Calibration method, cleaning apparatus, and storage medium

Abstract

This invention discloses a calibration method, a cleaning device, and a storage medium. The cleaning device includes a sensing device, a suction pipe, and a light-emitting component. The sensing device and the light-emitting component are disposed on the suction pipe, and the light source signal emitted by the light-emitting component passes through the pipe wall to reach the sensing device. This invention presets a standard value when the suction channel is clean. When the cleaning device is operating, the light-emitting component emits a light source signal to the sensing device. When the sensing value obtained by the sensing device differs from the standard value, the light-emitting component is adjusted to make the sensing value obtained by the sensing device closer to the standard value. Therefore, when the suction pipe is dirty, the light source signal of the light-emitting component is adjusted to calibrate and maintain the sensing value obtained by the sensing device near the standard value. When the sensing device detects the dirtiness of the cleaning liquid, it will not make misjudgments due to dirt on the pipe wall.

Description

Technical Field

[0001] This invention relates to the field of self-calibration technology for intelligent devices, and in particular to a calibration method, a cleaning device, and a storage medium. Background Technology

[0002] Currently, the dirt sensors used in floor scrubbers are mainly infrared modules (including infrared emitters and receivers). When wastewater flows through, it changes the data detected by the dirt sensor, thereby detecting the degree of dirtiness of the flowing water. However, there is a problem that dirt can cover the pipe wall, causing the data detected by the dirt sensor to change due to the dirt on the pipe wall. This results in the device reporting dirt even when the water is clean, requiring users to clean the pipe wall frequently to ensure that the pipe wall is clean. Summary of the Invention

[0003] This invention provides a calibration method, cleaning equipment, and storage medium that can effectively solve the problem that dirt on pipe walls causes dirt sensors to malfunction.

[0004] According to one aspect of the present invention, a cleaning device is provided, the cleaning device comprising: a sensing device, a suction pipe, and a light-emitting component, the sensing device and the light-emitting component being disposed on the suction pipe, the light source signal emitted by the light-emitting component passing through the pipe wall of the suction pipe to reach the sensing device; the cleaning device further comprising: a control device configured to: preset a standard value; adjust the light-emitting component such that the difference between the sensing value obtained by the sensing device and the standard value is less than the preset value.

[0005] Furthermore, the suction pipe includes an outer wall, and the light-emitting component and / or the sensing device are disposed on the outer wall of the pipe.

[0006] Furthermore, the suction pipe also includes an inner wall, on which at least two baffles are provided, the two baffles and the inner wall of the pipe forming a groove, and the sensing device is disposed on the outer wall of the pipe opposite to the groove.

[0007] Furthermore, the light-emitting component includes a first light source and a second light source, wherein the first light source is warm-colored light and the second light source is cool-colored light.

[0008] Furthermore, the control device is also configured to preset the standard value according to the type of dirt in the cleaning liquid.

[0009] Furthermore, the control device is also configured to: adjust the optical properties of the visible light source of the light-emitting component so that the difference between the sensed value of the visible light source obtained by the sensing device and the standard value is less than a preset value.

[0010] According to another aspect of the present invention, a calibration method is provided for a cleaning device, the cleaning device including a sensing device, a suction pipe and a light-emitting component, the sensing device and the light-emitting component being disposed on the suction pipe, the light source signal emitted by the light-emitting component passing through the pipe wall of the suction pipe to reach the sensing device, the calibration method including: preset a standard value; adjusting the light-emitting component so that the difference between the sensing value obtained by the sensing device and the standard value is less than the preset value.

[0011] Furthermore, the cleaning device is used to clean a target object, and the cleaning liquid on the target object is transmitted through the suction pipe. The preset standard value includes: presetting the standard value according to the type of dirt in the cleaning liquid.

[0012] Furthermore, the step of setting the standard value according to the type of dirt in the cleaning liquid includes: when the type of dirt in the cleaning liquid is a first type, using a preset light intensity value as the standard value; and / or, when the type of dirt in the cleaning liquid is a second type, using a preset color temperature value as the standard value.

