optionally, step S103 includes: outputting cleaning work data; acquiring modification information corresponding to the cleaning work data; and cleaning the mopping member according to the modification information.

[0049] After the maintenance station outputs the cleaning work data, the user can use the cleaning work data as a reference standard and modify the cleaning work data based on actual usage needs. After obtaining the modification information corresponding to the cleaning work data, the maintenance station can clean the mopping parts according to the modification information. In this way, the maintenance station can ensure the scientific nature of the cleaning of the mopping parts and meet the actual usage needs of users.

[0050] For example, the cleaning work data is output, and the specific cleaning work time is 10 minutes. Assuming that the user hopes that the maintenance station can complete the cleaning of the mopping parts as soon as possible, the user modifies the cleaning work time of 10 minutes to 8 minutes based on the cleaning work data output by the maintenance station. That is, the modification information corresponding to the cleaning work data can be 8 minutes, and the maintenance station cleans the mopping parts for 8 minutes according to the modification information.

[0051] In some embodiments, the maintenance station is provided with an interactive device, and the interactive device is used to realize the interaction between the maintenance station and the user; correspondingly, the outputting of the cleaning work data includes: controlling the interactive device to output the cleaning work data. The maintenance station is provided with an interactive device, and the interaction between the maintenance station and the user can be realized without the participation of the network, that is, this embodiment can overcome the limitation of the network on the maintenance station.

[0052] In some embodiments, the outputting of the cleaning work data includes: outputting the cleaning work data to a designated terminal, the designated terminal being a terminal for controlling the maintenance station, and correspondingly, the obtaining of the modification information corresponding to the cleaning work data includes: obtaining the modification information corresponding to the cleaning work data from the designated terminal. It can be seen that the user can control the maintenance station through the designated terminal, and the process is not restricted by location, which greatly improves the flexibility of the user in controlling the maintenance station.

[0053] Optionally, step S103 includes: washing the mop and wiping parts according to the cleaning work data; correspondingly, after washing the mop and wiping parts according to the cleaning work data, it includes: drying the mop and wiping parts according to the cleaning work data, that is, the maintenance station can dry the mop and wiping parts to avoid the following situation: "the mop and wiping parts have a high humidity after cleaning, thereby causing secondary pollution to the ground." In addition, since the basis for washing the mop and wiping parts is the cleaning work data, the cleaning work data can reflect the humidity of the mop and wiping parts after cleaning to a certain extent. For example, the cleaning work data can reflect the length of time for washing the mop and wiping parts, and then reflect the humidity of the mop and wiping parts after cleaning. Therefore, drying the mop and wiping parts according to the cleaning work data can effectively improve the drying efficiency of the mop and wiping parts.

[0054] Specifically, drying the mopping and wiping member according to the cleaning operation data includes: determining drying operation data according to the cleaning operation data, and drying the mopping and wiping member according to the drying operation data.

[0055] The drying work data is data used to guide the maintenance station to perform drying work on the mopping parts.

[0056] As an example but not limitation, the drying operation data includes but is not limited to at least one of the following: drying operation time, drying structure identification. Assuming that the drying operation data includes the drying operation time and the drying structure identification, correspondingly, the drying mopping and wiping component according to the drying operation data includes: controlling the drying mopping and wiping component of the drying structure corresponding to the drying structure identification according to the drying operation time.

[0057] In the embodiment of the present invention, the maintenance station can obtain the cleaning trigger information, and then obtain the cleaning work data according to the dirt pollution data corresponding to the mop and wipe member, the dirt pollution data can reflect the pollution of the dirt on the mop and wipe member, and then clean the mop and wipe member according to the cleaning work data, that is, the maintenance station can clean the mop and wipe member in a targeted manner according to the pollution of the dirt on the mop and wipe member, thereby greatly improving the cleaning effect of the mop and wipe member. In addition, since the maintenance station can clean the mop and wipe member without the participation of manual labor, the efficiency of cleaning the mop and wipe member can be greatly improved.

[0058] Embodiment 2

[0059] Figure 2A flow chart of a second cleaning method provided in an embodiment of the present application is shown. The second cleaning method is applied to a maintenance station. Steps S201, S204, and S205 in this embodiment are respectively the same as steps S101, S102, and S103 in the first embodiment. The second cleaning method is described in detail as follows:

[0060] Step S201, obtaining cleaning trigger information, where the cleaning trigger information is information for triggering the mopping component of the cleaning robot of the maintenance station.

[0061] Step S202, obtaining a target image corresponding to the wiping component.

[0062] The target image is an image obtained by photographing the mopping member and / or the water flowing through the mopping member.