[0013] Furthermore, the light source signal includes a visible light source, and adjusting the light-emitting component so that the difference between the sensed value obtained by the sensing device and the standard value is less than a preset value includes: adjusting the optical properties of the visible light source of the light-emitting component so that the difference between the sensed value obtained by the sensing device and the standard value is less than a preset value.

[0014] Furthermore, the light source signal includes composite white light, and adjusting the light-emitting component so that the difference between the sensed value obtained by the sensing device and the standard value is less than a preset value further includes: adjusting the optical properties of the composite light source of the light-emitting component so that the difference between the sensed value of the composite white light obtained by the sensing device and the standard value is less than a preset value.

[0015] According to another aspect of the present invention, a storage medium is provided, wherein computer instructions are stored thereon, and when executed by a processor, the computer instructions implement the calibration method described in any embodiment of the present invention.

[0016] The advantage of this invention lies in that, when the suction channel is clean, a preset standard value is established. During cleaning equipment operation, the light-emitting component sends a light source signal to the sensing device. When the sensing value obtained by the sensing device differs from the standard value, the light-emitting component is adjusted to bring the obtained sensing value closer to the standard value. Therefore, when the suction channel is dirty, adjusting the light source signal of the light-emitting component calibrates the sensing value obtained by the sensing device, maintaining it near the standard value. This prevents misjudgments caused by dirt on the pipe wall when the sensing device detects dirt in the cleaning liquid. Attached Figure Description

[0017] The technical solution and other beneficial effects of the present invention will become apparent from the following detailed description of specific embodiments of the invention, in conjunction with the accompanying drawings.

[0018] Figure 1 This is a schematic diagram of the structure of the cleaning equipment provided in an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the structure of the brush head assembly of the self-moving device provided in an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the structure of the brush head assembly of the self-moving device provided in an embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of the suction pipe provided in an embodiment of the present invention.

[0022] Figure 5 A flowchart illustrating the steps of the calibration method provided in this embodiment of the invention.

[0023] Figure 6 This is another structural schematic diagram of the cleaning equipment provided in an embodiment of the present invention. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows for communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] Now refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of the cleaning device 100 provided in an embodiment of the present invention, combined with... Figures 1 to 3A cleaning device 100 includes a brush head assembly 10, a main unit 20, and a tubing assembly 30, wherein one end of the tubing assembly 30 is connected to the brush head assembly 10, and the other end is connected to the main unit 20. The brush head assembly 10 includes a handle 15 connected to the tubing assembly 30 and a cleaning component 17 connected to the handle 15. The cleaning component 17 has an interface corresponding to the tubing assembly 30, allowing the user to hold the handle 15 to clean the item. The handle 15 contains a brush head motor, and the cleaning component 17 contains a brush. The brush head motor drives the brush to rotate, achieving the cleaning purpose. Furthermore, the handle 15 and the cleaning component 17 are detachably connected, allowing the handle 15 to be connected to different types of cleaning components 17. To house the brush head assembly 10 and prevent contamination, the cleaning device 100 of this application also includes a protective cover 16 for the cleaning component 17.

[0027] The main unit 20 includes a sewage tank 21 and a clean water tank 22. The piping assembly 30 includes a sewage pipe, a clean water pipe, and power and communication lines. Furthermore, the piping assembly 30 may also include an outer casing to wrap the sewage pipe, clean water pipe, and power and communication lines for aesthetic and protective purposes. The first end of the wastewater pipe is connected to the brush head assembly 10, and the second end is connected to the wastewater tank 21. One end of the clean water pipe is connected to the clean water tank 22, and the other end is connected to the brush head assembly 10. The main unit 20 also includes a suction assembly and a water pump connected to the clean water pipe. For example, the suction assembly may include a suction motor. When the cleaning device 100 is cleaning, the water pump pumps the clean water in the clean water tank 22 into the clean water pipe and then transmits it to the brush head assembly 10. The brush head assembly 10 is provided with a water outlet, and the clean water flows out through the water outlet to the surface of the item to be cleaned. The cleaning component 17 in the brush head assembly 10 starts to clean the item under the drive of the brush head motor. Wastewater is generated during the cleaning process. The brush head assembly 10 is also provided with a collection device for collecting wastewater. At this time, the suction motor generates a certain suction force to suck the wastewater from the collection device into the wastewater pipe and then discharge it into the wastewater tank 21.