[0063] Step S203: acquiring dirt contamination data corresponding to the mopping component according to the target image.

[0064] In some embodiments, step S203 includes:

[0065] Step a1, obtaining the gray value corresponding to each pixel in the target image;

[0066] Step a2: Obtain dirt contamination data corresponding to the mopping part according to the grayscale value corresponding to each pixel point.

[0067] As can be seen from the above, the maintenance station can obtain the dirt contamination data corresponding to the mopping part according to the grayscale value corresponding to each pixel point, that is, the maintenance station can refine each pixel point to obtain the dirt contamination data, thus greatly improving the accuracy of the dirt contamination data.

[0068] As an example but not limitation, in image processing, the color of a pixel in an image can be represented by the values ​​of the three components R, G and B, where R, G and B represent red, green and blue respectively, and the value ranges of the R component, G component and B component are all 0-255. For example, the R component value, G component value and B component value corresponding to a red pixel in an image are 255, 0 and 0 respectively, that is, the color of a red pixel in the image can be represented as (255, 0, 0). Correspondingly, step a1 may include: executing step a10 for each pixel in the target image respectively, wherein step a10 includes: calculating the grayscale value corresponding to the pixel according to the R component value, G component value and B component value corresponding to the pixel and formula A.

[0069] Wherein, formula A is: gray value corresponding to pixel point = R component value * coefficient corresponding to R component value + G component value * coefficient corresponding to G component value + B component value * coefficient corresponding to B component value. Wherein, the coefficient corresponding to R component value, the coefficient corresponding to G component value and the coefficient corresponding to B component value are all positive numbers greater than 0 and less than 1. For example, the coefficient corresponding to R component value, the coefficient corresponding to G component value and the coefficient corresponding to B component value may be 0.3, 0.59, 0.11, or 1 / 3, 1 / 3, 1 / 3, respectively.

[0070] Optionally, step a2 includes: acquiring dirt contamination data corresponding to the mopping part according to the grayscale value and grayscale threshold corresponding to each pixel point.

[0071] Specifically, the grayscale value corresponding to each pixel point is compared with the grayscale threshold, and the dirt contamination data corresponding to the mopping part is obtained according to the comparison result.

[0072] In some embodiments, before obtaining the dirt contamination data corresponding to the mopping and wiping parts according to the grayscale value and grayscale threshold corresponding to each pixel point, the method includes: calculating the grayscale threshold according to the grayscale value corresponding to each pixel point. By calculating the grayscale threshold according to the grayscale value in real time, and then obtaining the dirt contamination data corresponding to the mopping and wiping parts according to the grayscale value and the grayscale threshold, the timeliness and accuracy of the dirt contamination data can be improved.

[0073] As an example but not limitation, the grayscale threshold is the average value of the grayscale values ​​corresponding to all pixels.

[0074] In some embodiments, the grayscale threshold is a preset value, so that the steps of calculating the grayscale threshold can be reduced, that is, the amount of calculation can be reduced.

[0075] As an example but not limitation, the grayscale threshold is a preset value of 127.

[0076] Step S204, obtaining cleaning work data according to the dirt pollution data corresponding to the mopping and wiping part.

[0077] Step S205, cleaning the mopping member according to the cleaning work data.

[0078] In the embodiment of the present invention, the maintenance station can obtain a target image corresponding to the mop, and the target image is an image obtained by photographing the mop and / or the water flowing through the mop. The target image can more accurately reflect the contamination of the mop by dirt. Thus, the accuracy of the dirt contamination data obtained according to the target image is relatively high, which can have a positive impact on the cleaning efficiency and cleaning effect of the mop.

[0079] It should be noted that for technical details not described in detail in this embodiment, reference can be made to the cleaning methods provided in each embodiment in the above-mentioned embodiment 1.

[0080] Embodiment 3

[0081] Corresponding to the above embodiment, Figure 3 A schematic structural diagram of a cleaning device provided in an embodiment of the present application is shown. The cleaning device is applied to a maintenance station. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0082] The cleaning device includes: an information acquiring unit 31 , a data acquiring unit 32 and a cleaning unit 33 .

[0083] The information acquisition unit 31 is used to acquire cleaning trigger information, where the cleaning trigger information is information used to trigger the mopping member of the cleaning robot of the maintenance station.

[0084] The data acquisition unit 32 is used to acquire cleaning work data according to the dirt contamination data corresponding to the mopping and wiping member.

[0085] The dirt contamination data can reflect the contamination of the mopping and wiping parts by dirt, and the cleaning work data is data used to guide the maintenance station to clean the mopping and wiping parts.