[0028] In some embodiments, the brush head assembly 10 is provided with a suction pipe 31 and a water outlet pipe 32, wherein the suction pipe 31, the sewage pipe and the sewage tank 21 are connected in sequence, and the water outlet pipe 32, the clean water pipe and the clean water tank 22 are connected in sequence.

[0029] like Figure 4 As shown, this is a schematic diagram of the structure facing the suction pipe 31. The brush head assembly 10 also includes a sensing device 41, a light-emitting component 42, and at least two baffles 43, wherein the sensing device 41 can be located at... Figure 2 At position A shown in the diagram, the light-emitting component 42 and the sensing device 41 are preferably disposed on both sides of the suction pipe 31 and are positioned opposite each other.

[0030] For example, the suction pipe 31 includes an outer wall, and the light-emitting component 42 and / or the sensing device 41 are disposed on the outer wall of the pipe.

[0031] Figure 4 As shown, both the sensing device 41 and the light-emitting component 42 are disposed on the outer wall of the pipe. Of course, only one of the sensing device 41 and the light-emitting component 42 is disposed on the inner wall of the pipe. For example, the sensing device 41 is disposed on the inner wall of the pipe and the light-emitting component 42 is disposed on the outer wall of the pipe, or the sensing device 41 is disposed on the outer wall of the pipe and the light-emitting component 42 is disposed on the inner wall of the pipe.

[0032] Preferably, both the sensing device 41 and the light-emitting component 42 are disposed on the outer wall of the suction pipe 31. This is because when the sensing device 41 is disposed on the inner wall of the suction pipe 31, the sensing device 41 has a sensing area for sensing the optical properties of the light source signal (optical properties include color temperature, light intensity, RGB primary color values, etc., where RGB primary color values ​​include R, G, and B values). Since this sensing area is disposed on the inner wall of the suction pipe 31, it is also susceptible to dirt adhesion from the cleaning liquid flowing through the suction pipe 31. This dirt not only affects the normal operation of the sensing device 41, but also makes subsequent cleaning by the user more difficult compared to directly cleaning the inner wall of the suction pipe 31. Similarly, when the light-emitting component 42 is disposed on the inner wall of the suction pipe 31, it is also susceptible to dirt adhesion from the cleaning liquid flowing through the suction pipe 31. This dirt not only affects the normal operation of the light-emitting component 42, but also makes subsequent cleaning by the user more difficult compared to directly cleaning the inner wall of the suction pipe 31.

[0033] For example, the suction pipe 31 further includes an inner wall, on which at least two baffles 43 are provided. The two baffles 43 and the inner wall form a groove 44, and the sensing device 41 is disposed on the outer wall of the pipe opposite to the groove 44. That is, the sensing area of ​​the sensing device 41 is at least partially located at the location of the groove 44.

[0034] Illustratively, the groove 44 extends along the suction pipe 31, meaning that the two walls of the groove 44 are formed by the sides of the opposing baffles 43, and the bottom of the groove 44 is formed by the inner wall of the pipe. When the water flow rate of the cleaning liquid is low, the groove 44 can accumulate a suitable amount of water, allowing the sensing device 41 to accurately detect the dirtiness of the water even with a low flow rate, thus preventing the water from easily missing the sensing area of ​​the sensing device 41. When the water flow rate is high, the groove 44 is filled with cleaning liquid, providing a stable water flow and preventing air bubbles generated by the rapid water flow from interfering with the sensing device 41.

[0035] The handle 15 is fixed to the housing 45 and is used by the user to grip and operate the brush head assembly 10. In some embodiments, the baffle 43 is disposed on the inner wall of the pipe away from the handle 15, that is, when the cleaning device 100 cleans the target object, this away direction is along a direction perpendicular to the target object, for example... Figure 2 The direction X is as described above. The purpose of this arrangement is that when the water flow rate is low, the cleaning liquid slides down the inner wall of the pipe into the groove 44 under the action of gravity, thereby further improving the water storage capacity of the groove 44 when the water flow rate is low, and further preventing the cleaning liquid from not passing through the sensing area of ​​the sensing device 41.

[0036] In some embodiments of this application, the host 20 is further provided with a control device, wherein data transmission between the sensing device 41 and the control device can be achieved through wireless communication. Furthermore, a communication line can be provided in the pipeline assembly 30, such as... Figure 3 As shown, the brush head assembly 10 is provided with a sewage pipe interface 12, a clean water pipe interface 13, and a wire interface 14. The wire interface 14 includes three interfaces, which can be used to connect power supply lines or communication lines, etc. Data transmission between the sensing device 41 and the control device can be achieved through wireless communication, which is not limited in this embodiment.

[0037] For example, the control device is configured to: preset a standard value, adjust the light-emitting component 42 so that the difference between the sensed value obtained by the sensing device 41 and the standard value is less than the preset value.

[0038] For example, the control device is also configured to preset the standard value according to the type of dirt in the cleaning liquid.

[0039] For example, the control device is further configured to: adjust the optical properties of the visible light source of the light-emitting component 42 so that the difference between the sensed value of the visible light source obtained by the sensing device 41 and the standard value is less than a preset value.

[0040] The specific implementation of the control logic of the control device will be described in detail below, and will not be described here.

[0041] For example, the light-emitting component 42 includes a first light source and a second light source, wherein the first light source is warm-colored light and the second light source is cool-colored light. Specifically, the first light source is warm white light and the second light source is cool white light. The specific use of warm white light for the first light source and cool white light for the second light source will also be explained below.

[0042] Furthermore, the host 20 also includes an interaction element, which is used to receive user interaction commands and send the interaction commands to the control device;

[0043] In some embodiments, the control device may also be located in the brush head assembly 10, or independent control devices may be located in the brush head assembly and the main unit, respectively.

[0044] In this embodiment, after receiving the user's interaction command, the interactive element sends the interaction command to the control device, which then executes the subsequent operation according to the user's command. Thus, the host 20 and the brush head assembly 10 respectively realize their respective human-computer interaction and control processes.

[0045] Interactive elements can take many forms of interaction, such as touch buttons, touch screens, voice interaction, and light interaction. Therefore, interactive elements can be buttons, screens, LED lights, etc., and can take one form or a combination of forms. For example, a user can select to start cleaning by using a switch button or by using voice interaction. Alternatively, a user can select to start cleaning by using a switch button and then select the cleaning mode by using voice interaction, and the LED light will illuminate during the cleaning process to indicate that cleaning is in progress.

[0046] In some embodiments, the control device can also adjust the cleaning task execution time of the cleaning equipment to match the cleanliness level of the target object. Accordingly, the control device can preset a correspondence between cleanliness level and cleaning time. Based on this correspondence, the control device can determine the cleaning time according to the cleanliness level of the target object. Preferably, the lower the cleanliness level, the lower the power of the brush head assembly 10 and the shorter the cleaning time, indicating that the target object requires less cleaning force.

[0047] Optionally, if the control device determines that the cleanliness of the target object meets the standard, it can control the cleaning equipment 100 to stop working.

[0048] The above embodiments illustrate the use of color temperature and light intensity values ​​as standard values. However, color temperature values ​​are less sensitive to green cleaning liquids because the calculation of color temperature values ​​has little correlation with the G value, or even the G value is not involved in the calculation. Therefore, in the above scenarios, color determination based on the colorimetric diagram can also be used. For example, a photograph of the cleaning liquid can be taken to determine the RGB primary color values ​​of each pixel.