[0086] Optionally, the cleaning device comprises: an imaging unit.

[0087] The image unit is used to: before the data acquisition unit 32 executes the acquisition of cleaning work data according to the dirt contamination data corresponding to the mopping and wiping piece, acquire a target image corresponding to the mopping and wiping piece; and acquire the dirt contamination data corresponding to the mopping and wiping piece according to the target image.

[0088] In some embodiments, when the image unit executes the step of obtaining dirt contamination data corresponding to the mop according to the target image, it is specifically used to: obtain the grayscale value corresponding to each pixel in the target image; and obtain the dirt contamination data corresponding to the mop according to the grayscale value corresponding to each pixel.

[0089] In some embodiments, before the image unit performs the step of obtaining the dirt contamination data corresponding to the mopping and wiping member according to the grayscale value and grayscale threshold corresponding to each pixel point, it is further used to: calculate the grayscale threshold according to the grayscale value corresponding to each pixel point. By calculating the grayscale threshold according to the grayscale value in real time, and then obtaining the dirt contamination data corresponding to the mopping and wiping member according to the grayscale value and the grayscale threshold, the timeliness and accuracy of the dirt contamination data can be improved.

[0090] Optionally, the cleaning device further includes: a parameter acquisition unit.

[0091] The parameter acquisition unit is used to acquire the product parameters of the mop and wiping member before the data acquisition unit 32 acquires the cleaning work data according to the dirt pollution data corresponding to the mop and wiping member. Correspondingly, the data acquisition unit 32 is specifically used to acquire the cleaning work data according to the product parameters and the dirt pollution data. In this way, the mop and wiping member can be cleaned more specifically, thereby optimizing the cleaning effect.

[0092] The cleaning unit 33 is used to clean the mopping member according to the cleaning work data.

[0093] Specifically, the cleaning unit 33 is used to: control the cleaning structure to clean the mopping member according to the cleaning work data, and the cleaning structure is a mechanical structure provided in the maintenance station for cleaning the mopping member.

[0094] In some embodiments, the cleaning unit 33 is specifically used to: output cleaning work data; obtain modification information corresponding to the cleaning work data; and clean the mop according to the modification information.

[0095] After the maintenance station outputs the cleaning work data, the user can use the cleaning work data as a reference standard and modify the cleaning work data based on actual usage needs. After obtaining the modification information corresponding to the cleaning work data, the maintenance station can clean the mopping parts according to the modification information. In this way, the maintenance station can ensure the scientific nature of the cleaning of the mopping parts and meet the actual usage needs of users.

[0096] In some embodiments, the maintenance station is provided with an interactive device, and the interactive device is used to realize the interaction between the maintenance station and the user; correspondingly, when the cleaning unit 33 executes the output of the cleaning work data, it is specifically used to: control the interactive device to output the cleaning work data. The maintenance station is provided with an interactive device, and the interaction between the maintenance station and the user can be realized without the participation of the network, that is, this embodiment can overcome the limitation of the network on the maintenance station.

[0097] In some embodiments, when the cleaning unit 33 executes the output of the cleaning work data, it is specifically used to: output the cleaning work data to a designated terminal, and the designated terminal is a terminal for controlling the maintenance station. Correspondingly, when the cleaning unit executes the acquisition of the modification information corresponding to the cleaning work data, it is specifically used to: acquire the modification information corresponding to the cleaning work data from the designated terminal. It can be seen that the user can control the maintenance station through the designated terminal, and the process is not restricted by location, which greatly improves the flexibility of the user to control the maintenance station.

[0098] Optionally, the cleaning device comprises a drying unit.

[0099] When the cleaning unit 33 performs the cleaning of the mop and wiping member according to the cleaning work data, it is specifically used to: wash the mop and wiping member according to the cleaning work data; correspondingly, the drying unit is used to: dry the mop and wiping member according to the cleaning work data after the cleaning unit 33 performs the washing of the mop and wiping member according to the cleaning work data, that is, the maintenance station can dry the mop and wiping member to avoid the following situation: "the mop and wiping member has a high humidity after washing, thereby causing secondary pollution to the ground." In addition, since the basis for washing the mop and wiping member is the cleaning work data, the cleaning work data can reflect the humidity of the mop and wiping member after washing to a certain extent. For example, the cleaning work data can reflect the length of time for washing the mop and wiping member, and then reflect the humidity of the mop and wiping member after washing. Therefore, drying the mop and wiping member according to the cleaning work data can effectively improve the drying efficiency of the mop and wiping member.