[0049] The cleaning device 100 provided in this embodiment of the invention facilitates user cleaning of the suction pipe 31 by both the sensing device 41 and the light-emitting component 42 are disposed on the outer wall of the pipe. Two baffles 43 are provided on the inner wall of the suction pipe 31 to form a groove 44. When the water flow rate of the cleaning liquid is low, the groove 44 can accumulate an appropriate amount of water, allowing the sensing device 41 to accurately detect the dirtiness of the water under low flow conditions, thus preventing the water from easily missing the sensing area of ​​the sensing device 41. When the water flow rate is high, the groove 44 is filled with cleaning liquid, providing a stable water flow and preventing air bubbles generated by rapid water flow from interfering with the sensing device 41.

[0050] Figure 5 This is a flowchart illustrating the steps of a calibration method provided in an embodiment of the present invention. The calibration method is used for cleaning equipment 100. The executing entity of this calibration method can be a storage medium, or a self-moving device, server device, physical host, or user equipment (UE) that integrates the calibration method. The calibration method can also be implemented in hardware or software. Specifically, the UE can be a smartphone, tablet computer, laptop computer, PDA, or desktop computer. The calibration method includes:

[0051] Step S110: Preset a standard value.

[0052] For example, the cleaning device 100 is used to clean a target object, and the cleaning liquid on the target object is transmitted through the suction pipe 31. The preset standard value includes: preset the standard value according to the type of dirt in the cleaning liquid.

[0053] To illustrate, the cleaning device 100 is used to clean a target object, and therefore the type of dirt in the cleaning liquid varies depending on the type of dirt on the target object. For example, if opaque solid dirt is attached to the target object, the cleaning liquid will contain the type of dirt that is opaque solid dirt after the cleaning device 100 cleans the opaque solid dirt. If liquid dirt or transparent solid dirt is attached to the target object, the cleaning liquid will contain the type of dirt that is liquid or transparent solid dirt after the cleaning device 100 cleans the liquid dirt or transparent solid dirt.

[0054] The standard value can be determined according to the type of dirt, because different types of dirt have different degrees of influence on different standard values ​​during testing.

[0055] For example, the step of presetting the standard value according to the type of dirt in the cleaning liquid includes: when the type of dirt in the cleaning liquid is a first type, using a preset light intensity value as the standard value; and / or, when the type of dirt in the cleaning liquid is a second type, using a preset color temperature value as the standard value.

[0056] The first type is the aforementioned opaque solid dirt, and the second type is liquid dirt or transparent solid dirt. It is evident that when the stains on the target object in the application scenario are primarily opaque solid dirt, the color temperature value detected by the sensing device 41 fluctuates little or even not at all. In this case, using the color temperature value as the standard value, the sensing device 41, in this scenario, sends a light source signal through the light-emitting component 42, which passes through the detected cleaning liquid and reaches the sensing device 41. The degree of dirtiness of the cleaning liquid is then judged based on the color temperature value detected by the sensing device 41. However, this method cannot accurately determine the degree of dirtiness. Therefore, when the dirt type of the cleaning liquid is the first type, a preset light intensity value is used as the standard value. Opaque solid dirt can affect the light intensity value obtained by the sensing device 41. Therefore, when the dirt type is the first type, the light intensity value sensitivity is best. Using the light intensity value as the standard value can improve the accuracy of the sensing value obtained by the sensing device 41, thereby improving the accuracy of the control device in judging the degree of dirtiness of the cleaning liquid.

[0057] Similarly, when the stains on the target object in the application scenario are mainly liquid dirt or transparent solid dirt, the light intensity value detected by the sensing device 41 fluctuates little or even does not fluctuate. In this case, if the light intensity value is used as the standard value, the sensing device 41, when used in this scenario, sends a light source signal through the light-emitting component 42, which passes through the detected cleaning liquid and reaches the sensing device 41. The degree of dirtiness of the cleaning liquid is judged based on the light intensity value detected by the sensing device 41. However, this method cannot accurately determine the degree of dirtiness of the cleaning liquid. Therefore, when the dirt type of the cleaning liquid is the second type, a preset color temperature value is used as the standard value. Liquid dirt or transparent solid dirt can affect the color temperature value obtained by the sensing device 41. Therefore, when the dirt type is the second type, the color temperature value has the best sensitivity. Using the color temperature value as the standard value can improve the accuracy of the sensing value obtained by the sensing device 41, thereby improving the accuracy of the control device in judging the degree of dirtiness of the cleaning liquid.

[0058] For illustrative purposes, the color temperature values ​​in this article are calculated using the R, G, and B values, i.e., the three primary color values, obtained by the sensing device 41. When the liquid dirt on the target object is tea or soy sauce, it will affect the R, G, and B values ​​obtained by the sensing device 41, thereby controlling the device to determine the degree of dirt.

[0059] In some embodiments, to improve the adaptability of the sensing device 41 to different scenarios, the standard value can include both color temperature and light intensity values. During calibration, it is ensured that the sensed values ​​acquired by the sensing device 41 (i.e., including color temperature and light intensity values) are the same as the preset standard values. For example, the standard value may have a color temperature of 1000 Kelvin and a light intensity of 500 lux.

[0060] Step S120: Adjust the light-emitting component 42 so that the difference between the sensed value obtained by the sensing device 41 and the standard value is less than a preset value.

[0061] For example, the light source signal includes a visible light source, and adjusting the light-emitting component 42 so that the difference between the sensed value obtained by the sensing device 41 and the standard value is less than a preset value includes: adjusting the optical properties of the visible light source of the light-emitting component 42 so that the difference between the sensed value obtained by the sensing device 41 and the standard value is less than a preset value.

[0062] Visible light sources can be at least one color, and the specific color can be set according to actual needs. For example, in a scene where the dirt on the target object is all red liquid dirt, the cleaning liquid should appear red, and the visible light source color can be green, blue, or other colors. Conversely, in a scene where the dirt on the target object is all blue liquid dirt, the cleaning liquid should appear red, and the visible light source color can be green, red, or other colors.

[0063] It should be noted that, in this article, "at least one" when used with a series of items means that different combinations of one or more of the listed items can be used, and only one of each item in the list may be required. For example, "at least one of item A, item B, and item C" may include, but is not limited to, item A or items A and B. The example may also include items A, B, and C, or items B and C.

[0064] The aforementioned scenario is rather unique. In some embodiments, the light source signal includes composite white light. Adjusting the light-emitting component 42 so that the difference between the sensed value obtained by the sensing device 41 and the standard value is less than a preset value further includes: adjusting the optical properties of the composite white light of the light-emitting component 42 so that the difference between the sensed value obtained by the sensing device 41 and the standard value is less than a preset value.

[0065] When the light source signal is composite white light, it is possible to identify dirt of various colors. Therefore, composite white light is preferably used as the light source signal for the light-emitting component 42.

[0066] For example, when adjusting the color temperature of a light source signal, an LED lamp is typically used as the light-emitting component 42. Since the color temperature of an LED lamp is fixed during manufacturing, a first light source and a second light source are required. The first light source is warm-colored light, and the second light source is cool-colored light, in order to adjust the color temperature of the composite white light. Specifically, the color temperature of the composite white light formed by the first and second light sources can be adjusted by regulating their current operating voltages.

[0067] For ease of understanding, the following is a detailed operational process: When the inner wall of the pipe is clean: During normal operation, the host first initializes and then modulates the color temperature values ​​of the first and second light sources accordingly. This modulation scheme includes fixing the color temperature value of either the first or second light source first and then modulating the color temperature value of the other, or simultaneously modulating the color temperature values ​​of the first and second light sources, so that the sensing device 41 receives a standard value (i.e., an initial defined value). Then, based on comparing this standard value, the host is informed to determine the degree of dirtiness of the cleaning liquid absorbed by the host at this time. The same method of modulating the light intensity and color temperature value is used. The magnitude of the standard value is usually determined based on the sensitivity of the color temperature value to the changes in dirt in the current application scenario.