[0100] In the embodiment of the present invention, the maintenance station can obtain the cleaning trigger information, and then obtain the cleaning work data according to the dirt pollution data corresponding to the mop and wipe member, the dirt pollution data can reflect the pollution of the dirt on the mop and wipe member, and then clean the mop and wipe member according to the cleaning work data, that is, the maintenance station can clean the mop and wipe member in a targeted manner according to the pollution of the dirt on the mop and wipe member, thereby greatly improving the cleaning effect of the mop and wipe member. In addition, since the maintenance station can clean the mop and wipe member without the participation of manual labor, the efficiency of cleaning the mop and wipe member can be greatly improved.

[0101] It should be noted that for technical details that are not described in detail in this embodiment, reference can be made to the cleaning methods provided in each of the above-mentioned embodiments 1 and 2.

[0102] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0103] Embodiment 4

[0104] Figure 4 FIG. 1 is a schematic diagram of a maintenance station provided by an embodiment of the present invention. Figure 4 As shown, the maintenance station 4 of this embodiment includes: a processor 40 , a memory 41 , and a computer program 42 stored in the memory 41 and executable on the processor 40 .

[0105] The maintenance station 4 is a device for maintaining the robot. The robot is provided with a mop and wiper, and the robot can clean the environment through the mop and wiper. However, this will cause the mop and wiper to be contaminated by dirt, so the mop and wiper need to be cleaned. The maintenance station can be specifically used to clean the mop and wiper of the robot.

[0106] The maintenance station 4 includes a cleaning structure, which is a mechanical structure provided in the maintenance station for cleaning the mopping and wiping member. The cleaning structure includes at least one of the following: a liquid outlet structure, a scraping and brushing structure, and an ultrasonic cleaning structure. The liquid outlet structure is a structure for discharging cleaning liquid, for example, the liquid outlet structure may include at least one liquid outlet nozzle; the scraping and brushing structure is a structure for scraping and brushing the mopping and wiping member, for example, the scraping and brushing structure may include at least one brush; the ultrasonic cleaning structure is a structure that can use ultrasonic waves to clean the mopping and wiping member.

[0107] As an example but not limitation, the maintenance station can also implement at least one of the following functions: providing power to the robot, emptying the dirt in the dust box of the robot, and adding water to the water tank of the robot.

[0108] When the processor 40 executes the computer program 42, the steps in the above-mentioned cleaning method embodiments are implemented, for example: Figure 1 Alternatively, when the processor 40 executes the computer program 42, the functions of each unit in the above-mentioned device embodiments are realized, for example Figure 3 The functions of the units 31 to 33 are shown.

[0109] Exemplarily, the computer program 42 may be divided into one or more modules / units, which are stored in the memory 41 and executed by the processor 40 to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 42 in the maintenance station 4. For example, the computer program 42 may be divided into an information acquisition unit, a data acquisition unit, and a cleaning unit, and the specific functions of each unit are as follows:

[0110] The information acquisition unit is used to acquire cleaning trigger information, where the cleaning trigger information is information used to trigger the mopping and wiping parts of the cleaning robot of the maintenance station.

[0111] The data acquisition unit is used to acquire cleaning work data according to the dirt pollution data corresponding to the mopping and wiping parts.

[0112] The cleaning unit is used for cleaning the mopping member according to the cleaning work data.

[0113] The maintenance station may include, but is not limited to, a processor 40 and a memory 41. Those skilled in the art will appreciate that Figure 4 It is only an example of the maintenance station 4 and does not constitute a limitation of the maintenance station 4. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the maintenance station may also include input and output devices, network access devices, buses, etc.

[0114] The processor 40 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0115] The memory 41 may be an internal storage unit of the maintenance station 4, such as a hard disk or memory of the maintenance station 4. The memory 41 may also be an external storage device of the maintenance station 4, such as a plug-in hard disk, a smart memory card (Smart Med ia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Fl ash Card), etc. equipped on the maintenance station 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the maintenance station 4. The memory 41 is used to store the computer program and other programs and data required by the maintenance station. The memory 41 may also be used to temporarily store data that has been output or is to be output.