[0068] When the inner wall of the pipe is dirty: When the main unit is working, it first modulates the light source. If the first light source is modulated to its maximum value (light source brightness or maximum voltage) but still does not reach the standard value, the brightness of the second light source needs to be modulated again so that the sensing value of the sensing device 41 illuminated by the first and second light sources reaches the standard value. When the standard value is reached, the main unit can be informed to determine the degree of dirtiness of the cleaning liquid absorbed by the main unit at this time. If neither the first nor the second light source modulation reaches the standard value, a cleaning operation is required.

[0069] The advantage of this invention lies in that, when the suction channel is clean, a standard value is preset. When the cleaning device 100 is working, the light-emitting component 42 sends a light source signal to the sensing device 41. When the sensing value obtained by the sensing device 41 differs from the standard value, the light-emitting component 42 is adjusted so that the sensing value obtained by the sensing device 41 is close to the standard value. Therefore, when the suction pipe 31 is dirty, by adjusting the light source signal of the light-emitting component 42, the sensing value obtained by the sensing device 41 is calibrated and maintained near the standard value. When the sensing device 41 detects the dirtiness of the cleaning liquid, it will not make a misjudgment due to dirt on the pipe wall.

[0070] like Figure 6 As shown, another structural schematic diagram of the cleaning equipment involved in this application is illustrated, specifically:

[0071] The cleaning device may include components such as a processor 401 with one or more processing cores, a memory 402 with one or more computer-readable storage media, a power supply 403, and an input unit 404. Those skilled in the art will understand that... Figure 3 The device structure shown does not constitute a limitation on the device. Self-moving devices may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0072] The processor 401 is the control center of the device, connecting various parts of the device through various interfaces and lines. It executes software programs and / or unit modules stored in the memory 402, and calls data stored in the memory 402 to perform various functions and process data, thereby providing overall monitoring of the mobile device. Optionally, the processor 401 may include one or more processing cores; the processor 401 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. Preferably, the processor 401 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the aforementioned modem processor may not be integrated into the processor 401.

[0073] The memory 402 can be used to store software programs and modules. The processor 401 executes various functional applications and data processing by running the software programs and modules stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, applications required for at least one function, etc.; the data storage area may store data created based on the use of the self-moving device, etc. In addition, the memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

[0074] The self-moving device may also include a power supply 403 that supplies power to the various components. Preferably, the power supply 403 is logically connected to the processor 401 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 403 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0075] The self-moving device may also include an input unit 404 and an output unit 405. The input unit 404 can be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0076] Although not shown, the self-moving device may also include a display unit, etc., which will not be described in detail here. Specifically, in this application, the processor 401 in the self-moving device loads the executable files corresponding to the processes of one or more applications into the memory 402 according to the following instructions, and the processor 401 runs the applications stored in the memory 402 to realize various functions, as follows:

[0077] A preset standard value;

[0078] Adjust the light-emitting component so that the difference between the sensed value obtained by the sensing device and the standard value is less than a preset value.

[0079] Those skilled in the art will understand that all or part of the steps in the various methods described above can be accomplished by instructions, or by controlling related hardware with instructions. These instructions can be stored in a computer-readable storage medium and loaded and executed by the processor 401.

[0080] Therefore, this application provides a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc. Computer instructions are stored thereon, and these computer instructions are loaded by processor 401 to execute the steps in any of the calibration methods provided in this application. For example, when the computer instructions are executed by processor 401, they perform the following functions:

[0081] A preset standard value;

[0082] Adjust the light-emitting component so that the difference between the sensed value obtained by the sensing device and the standard value is less than a preset value.

[0083] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the detailed descriptions of other embodiments above, which will not be repeated here.

[0084] In practice, each of the above units or structures can be implemented as an independent entity or can be arbitrarily combined to be implemented as the same or several entities. For specific implementation of each of the above units or structures, please refer to the previous embodiments, which will not be repeated here.

[0085] In summary, although the present invention has been disclosed above with reference to preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the scope defined in the claims.

Claims

1. A cleaning device, characterized in that, include: The device comprises a sensing device, a suction tube, and a light-emitting component. The sensing device and the light-emitting component are disposed on the suction tube. The light source signal emitted by the light-emitting component passes through the tube wall of the suction tube to reach the sensing device. The suction tube also includes an inner wall with at least two baffles. The two baffles and the inner wall form a groove that extends along the extension direction of the suction tube. The sensing device and the light-emitting component are disposed on the outer wall of the tube opposite to the groove. The baffles are disposed on the side of the inner wall of the tube away from the handle. The handle is for the user to grip. The cleaning equipment also includes a control device configured to preset a standard value; Adjust the light-emitting component so that the difference between the sensed value obtained by the sensing device and the standard value is less than a preset value.

2. The cleaning equipment according to claim 1, characterized in that, The light-emitting component includes a first light source and a second light source, wherein the first light source is warm-colored light and the second light source is cool-colored light.

3. The cleaning equipment according to claim 1, characterized in that, The control device is also configured to: The standard value is preset according to the type of dirt in the cleaning liquid.

4. The cleaning equipment according to claim 1, characterized in that, The control device is also configured to: The optical properties of the visible light source of the light-emitting component are adjusted so that the difference between the sensed value of the visible light source obtained by the sensing device and the standard value is less than a preset value.

5. A calibration method, characterized in that, The calibration method is used for a cleaning device, which includes a sensing device, a suction pipe, and a light-emitting component. The sensing device and the light-emitting component are disposed on the suction pipe, which includes an inner wall. At least two baffles are provided on the inner wall of the pipe, forming a groove that extends along the extension direction of the suction pipe. The sensing device and the light-emitting component are disposed on the outer wall of the pipe opposite to the groove. The baffles are disposed on the side of the inner wall of the pipe away from the handle. The handle is for a user to grip. The light source signal emitted by the light-emitting component passes through the pipe wall of the suction pipe to reach the sensing device. The calibration method includes: A preset standard value; Adjust the light-emitting component so that the difference between the sensed value obtained by the sensing device and the standard value is less than a preset value.

6. The calibration method according to claim 5, characterized in that, The cleaning equipment is used to clean a target object, and the cleaning liquid on the target object is transferred through the suction pipe. The preset standard value includes: The standard value is preset according to the type of dirt in the cleaning liquid.

7. The calibration method according to claim 6, characterized in that, The step of presetting the standard value based on the type of dirt in the cleaning liquid includes: When the type of dirt in the cleaning liquid is type 1, a preset light intensity value is used as the standard value; and / or, When the type of dirt in the cleaning liquid is type 2, the preset color temperature value is used as the standard value.

8. The calibration method according to claim 5, characterized in that, The light source signal includes a visible light source, and adjusting the light-emitting component so that the difference between the sensed value obtained by the sensing device and the standard value is less than a preset value includes: The optical properties of the visible light source of the light-emitting component are adjusted so that the difference between the sensed value of the visible light source obtained by the sensing device and the standard value is less than a preset value.

9. The calibration method according to claim 5, characterized in that, The light source signal includes composite white light, and adjusting the light-emitting component so that the difference between the sensed value obtained by the sensing device and the standard value is less than a preset value further includes: The optical properties of the composite white light of the light-emitting component are adjusted so that the difference between the sensed value of the composite white light obtained by the sensing device and the standard value is less than a preset value.

10. A storage medium, characterized in that, The storage medium stores computer instructions, which, when executed by a processor, implement the calibration method as described in any one of claims 5-9.

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