[0116] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0117] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0118] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0119] In the embodiments provided by the present invention, it should be understood that the disclosed device / maintenance station and method can be implemented in other ways. For example, the device / maintenance station embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0120] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0121] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0122] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0123] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A cleaning method, characterized in that: The cleaning method is applied to a maintenance station, and the cleaning method comprises: Acquire cleaning trigger information, where the cleaning trigger information is information for triggering the mopping and wiping member of the maintenance station cleaning robot, and the cleaning trigger information includes at least one of the following: a cleaning instruction and designated time information; Acquiring cleaning work data according to the dirt contamination data corresponding to the mopping and wiping member, wherein the dirt contamination data reflects the contamination of the mopping and wiping member by dirt, and the cleaning work data is data used to guide the maintenance station to perform cleaning work on the mopping and wiping member, and the cleaning work data includes at least one of the following: cleaning work duration, type of cleaning liquid, order of use of the cleaning liquid, and amount of use of the cleaning liquid; cleaning the mopping member according to the cleaning work data; Before obtaining the cleaning work data according to the dirt pollution data corresponding to the mopping and wiping member, the method includes: Acquire a target image corresponding to the mopping and wiping member; Acquiring dirt contamination data corresponding to the wiping member according to the target image; Acquiring dirt contamination data corresponding to the wiping member according to the target image includes: Obtaining the grayscale value corresponding to each pixel in the target image; Obtaining dirt contamination data corresponding to the mopping and wiping part according to the grayscale value and grayscale threshold corresponding to each pixel point; Before obtaining the dirt contamination data corresponding to the mopping member according to the grayscale value and grayscale threshold corresponding to each pixel point, the method includes: calculating a grayscale threshold according to the grayscale value corresponding to each pixel point, wherein the grayscale threshold is an average value of the grayscale values ​​corresponding to all the pixels; Cleaning the mopping member according to the cleaning work data includes: outputting the cleaning work data; Obtaining modification information corresponding to the cleaning work data; The mopping member is cleaned according to the modification information.

2. The cleaning method according to claim 1, characterized in that: Before obtaining the cleaning work data according to the dirt pollution data corresponding to the mopping and wiping member, the method includes: Obtaining product parameters of the mopping and wiping member; Correspondingly, the obtaining of cleaning work data according to the dirt pollution data corresponding to the wiping member includes: Cleaning operation data is obtained according to the product parameters and the dirt contamination data.

3. The cleaning method according to claim 1, characterized in that: The cleaning work data includes a cleaning structure identifier. Correspondingly, cleaning the mopping member according to the cleaning work data includes: The cleaning structure corresponding to the cleaning structure identifier is controlled to work so as to clean the mopping member.

4. The cleaning method according to claim 1, characterized in that: The step of cleaning the mopping member according to the cleaning work data comprises: washing the mopping and wiping member according to the cleaning work data; Correspondingly, after washing the mopping member according to the cleaning work data, the method further comprises: The mopping member is dried according to the cleaning operation data.

5. A cleaning device, characterized in that: The cleaning device is applied to a maintenance station, and the cleaning device comprises: An information acquisition unit, used to acquire cleaning trigger information, wherein the cleaning trigger information is information for triggering the mopping and wiping member of the cleaning robot of the maintenance station, and the cleaning trigger information includes at least one of the following: a cleaning instruction and designated time information; a data acquisition unit, configured to acquire cleaning work data according to the dirt contamination data corresponding to the mopping and wiping member, wherein the dirt contamination data reflects the contamination of the mopping and wiping member by dirt, and the cleaning work data is data for guiding the maintenance station to perform cleaning work on the mopping and wiping member, and the cleaning work data includes at least one of the following: cleaning work duration, type of cleaning liquid, order of use of the cleaning liquid, and amount of use of the cleaning liquid; a cleaning unit, used for cleaning the mopping and wiping member according to the cleaning work data, the cleaning unit being specifically used for outputting the cleaning work data, obtaining modification information corresponding to the cleaning work data, and cleaning the mopping and wiping member according to the modification information; An image unit, used for acquiring a target image corresponding to the mopping and wiping member before the data acquisition unit executes the acquisition of the cleaning work data according to the dirt contamination data corresponding to the mopping and wiping member; and acquiring the dirt contamination data corresponding to the mopping and wiping member according to the target image; When the image unit is executing the process of acquiring the dirt contamination data corresponding to the mopping and wiping member according to the target image, the image unit is specifically used to: acquire the gray value corresponding to each pixel point in the target image; acquire the dirt contamination data corresponding to the mopping and wiping member according to the gray value corresponding to each pixel point and the gray threshold; Before executing the step of acquiring the dirt contamination data corresponding to the mopping and wiping part according to the grayscale value and the grayscale threshold corresponding to each pixel point, the image unit is further used to: calculate the grayscale threshold according to the grayscale value corresponding to each pixel point, wherein the grayscale threshold is the average value of the grayscale values ​​corresponding to all the pixels, calculate the grayscale threshold in real time according to the grayscale value, and then acquire the dirt contamination data corresponding to the mopping and wiping part according to the grayscale value and the grayscale threshold.

6. A maintenance station, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the cleaning method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the cleaning method according to any one of claims 1 to 4 are implemented.

Images